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GE 90-30/20/Micro Universal Remote User Manual

1. Parameter flow I WQ M T S G R WAI AQ const none address enable PV Q e Valid reference or place where power may flow through the function Chapter 4 Series 90 30 20 Micro Instructions Set 4 15 4 16 Example In the following example a delay timer with address TMRID is used to control the length of time that coil DWELL is on When the normally open momentary contact DO_DWL is on coil DWELL is energized The contact of coil DWELL keeps coil DWELL energized when contact DO_DWL is released and also starts the timer TMRID When TMRID reaches its preset value of one half second coil REL energizes interrupting the latched on condition of coil DWELL The contact DWELL interrupts power flow to TMRID resetting its current value and de energizing coil REL The circuit is then ready for another momentary activation of contact DO_DWL DO_DWL REL DWELL YY AA M TT gq AAA AAA N a DWELL I I DWELL REL I II a 1C 0 1s CONST PV 00005 TRMID Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K OFDT The off delay timer OFDT increments while power flow is off and resets to zero when power flow is on Time may be counted in tenths of a second the default selection hundredths of a second or thousandths of a second
2. _ 8 bit exponent 1 bit sign Bit Register use by a single floating point number is diagrammed below In this diagram if the floating point number occupies registers R5 and R6 for example then RS is the least significant register and R6 is the most significant register 4 Least Significant Register gt Bits 1 16 gt fis PERLES Least Significant Bit Bit 1 C oc o cc Most Significant Bit Bit 16 ost Significant Register Bits 17 32 32 FHE _ Least Significant Bit Bit 17 Most Significant Bit Bit 32 GFK 0467K Appendix E Using Floating Point Numbers E 3 Values of Floating Point Numbers E 4 Use the following table to calculate the value of a floating point number from the binary number stored in two registers S e Mantissa f Value of Floating Point Number Not a valid number NaN Ss the mantissa The mantissa is a binary fraction the exponent The exponent is an integer E such that E 127 is the power of 2 by which the mantissa must be multiplied to yield the floating point value s the sign bit the multiplication operator For example consider the floating point number 12 5 The IEEE floating point binary representation of the number
3. HMOVE_ INT I0001 RO100 IN Q R0104 LEN 00001 a 10003 j 1 gt DNCTR I0002 R I0009 CONST PV 00005 RO104 A 10002 1 MOVE_ INT I0003 RO104 IN Q R0100 LEN 00001 Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K The second method shown below uses the ADD and SUB functions to provide storage tracking 10004 M0001 My I0005 M0002 a S Das smM0001_ l TE i INT I R0201 I1 QO R00201 CONST I2 00001 SUB_ INT 2R0201 I1 Q R00201 CONST I2 00001 sM0002 GFK 0467K Chapter 4 Series 90 30 20 Micro Instructions Set 4 25 Section 3 Math Functions This section describes the math functions of the Series 90 30 20 Micro Instruction Set Abbreviation Function Description Page ADD Addition Add two numbers 4 27 SUB Subtraction Subtract one number from another 4 27 MUL Multiplication Multiply two numbers 4 27 DIV Divis
4. Fault Description Page Loss of or Missing Option Module 3 8 Reset of Addition of or Extra Option Module 3 9 System Configuration Mismatch 3 10 Option Module Software Failure 3 11 Program Block Checksum Failure 3 11 Low Battery Signal 3 11 Constant Sweep Time Exceeded 3 12 Application Fault 3 12 No User Program Present 3 13 Corrupted User Program on Power Up 3 13 Password Access Failure 3 13 PLC CPU System Software Failure 3 14 Communications Failure During Store 3 16 Chapter 3 Fault Explanation and Correction 3 7 3 8 Fault Actions Fatal faults cause the PLC to enter a form of STOP mode at the end of the sweep in which the error occurred Diagnostic faults are logged and corresponding fault contacts are set Informational faults are simply logged in the PLC fault table Loss of or Missing Option Module The Fault Group Loss of or Missing Option Module occurs when a PCM CMM or ADC fails to respond The failure may occur at power up if the module is missing or during operation if the module fails to respond The fault action for this group is Diagnostic Error Code Name Description Correction 1 42 Option Module Soft Reset Failed PLC CPU unable to re establish communications with option module after soft reset 1 Try soft reset a second time 2 Replace the option module 3 Power off the system Verify that the PCM is seated properly in the rack and that all cables are properly
5. 2 14 Using the Release 7 and Later Key Switch ooooonoconocococcconcconnnonccnnncnancnannnnc crac corno 2 14 Clearing the Fault Table with the Key Switch oooonnconoccnoncconcconncnoccnoccnancnncnnnnccnnnos 2 14 Enhanced Memory Protect with Release 8 and Later CPUS ooocconiccniconiccnocnnocncnnnss 2 15 Section 2 Program Organization and User References Data 0000 2 16 Subroutine Blocks Series 90 30 PLC Only ocoooonnnccnnocccnonccononacnnnnccononononcnonnacnnonocancnonns 2 16 Examples of Using Subroutine BlockKS oooonnnccnoccnococoncconnconnconncnnncnnnc nan conc crac ccoo 2 18 How Blocks Are Called cion ita be 2 19 Periodic SUBrOUUIMES v 25 sseecishsacee itcsetad cd Ree EEE EEEE REENE ES EE E EnA 2 19 User Referencia aes la ae 2 20 Transitions and OVErrid es A a e 2 21 Retentiveness of Data 2 21 Data Types ui ii polis 2 23 System Status Relerences ni 2 24 Function Block SUCIA ad 2 26 Format of Ladder Logic RelayS oooonconnncnnncinoconoccnonoconononccnnoconccnnncnnn crac n ran nrnnnrnn cnn 2 26 Format of Program Function Blocks ooonoonncninccnocononononoconnconnconnconn crac crac conc nrnn corno 2 27 Function Block Parameters sc scccccsetei sie darian vanes sas dd tren di 2 28 Power Flow In and Out of a Function 00 eee eeeceeeseceeceeceeceeceecaeceeeeecaeeeeneeeaeeesees 2 29 Section 3 Power Up and Power Down Sequences ccscccsssssssssccssssceees 2 30 NR 2 30 Power D
6. 210001 2M0301 J M0301 MOVE_ READ_ID WORD l CONST IN Q RO0099 0011 LEN 0001 Program Block READ_ID Q0102 SVC_ SRO099 FNC SRO100 PARM 4 152 Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K SVCREQ 12 Read PLC Run State Use SVCREQ function 12 to read the current RUN state of the PLC CPU Note Of the CPUs discussed in this manual Service Request 12 is supported only by 90 30 CPUs beginning with Release 8 0 The parameter block is an output parameter block only it has a length of one word 1 run disabled address 2 run enabled Example In the following example the PLC run state is always read into location R4002 If the state is Run Disabled the CALL function calls program block DISPLAY 10102 I al SYC I EQ_ REQ WORD CONST FNC CONST I1 Ql DISPLAY 0012 0001 R4002 PARM R4002 12 PAI 1 GFK 0467K Chapter 4 Series 90 30 20 Micro Instructions Set 4 153 SVCREQ 13 Shut Down Stop PLC Use SVCREQ function 13 in order to stop the PLC at the end of the next sweep All outputs will go to their designated default states at the beginning of the next PLC sweep An informational fault is placed in the PLC fault table noting that a SHUT DOWN PLC function block was executed The I O scan wi
7. l input parameter IN IN Q output parameter Q Parameters Parameter Description enable When the function is enabled the operation is performed IN IN contains the real value to be operated on ok The ok output is energized when the function is performed without overflow unless IN is NaN Q Output Q contains the converted value of IN Note The Radian conversion functions are only available on the 350 and 360 series CPUs Release 9 or later or on all releases of CPU352 GFK 0467K Chapter 4 Series 90 30 20 Micro Instructions Set 4 39 Valid Memory Types Parameter flow PI PQ M T S G R AI AQ const none enable IN ok Q Valid reference or place where power may flow through the function Example In the following example 1500 is converted to DEG and is placed in R0001 ALW_ON I l RAD_ TOI DEG CONST 1500 000 IN Q R0001 85943 67 4 40 Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K Section 4 Relational Functions Relational functions are used to compare two numbers This section describes the following relational functions GFK 0467K Abbreviation Function Description Page EQ Equal Test two numbers for equality 4 41 NE Not Equal Test t
8. 4 138 Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K SVCREQ 3 Change Programmer Communications Window Mode and Timer Value Use SVCREQ function 3 to change the programmer communications window mode and timer value The change will occur in the CPU sweep following the sweep in which the function is called Note Of the CPUs discussed in this manual Service Request 3 is supported only by 90 30 CPUs beginning with Release 8 0 The SVCREQ function 3 will pass power flow to the right unless a mode other than 0 Limited 1 Constant or 2 Run to Completion is selected The parameter block has a length of one word To disable the programmer window enter SVCREQ function 3 with this parameter block High Byte Low Byte To enable the programmer window enter SVCREQ function 3 with this parameter block High Byte Low Byte Value from 1 to 255 ms ___ address GFK 0467K Chapter 4 Series 90 30 20 Micro Instructions Set 4 139 4 140 Example In the following example when MO125 transitions on the programmer communications window is enabled and assigned a value of 25 ms The parameter block is in memory location R5051 SI0001 R5051 PARM T M0125 T0002 MOVE_ SVC_ C INT REQ CONST IN QI R5051 CONST FNC 00025 LEN 00003 0001 To disable the programmer communications window
9. The maximum length allowed for these functions is 32 767 bytes or words or 262 136 bits bits are available for ARRAY_MOVE only Table functions operate on these types of data Data Type Description INT Signed integer DINT Double precision signed integer BIT Bit data type BYTE Byte data type WORD Word data type Only available for ARRAY_MOVE The default data type is signed integer The data type can be changed after selecting the specific data table function To compare data of other types or of two different types first use the appropriate conversion function described in section 8 Conversion Functions to change the data to one of the data types listed above 4 86 Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K ARRAY_MOVE INT DINT BIT BYTE WORD Use the Array Move ARRAY_MOVE function to copy a specified number of data elements from a source array to a destination array The ARRAY_MOVE function has five input parameters and two output parameters When the function receives power flow the number of data elements in the count indicator N is extracted from the input array starting with the indexed location SR SNX 1 The data elements are written to the output array starting with the indexed location DS DNX 1 The LEN operand specifies the number of elements that make up each array For ARRAY_MOVE_BIT when word
10. PV 00080 RO004 GFK 0467K Chapter 4 Series 90 30 20 Micro Instructions Set 4 13 4 14 TMR The simple on delay timer TMR function increments while it receives power flow and resets to zero when power flow stops Time may be counted in tenths of a second the default selection hundredths of a second or thousandths of a second The range is 0 to 32 767 time units The state of this timer is retentive on power failure no automatic initialization occurs at power up When the TMR receives power flow the timer starts accumulating time current value The current value is updated when it is encountered in the logic to reflect the total elapsed time the timer has been enabled since it was last reset Note If multiple occurrences of the same timer with the same reference address are enabled during a CPU sweep the current values of the timers will be the same This update occurs as long as the enabling logic remains ON When the current value equals or exceeds the preset value PV the function begins passing power flow to the right The timer continues accumulating time until the maximum value is reached When the enabling parameter transitions from ON to OFF the timer stops accumulating time and the current value is reset to zero a42933 ENABLE JJ E A ae l l l l l A B Cc D E ENABLE goes high timer begins accumulating time Current value reaches preset value PV Q goes high and timer continues ac
11. 4 Replace the PLC CPU Error Code 2 Name Illegal Boolean OpCode Detected Description The PLC operating software operating software generates this error when it detects a bad instruction in the user program Correction 1 Restore the user program and references if any 2 Replace the expansion memory board on the PLC CPU 3 Replace the PLC CPU Password Access Failure The Fault Group Password Access Failure occurs when the PLC CPU receives a request to change to a new privilege level and the password included with the request is not valid for that level The fault action for this group is Informational Correction Retry the request with the correct password GFK 0467K Chapter 3 Fault Explanation and Correction 3 13 PLC CPU System Software Failure 3 14 Faults in the Fault Group PLC CPU System Software Failure are generated by the operating software of the Series 90 30 90 20 or Micro PLC CPU They occur at many different points of system operation When a Fatal fault occurs the PLC CPU immediately transitions into a special ERROR SWEEP mode No activity is permitted when the PLC is in this mode The only way to clear this condition is to cycle power on the PLC The fault action for this group is Fatal Error Code Name Description Correction 1 through B User Memory Could Not Be Allocated The PLC operating software memory manager generates these errors when software re
12. ATTACHED STATUS NOT TUS pena 2 Nor ATTACHED N ATTACHED NO sa QUEST 3 ABORT SETUP FOR gt OPERATION HAND HELD IN PROGRESS PROGRAMMER ja YES PROCESS REQUEST SETUP FOR SEND INITIAL PROCESS KEY SERIES 90 DISPLAY PROTOCOL SEND NEW DISPLAY STOP Figure 2 2 Programmer Communications Window Flow Chart System Communications Window Models 331 and Higher This is the part of the sweep where communications requests from intelligent option modules such as the PCM are processed see flow chart Requests are serviced on a first come first served basis However since intelligent option modules are polled in a round robin fashion no intelligent option module has priority over any other intelligent option module Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K GFK 0467K In the default Run to Completion mode the length of the system communications window is limited to 50 milliseconds If an intelligent option module makes a request that requires more than 50 milliseconds to process the request is spread out over multiple sweeps so that no one sweep is impacted by more than 50 milliseconds a43066 START ANY REQUESTS IN QUEUE DEQUEUE A REQUEST PROCESS THE REQUEST WINDOW TIMER TIMEOUT 2 POLLING STOPPED RESTART POLLING Figure 2 3 System Communications Window Flow Chart Chapter 2 System Operation PCM Communications w
13. Q Output Q is energized when the value in IN is within the range specified by L1 and L2 inclusive Valid Memory Types Parameter flow I Q M T S G PR WAI AQ const none enable L1 o o o o o of L2 o o o o o ef IN o o o o o gt Q e e Valid reference or place where power may flow through the function o Valid reference for INT or WORD data only not valid for DINT Constants are limited to integer values for double precision signed integer operations GFK 0467K Chapter 4 Series 90 30 20 Micro Instructions Set 4 45 4 46 Example 1 In the following example AI0001 is checked to be within a range specified by two constants 0 and 100 10001 I RANGE INT Q0002 100 L1 oE GD Ba 0 L2 AI0001 IN RANGE Truth Table Enable State L1 Value L2 Value IN Value Q State 10001 Constant Constant A10001 Q0001 ON 100 0 lt 0 OFF ON 100 0 0 100 ON ON 100 0 gt 100 OFF OFF 100 0 Not Applicable OFF Example 2 In this example AIO001 is checked to be within a range specified by two register values en ar sI0001 I RANGE INT l l l Q0002 ROOOL L1 Q11 R0002 L2 SAI0001 IN _
14. e Valid reference or place where power may flow through the function Example A F 10002 l I REAL_ RANGE l l l l l TO_ WORD l l l l WORD I 290001 R0001 IN Q RO003 HI_LIM L1 Q Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 LOW_LIM L2 R0003 IN GFK 0467K TRUN GFK 0467K INT DINT The Truncate function is used to round the real number toward zero The original data is not changed by this function Note The 350 and 360 series CPUs Release 9 or later and all releases of CPU352 are the only Series 90 30 CPUs with floating point capability therefore the TRUN function has no applicability for other 90 30 CPUs When the function receives power flow it performs the conversion making the result available via output Q The function passes power flow when power is received unless the specified conversion would result in a value that is out of range or unless IN is NaN Not a Number enable ok TRUN_ INT value to be converted IN Q output parameter Q Parameters Parameter Description enable When the function is enabled the conversion is performed IN IN contains a reference for the real value to be truncated ok The ok output is energized when the function is performed without error unless the value is out of range or IN is NaN Q Q contain
15. 00003 l CONST DNX 00005 CONST N 00005 Example 2 Using bit memory for SR and DS M0011 M0017 of the array M009 M0024 is read and then written to Q0026 Q0032 of the array Q0022 Q0037 A I0001 I II ARRAY MOVE_ _BIT M0009 SR DS Q0022 LEN 100016 CONST SNX 00003 CONST DNX 00005 CONST N 00007 GFK 0467K Chapter 4 Series 90 30 20 Micro Instructions Set 4 89 4 90 Example 3 Using word memory for SR and DS the third least significant bit of R0001 through the second least significant bit of R0002 of the array containing all 16 bits of R0001 and four bits of R0002 is read and then written into the fifth least significant bit of RO100 through the fourth least significant bit of RO101 of the array containing all 16 bits of R0100 and four bits of RO101 cat 10001 I II ARRAY MOVE_ BIT RO001 SR DS R0100 LEN l 100020 CONST SNX 00003 CONST DNX 00005 CONST N 00016 Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K SRCH_EQ and SRCH_NE INT DINT BYTE WORD SRCH_GT and SRCH_LT SRCH_GE and SRCH LE Use the appropriate Search function listed below to
16. 7FF The memory type byte is one of the following values Table B 9 1 0 Reference Address Memory Type Name Value Hexadecimal Analog input OA Analog output 0C Analog grouped 0D Discrete input 10 or 46 Discrete output 12 or 48 Discrete grouped 1F 1 0 Fault Address The VO fault address is a six byte address containing rack slot bus block and point address of the T O point which generated the fault The point address is a word all other addresses are one byte each All five values may not be present in a fault When an I O fault address does not contain all five addresses a 7F hex appears in the address to indicate where the significance stops For example if 7F appears in the bus byte then the fault is a module fault Only rack and slot values are significant Appendix B Interpreting Fault Tables B 9 B 10 Rack The rack number ranges from 0 to 7 Zero is the main rack i e the one containing the PLC Racks 1 through 7 are expansion racks Slot The slot number ranges from 0 to 9 The PLC CPU always occupies slot 1 in the main rack rack 0 Point Point ranges from 1 to 1024 decimal It tells which point on the block has the fault when the fault is a point type fault 1 0 Fault Group Fault group is the highest classification of a fault It identifies the general category of the fault The fault description text displayed by Logicmaster 90 30 20 Micro software is
17. Catalog Pub Number Points Description Number Discrete Modules Output IC693MDL310 12 120 VAC 0 5A GFK 0898 IC693MDL330 8 120 240 VAC 2A GFK 0898 IC693MDL340 16 120 VAC 0 5A GFK 0898 IC693MDL390 5 120 240 VAC Isolated 2A GFK 0898 IC693MDL730 8 12 24 VDC Positive Logic 2A GFK 0898 IC693MDL731 8 12 24 VDC Negative Logic 2A GFK 0898 IC693MDL732 8 12 24 VDC Positive Logic 0 5A GFK 0898 1C693MDL733 8 12 24 VDC Negative Logic 0 5A GFK 0898 IC693MDL734 6 125 VDC Positive Negative Logic 2A GFK 0898 IC693MDL740 16 12 24 VDC Positive Logic 0 5A GFK 0898 IC693MDL741 16 12 24 VDC Negative Logic 0 5A GFK 0898 IC693MDL742 16 12 24 VDC Positive Logic 1A GFK 0898 IC693MDL750 32 12 24 VDC Negative Logic GFK 0898 IC693MDL751 32 12 24 VDC Positive Logic 0 3A GFK 0898 IC693MDL752 32 5 24 VDC TTL Negative Logic 0 5A GFK 0898 IC693MDL753 32 12 24 VDC Positive Negative Logic 0 5A GFK 0898 IC693MDL930 8 Relay N O 4A Isolated GFK 0898 IC693MDL931 Relay BC Isolated GFK 0898 IC693MDL940 16 Relay N O 2A GFK 0898 Input Output Modules IC693MDR390 8 8 24 VDC Input Relay Output GFK 0898 IC693MAR590 8 8 120 VAC Input Relay Output GFK 0898 Analog Modules 1C693ALG220 4ch Analog Input Voltage GFK 0898 1C693ALG221 4ch Analog Input Current GFK 0898 1C693ALG222 16 Analog Input Voltage GFK 0898 1C693ALG223 16 Analog Input Current GFK 0898 1C693ALG390 2ch Analog Output Voltage GFK 0898 IC693ALG39 1 2ch Analog Output Current GFK 0898
18. RANGE Truth Table Enable State L1 Value L2 Value IN Value Q State 10001 RO0001 R0002 AX0001 Q0001 ON 500 0 lt 0 OFF ON 500 0 0 500 ON ON 500 0 gt 500 OFF OFF 500 0 Not Applicable OFF Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K Section 5 Bit Operation Functions Bit operation functions perform comparison logical and move operations on bit strings The AND OR XOR and NOT functions operate on a single word The remaining bit operation functions may operate on multiple words with a maximum string length of 256 words All bit operation functions require WORD data Although data must be specified in 16 bit increments these functions operate on data as a continuous string of bits with bit 1 of the first word being the Least Significant Bit LSB The last bit of the last word is the Most Significant Bit MSB For example if you specified three words of data beginning at reference RO100 it would be operated on as 48 contiguous bits R0100 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 e bit 1 LSB RO101 32 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 RO102 48 47 46 45 44 43 42 41 40 39 38 37 36 35 34 33 MSB Note Overlapping input and output reference address ranges in multi word functions may produce unexpected results GFK 0467K C
19. State after all sampling is complete The Boolean output receives power flow Only transition to the Reset State is allowed If more than the Number of Samples have been taken then Status Extra Data will be set to 0x01 otherwise 1t will be 0x00 Overrun Error State 5 State 1f the Control Data Block exceeds the end of its memory type The Boolean output is held to no power flow Only transition to the Reset State is allowed Status Extra Data has no significance and will be cleared to zero Parameter Error State 6 State 1f there is an error in the user supplied operation parameters The Boolean output is held to no power flow Only transition to the Reset State is allowed The Status Extra Data word contains the offset into the control block at which the parameter error occurred Status Error State 7 State 1f the Status Parameter becomes invalid The Boolean output is held to no power flow Only transition to the Reset State is allowed The invalid status value will be stored in the Status Extra Data location in the Control Block Reset State 0 State when the reset Boolean receives power flow Sample Buffer Trigger Sample Offset Trigger Time and Current Sample Offset are all cleared to zero The Boolean output is held to no power flow Transition to the Inactive State occurs when the reset power flow is removed Status Extra Data has no significance and will be cleared to zero Chapter 4 Seri
20. The following table explains when power is or is not passed when dealing with numbers viewed as or equal to infinity As shown previously outputs that exceed the positive or negative limits are viewed as POS_INF or NEG_INF respectively Operation Input 1 Input 2 Output Powerflow All Number Number Positive or No Negative Infinity All Except Infinity Number Infinity Yes Division General Case of Power Flow for Floating Point Operations GFK 0467K Appendix E Using Floating Point Numbers E 7 GFK 0467K 3 350 and 360 series CPUs changing mode with key switch 350 and 360 series CPUs key switch 2 14 ADD ADD_IOM 2 25 ADD_SIO 2 25 Addition function 4 27 Addition of I O module Alarm 3 2 Alarm error codes Alarm processor AND 4 49 ANY_FLT APL_FLT 2 25 Application fault 3 12 Application program logic scan 2 8 ARRAY_MOVE 4 87 ASIN 4 35 ATAN 4 35 BAD_PWD BAD_RAM 2 26 Base 10 logarithm function 4 37 Battery signal low Bit clear function 4 62 Bit operation functions 4 47 Bit position function 4 64 Bit sequencer function 4 80 Bit set function 4 62 Index Bit test function 4 60 BITSEQ 4 80 memory required BLKCLR 4 75 BLKMOV 4 73 Block clear function Block locking feature EDITLOCK 2 37 a subroutine 2 37 permanently locking VIEWLOCK 2 37 Boolean execution speed Block move function CFG_MM 2 2
21. ok Q Note For REAL data the only valid types are R AL and AQ e Valid reference or place where power may flow through the function Example In the following example whenever input 910002 is set the BCD 4 value in PARTS is converted to a signed integer and passed to the ADD function where it is added to the signed integer value represented by the reference RUNNING The sum is output by the ADD function to the reference TOTAL ES 10002 l I II BCD4_ ADD_ To_ INT INT _ RUNNING I2 PARTS IN Q R0001 R0001 11 Ql TOTAL Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K gt DINT REAL The Convert to Double Precision Signed Integer function is used to output the double precision signed integer equivalent of real data The original data is not changed by this function Note The REAL data type is only available on 350 and 360 series CPUs Release 9 or later or on all releases of CPU352 When the function receives power flow it performs the conversion making the result available via output Q The function always passes power flow when power is received unless the real value is out of range enable ok TO_ DINT value to be c
22. 10 address 11 Example output parameter block Read Date and Time in Packed ASCII Format Mon Oct 2 1989 at 23 13 00 0 3 39 38 31 20 20 30 32 30 32 20 3A 33 33 31 30 3A 20 30 32 30 GFK 0467K Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 SVCREQ 8 Reset Watchdog Timer Use SVCREQ function 8 to reset the watchdog timer during the sweep Note Of the CPUs discussed in this manual Service Request 8 is supported only by 90 30 CPUs beginning with Release 8 0 When the watchdog timer expires the PLC shuts down without warning This function allows the timer to keep going during a time consuming task for example while waiting for a response from a communications line Caution Be sure that restarting the watchdog timer does not adversely affect the controlled process This function has no associated parameter block however the programming software requires that an entry be made for PARM Enter any appropriate reference here it will not be used Example In the following example when enabling output 900127 or input 11476 or internal coil MO0010 is set the watchdog timer is reset Q0127 l lv SVC_ l REQ 11476 i CONST FNC 0008 M0010 AI001 PARM l l GFK 0467K Chapter 4 Series 90 30 20 Micro Instructions Set 4 149 4 150 SVCREQ 9 Re
23. 3511352 350 and 360 series see not 350 and 360 series see note Housekeeping e Calculate sweep time 0 279 e Schedule start of next sweep e Determine mode of next sweep e Update fault reference tables e Reset watchdog timer Data Input Input data is received from input and See Table 2 2 for scan time contributions option modules Program User logic is solved Execution time is dependent upon the length of the Execution program and the type of instructions used in the program Instruction execution times are listed in Appendix A Data Output Output data is sent to output and option See Table 2 2 for scan time contributions modules Service External Service requests from HHP 0 334 Devices programming devices and intelligent modules are processed 1 LM 90 0 517 pcm 2 0 482 Reconfiguration Slots with faulted modules and empty slots 0 319 are monitored 3 Diagnostics Verify user program integrity 0 010 per word checksummed each sweep The scan time contribution of external device service is dependent upon the mode of the communications window in which the service is processed If the window mode is LIMITED a maximum of 8 milliseconds for the 311 313 323 and 331 CPUs and 6 milliseconds for the 340 and higher CPUs will be spent during that window If the window mode is RUN TO COMPLETION a maximum of 50 ms can be spent in that window depending upon the numb
24. 4 Math functions operate on these types of data Data Type Description INT Signed integer DINT Double precision signed integer REAL Floating Point Note The REAL data type is only available on 350 and 360 series CPUs Release 9 or later or on all releases of CPU352 The default data type is signed integer however it can be changed after selecting the function For more information on data types please refer to chapter 2 section 2 Program Organization and User References Data If the operation of INT or DINT results in overflow the output reference is set to its largest possible value for the data type For signed numbers the sign is set to show the direction of the overflow If the operation does not result in overflow and the inputs are valid numbers the ok output is set ON otherwise it is set OFF If signed or double precision integers are used the sign of the result for DIV and MUL functions depends on the signs of I1 and I2 l enable ok INT l l input parameter 11 11 OQ output parameter Q l l input parameter 12 12 Chapter 4 Series 90 30 20 Micro Instructions Set 4 27 4 28 Parameters Parameter Description enable When the function is enabled the operation is performed n Il contains a constant or reference for the first value used in the operation 11 is on the left side of the mathematical equa
25. 4 91 Search less than function 4 91 Search less than or equal function 4 91 Search not equal function 4 91 Security system 2 36 locking unlocking subroutines 2 37 paa Pe privilege level Tes requests 2 37 privilege levels 2 36 Sequential Event Recorder 4 114 SER 4 114 14 SER function 4 114 Series 90 Micro PLC I O system Micro CPU and vo 2 43 Series 90 20 PLC I O system 2 38 model 20 I O modules Series 90 30 PLC I O system 2 38 default conditions for model 30 output modules diagnostic data global data T O data formats I O structure model 30 1 O modules 2 39 Service Request change read number of words to checksum 4143 change read time of day clock 4 145 clear fault tables 4 155 Fast Backplane Status Access 4 165 interrogate Vo 4 163 read elapsed power down time 4 164 Index Index read elapsed time clock read I O override status read last logged fault table entry 4 156 read master checksum shut down stop PLC Service request function Shift left function Shift register function 4 77 Shift right function 4 55 SHL 4 55 SHR 4 55 Signed integer 2 23 SIN 4 35 Sine function SNPX_RD SNPX_WT 2 25 SNPXACT Software failure option module 3 11 SQRT 4 33 Square root function 4 33 SRCH_EQ 4 91 SRCH_GE SRCH_GT SRCH_LE SRCH_LT Standard program sweep variations SUB Subroutine blo
26. 4 Day of the month 5 Month 6 Year GFK 0467K Appendix B Interpreting Fault Tables B 7 I O Fault Table The following diagram identifies the hexadecimal information displayed in each field in the fault entry 00 FF0000 00037F7FFF7F 0702 OF 00 00 010000000000027EF00B0301000000000000000000 Fault Specific Data Fault Description Fault Type Fault Category Fault Action Fault Group Point Block 1 O Bus Slot Rack Reference Address Long Short B 8 Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K GFK 0467K The following paragraphs describe each field in the 1 O fault table Included are tables describing the range of values each field may have Long Short Indicator This byte indicates whether the fault contains 5 bytes or 21 bytes of fault specific data Table B 7 1 0 Fault Table Format Indicator Byte Type Code Fault Specific Data Short 02 5 bytes Long 03 21 bytes Reference Address Reference address is a three byte address containing the I O memory type and location or offset in that memory which corresponds to the point experiencing the fault Or when a Genius block fault or integral analog module fault occurs the reference address refers to the first point on the block where the fault occurred Table B 8 1 0 Reference Address Byte Description Range 0 Memory Type 0 FF 1 2 Offset 0
27. CPU Refer to Table A 1 Instruction Timing for specific timing information The figure used in this calculation 89 microseconds represents the average of the add subtract shift used in the example Housekeeping The housekeeping portion of the sweep performs all of the tasks necessary to prepare for the start of the sweep If the PLC is in CONSTANT SWEEP mode the sweep is delayed until the required sweep time elapses If the required time has already elapsed the OV_SWP SA0002 contact is set and the sweep continues without delay Next timer values hundredths tenths and seconds are updated by calculating the difference from the start of the previous sweep and the new sweep Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K time In order to maintain accuracy the actual start of sweep is recorded in 100 microsecond increments Each timer has a remainder field which contains the number of 100 microsecond increments that have occurred since the last time the timer value was incremented Input Scan Scanning of inputs occurs during the input scan portion of the sweep just prior to the logic solution During this part of the sweep all Model 30 input modules are scanned and their data stored in l discrete inputs or Al analog inputs memory as appropriate Any global data input received by a Genius Communications Module an Enhanced Genius Communications Module or a Genius
28. Floating point numbers are represented in decimal scientific notation with a display of six significant digits Note In this manual the terms floating point and real are used interchangeably to describe the floating point number display entry feature of the programming software The following format is used For numbers in the range 9999999 to 0001 the display has no exponent and up to six or seven significant digits For example 000123456789 0001234567 Ten digits six or seven significant 12 345e 2 1234500 Seven digits six or seven significant 1234 1234 000 Seven digits six or seven significant GFK 0467K E 1 E 2 Outside the range listed above only six significant digits are displayed and the display has the form 1 23456E 12 Pl Exponent signed power of 10 Exponent indicator and sign of exponent Five less significant digits Decimal point Most significant digit Sign of the entire number Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K Internal Format of Floating Point Numbers Floating point numbers are stored in single precision IEEE standard format This format requires 32 bits which translates to two adjacent 16 bit PLC registers The encoding of the bits is diagrammed below Bits 17 32________ pg _ Bits1i16_________ gt O E a a ae PEE 23 bit mantissa
29. Goto STOP mode Diagnostic Log fault in fault table Set fault references Informational Log fault in fault table When a fault is detected the CPU uses the fault action for that fault Fault actions are not configurable in the Series 90 30 PLC Series 90 20 or the Series 90 Micro PLC Fault References Fault references in the Series 90 30 are of one type fault summary references Fault summary references are set to indicate what fault occurred The fault reference remains on until the PLC is cleared or until cleared by the application program An example of a fault bit being set and then clearing the bit is shown in the following example In this example the coil light_01 is turned on when an oversweep condition occurs the light and the OV_SWP contact remain on until the 10359 contact is closed ov_swp I sI0359 I Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K Fault Reference Definitions The alarm processor maintains the states of the 128 system discrete bits in S memory These fault references can be used to indicate where a fault has occurred and what type of fault it is Fault references are assigned to S SA SB and SC memory and they each have a nickname These references are available for use in the application program as required Refer to Chapter 2 System Operation for a list of the system status references A
30. Low Battery fault I O Fault Table Display The I O Fault Table screen displays I O faults such as circuit faults address conflicts forced circuits and I O bus faults GFK 0467K Chapter 3 Fault Explanation and Correction 3 5 The programming software may be in any operating mode If the programming software is in OFFLINE mode no faults are displayed In ONLINE or MONITOR mode I O fault data is displayed In ONLINE mode faults can be cleared this feature may be password protected Once cleared faults which are still present are not logged again in the table Accessing Additional Fault Information 3 6 The fault tables contain basic information regarding the fault Additional information pertaining to each fault can be displayed through the programming software In addition the programming software can provide a hexadecimal dump of the fault The last entry Correction for each fault explanation in this chapter lists the action s to be taken to correct the fault Note that the corrective action for some of the faults includes the statement Display the PLC Fault Table on the Programmer Contact GE Fanuc Field Service giving them all the information contained in the fault entry This second statement means that you must tell Field Service both the information readable directly from the fault table and the hexadecimal information Field Service personnel will then give you further instructions for the appropriate action t
31. OFF 0 Example The following example shows a rung with 10 elements having nicknames from El to E10 Coil E10 is ON when reference El E2 E5 E6 and E9 are ON and references E3 E4 E7 and E8 are OFF El E2 E3 E4 E5 E6 E7 E8 E9 E10 i 1 171 171 1 1 171 171 1 C A coil sets a discrete reference ON while it receives power flow It is non retentive therefore it cannot be used with system status references SA SB SC or G Example In the following example coil E3 is ON when reference El is ON and reference E2 is OFF El E2 E3 ay a Negated Coil 4 4 A negated coil sets a discrete reference ON when it does not receive power flow It is not retentive therefore it cannot be used with system status references SA SB SC or G Example In the following example coil E3 is ON when reference El is OFF El E2 A Ba E2 E3 on Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K Retentive Coil M Like a normally open coil the retentive coil sets a discrete reference ON while it receives power flow The state of the retentive coil is retained across power failure Therefore it cannot be used with references from strictly non retentive memory T Negated Retentive Coil M The negated retentive coil sets a discrete reference ON when it does not receive
32. PA 10002 Q1432 l m _ _ _ __ __QQuUOu II i Oe TO_ BCD4 I0017 IN Q Q0033 4 96 Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K gt INT BCD 4 REAL The Convert to Signed Integer function is used to output the integer equivalent of BCD 4 or REAL data The original data is not changed by this function Note The REAL data type is only available on 350 and 360 series CPUs Release 9 or later or on all releases of CPU352 When the function receives power flow it performs the conversion making the result available via output Q The function always passes power flow when power is received unless the data is out of range enable ok TO_ INT value to be converted IN 0Q output parameter Q Parameters Parameter Description enable When the function is enabled the conversion is performed IN IN contains a reference for the BCD 4 REAL or Constant value to be converted to integer ok The ok output is energized whenever enable is energized unless the data is out of range or NaN Not a Number Q Output Q contains the integer form of the original value in IN GFK 0467K Chapter 4 Series 90 30 20 Micro Instructions Set 4 97 4 98 Valid Memory Types Parameter flow I Q M T S G R WAI AQ const none enable IN
33. Q M or G memory S0013 PRG_CHK Set when background program check is active S0014 PLC_BAT Set to indicate a bad battery in a Release 4 or later CPU The contact reference is updated once per sweep Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K GFK 0467K Table 2 6 System Status References Continued Reference Name Definition S0017 SNPXACT SNP X host is actively attached to the CPU S0018 SNPX_RD SNP X host has read data from the CPU S0019 SNPX_WT SNP X host has written data to the CPU S0020 Set ON when a relational function using REAL data executes successfully It is cleared when either input is NaN Not a Number S0032 Reserved for use by the programming software SA0001 S A0002 PB_SUM OV_SWP Set when a checksum calculated on the application program does not match the reference checksum If the fault was due to a temporary failure the discrete bit can be cleared by again storing the program to the CPU If the fault was due to a hard RAM failure the CPU must be replaced Set when the PLC detects that the previous sweep took longer than the time specified by the user Cleared when the PLC detects that the previous sweep did not take longer than the specified time It is also cleared during the transition from STOP to RUN mode Only valid if the PLC isin CONSTANT SWEEP mode SA000
34. R0099 is loaded with the value 10 which is the function code for the Read Folder Name function The Program Block READ_ID is then called to actually retrieve the folder name The parameter block is located at address RO100 READ_ID is also used in the next example SI0001 210301 T 210301 is UA MOVE_ READ_ID WORD CONST IN QI R0099 0010 LEN 0001 Program Block READ_ID I0102 SVE REO SRO099 FNC R0100 PARM Chapter 4 Series 90 30 20 Micro Instructions Set 4 151 SVCREQ 11 Read PLC ID Use SVCREQ function 11 to read the name of the Series 90 PLC executing the program Note Of the CPUs discussed in this manual Service Request 11 is supported only by 90 30 CPUs beginning with Release 8 0 The output parameter block has a length of four words It returns eight ASCII characters the last is a null character 00h If the PLC ID has fewer than seven characters null characters are appended to the end Low Byte High Byte Example In the following example when enabling input 910001 transitions off register location R0099 is loaded with the value 11 which is the function code for the Read PLC ID function The program block READ_ID is then called to actually retrieve the ID The parameter block is located at address RO100 Except for the enabling contact and function number this is the same code used in the previous example
35. Special Note on Certain Bit Operations When using the Bit Test Bit Set Bit Clear or Bit Position function the bits are numbered through 16 NOT 0 through 15 as shown above Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K ONDTR A retentive on delay timer ONDTR increments while 1t receives power flow and holds its value when power flow stops Time may be counted in tenths of a second the default selection hundredths of a second or thousandths of a second The range is O to 32 767 time units The state of this timer is retentive on power failure no automatic initialization occurs at power up When the ONDTR first receives power flow it starts accumulating time current value When this timer is encountered in the ladder logic its current value is updated Note If multiple occurrences of the same timer with the same reference address are enabled during a CPU sweep the current values of the timers will be the same When the current value equals or exceeds the preset value PV output Q is energized As long as the timer continues to receive power flow it continues accumulating until the maximum value is reached Once the maximum value is reached it is retained and output Q remains energized regardless of the state of the enable input a42931 ENABLE _ Ld L RESET A AE Q I A B c D E FG H A ENABLE goes high timer starts accumulating B CV reaches PV Q g
36. being exchanged within the system Error Code 5A Name User Shut Down Requested Description The PLC operating software function blocks generates this informational alarm when Service Request 13 User Shut Down executes in the application program Correction None required Information only alarm 3 12 Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K No User Program Present The Fault Group No User Program Present occurs when the PLC CPU is instructed to transition from STOP to RUN mode or a store to the PLC and no user program exists in the PLC The PLC CPU detects the absence of a user program on power up The fault action for this group is Informational Correction Download an application program before attempting to go to RUN mode Corrupted User Program on Power Up The Fault Group Corrupted User Program on Power Up occurs when the PLC CPU detects corrupted user RAM The PLC CPU will remain in STOP mode until a valid user program and configuration file are downloaded The fault action for this group is Fatal Error Code 1 Name Corrupted User RAM on Power Up Description The PLC operating software operating software generates this error when it detects corrupted user RAM on power up Correction 1 Reload the configuration file user program and references if any 2 Replace the battery on the PLC CPU 3 Replace the expansion memory board on the PLC CPU
37. 1 Chapter 2 GFK 0467K Contents System Op ration Aa 2 1 Section 1 PLC Sweep Summary se ssesesocesoocssoccssecesocescoecoocesocessocesooesoosessesssee 2 2 Standard Program S Weep erse eda aaa e ieena nono eea erisa 2 2 Sweep Time CalculatiOn ioniii nidad dice 2 6 FIOUSEK CC PIN ii ia 2 6 Jnput Se n ii aii eA Lea A ees 2 7 Application Program Logic Scan or Solution eee eee cseereeeeeeeeeeeeeeeeeneeeseenaees 2 8 A eect seca sk sods pesdinds sash siaessehasteshee beasts iespatsenadtesiseesssuands 2 9 Logic Program Checksum CalculatiON ooonocnnncnonnnoncconoconccononononnnonnn nan non cnnncn nc co necnnoos 2 9 Programmer Communications WiNdOW ooonoccnoccnocononononaconnconnnnnn nono nono nonn nono conocio nn ncnnnccnne ns 2 9 System Communications Window Models 331 and Higher ooooonncnnnnnnccnncnnnnnnncncnnnss 2 10 PCM Communications with the PLC Models 331 and Higher ooonoccnnnccninoccnincccnnnnns 2 12 Standard Program Sweep Variations ooonoccnoccnocnnocnnonncooncnnnonn nono noconccnn cnn ncnnn cnn cra cra crias 2 13 Constant Sweep Time MOdE cocoooconnconocnnocnnooncnnnconnconnconnccnnocnnncnnncnnncnnn conc rra conc eroi 2 13 PLC Sweep When in STOP Mode cocooocccoccnoccnoccnonoconcconoconoconoconccnnncnnnnnnn cra nonn cra cnn 2 13 Communication Window Modes cesscecesecessseceeseeceeeeeesaeceeaaeceeaeeceeeeesaeceeaeeesaes 2 14 Key Switch on 350 and 360 Series CPUs Change Mode and Flash Protect
38. 111 Outp tExample divinidad de 4 112 Output Example 2 con e entities 4 112 Enhanced DO I O Function for 331 and Later CPUS oooconccocccoconocanaconancnanconocnnos 4 113 SER hes Leh a A A ada 4 114 AI A O 4 114 Valid Memory Types nesepi E E E 4 114 Status Extra Dil acosan T E E a 4 117 SER Data Blocks 4 118 SER Notes a MGA ean MR RAS 4 118 Example Sh ie Rees Sel eee Saas Baie heer 4 120 Data Block iia 4 122 O NA NN 4 123 Example ed hae enilnteie ales ae apes 4 123 MER A CoG LS I cE ea a EE ees 4 124 Differences Between MCRs and JUMPS ococoocccoconoconnncnnnnonnnanonnnconocnocnnccnnonnos 4 125 Examplernsi aia cd 4 126 ENDMER ee e paa e ee N E NEES A Cees 4 127 Explica 4 127 JUMP td a a 4 128 Example it 4 129 LABEL E E aa ado latte eset ad E eo Noa 4 130 Example e 4 130 COMMENT tc a E A A A EAA NANCE a gA 4 131 SMERE O A a 4 132 PM ta 4 133 Valid Memory A eeens ea a anen e ER rae eS 4 133 Example a T cid sete 4 133 SVCREQ 1 Change Read Constant Sweep Timer oooooonncccoconocononaconoconccnnncnanannss 4 134 Example ido 4 136 Contents xiii Contents SVCREQ 2 Read Window Values ooooccnnocccconoocconononcnnonononnnocnonnnccnnnnncccnnnannnoos 4 137 SVCREQ 3 Change Prog Communications Window Mode amp Timer Value 4 139 Example O ON 4 140 SVCREQ 4 Change System Comm Window Mode and Timer Value 4 141 SVCREQ 6 Change Read Number of Words to Checksum oooconocncccconoconaconoss 4 143 To Read the C
39. 1998 GFK 0467K GFK 0467K For functions which operate on tables a length can be selected for the function In the following function block a string length of up to 256 words can be selected for the logical AND function enable AND ok Timer counter BITSEQ and ID functions require an address for the location of three words registers which store the current value preset value and a control word or Instance of the function ONDTR Q 1 00s reset R address Power Flow In and Out of a Function Power flows into a function block on the upper left Often enabling logic is used to control power flow to a function block otherwise the function block executes unconditionally each CPU sweep Enabling logic Power flow into the function Power flow out of the function 00001 C A Displays state of reference CONST 12 00002 Note Function blocks cannot be tied directly to the left power rail You can use S7 the ALW_ON always on bit with a normally open contact tied to the power rail to call a function every sweep Power flows out of the function block on the upper right It may be passed to other program logic or to a coil optional Function blocks pass power when they execute successfully Chapter 2 System Operation 2 29 Section 3 Power Up and Power Down Sequences There are two possible power up sequences in t
40. 30 20 Micro Instruction Set describes programming instructions available for Series 90 30 PLCs Series 90 20 PLCs Series 90 Micro PLCs The information in this chapter is arranged as sections that correspond to the main program function groups Appendix A Instruction Timing lists the memory size in bytes and execution time in microseconds for each programming instruction Memory size is the number of bytes required by the function in a ladder diagram application program iii Preface Appendix B Interpreting Fault Tables describes how to interpret the message structure format when reading the fault tables using Logicmaster 90 30 20 Micro software Appendix C Instruction Mnemonics lists mnemonics that can be typed to display programming instructions while searching through or editing a program Appendix D Key Functions lists the special keyboard assignments used for the Logicmaster 90 30 20 Micro software Appendix E Using Floating Point Numbers describes special considerations for using floating point math operations Related Publications Logicmaster 90 Series 90 30 20 Micro Programming Software Users Manual Logicmaster 90 Series 9030 and 9020 Important Product Information Series 901M30 Programmable Controller Installation Manual Series 901M 20 Programmable Controller Installation Manual GFK 0551 Series 90 30 I O Module Specifications Manual GFK 0898 Series 90 Programmable Coprocessor Module and Suppo
41. 4 22 function data 4 9 UPCTR CPU sweep CTRL keys D Data move functions 4 69 BITSEQ 4 80 BLKCLR BLKMOV COMMREQ 4 83 MOVE 4 70 SHFER 4 77 Data retentiveness 2 21 Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 Defaults conditions for model 30 output modules 2 41 pec 4 39 Diagnostic data 2 41 Diagnostic faults 3 4 addition of I O module 3 18 application fault 3 12 constant sweep time exceeded 3 12 loss of I O module 3 17 loss of or missing option module 3 8 low battery signal 3 11 reset of addition of or extra option module MESES Discrete references discrete inputs 2 20 discrete internal 2 20 discrete outputs discrete temporar global data 2 21 system references 3 5 system status 2 21 2 24 DIV 4 27 Division function 4 27 DNCTR 4 22 Do I O function 4 109 enhanced DO I O function for model 331 and higher CPUs 4 113 DOIO enhanced DOJO for model 331 and higher CPUs 4 113 Double precision signed integer 2 23 Down counter 4 22 EDITLOCK 2 37 Elapsed time clock 2 34 END 4123 End function 4 123 End master control relay function 4 127 ENDMCR 4 127 Enhanced DO I O function for the model 331 and higher CPUs 4 113 ro Ea E qual function 4 41 Error codes B 5 GFK 0467K EXP 4 37 Exponential iio power of e power of EXPT 4 37 Exte
42. CPUs as noted on previously os 390014 I II MOVE_ WORD M0001 IN Q M0033 00003 LEN Before using the Move function INPUT 9 M0001 through M0048 1 amoois Tf i i foo fo Tol fifi 1 o o oo mosz o o o o hi fifi fi fo o to o i ff wos hhh bbb bh bbb bpp After using the Move function INPUT M0033 through M0080 33 remooss 1 1 a fi o fo fo fo i fifi i fo fo Jo Jo remoo s o o o fo fifi ifi fo fo fo fo fa a fifi remooso 1 1 fi a a fa a fa fa fa fa fi Jt J Jt J Example 2 In this example whenever I0001 is set the three bits M0001 M0002 and 9 M0003 are moved to M0100 M0101 and M0102 respectively Coil Q0001 is turned on a 10003 200001 _ _ a _a amm _ _ m a m yo BIT M0001 IN Q 2M0100 LEN 100003 Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K BLKMOV GFK 0467K INT WORD REAL Use the Block Move BLKMOV function to copy a block of seven constants to a specified location Note The REAL data type is only available on 350 and 360 series CPUs Release 9 or later or on all releases of CPU352 The BLKMOV function has eight input parameters and two output parameters When the function receives power flow it copies the constant value
43. Controllers Reference Manual September 1998 GFK 0467K Table 4 5 PID Parameters Details Continued Data Item Description CV Upper and INT values in CV Counts that define the highest and lowest value for CV These values are required and Lower Clamps the Upper Clamp must have a more positive value than the Lower Clamp or the PID block will not work 09 10 These are usually used to define limits based on physical limits for a CV output They are also used to scale the Bar Graph display for CV for the LM90 or ADS PID display The block has anti reset windup to modify the integrator value when a CV clamp is reached Minimum Slew A positive value to define the minimum number of seconds for the CV output to move from 0 to full travel Time 11 of 100 or 32000 CV Counts It is an inverse rate limit on how fast the CV output can be changed If positive CV can not change more than 32000 CV Counts times Delta Time seconds divided by Minimum Slew Time For example if the Sample Period was 2 5 seconds and the Minimum Slew Time is 500 seconds CV can not change more than 32000 2 5 500 or 160 CV Counts per PID solution As with the CV Clamps there is an anti windup feature that adjusts the integrator value if the CV rate limit is exceeded If Minimum Slew Time is 0 there is no CV rate limit Make sure you set Minimum Slew Time to 0 while you are tuning or adjusting PID loop gains Config Word The low 5 bits of this word are use
44. Diagnostic 21 15 TVO fault table full Diagnostic 22 16 User Application fault Diagnostic Additional PLC fault codes As specified 128 80 System bus failure Fatal 129 sl No user s program on power up Informational 130 82 Corrupted user RAM detected Fatal 132 84 Password access failure Informational 135 87 PLC CPU software failure Fatal 137 89 PLC sequence store failure Fatal Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K Fault Action Each fault may have one of three actions associated with it These fault actions are fixed on the Series 90 30 PLC and cannot be changed by the user Table B 2 PLC Fault Actions Fault Action Action Taken by CPU Code Informational Log fault in fault table 1 Diagnostic Log fault in fault table 2 Set fault references Fatal Log fault in fault table 3 Set fault references Go to STOP mode Error Code The error code further describes the fault Each fault group has its own set of error codes Table B 3 shows error codes for the PLC Software Error Group Group 87H Table B 3 Alarm Error Codes for PLC CPU Software Faults Decimal Hexadecimal Name 20 14 Corrupted PLC Program Memory 39 27 Corrupted PLC Program Memory 82 52 Backplane Communications Failed 90 SA User Shut Down Requested All others PLC CPU Internal System Error GFK 0467K Appendix B Interpreting Fault Tables B 5
45. Eei eet 4 173 Table 4 4 PID Parameters Overview Continued c cccccsscccesssececeessececsesnececesaeeecseaeeecseeseeeesesneeeenees 4 174 Fable 4 5 PID Parameters Details marione nenene di evedeeen ont indl idas tao 4 176 Table 4 5 PID Parameters Details Continued oooonoccnoccnocononoconoconoconoconccnnnconn nono nono nonn conan rana conan nn nc rn nccnne ns 4 177 Table 4 5 PID Parameters Details Continued 200 0 cccceeccecesecessseceeaeeceeeeeeaeceeaaeceeaeeceeeeeaeeeeaaeeenees 4 178 Table Acis Instruction MIA A aa a a A ide A 2 Table A 1 Instruction Timing Continued c oooonnocnnocononononoconoconononnnnnncnnn cono nono nono nono nr non cnn nono naco n econ nc nc cnn nannnnnnnes A 3 Table A 1 Instruction Timing Continued 0 00 0 ce eescesecsseceseceseeeseeeeeeeeseeeaeecsaecsaecsaecsaeceseeseeeseeseeeseneeeaes A 4 Table A 1 Instruction Timing Continued 0 2 cece ceseceseceseceseceseeeseeesneesseeeseecsaecsaecsaecaecsseesseeeseeeseeeeneeeaee A 5 Table A 1 Instruction Timing Continued 20 0 0 ce eesceseceseceseceseeesceseseeeseeeseecsaecsaecsaecsaeenseceseeeseeeseeesneeeaes A 6 Table A 1 Instruction Timing Continued 0 0 cece cescesecssecsseceseeeseessseeeseeeseecaaecsaeceaecaecsseeeseeeseeseeeeeeeeeaes A 7 Table A 1 InstructionTiming Continued 0 eee eesecesccsseceseceseeeeceeeseseseeeseecaaecsaecsaecsseceseesseeeseeseneeeneeeaee A 8 Table A 1 Instruction Timing Continueed 2 0 00 cece cesecesecsseceseeeseeee
46. Fault Specific Data Decimal Number Hex Code Description Circuit Configuration 1 Circuit is an input tristate 2 Circuit is an input 3 Circuit is an output Fault Actions for Specific Faults Forced unforced circuit faults are reported as informational faults All others are diagnostic or fatal The model number mismatch I O type mismatch and non existent I O module faults are reported in the PLC fault table under the System Configuration Mismatch group They are not reported in the VO fault table GFK 0467K Appendix B Interpreting Fault Tables B 11 1 0 Fault Time Stamp The six byte time stamp is the value of the system clock when the fault was recorded by the PLC CPU Values are coded in BCD format Table B 13 1 0 Fault Time Stamp Byte Number Description 1 Seconds 2 Minutes 3 Hours 4 Day of the month 5 Month 6 Year B 12 Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K Appendix Instruction Mnemonics C In Program Display Edit mode you can quickly enter or search for a programming instruction by typing the ampersand 4 character followed by the instruction s mnemonic For some instructions you can also specify a reference address or nickname a label or a location reference address This appendix lists the mnemonics of the programming instructions for Logicmaster 90 30 20 Micro programming software The complete mnemo
47. Floating Point OperatiONS oconnnonncnnoccconoconnconncnonaconnconncnn nono ncnn ccoo ncnnnccnnno E 7 xviii Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K Chapter 1 GFK 0467K Introduction The Series 90 30 90 20 and Micro PLCs are members of the GE Fanuc Series 90 family of Programmable Logic Controllers PLCs They are easy to install and configure offer advanced programming features and are compatible with the Series 90 70 PLC The Series 90 20 PLC provides a cost effective platform for low I O count applications The primary objectives of the Series 90 20 PLC are as follows e To provide a small PLC that is easy to use install upgrade and maintain e To provide a cost effective family compatible PLC e To provide easier system integration through standard communication hardware and protocols The Series 90 Micro PLC also provides a cost effective platform for lower I O count applications The primary objectives of the Micro PLC are the same as those for the Series 90 20 In addition the Micro offers the following e The Micro PLC has the CPU power supply inputs and outputs all built into one small device e Most models also have a high speed counter e Because the CPU power supply inputs and outputs all built into one device it is very easy to configure The software structure for the Series 90 30 PLC except the 350 and higher models and Series 90 20 PLC uses an
48. In the following example the shift register operates on register memory locations 9 R0001 through RO0100 When the reset reference CLEAR is active the shift register words are set to zero When the NXT_CYC reference is active and CLEAR is not active the word from output status table location Q0033 is shifted into the shift register at R0001 The word shifted out of the shift register from RO100 is stored in output MO0005 NXT_CYC ct taa N WORD CLEAR I I IR O M0005 LEN 00100 090033 IN RO001 ST Example 2 In this example the shift register operates on memory locations MO0001 through MO0100 When the reset reference CLEAR is active the SHFR function fills M0001 through M0100 with Zeros When NXT_CYC is active and CLEAR is not the SHFR function shifts the data in M0001 to MO0100 down by one bit The bit in Q0033 is shifted into M0001 while the bit shifted out of MO100 is written to MO0200 NXT_CYC SHFR_ BIT CLEAR I I IR QI M0200 LEN 00100 Q0033 IN sMOOO01 sT Chapter 4 Series 90 30 20 Micro Instructions Set 4 79 BITSEQ BIT The Bit Sequencer BITSEQ function performs a bit sequence shift through an array of bits The BITSEQ function has five input parameters and one outpu
49. Micro Instructions Set Programming consists of creating an application program for a PLC Because the Series 90 30 90 20 and Series 90 Micro PLCs have a common instruction set all three can be programmed using this software This chapter describes the programming instructions that may be used to create ladder logic programs for the Series 90 30 and Series 90 20 programmable controllers If Logicmaster 90 30 20 Micro programming software is not yet installed please refer to the Programming Software User s Manual GFK 0466 for instructions The user s manual explains how to create transfer edit and print programs Configuration is the process of assigning logical addresses as well as other characteristics to the hardware modules in the system It may be done either before or after programming using the configuration software or Hand Held Programmer however it is recommended that configuration be done first If that has not been done you should refer to the Programming Software User s Manual GFK 0466 to decide whether it is best to begin programming at this time This chapter contains the following sections Section Title Description Page 1 Relay Functions Describes contacts coils and links 4 2 2 Timers and Describes on delay and stopwatch type timers up counters 4 9 Counters and down counters 3 Math Functions Describes addition subtraction multiplication division 4 26 mod
50. No logic beyond the END function is executed and control is transferred to the beginning of the program for the next sweep The END function is useful for debugging purposes because it prevents any logic which follows from being executed Logicmaster programming software provides an END OF PROGRAM LOGIC marker to indicate the end of program execution This marker is used if no END function is programmed in the logic Example In the following example an END is programmed to terminate the end of the current sweep STOP END Note Placing an END function in SFC logic or in logic called by SFC produces an END Function Executed from SFC Action fault in Release 7 or later CPUs In pre Release 7 CPUs it did not work correctly but no Fault was generated For information about this fault refer to the System Configuration Mismatch part of Chapter 3 Section 2 GFK 0467K Chapter 4 Series 90 30 20 Micro Instructions Set 4 123 MCR All rungs between an active Master Control Relay MCR and its corresponding End Master Control Relay ENDMCR function are executed without power flow to coils An ENDMCR function associated with the MCR is used to resume normal program execution Unlike the JUMP instruction MCRs can only occur in the forward direction The ENDMCR instruction must appear after its corresponding MCR instruction in a program Logicmaster 90 30 20 Micro software supports two forms of the MCR function a
51. Non configurable set and maintained by the PLC Tracks CV out PV 17 Non configurable set and maintained by the PLC Tracks PV in must be set externally if Override bit 1 Output 18 Non configurable set and maintained by the PLC This is a signed word value representing the output of the function block before the application of the optional inversion If no output inversion is configured and the output polarity bit in the control word is set to 0 this value will equal the CV output If inversion is selected and the output polarity bit is set to 1 this value will equal the negative of the CV output Diff Term Used internally for storage of intermediate values Do not write to this location Storage 19 Int Term Used internally for storage of intermediate values Do not write to this location Storage 20 21 Slew Term Used internally for storage of intermediate values Do not write to this location Storage 22 Clock 23 25 Internal elapsed time storage time last PID executed Do not write to these locations Y Remainder 26 Holds remainder for integrator division scaling for 0 steady state error Lower and Optional INT values in PV Counts that define the highest and lowest display value for Upper Range the SP and PV Logicmaster Zoom key horizontal bar graph and ADS PID faceplate 27 28 display Reserved 29 34 29 34 are reserved for internal use 35 39 are reserved for external use They are and 35 39 reserved for GE Fanuc use a
52. Note SVCREQ 18 reports only overrides of I and Q references Example In the following example the status of I O overrides is always read into location R1003 If any overrides are present output T0001 is set on A 1I0001 ee REQ INT l l l T0001 CONST FNC CONST I1 Q AAA 00018 00001 R1003 PARM R1003 I2 Chapter 4 Series 90 30 20 Micro Instructions Set 4 161 SVCREQ 23 Read Master Checksum Use SVCREQ function 23 to read the master checksums for the user program and the configuration The SVCREQ output is always set to ON if the function is enabled and the output block of information see below starts at the address given in parameter 3 PARM of the SVCREQ function When a RUN MODE STORE is active the program checksums may not be valid until the store is complete Therefore two flags are provided at the beginning of the output parameter block to indicate when the program and configuration checksums are valid For this function the output parameter block has a length of 12 words with this format Master Program Checksum Valid 0 not valid 1 valid address Master Configuration Checksum Valid 0 not valid 1 valid address 1 Number of Program Blocks including MAIN address 2 Size of User Program in Bytes DWORD data type address 3 Program Additive Checksum address 5 Program CRC Ch
53. PLC will alternate among the three windows for a time equal to the sum of each window s respective time value If one window is placed in CONSTANT mode the remaining two windows are automatically placed in CONSTANT mode If the PLC is operating in CONSTANT WINDOW mode and a particular window s execution time is not defined using the associated SVCREQ function the default time for that window is used in the constant window time calculation 1 Run to Completion 2 Regardless of the window time associated with a particular Mode window whether default or defined using a service request function the window will run until all tasks within that window are completed A window is disabled when the time value is zero The parameter block has a length of three words High Byte Low Byte All parameters are output parameters It is not necessary to enter values in the parameter block to program this function Output values for all three windows are given in milliseconds GFK 0467K Chapter 4 Series 90 30 20 Micro Instructions Set 4 137 Example In the following example when enabling output Q0102 is set the PLC operating system places the current time values of the three windows in the parameter block starting at location R5010 Additional examples showing the Read Window Values function are included in the next three SYS REQ function descriptions 200102 1 I Sve REQ CONST FNC 0002 R5010 PARM
54. RESULT _ 10001 I I II AND WORD WORD1 I1 Q RESULT WORD2 12 an WORD1 0 0 0 1 1 1 1 0 1 0 0 0 WORD2 1 1 0 1 1 0 0 0 1 1 1 1 RESULT 0 0 0 1 1 0 0 0 1 0 0 0 Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K XOR WORD The Exclusive OR XOR function is used to compare each bit in bit string I1 with the corresponding bit in string 12 If the bits are different a 1 is placed in the corresponding position in the output bit string Each scan that power is received the function examines each bit in string I1 and the corresponding bit in string 12 beginning at the least significant bit in each For each two bits examined if only one is 1 then a is placed in the corresponding location in bit string Q The XOR function passes power flow to the right whenever power is received Tf string 12 and output string Q begin at the same reference a 1 placed in string I1 will cause the corresponding bit in string I2 to alternate between 0 and 1 changing state with each scan as long as power is received Longer cycles can be programmed by pulsing the power flow to the function at twice the desired rate of flashing the power flow pulse should be one scan long one shot type coil or self resetting timer The XOR function is useful for quickly comparing two bit strings
55. Table 2 2 I O Scan Time Contributions for the 90 30 350 and 360 Series in milliseconds 2 5 Table 2 3 Register References pedal ai Aia 2 20 Fable 2 4 Discrete R ferences circa alada 2 20 Table 2 4 Discrete References Continued cee eccececsseceeseceeseeeeaeceeseceeaceceeeeeueeceeaeeceeeeseeensaeceeaeeesaes 2 21 Table 2 5 Data Types mareei enint AA E WU sade tts teen ACI Aa 2 23 Table 2 6 System Status References ceecesecssecesseceseceseceseeesaecsaecaecaeecsaecsaecsaeeseesseeseaeeeaeeeaeeseneeeaes 2 24 Table 2 6 System Status References Continued eee eseeseesceceseeeseeesecesecsseceseeseeesseeceeeeseesseeseneeeaes 2 25 Table 2 6 System Status References Continued eee eseeseeseeceeeeseecseceseceseeeeceseesseeceeeseeeeseeseneeeaes 2 26 Table 2 7 Model 30 I O Modules Continued 20 0 0 cceecceesseceeceeesseceeseceeaeeceeeeeaeceeaaecceeeeeeecesaeceeaeeeaes 2 40 Table 2 7 Model 30 I O Modules Continued ooooonccnnoccnoconocononcnoncnnnnnono non anno nono nocnnocnnncnn cnc nn cnn race rna cra cnn 2 41 Table 3 1 Failt Summary coi iia An side Jeena d a 3 3 Tables Fault ACHONS are ao e A O AO N AE E wae Ue ds ce 3 4 Table 4 1 TIDES OL Contacts 0 A ee 4 2 Tabl 4 2 Types t Collin aca ies 4 3 Table 4 3 Service Request FUnctions 0 cece eecesseeeseesseeseceeeseessecesecesecsseeeseeesaecsseeeseeesaeeaeecaaecsaecnaeeenaees 4 132 Table 4 4 PID Parameters Overview sonerii ee A EKON E LEE O oP a
56. Table B 4 shows the error codes for all the other fault groups Table B 4 Alarm Error Codes for PLC Faults Decimal Hexadecimal Name PLC Error Codes for Loss of Option Module Group 44 2C Option Module Soft Reset Failed 45 2D Option Module Soft Reset Failed 255 FF Option Module Communication Failed Error Codes for Reset of Addition of or Extra Option Module Group 2 2 Module Restart Complete All others Reset of Addition of or Extra Option Module Error Codes for Option Module Software Failure Group 1 1 Unsupported Board Type 2 COMREQ mailbox full on outgoing message that starts the COMREQ 3 3 COMREQ mailbox full on response 5 5 Backplane Communications with PLC Lost Request 11 B Resource alloc tbl ovrflw etc error 13 D User program error 401 191 Module Software Corrupted Requesting Reload Error Codes for System Configuration Mismatch Group 8 8 Analog Expansion Mismatch 10 A Unsupported Feature 23 17 Program exceeds memory limits Error Codes for System Bus Error Group All others System Bus Error Error Codes for Program Block Checksum Group 3 3 Program or program block checksum failure Error Codes for Low Battery Signal 0 0 Failed battery on PLC CPU or other module 1 1 Low battery on PLC CPU or other module Error Codes for User Application Fault Group 2 2 PLC Watchdog Timer Timed Ou
57. Time Format parameter in the Control Block This value is initialized to zero upon activation of the reset Boolean input 6 to end Sample Buffer The area of memory that holds the data samples This area is set to samp buff zero when the reset parameter is energized The sample buffer size varies depending on the number of channels and sample size The sample buffer is a circular buffer when the last location is written the next sample will overwrite the sample in the first register end of sample buffer 5 of samples to be taken of channels to be sampled 8 1 2 SER Notes e The Control Block of the SER function block is scanned every time the function block is executed in the Reset Active or Triggered State If the user changes one of the configuration parameters in the Control Block during program execution the change will take effect the next time the SER function block associated with that Control Block is scanned If an error is encountered operation will be stopped and the function block will go to the appropriate error state The user must correct the error and then reset the function block enable the Reset input power flow to begin sampling again e The SER function block must be reset enable the Reset input power flow before sampling is started Resetting will initialize the data block area If the function block status is not reset then it will execute with the current values in the data
58. _ Parameters Parameter Description enable When the function is enabled the array is cleared IN IN contains the first word of the array to be cleared ok The ok output is energized whenever the function is enabled LEN LEN must be between 1 and 256 words GFK 0467K Chapter 4 Series 90 30 20 Micro Instructions Set 4 75 Valid Memory Types Parameter flow I WQ M T S G R WAI AQ const none enable IN et ok e Valid reference or place where power may flow through the function SA SB SC only S cannot be used Example In the following example at power up 32 words of Q memory 512 points beginning at Q0001 are filled with zeros FST_SCN I II I BLK_ CLR_ WORD Q0001 IN l 4 76 Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K SHFR BIT WORD Use the Shift Register SHFR function to shift one or more data words or data bits from a reference location into a specified area of memory For example one word might be shifted into an area of memory with a specified length of five words As a result of this shift another word of data would be shifted out of the end of the memory area Note When assigning reference addresses overlapping input and output reference address ranges in multi word functio
59. architecture that manages memory and execution priority in the 80188 microprocessor The 350 and 360 series of 90 30 PLCs use an 80386EX microprocessor The Series 90 Micro PLC uses the H8 microprocessor This operation supports both program execution and basic housekeeping tasks such as diagnostic routines input output scanners and alarm processing The system software also contains routines to communicate with the programmer These routines provide for the upload and download of application programs return of status information and control of the PLC In the Series 90 30 PLC the application user logic program that controls the end process to which the PLC is applied is controlled by a dedicated Instruction Sequencer Coprocessor ISCP The ISCP is implemented in hardware in the Model 313 and higher and in software in the Model 311 systems and the Micro PLC The 80188 microprocessor and the ISCP can execute simultaneously allowing the microprocessor to service communications while the ISCP is executing the bulk of the application program however the microprocessor must execute the non boolean function blocks Faults occur in the Series 90 30 PLC Series 90 20 PLC and the Micro PLC when certain failures or conditions happen that affect the operation and performance of the system These conditions may affect the ability of the PLC to control a machine or process Other conditions may only act as 1 1 1 2 an alert such as a low battery s
60. battery backed and maintains its present state across a power failure However unless you initialize the clock the values it contains are meaningless The application program can read and set the time of day clock using Service Request 7 The time of day clock can also be read and set from the CPU configuration software The time of day clock is designed to handle month to month and year to year transitions It automatically compensates for leap years until the year 2079 Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K Watchdog Timer A watchdog timer in the Series 90 30 PLC is designed to catch catastrophic failure conditions that result in an unusually long sweep The timer value for the watchdog timer is 200 milliseconds 500 milliseconds in the 350 and 360 series of PLC CPUs this is a fixed value that cannot be changed The watchdog timer always starts from zero at the beginning of each sweep For 331 and lower model 90 30 CPUs if the watchdog timeout value is exceeded the OK LED goes off the CPU is placed in reset and completely shuts down and outputs go to their default state No communication of any form is possible and all microprocessors on all boards are halted To recover power must be cycled on the rack containing the CPU In the 90 20 Series 90 Micro and 340 and higher 90 30 CPUs A watchdog timeout causes the CPU to reset execute its powerup logic generate a watchdog failure faul
61. capabilities This section describes the following data move functions Abbreviation Function Description Page MOVE Move Copy data as individual bits The maximum length 4 70 allowed is 256 words except MOVE_BIT is 256 bits Data can be moved into a different data type without prior conversion BLKMOV Block Move Copy a block of seven constants to a specified 4 73 memory location The constants are input as part of the function BLKCLR Block Clear Replace the content of a block of data with all zeros 4 75 This function can be used to clear an area of bit 1 WQ WM G or T or word R AI or AQ memory The maximum length allowed is 256 words SHFR Shift Register Shift one or more data words into a table 4 77 The maximum length allowed is 256 words BITSEQ Bit Sequencer Perform a bit sequence shift through an array of bits 4 80 The maximum length allowed is 256 words COMMREQ Communications Allow the program to communicate with an 4 83 Request intelligent module such as a Genius Communications Module or a Programmable Coprocessor Module GFK 0467K Chapter 4 Series 90 30 20 Micro Instructions Set 4 69 MOVE 4 70 BIT INT WORD REAL Use the MOVE function to copy data as individual bits from one location to another Because the data is copied in bit format the new location does not need to be the same data type as the original location The MOVE function has two in
62. command block has the following structure Length in words address Wait No Wait Flag address 1 Status Pointer Memory address 2 Status Pointer Offset address 3 Idle Timeout Value address 4 Maximum Communication Time address 5 address 6 Data Block to address 133 Information required for the command block can be placed in the designated memory area using an appropriate programming function l REQ l first word of Command block IN FT enable l l rack slot number SYSID l task ID TASK Parameters Parameter Description enable When the function is energized the communications request is performed IN IN contains the first word of the command block SYSID SYSID contains the rack number most significant byte and slot number least significant byte of the target device TASK TASK contains the task ID of the process on the target device FT FT is energized if an error is detected processing the COMMREQ Valid Memory Types Parameter flow I Q M T S G R WAI AQ const none enable IN SYSID TASK FT e Valid reference or place where power may flow through the function Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K Example In the following
63. contribution to the PID Output Kp is generally the first gain set when adjusting a PID loop Derivative This INT number determines the change in CV in CV Counts if the Error or PV changes 1 PV Count Gain Kd every 10 milliseconds Entered as a time with the low bit indicating 10 milliseconds it is displayed as 0 00 06 Seconds with an implied decimal point of 2 For example a Kd entered as 120 will be displayed as 1 20 Sec and will result in a Kd delta Error delta time or 120 4 3 contribution to the PID Output if Error was changing by 4 PV Counts every 30 milliseconds Kd can be used to speed up a slow loop response but is very sensitive to PV input noise Integral Rate This INT number determines the change in CV in CV Counts if the Error were a constant 1 PV Count It Gain Ki is displayed as 0 000 Repeats Sec with an implied decimal point of 3 For example a Ki entered as 1400 07 will be displayed as 1 400 Repeats Sec and will result in a Ki Error dt or 1400 20 50 1000 contribution to PID Output for an Error of 20 PV Counts and a 50 millisecond PLC sweep time Sample Period of 0 Ki is usually the second gain set after Kp CV Bias Output An INT value in CV Counts added to the PID Output before the rate and amplitude clamps It can Offset be used to set non zero CV values if only Kp Proportional gains are used or for feed forward control of 08 this PID loop output from another control loop Series 90 30 20 Micro Programmable
64. d o o 52 oe A e a Oe a a z al E Z A N Mm lt N wo Y H Z a a a a a a a H H H H H H H l l o n n o o o o Ho HO HO HO HO HO HO gg Es ES 23 28 gu Es oo 00 00 00 090 O09 900 O OF O OF OF OF OF Tg ow Ss amp 2 ao Y HO_ Ho M UVEAHO H Oo o d o o o d S 3 oe 54 5 AQ002 R0001 AI0003 R00113 R00113 4 185 Chapter 4 Series 90 30 20 Micro Instructions Set GFK 0467K Appendix A GFK 0467K Instruction Timing The Series 90 30 90 20 and Micro PLCs support many different functions and function blocks This appendix contains tables showing the memory size in bytes and the execution time in microseconds for each function Memory size is the number of bytes required by the function in a ladder diagram application program Two execution times are shown for each function Execution Time Description Enabled Time required to execute the function or function block when power flows into and out of the function Typically best case times are when the data used by the block is contained in user RAM word oriented memory and not in the ISCP cache memory discrete memory Disabled Time required to execute the function when power flows into the function or function block however it is in an inactive state as when a timer is held in the reset state Note Timers and counters are updated each time they are encountered in the logic timers by the amount of time con
65. detects that a Model 30 T O module is no longer responding to commands from the PLC CPU or when the configuration file indicates an I O module is to occupy a slot and no module exists in the slot Correction 1 Replace the module 2 Correct the configuration file 3 Display the PLC fault table on the programmer Contact GE Fanuc PLC Field Service giving them all the information contained in the fault entry Chapter 3 Fault Explanation and Correction 3 17 Addition of I O Module The Fault Category Addition of I O Module applies to Model 30 discrete and analog I O modules There are no fault types or fault descriptions associated with this category The fault action is Diagnostic Description The PLC operating software generates this error when an I O module which had been faulted returns to operation Correction 1 No action necessary if the module was removed or replaced or the remote rack was power cycled 2 Update the configuration file or remove the module Description The PLC operating software generates this error when it detects a Model 30 I O module in a slot which the configuration file indicates should be empty Correction 1 Remove the module It may be in the wrong slot 2 Update and restore the configuration file to include the extra module 3 18 Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K Chapter 4 GFK 0467K Series 90 30 20
66. example when enabling input M0020 is ON a command block located starting at ROO16 is sent to communications task 1 in the device located at rack 1 slot 2 of the PLC If an error occurs processing the COMMREQ Q0100 is set E M0020 l COMM_ REQ Q0100 ROO16 IN ET y CONST SYSID 0102 CONST TASK 00001 _ Note For systems that do not have expansion racks the SYSID must be zero for the main rack GFK 0467K Chapter 4 Series 90 30 20 Micro Instructions Set 4 85 Section 7 Table Functions Table functions are used to perform the following functions Abbreviation Function Description Page ARRAY_MOVE Array Move Copy a specified number of data elements from a source 4 87 array to a destination array SRCH_EQ Search Equal Search for all array values equal to a specified value 4 91 SRCH_NE Search Not Equal Search for all array values not equal to a specified value 4 91 SRCH_GT Search Greater Search for all array values greater than a specified value 4 91 Than SRCH_GE Search Greater Search for all array values greater than or equal to a 4 91 Than or Equal specified value SRCH_LT Search Less Than Search for all array values less than a specified value 4 91 SRCH_LE Search Less Than Search for all array values less than or equal to a 4 91 or Equal specified value
67. expansion cable Slot The slot number ranges from 0 to 9 The PLC CPU always occupies slot 1 in the main rack rack 0 Task The task number ranges from 0 to 65 535 Sometimes the task number gives additional information for PLC engineers typically the task can be ignored GFK 0467K Appendix B Interpreting Fault Tables B 3 B 4 PLC Fault Group Fault group is the highest classification of a fault It identifies the general category of the fault Table B 1 lists the possible fault groups in the PLC fault table The last non maskable fault group Additional PLC Fault Codes is declared for the handling of new fault conditions in the system without the PLC having to specifically know the alarm codes All unrecognized PLC type alarm codes belong to this group Table B 1 PLC Fault Groups Group Number Decimal Hexadecimal Group Name Fault Action 1 1 Loss of or missing rack Fatal 4 4 Loss of or missing option module Diagnostic 5 5 Addition of or extra rack Diagnostic 8 8 Addition of or extra option module Diagnostic 11 B System configuration mismatch Fatal 12 System bus error Diagnostic 13 D PLC CPU hardware failure Fatal 14 E Non fatal module hardware failure Diagnostic 16 10 Option module software failure Diagnostic 17 11 Program block checksum failure Fatal 18 12 Low battery signal Diagnostic 19 13 Constant sweep time exceeded Diagnostic 20 14 PLC system fault table full
68. function block will execute in 80 microseconds instead of the 236 microseconds required when the block is programmed without the ALT parameter No error checking is performed to prevent overlapping reference addresses or module type mismatches Valid Memory Types Parameter flow I Q M T S G R WAI AQ const none enable ST END ALT ok e Valid reference or place where power may flow through the function Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K Input Example 1 In the following example when the enabling input 910001 is ON references 10001 through 10064 are scanned and Q0001 is turned on A copy of the scanned inputs is placed in internal memory from reference M0001 through M0064 The real input points are not updated This form of the function can be used to compare the current values of input points with the values of input points at the beginning of the scan 10001 DO_1I0 Q0001 10001 ST 210064 END M0001 ALT Input Example 2 In the following example when the enabling input 10001 is ON references 10001 through 10064 are scanned and Q0001 is turned on The scanned inputs are placed in the input status memory from reference I0001 to 10
69. long short RO601 reference address RO602 rack number slot number RO0603 I O bus no bus address R0604 point address RO6OS fault data In the program the EQ_INT blocks compare the rack slot address in the table to hexadecimal constants The internal coil M0007 is turned on when the rack slot where the fault occurred meets the criteria specified above If M0007 is on its normally closed contact is off preventing the shutdown Conversely if M0007 is off because the fault occurred on a different module the normally closed contact is on and the shutdown occurs Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K T0001 2M0007 COs 2M0007 J R0600 0013 CONST R0001 CONST 0001 CONST 0015 0109 0265 4 159 Chapter 4 Series 90 30 20 Micro Instructions Set GFK 0467K 4 160 SVCREQ 16 Read Elapsed Time Clock Use the SVCREQ function with function number 16 in order to read the value of the system s elapsed time clock This clock tracks elapsed time in seconds since the PLC powered on The timer will roll over approximately once every 100 years This function has an output parameter block only The parameter block has a length of 3 words seconds from power on low order address seconds from power on high order address 1 100 microsecond ticks address 2 The first two words are the elapsed time in seco
70. main rack SA0031 SFT_SIO Set when an unrecoverable software fault is detected in an option module Cleared by cycling power on the main rack and when the configuration matches the hardware Chapter 2 System Operation 2 25 Table 2 6 System Status References Continued Reference Nickname Definition Set when the CPU detects corrupted RAM memory at power up Cleared when the CPU detects that RAM memory is valid at power up SBOO11 BAD_PWD _ Set when a password access violation occurs Cleared when the PLC fault table is cleared SB0013 SFT_CPU Set when the CPU detects an unrecoverable error in the software Cleared by clearing the PLC fault table SBO0014 STOR_ER Set when an error occurs during a programmer store operation Cleared when a store operation is completed successfully SCO0009 ANY_FLT Set when any fault occurs Cleared when both fault tables have no entries SCO0010 SY_FLT Set when any fault occurs that causes an entry to be placed in the PLC fault table Cleared when the PLC fault table has no entries SC0011 IO_FLT Set when any fault occurs that causes an entry to be placed in the I O fault table Cleared when the VO fault table has no entries SC0012 SY_PRES Set as long as there is at least one entry in the PLC fault table Cleared when the PLC fault table has no entries SC0013 IO_PRES Set as long as there is at least one entry in the I O
71. of IN that should be set or cleared Valid range is 1 lt BIT lt 16 LEN ok The ok output is energized whenever enable is energized LEN LEN is the number of words in the bit string Note When using the Bit Test Bit Set Bit Clear or Bit Position function the bits are numbered 1 through 16 NOT 0 through 15 Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K GFK 0467K Valid Memory Types Parameter flow I WQ M T S G R ZAI AQ const none enable IN BIT ok e Valid reference or place where power may flow through the function SA SB or SC only S cannot be used Example In the following example whenever input 10001 is set bit 12 of the string beginning at reference ROO40 is set to 1 I 10001 I II I II BIT_ SET WORD SROO40 IN LEN 100001 CONST BIT 00012 _ Chapter 4 Series 90 30 20 Micro Instructions Set 4 63 4 64 BPOS WORD The Bit Position BPOS function is used to locate a bit set to 1 in a bit string Each sweep that power is received the function scans the bit string starting at IN When the function stops scanning either a bit equal to 1 has been found or the entire length of the string has been scanned POS is set to the position
72. of day clock Models 331 340 341 350 and 360 series of 90 30 CPUs and the 28 point Micro a watchdog timer and a constant sweep timer Three types of timer function blocks include an on delay timer an off delay timer and a retentive on delay timer also called a watch clock timer Four time tick contacts cycle on and off for 0 01 second 0 1 second 1 0 second and 1 minute intervals Elapsed Time Clock The elapsed time clock uses 100 microsecond ticks to track the time elapsed since the CPU powered on The clock is not retentive across a power failure it restarts on each power up Once per second the hardware interrupts the CPU to enable a seconds count to be recorded This seconds count rolls over approximately 100 years after the clock begins timing Because the elapsed time clock provides the base for system software operations and timer function blocks it can not be reset from the user program or the programmer However the application program can read the current value of the elapsed time clock by using Service Request 16 Elapsed power down reported by use of Service Request 29 also utilizes this clock Time of Day Clock The time of day in the 28 point Micro and Series 90 30 PLC Model 331 and higher is maintained by a hardware time of day clock The time of day clock maintains seven time functions e Year two digits e Month e Day of month e Hour e Minute e Second e Day of week The time of day clock is
73. operation clocks and timers PLC sweep summary 2 2 power up and power down sequences 2 30 program organization and user references data 2 16 16 Series 90 20 PLC 1 O system 2 38 Series 90 30 PLC 1 O system 2 38 system security 2 36 System references System register references 2 20 System status references 2 21 2 24 ADD_IOM2 25 ADD_SIO 2 25 ANY_FLT APL_FLT BAD_PWD 2 26 BAD_RAM CFG_MM HRD_CPU HRD_FLT 2 26 HRD_SIO IO_FLT IO_PRES 2 26 LOS_IOM LOS_SIO LOW_BAT OV_SWP PB_SUM SFT_CPU 2 26 SFT_FLT 2 25 SFT_SIO SNPX_RD SNPX_WT 2 25 SNPXACT 2 25 STOR_ER 2 26 SY_FLT SY_PRES T Table functions 4 86 ARRAY_MOVE 4 87 search less than or equal function 4 91 SRCH_NE TAN 4 35 Tangent function 4 35 Temporary references discrete 2 21 Time of da clock 2 34 Timers 3 34 4 9 constant sweep timer 2 35 function block data 4 9 OFDT ONDTR 4 11 time tick contacts 2 35 TMR 4 14 Watchdog timer Time tick contacts Timing instruction TMR 4 14 Transitions 2 21 Troubleshooting 3 1 accessing additional fault information 3 6 T O fault table 3 5 VO fault table explanations 3 17 interpreting a fault non configurable faults PLC fault table 3 5 PLC fault table explanations 3 7 TRUN 4 105 Truncate function 4 105 Up counter 4 20 UPCTR 4 20 Series 90 30 20 Micro Progr
74. or Polarity bits Setting Loop Gains Ziegler and Nichols Tuning Approach Once the three process model parameters K Tp and Tc are determined they can be used to estimate initial PID loop gains The following approach developed by Ziegler and Nichols in the 1940 s is designed to provide good response to system disturbances with gains producing a amplitude ratio of 1 4 The amplitude ratio is the ratio of the second peak over the first peak in the closed loop response 1 Calculate the Reaction rate R K Tc 2 For Proportional control only calculate Kp as Kp 1 R Tp Tc K Tp 3 For Proportional and Integral control use Kp 0 9 R Tp 0 9 Tc K Tp Ki 0 3 Kp Tp 4 For Proportional Integral and Derivative control use Kp G R Tp where G is from 1 2 to 2 0 Ki 0 5 Kp Tp Kd 0 5 Kp Tp 5 Check that the Sample Period is in the range Tp Tc 10 to Tp Tc 1000 Another approach the Ideal Tuning procedure is designed to provide the best response to SP changes delayed only by the Tp process delay or dead time Kp 2 Tc 3 K Tp Ki Tc Kd Ki 4 if Derivative term is used Once initial gains are determined they must be converted to integer User Parameters To avoid scaling problems the Process gain K should be calculated as a change in input PV Counts divided by the output step change in CV Counts and not in process PV or CV engineering units All times should also be specified in
75. oriented memory is selected for the parameters of the source array and or destination array starting address the least significant bit of the specified word is the first bit of the array The value displayed contains 16 bits regardless of the length of the array The indices in an ARRAY_MOVE instruction are 1 based In using an ARRAY_MOVE no element outside either the source or destination arrays as specified by their starting address and length may be referenced The ok output will receive power flow unless one of the following conditions occurs e Enable is OFF e N SNX 1 is greater than LEN e N DNX 1 is greater than LEN enable ok l l MOVE_ l l BIT l source array address SR DS destination array address LEN 1000011 source array index SNX l l l destination array index DNX l l elements to transfer N GFK 0467K Chapter 4 Series 90 30 20 Micro Instructions Set 4 87 4 88 Parameters Parameter Description enable When the function is enabled the operation is performed SR SR contains the starting address of the source array For ARRAY_MOVE_ BIT any reference may be used it does not need to be byte aligned However 16 bits beginning with the reference address specified are displayed online SNX SNX contains the index of the source array DNX DNX contains the index of the destination array N N provides a count indic
76. power flow The state of the negated retentive coil is retained across power failure Therefore it cannot be used with references from strictly non retentive memory T Positive Transition Coil T If the reference associated with a positive transition coil is OFF when the coil receives power flow it is set to ON until the next time the coil is executed If the rung containing the coil is skipped on subsequent sweeps it will remain ON This coil can be used as a one shot Each reference should only be used as a transition coil once in the application program so as to preserve the one shot nature of the coil Transitional coils can be used with references from either retentive or non retentive memory Q M PT WG PSA SB or SC Negative Transition Coil J If the reference associated with this coil is OFF when the coil stops receiving power flow the reference is set to ON until the next time the coil is executed Each reference should only be used as a transition coil once in the application program so as to preserve the one shot nature of the coil Transitional coils can be used with references from either retentive or non retentive memory Q M T G SA SB or SC Example In the following example when reference El goes from OFF to ON coils E2 and E3 receive power flow turning E2 ON for one logic sweep When El goes from ON to OFF power flow is removed from E2 and E3 turning coil E3 ON for one
77. programmer If there is a programmer attached the CPU executes the programmer communications window The programmer communications window will not execute if there is no programmer attached and no board to be configured in the system Only one board is configured each sweep Support is provided for the Hand Held Programmer and for other programmers that can connect to the serial port and use the Series Ninety Protocol SNP protocol Support is also provided for programmer communications with intelligent option modules In the default limited window mode the CPU performs one operation for the programmer each sweep that is it honors one service request or response to one key press If the programmer makes a request that requires more milliseconds to process than the limit for the communications window see Note the request processing is spread out over several sweeps so that no sweep is impacted by more than the limit see Note Note The time limit for the communications window is as follows e15 milliseconds for the 311 and 321 PLCs e8 milliseconds for the 313 323 and 331 PLCs e10 milliseconds for the 340 and 341 PLCs e6 milliseconds for the 350 and higher PLCs GFK 0467K Chapter 2 System Operation 2 9 2 10 The following figure is a flow chart for the programmer communications portion of the sweep START a45659 HAND HELD PROGRAMMER PROGRAMMER ATTACHED ATTACHED PROGRAMMER ATTACHED STATUS PREVIOUS PREVIOUS
78. real value of the input data The original data is not changed by this function When the function receives power flow it performs the conversion making the result available via output Q The function passes power flow when power is received unless the specified conversion would result in a value that is out of range It is possible for a loss of precision to occur when converting from DINT to REAL since the number of significant bits is reduced to 24 Note This function is only available on 350 and 360 series CPUs Release 9 or later or on all releases of CPU352 l enable ok TO_ REAL value to be converted IN Q output parameter Q Parameters Parameter Description enable When the function is enabled the conversion is performed IN IN contains a reference for the integer value to be converted to REAL ok The ok output is energized when the function is performed without error Q Q contains the REAL form of the original value in IN GFK 0467K Chapter 4 Series 90 30 20 Micro Instructions Set 4 101 4 102 Valid Memory Types Parameter flow Y1 Q M T S G R WAI WAQ const none enable IN o o o o o ok Q Valid reference or place where power may flow through the function o Not valid for DINT_TO_REAL Example In the following example the integer value of input IN is 6
79. restrictions 1 Timer TMR ONDTR and OFDTR function blocks will not execute properly within a periodic subroutine A DOIO function block within a periodic subroutine whose reference range includes references assigned to a Smart I O Module HSC Power Mate APM Genius etc will cause the CPU to lose communication with the module The FST_SCN and LST_SCN contacts S1 and S2 will have an indeterminate value during execution of the periodic subroutine A periodic subroutine cannot call or be called by other subroutines 2 The latency for the periodic subroutine that is the maximum interval between the time the periodic subroutine should have executed and the time it actually executes can be around 35 milliseconds if there is no PCM CMM or ADC module in the main rack If there is a PCM CMM or ADC module in the main rack even if it is not configured or used the latency can be almost 2 25 milliseconds For that reason use of the periodic subroutine with PCM based products is not recommended GFK 0467K Chapter 2 System Operation 2 19 2 20 User References The data used in an application program is stored as either register or discrete references Table 2 3 Register References Type Description R_ The prefix R is used to assign system register references which will store program data such as the results of calculations AI The prefix AI represents an analog input register This prefix is followed by the
80. rrii sirieias e E ER Ea 4 73 Parameters NN 4 73 GFK 0467K Contents xi Contents xii Valid Memory Types rrira aa Ea aA ATE E EELE T 4 74 Example coria ia 4 74 BEKCER WORD reie ntok neee as ENE EEN AEAEE cece ea iris lisis 4 75 TEENA O E 4 75 Valid Memory TYPES cdta 4 76 EX ER E E A A E E S 4 76 SHER BIT WORD J e ETE a 4 77 DAMOS it tt 4 78 Valid Memory Types corrir one reee esie ree ceed E EEEn E ende Lido eo cas 4 78 Example lio asi 4 79 Example Linneo nena 4 79 BITSEO BUD Vs a A A ELE taht caia 4 80 Memory Required for a Bit Sequencer oooonccnoncnonnnonccononononnnonnnnnnnnancnnncnnncnoconeos 4 80 ParameterS title ist lara 4 81 Valid Memory Py pes ici id 4 82 Example tasa Baas eee as 4 82 COMMRE Ovino haa nae A Gene kde GL nas 4 83 Command Block arri e E N U lenceeeeton tice 4 83 Parameters A NOA 4 84 Valid Memory Types 4 84 BXAMp A RN 4 85 Section 7 Table Functions sucia 4 86 ARRAY_MOVE INT DINT BIT BYTE WORD oconoccnnnoccnocinonannninnnccnnnconnnos 4 87 AO AA NN 4 88 Valid Memory Types nedenine rs eeni e re E eE EE ARTE iS 4 88 Example oar Er nese ee hae E AT 4 89 Example Lai 4 89 Example io 4 90 SRCH_EQ and SRCH_NE INT DINT BYTE WORD SRCH_GT and SRCH_LT SRCH_GE and SRCH LE neern iee nE 4 91 Parameters a NN 4 92 Valid Memory Types eseconostocne iieiaei siri re i ESES 4 92 Example Livia ia 4 93 Example iii isa io 4 93 Section 8 Conversion FUNCTIONS sscsssscsssssssssssesssssssscs
81. search for all array values for that particular operation Abbreviation Function Description SRCH_EQ Search Equal Search for all array values equal to a specified value SRCH_NE Search Not Equal Search for all array values not equal to a specified value SRCH_GT Search Greater Search for all array values greater than a specified value Than SRCH_GE Search Greater Search for all array values greater than or equal to a Than or Equal specified value SRCH_LT Search Less Than Search for all array values less than a specified value SRCH_LE Search Less Than Search for all array values less than or equal to a specified value or Equal Each function has four input parameters and two output parameters When the function receives power the array is searched starting at AR input NX This is the starting address of the array AR plus the index into this array input NX The search continues until the array element of the search object IN is found or until the end of the array is reached If an array element is found output parameter FD is set ON and output parameter output NX is set to the relative position of this element within the array If no array element is found before the end of the array is reached then output parameter FD is set OFF and output parameter output NX is set to zero The valid values for input NX are 0 to LEN 1 NX should be set to zero to begin searching at the first e
82. seconds Once Kp Ki and Kd are determined Kp and Kd can be multiplied by 100 and entered as integer while Ki can be multiplied by 1000 and entered into the User Parameter RefArray Chapter 4 Series 90 30 20 Micro Instructions Set 4 183 4 184 Sample PID Call The following example has a Sample Period of 100 millisecond a Kp gain of 4 00 and a Ki gain of 1 500 The Set Point is stored in R1 with the Control Variable output in AQ2 and the Process Variable returned in AI3 CV Upper and CV Lower Clamps must be set in this case to 20000 and 400 and an optional small Dead Band of 5 and 5 has been included The 40 word RefArray starts in R100 Normally User Parameters are set in the RefArray with the PID Zoom key F10 but M6 can be set to reinitialize the 14 words starting at R102 Ref 2 from constants stored in logic The block can be switched to Manual mode with M1 so that the Manual Command R113 can be adjusted Bits M4 or M5 can be used to increase or decrease R113 and the PID CV and integrator by 1 every 100 millisecond solution For faster manual operation bits M2 and M3 can be used to add or subtract the value in R2 to from R113 every PLC sweep The T1 output is on when the PID is OK Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K R00109 A MN A E a o o o o o o o HO HO HO HO HO HO HO 23 B3 Es 23 28 28 28 ON oo oo oo oo oo oo O OF O OF OF OF OF ix o
83. series CPUs the MOVE_INT and MOVE_WORD functions do not support overlapping of IN and Q parameters where the IN reference is less than the Q reference For example with the following values IN R0001 Q R0004 LEN 5 words the R0007 and RO008 contents will be indeterminate however using the following values Q R0001 IN R0004 LEN 5 words will yield valid contents Also please note that only 350 and 360 series CPUs Release 9 and later plus all releases of CPU352 have Floating Point capabilities at this time and therefore the only one capable of MOVE_REAL Valid Memory Types Parameter flow I WQ M T S G R WAI AQ const none enable IN o ok Q ot Note For REAL data the only valid types are R AI and AQ e Valid reference for BIT INT or WORD data or place where power may flow through the function For MOVE_BIT discrete user references I Q M and T need not be byte aligned o Valid reference for BIT or WORD data only not valid for INT T SA SB SC only S cannot be used GFK 0467K Chapter 4 Series 90 30 20 Micro Instructions Set 4 71 4 72 Example 1 When enabling input Q0014 is ON 48 bits are moved from memory location M0001 to memory location M0033 Even though the destination overlaps the source for 16 bits the move is done correctly except for the 351 and 352
84. set to 1 Reverse Acting mode may be used if you want the CV output to move in the opposite direction from PV input changes CV down for PV up rather than the normal CV up for PV up Error SP PV or PV SP if low bit of Config Word set to 1 The Derivative is normally based on the change of the Error term since the last PID solution which may cause a large change in the output if the SP value is changed If this is not desired the third bit of the Config Word can be set to 1 to calculate the Derivative based on the change of the PV The dt or Delta Time is determined by subtracting the last PID solution clock time for this block from the current PLC elapsed time clock dt Current PLC Elapsed Time clock PLC Elapsed Time Clock at Last PID solution Derivative Error previous Error dt or PV previous PV dt if 3rd bit of Config Word set to 1 The Independent term PID PID_IND algorithm calculates the output as PID Output Kp Error Ki Error dt Kd Derivative CV Bias The standard ISA PID_ISA algorithm has a different form PID Output Ke Error Error dt Ti Td Derivative CV Bias where Kc is the controller gain and Ti is the Integral time and Td is the Derivative time The advantage of ISA is that adjusting the Kc changes the contribution for the integral and derivative terms as well as the proportional one which may make loop tuning easier If you have PID gains in terms or Ti and Td
85. should be less than 0 2 seconds or 0 4 seconds worst case On the other hand the Sample Period should not be too small such as less than the total time constant divided by 1000 or the Ki Error dt term for the PID integrator will round down to 0 For example a very slow process that takes 10 hours or 36000 seconds to reach the 63 level should have a Sample Period of 40 seconds or longer Unless the process is very fast it is not usually necessary to use a Sample Period of 0 to solve the PID algorithm every PID sweep If many PID loops are used with a Sample Period greater than the sweep time there may be wide variations in PLC sweep time if many loops end up solving the algorithm at the same time The simple solution is to sequence a one or more 1 bits through an array of bits set to O that is being used to enable power flow to individual PID blocks Determining the Process Characteristics The PID loop gains Kp Ki and Kd are determined by the characteristics of the process being controlled Two key questions when setting up a PID loop are 1 How big is the change in PV when we change CV by a fixed amount or what is the open loop gain 2 How fast does the system respond or how quick does PV change after the CV output is stepped Many processes can be approximated by a process gain first or second order lag and a pure time delay In the frequency domain the transfer function for a first order lag system with a pure time delay
86. sweep El E2 to ooo i T El E3 cs J ty GFK 0467K Chapter 4 Series 90 30 20 Micro Instructions Set 4 5 SET Coil S SET and RESET are non retentive coils that can be used to keep latch the state of a reference e g El either ON or OFF When a SET coil receives power flow its reference stays ON whether or not the coil itself receives power flow until the reference is reset by another coil SET coils write an undefined result to the transition bit for the given reference Refer to the information on Transitions and Overrides in chapter 2 System Operation RESET Coil R 4 6 The RESET coil sets a discrete reference OFF if the coil receives power flow The reference remains OFF until the reference is reset by another coil The last solved SET coil or RESET coil of a pair takes precedence RESET coils write an undefined result to the transition bit for the given reference Refer to the information on Transitions and Overrides in chapter 2 System Operation Example In the following example the coil represented by El is turned ON whenever reference E2 or E6 is ON The coil represented by El is turned OFF whenever reference ES or E3 is ON E2 El pl Cl E6 5 E5 El ESk ee R E3 E Note When the level of coil checking is SINGLE you can use a specific M or Q reference with only one Coil but you can use it wi
87. that contain locked subroutines may be cleared or deleted If a folder contains locked subroutines these blocks remain locked when the programming software Copy Backup and Restore folder functions are used Permanently Locking a Subroutine GFK 0467K In addition to VIEW LOCK and EDIT LOCK there are two types of permanent locks If a PERMANENT VIEW LOCK is set all zooms into a subroutine are denied If a PERMANENT EDIT LOCK is set all attempts to edit the block are denied The permanent locks differ from the regular VIEW LOCK and EDIT LOCK in that once set they cannot be removed Once a PERMANENT EDIT LOCK is set it can only be changed to a PERMANENT VIEW LOCK A PERMANENT VIEW LOCK cannot be changed to any other type of lock Chapter 2 System Operation 2 37 Section 6 Series 90 30 90 20 and Micro I O System The PLC I O system provides the interface between the Series 90 30 PLC and user supplied devices and equipment Series 90 30 I O is called Model 30 I O Model 30 I O modules plug directly into slots in the CPU baseplate or into slots in any of the expansion baseplates for the Series 90 30 PLC Model 331 or higher Model 331 340 and 341 I O systems support up to 49 Model 30 I O modules 5 racks Model 351 and 352 I O systems support up to 79 Model 30 I O modules 8 racks The Series 90 30 PLC Model 311 or Model 313 5 slot baseplate supports up to 5 Model 30 I O modules the Model 323 10 slot baseplate supports up to 10 Mod
88. the PLC CPU operates in CONSTANT SWEEP mode and it detects that the sweep has exceeded the constant sweep timer The fault extra data contains the actual time of the sweep in the first two bytes and the name of the program in the next eight bytes The fault action for this group is Diagnostic Correction 1 Increase constant sweep time 2 Remove logic from application program Application Fault The Fault Group Application Fault occurs when the PLC CPU detects a fault in the user program The fault action for this group is Diagnostic except when the error is a Subroutine Call Stack Exceeded in which case it is Fatal Error Code 7 Name Subroutine Call Stack Exceeded Description Subroutine calls are limited to a depth of 8 A subroutine can call another subroutine which in turn can call another subroutine until 8 call levels are attained Correction Modify program so that subroutine call depth does not exceed 8 Error Code 1B Name Comm Req Not Processed Due To PLC Memory Limitations Description No wait communication requests can be placed in the queue faster than they can be processed e g one per sweep In a situation like this when the communication requests build up to the point that the PLC has less than a minimum amount of memory available the communication request will be faulted and not processed Correction Issue fewer communication requests or otherwise reduce the amount of mail
89. to one then deadband action is chosen If the error is within the deadband limits then the error is forced to be zero If however the error is outside the deadband limits then the error is reduced by the deadband limit error error deadband limit Bit 4 Anti reset windup action When this bit is set to zero the anti reset windup action uses a reset back calculation When the output is clamped this replaces the accumulated Y remainder value defined on page 4 178 with whatever value is necessary to produce the clamped output exactly When the bit is set to one this replaces the accumulated Y term with the value of the Y term at the start of the calculation In this way the pre clamp Y value is held as long as the output is clamped NOTE The anti reset windup action bit is only available on release 6 50 or later 90 30 CPUs Remember that the bits are set in powers of 2 For example to set Config Word to 0 for default PID configuration you would add 1 to change the Error Term from SP PV to PV SP or add 2 to change the Output Polarity from CV PID Output to CV PID Output or add 4 to change Derivative Action from Error rate of change to PV rate of change etc GFK 0467K Chapter 4 Series 90 30 20 Micro Instructions Set 4 177 4 178 Table 4 5 PID Parameters Details Continued Data Item Description Manual This is an INT value set to the current CV output while
90. to zero The next sweep will start searching at the beginning of the array I0001 I I I ISRCH_ EQ INT M0001 AI0001 AR ED _ LEN 00016 AQ0001 NX NX AQ0001 l CONST IN 0000 __ I GFK 0467K Chapter 4 Series 90 30 20 Micro Instructions Set 4 93 4 94 Section 8 Conversion Functions Use the conversion functions to convert a data item from one number type to another Many programming instructions such as math functions must be used with data of one type This section describes the following conversion functions Abbreviation Function Description Page BCD 4 Convert to BCD 4 Convert a signed integer to 4 digit BCD 4 95 format INT Convert to Signed Integer Convert BCD 4 or REAL to signed integer 4 97 DINT Convert to Double Precision Convert REAL to double precision signed 4 99 Signed Integer integer format REAL Convert to REAL Convert INT DINT BCD 4 or WORD to 4 101 REAL WORD Convert to WORD Convert REAL to WORD format 4 103 TRUN Truncate Round the real number toward zero 4 105 Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K gt BCD 4 INT The Convert to BCD 4 function is used to output the 4 digit BCD equivalent of signed integer data The original data is not changed by this function Data can be converted t
91. used to set the state of each bit in the output bit string Q to the opposite of the state of the corresponding bit in bit string I1 All bits are altered on each scan that power is received making output string Q the logical complement of I1 The function passes power flow to the right whenever power is received enable ok WORD input parameter I1 11 OQ output parameter Q l Parameters Parameter Description enable When the function is enabled the operation is performed n Il contains the constant or reference for the word to be negated ok The ok output is energized whenever enable is energized Q Output Q contains the NOT negation of I1 GFK 0467K Chapter 4 Series 90 30 20 Micro Instructions Set 4 53 Valid Memory Types Parameter flow I Q M T S G R WAI AQ const none enable 11 ok Q ej e Valid reference or place where power may flow through the function SA SB or SC only S cannot be used Example In the following example whenever input I0001 is set the bit string represented by the nickname TAC is set to the inverse of bit string CAT A I I0001 l I II I NOT WORD CAT I1 Q TAC 4 54 Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K SHL an
92. value when the counter is enabled or reset Q Output Q is energized when the current value is greater than or equal to the preset value Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K Valid Memory Types Parameter flow I WQ M T S G R AI gv AQ const none address enable R PV Q e Valid reference or place where power may flow through the function Example In the following example every time input 10012 transitions from OFF to ON up counter PRT_CNT counts up by 1 internal coil M0001 is energized whenever 100 parts have been counted Whenever M0001 is ON the accumulated count is reset to zero ae 10012 gt UPCTR M0001 I M0001 l I II I IR CONST PV 00100 l GFK 0467K Chapter 4 Series 90 30 20 Micro Instructions Set 4 21 4 22 DNCTR The Down Counter DNCTR function is used to count down from a preset value The minimum preset value is zero the maximum present value is 32 767 counts The minimum current value is 32 768 When reset the current value of the counter is set to the preset value PV When the enable input transitions from OFF to ON the current value is decremented by one The output is ON whenever the current value is less than or equal to zero T
93. 0 Fault group Fault handling 3 2 alarm processor fault action Fault references 3 4 definitions of 3 5 Fault type 3 17 Faults accessing additional fault information 3 6 actions addition of I O module additional fault effects application fault 3 12 classes of faults communications failure during store 3 16 constant sweep time exceeded 3 12 corrupted user program on power up 3 13 error codes B 5 explanations and correction 3 1 external I O failures 3 2 fault action T O fault action T O fault group V O fault table 3 3 3 5 T O fault table explanations 3 17 internal failures 3 2 interpreting a fault loss of I O module 3 17 loss of or missing option module 3 8 low battery signal 3 11 no user program present 3 13 operational failures 3 2 option module software failure 3 11 password access failure 3 13 PLC CPU system software failure 3 14 PLC fault action B 5 PLC fault group B 4 PLC fault table PLC fault table explanations program block checksum failure references 3 4 E of addition of or extra option module 3 9 system configuration mismatch 3 10 system reaction to faults 3 3 Faults interpreting B 1 Flash protection on 350 and 360 series CPUs 2 13 14 Floating point numbers E 1 entering and displaying floating point numbers ES errors in floating point numbers and operations E 6 internal format of fl
94. 064 This form of the function allows input points to be scanned one or more times during the program execution portion of the CPU sweep 10001 DO_IO I0001 ST Q0001 10064 END ALT GFK 0467K Chapter 4 Series 90 30 20 Micro Instructions Set 4 111 4 112 Output Example 1 In the following example when the enabling input 910001 is ON the values at references R0001 through RO0004 are written to analog output channels AQ001 through AQ004 and Q0001 is turned on The values at AQO01 through AQ004 are not written to the analog output modules I0001 I Do_Io Q0001 AQ001 ST AQ004 END R0001 ALT Output Example 2 In the following example when the enabling input 10001 is ON the values at references AQOO1 through AQ004 are written to analog output channels AQ001 through AQ004 and Q0001 is turned on 10001 DO_I0O 2AQ001 ST Q0001 2AQ004 END ALT Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K Enhanced DO 1 0 Function for 331 and Later CPUs If the Enhanced DO I O function is used in a program the program should not be loaded by a version of Logicmaster 90 30 20 software prior to 4 01 An enhanced version of the DO I O DOIO function is available
95. 1 Pop stack and OR to top 1 Duplicate top of stack 1 Pop stack 1 Initial stack 1 Label 5 Jump 5 All other instructions 3 Function blocks see Table A 1 Boolean Execution Speed The execution times of coils and contacts are shown below These times represent the time used for each coil or contact in your RLD program Table A 3 Boolean Execution Speeds Model 350 and 360 Series 0 22 milliseconds per 1 000 boolean contacts coils Model 340 341 0 3 milliseconds per 1 000 boolean contacts coils Model 331 0 4 milliseconds per 1 000 boolean contacts coils Model 313 323 0 6 milliseconds per 1 000 boolean contacts coils Model 311 18 0 milliseconds per 1 000 boolean contacts coils Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K Appendix B GFK 0467K Interpreting Fault Tables The Series 90 30 PLCs maintain two fault tables the I O fault table for faults generated by I O devices including I O controllers and the PLC fault table for internal PLC faults The information in this appendix will enable you to interpret the message structure format when reading these fault tables Both tables contain similar information e The PLC fault table contains O Fault location O Fault description O Date and time of fault e The I O fault table contains O Fault location O Reference address O Fault category O Fault type O Date and time of fault PLC Fault Table Access the P
96. 1C693ALG392 8ch Analog Output Current Voltage GFK 0898 1C693ALG442 4 2 Analog Current Voltage Combination Input Output GFK 0898 Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K Table 2 7 Model 30 I O Modules Continued Catalog Pub Number Description Number Option Modules 1C693APU300 High Speed Counter GFK 0293 IC693CMM311 Communications Coprocessor Module GFK 0582 1C693PCM300 PCM 160K Bytes 35KBytes User MegaBasic Program GFK 0255 1C693PCM301 PCM 192K Bytes 47KBytes User MegaBasic Program GFK 0255 1C693PCM311 PCM 640K Bytes 190KBytes User MegaBasic Program GFK 0255 IC693ADC311 Alphanumeric Display Coprocessor GFK 0521 IC693BEM331 Genius Bus Controller GFK 1034 IC693CMM301 Genius Communications Module GFK 0412 1IC693CMM302 Enhanced Genius Communications Module GFK 0695 1IC693BEM320 VO Link Interface Module slave GFK 0631 IC693BEM321 VO Link Interface Module master GFK 0823 IC693APU301 Power Mate APM Module 1 Axis Follower Mode GFK 0781 1C693APU301 Power Mate APM Module 1 Axis Standard Mode GFK 0840 1C693APU302 Power Mate APM Module 2 Axis Follower Mode GFK 0781 1C693APU302 Power Mate APM Module 2 Axis Standard Mode GFK 0840 IC693MCS001 2 Power Mate J Motion Control System 1 and 2 Axis GFK 1256 1C693APU305 TO Processor Module GFK 1028 IC693CMM321 Ethernet Communications Module GFK 1084 I O Data Formats Discrete inputs and discrete output
97. 3 APL_FLT Set when an application fault occurs Cleared when the PLC transitions from STOP to RUN mode SA0009 CFG_MM Set when a configuration mismatch is detected during system power up or during a store of the configuration Cleared by powering up the PLC when no mismatches are present or during a store of configuration that matches hardware SA0010 HRD_CPU Set when the diagnostics detects a problem with the CPU hardware Cleared by replacing the CPU module SA0011 LOW_BAT Set when a low battery fault occurs Cleared by replacing the battery and ensuring that the PLC powers up without the low battery condition SA0014 LOS_IOM Set when an I O module stops communicating with the PLC CPU Cleared by replacing the module and cycling power on the main rack SA0015 LOS_SIO Set when an option module stops communicating with the PLC CPU Cleared by replacing the module and cycling power on the main rack SA0019 ADD_IOM Set when an I O module is added to a rack Cleared by cycling power on the main rack and when the configuration matches the hardware after a store SA0020 ADD_SIO Set when an option module is added to a rack Cleared by cycling power on the main rack and when the configuration matches the hardware after a store SA0027 HRD_SIO Set when a hardware failure is detected in an option module Cleared by replacing the module and cycling power on the
98. 360 series CPUs There can be multiple MCRN functions corresponding to a single ENDMCRN except for the 350 and 360 series CPUs as noted above This is analogous to the nested JUMP where you can have multiple JUMPs to the same LABEL For differences between the JUMP function and the MCR function refer to the Differences Between MCRs and Jumps section on page 4 125 4 124 Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K Both forms of the MCR function have the same parameters They both have an enable boolean input EN and also a name which identifies the MCR This name is used again with an ENDMCR instruction Neither the MCR nor the MCRN function has any outputs there can be nothing after an MCR in a rung 9272727222 97272222 Differences Between MCRs and J UMPs With an MCR function function blocks within the scope of the MCR are executed without power flow and coils are turned off In the following example when 10002 is ON the MCR is enabled When the MCR is enabled even if I0001 is ON the ADD function block is executed without power flow i e it does not add 1 to R0001 and Q0001 is turned OFF I10002 FIRST I II I II MCR I0001 Q0001 a ADD lt lt lt SH_ INT ROOO1 I1 Q RO001 1 12 ENDMCR With a JUMP function any function blocks between the JUMP a
99. 5 Checksum calculation 2 9 Checksum failure program block 3 11 Clocks 2 34 elapsed time oes time of day clock 2 34 Coil with Multiple and Single coil checking 4 6 Coils 4 344 continuation coil 4 8 negated coil 4 4 negated retentive coil 4 5 negative transition coil 4 5 positive transition coil RESET coil retentive coil retentive RESET coil retentive SET coil 4 7 SET coil Comment function 4 131 COMMREQ error code description and correction Communication request function error code description and correction Communication window modes Communications failure during store 3 16 Communications with the PLC 2 12 Configuration 4 1 Configuration mismatch system 3 10 Constant sweep time exceeded Constant sweep time mode Constant sweep timer 2 35 Contacts 4 2 Index 1 Index Index 2 Continuation contact normally closed contact normally open contact 4 4 Continuation coil Continuation contact Control functions 4 107 Sequential Event Recorder 4 114 SER SVCREQ Control functions Instruction timing CPU A 1 Conversion functions Convert to double precision signed integer function 4 99 Convert to Real function 4 101 Convert to signed integer function 4 97 Convert to Word function 4 103 Corrupted memory 3 7 Corrupted user program on power up 3 13 Cos 4 35 Cosine function 4 35 Counters DNCTR
100. 51 36x 350 351 36x oor ooNnNnOooOo Oo oooooo ys Notes 1 Time in microseconds is based on Release 7 of Logicmaster 90 30 20 Micro software for Model 351 and 352 CPUs P DEE Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 For table functions increment is in units of length specified for bit operation functions microseconds bit for data move functions microseconds number of bits or words Enabled time for single length units of type R AI and AQ COMMREQ time has been measured between CPU and HSC DOIO is the time to output values to discrete output module Where there is more than one possible case the time indicated above represents the worst possible case GFK 0467K Table A 1 Instruction Timing Continued Function Enabled Disabled Increment Enabled Disabled Group Function 350 351 36x 350 351 36x 350 351 36x Size 1 Relational Equal INT Equal DINT Equal REAL Not Equal INT Not Equal DINT Not Equal REAL Greater Than INT Greater Than DINT Greater Than REAL Greater Than Equal INT Greater Than Equal DINT Greater Than Equal REAL Less Than INT Less Than DINT Less Than REAL Less Than Equal INT Less Than Equal DINT Less Than Equal REAL Range INT Range DINT Range WORD Bit Logical AND o RRO0OO0OrOo0o000000000 0 oo Operation Logical OR Logical Exclusive OR Logical Invert NOT Shift Bit Left Shift Bit Ri
101. 78 The result value placed in T0016 is 678 000 ALW_ON I lI INT_ TO_ T0001 IN Q TO0016 REAL 1 Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K gt WORD REAL The Convert to WORD function is used to output the WORD equivalent of real data The original data is not changed by this function Note This function is only available on the 350 and 360 series CPU When the function receives power flow it performs the conversion making the result available via output Q The function passes power flow when power is received unless the specified conversion would result in a value that is outside the range 0 to FFFFh enable ok TO_ WORD value to be converted IN 0Q output parameter Q Parameters Parameter Description enable When the function is enabled the conversion is performed IN IN contains a reference for the value to be converted to WORD ok The ok output is energized when the function is performed without error Q Q contains the unsigned integer form of the original value in IN GFK 0467K Chapter 4 Series 90 30 20 Micro Instructions Set 4 103 4 104 Valid Memory Types Parameter flow Y1 PQ M T S G R WAI AQ const none enable IN ok Q
102. 98 GFK 0467K Offset Parameter Description Value dec Value hex 22 122 Channel description 5 Seg Sel Length 0008 24 124 Channel description 6 Seg Sel Length 249 FFO7 The following is a description of the above control block e The status register is telling us that the FBK is in the Active state 2 Active state This means the function block is executing normally and taking a sample each time the function block is encountered in program logic The extra status data tells us that we have already taken more that 512 samples and thus the sample buffer has already wrapped at least once e The event recorder is configured to trigger based on the Trigger boolean input e The reserved parameters are always set to 0 e The user selected 24 channels of data with a sample buffer size of 512 samples The sample buffer is not 512 bytes It is 512 x 24 8 1536 bytes or 768 words e The number of samples that are to be gathered after the trigger is 12 each sample is 3 bytes long e We are to scan the input module in rack 0 slot 4 so its current values are available for sampling e The data segment is 0x08 registers and the offset is 200 which places the start of the data block at R0201 The offset is a zero oriented value but the register tables begin at R0001 Therefore the data block starting point is R0001 200 kR0201 e The next section contains the channel descriptions In this example 6 channel descriptio
103. A summary of PLC sweep sequences see Section 1 e Program organization and user references data see Section 2 e Power up and power down sequences see Section 3 e Clocks and timers see Section 4 e System security through password assignment see Section 5 e Model 30 I O modules see Section 6 2 1 2 2 Section l PLC Sweep Summary The logic program in the Series 90 30 90 20 and Micro PLCs execute repeatedly until stopped by a command from the programmer or a command from another device The sequence of operations necessary to execute a program one time is called a sweep In addition to executing the logic program the sweep includes obtaining data from input devices sending data to output devices performing internal housekeeping servicing the programmer and servicing other communications Series 90 30 90 20 and Micro PLCs normally operate in STANDARD PROGRAM SWEEP mode Other operating modes include STOP WITH I O DISABLED mode STOP WITH I O ENABLED mode and CONSTANT SWEEP mode Each of these modes described in this chapter is controlled by external events and application configuration settings The PLC makes the decision regarding its operating mode at the start of every sweep Standard Program Sweep STANDARD PROGRAM SWEEP mode normally runs under all conditions The CPU operates by executing an application program updating I O and performing communications and other tasks This occurs in a repetitive cycle
104. Bus Controller is stored in G memory Modules are scanned in ascending reference address order starting with the Genius Communications Module then discrete input modules and finally analog input modules If the CPU is in STOP mode and the CPU is configured to not scan I O in STOP mode the input scan is skipped GFK 0467K Chapter 2 System Operation 2 7 2 8 Application Program Logic Scan or Solution The application program logic scan is when the application logic program actually executes The logic solution always begins with the first instruction in the user application program immediately following the completion of the input scan Solving the logic provides a new set of outputs The logic solution ends when the END instruction is executed the END is invisible unless you are using a Hand Held Monitor The application program is executed by the ISCP and the 80C188 microprocessor In the Model 313 and higher CPUs the ISCP executes the boolean instructions and the 80C188 or 80386EX executes the timer counter and function blocks In the Model 311 and 90 20 CPUs the 80C188 executes all boolean timer counter and function block instructions On the Micro the H8 processor executes all booleans and function blocks A list of execution times for each programming function can be found in Appendix A Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K Output Scan Outputs are scanned during
105. CTR The Up Counter UPCTR function is used to count up to a designated value The range is 0 to 32 767 counts When the up counter reset is ON the current value of the counter is reset to 0 Each time the enable input transitions from OFF to ON the current value is incremented by 1 The current value can be incremented past the preset value PV The output is ON whenever the current value is greater than or equal to the preset value The state of the UPCTR is retentive on power failure no automatic initialization occurs at power up enable Q l l reset R l l l preset value PV address Parameters Parameter Description address The UPCTR uses three consecutive words registers of R memory to store the following Current value CV word 1 Preset value PV word 2 Control word word 3 When you enter an UPCTR you must enter an address for the location of these three consecutive words registers directly below the graphic representing the function Note Do not use this address with another up counter down counter or any other instruction or improper operation will result Caution Overlapping references will result in erratic operation of the counter enable On a positive transition of enable the current count is incremented by one R When R receives power flow it resets the current value back to zero PV PV is the value to copy into the counter s preset
106. Cs are available Each Micro is listed by catalog number number of I O points and a brief description The CPU power supply and I O are all part of one unit For the specifications and wiring information of each module refer to the Series 90 Micro Programmable Controller User s Manual GFK 1065 Catalog Number Description TO Points IC693UDRO01 CPU Power Supply and I O all one unit 8 In 6 Out Micro 14 pt DC In Relay Out AC Power Supply IC693UDRO002 CPU Power Supply and I O all one unit 8 In 6 Out Micro 14 pt DC In Relay Out DC Power Supply IC693UAA003 CPU Power Supply and I O all one unit 8 In 6 Out Micro 14 pt AC In AC Out AC Power Supply IC693UDD104 CPU Power Supply and I O all one unit 8 In 6 Out Micro 14 pt DC In DC Out DC Power Supply IC693UDROO0S CPU Power Supply and I O all one unit 16 In 11 Relay Micro 28 pt DC In Relay Out AC Power Supply Out 1 DC Out IC693UAL006 CPU Power Supply and I O all one unit 1 DC Out 9 Relay Micro 23 pt DC In DC Out AC Power Supply Out 2 Analog In 1 Analog Out IC693UAA007 CPU Power Supply and I O all one unit 16 In 12 Out Micro 28 pt AC In AC Out AC Power Supply IC693UDRO10 CPU Power Supply and I O all one unit 16 DC In 1 DC Micro 28 pt DC In DC Out DC Power Supply Out 11 Relay Out IC693UEX011 14 point Expansion Unit 14 pt DC In Relay Out AC Power 8 In 6 Out Supply GFK 0467K Chapter 2 System Oper
107. E Name PLC Operating Software Error Description The PLC operating software generates these errors when certain PLC operating software problems occur These errors should not occur in a production system Correction Display the PLC fault table on the programmer Contact GE Fanuc PLC Field Service giving them all the information contained in the fault entry Error Code 4F Name Communications Failed Description The PLC operating software service request processor generates this error when it attempts to comply with a request that requires backplane communications and receives a rejected response Correction 1 Check the bus for abnormal activity 2 Replace the intelligent option module to which the request was directed Error Code 50 51 53 Name System Memory Errors Description The PLC operating software generates these errors when its request for a block of system memory is denied by the memory manager because no memory is available or contains errors Correction 1 Display the PLC fault table on the programmer Contact GE Fanuc PLC Field Service giving them all the information contained in the fault entry 2 Perform the corrections for corrupted memory Error Code 52 Name Backplane Communications Failed Description The PLC operating software service request processor generates this error when it attempts to comply with a request that requires backplane communications and receives a rejected mail respon
108. E E A E E S 4 21 DING ER a A E O A aa vanes 4 22 ParamnetetS ee dd E 4 22 Valid Memory Types isc citscvscs shes ichuschsebeh ck tetecens eohetead esa T neS Eea EEEE EEEE 4 23 Example Sater cs cig teckel A A E tse A ARE SE 4 23 Example E E ENE REEE EEE 4 24 Section 3 Math FunctionS sesesseseseseeeesosoesesesoeoesosorsesesoeoesosorsesesesoesosorseseseese 4 26 Standard Math Functions ADD SUB MUL DIV occcnnnnononinananonononananananononononns 4 27 Parameters nenna a dart cna tesa ue paceovbeb a a a E e i as 4 28 Valid Memory Types icsscisscc soe eroest teiser sarea s rasoek Eron SESEK EEEo sb gedsvasee dovessiees 4 28 Example nuit 4 28 Math Functions and Data Ty PES oococnnccnccnnoncconoconoconocononononnnonnnnnnc ran non cnn nc recono 4 29 MOD INT DIN Dic A a 4 31 Parametros roo io noia eS 4 31 Valid Memory Types pda 4 32 Example A Sos advan e abate abel EEE E otek bugh hea tose EE 4 32 SORT NT DNP READ 00 ia 4 33 PAM add lo 4 33 Valid Memory Types rnst eere ie ree eea eE E EEEE e abia ind eo cas 4 34 Example a a ei REE E NRA ey 4 34 Trig Functions SIN COS TAN ASIN ACOS ATAN occooocccoccnonnnnninnncconanonnnos 4 35 ATI PA NO 4 36 Valid Memory Types coocococcconconnconononnnonnnnnconoco nono nocn nooo nono no nn nono cnn cnn REE EiS 4 36 Example seie seat apnea 4 36 Logarithmic Exponential Functions LOG LN EXP EXPT ee 4 37 Parameters c ccece ciestheedideled tere ides ee inde tie ee ed ee
109. EE EA Valid reference or place where power may flow through the function Example In the following example the down counter identified as COUNTP counts 5000 new parts before energizing output Q0005 A NEW_PRT Q0005 I gt DNCTR rr NXT_BAT I II I IR CONST PV 05000 Chapter 4 Series 90 30 20 Micro Instructions Set 4 23 4 24 Example In the following example the PLC is used to keep track of the number of parts contained in a temporary storage area There are two ways of accomplishing this function using the Series 90 30 20 Micro instruction set The first method is to use an up down counter pair with a shared register for the accumulated or current value When the parts enter the storage area the up counter increments by 1 increasing the current value of the parts in storage by a value of 1 When a part leaves the storage area the down counter decrements by 1 decreasing the inventory storage value by 1 To avoid conflict with the shared register both counters use different register addresses When a register counts its current value must be moved to the current value register of the other counter 10003 gt UP CTR 10001 _ R I0009 CONST PV 00005 RO100 I0003 1
110. FANUC GE Fanuc Automation Programmable Control Products Series 90 30 20 Micro Programmable Controllers Reference Manual GFK 0467K September 1998 GFL 002 Warnings Cautions and Notes as Used in this Publication Warning notices are used in this publication to emphasize that hazardous voltages currents temperatures or other conditions that could cause personal injury exist in this equipment or may be associated with its use In situations where inattention could cause either personal injury or damage to equipment a Warning notice is used Caution notices are used where equipment might be damaged if care is not taken Note Notes merely call attention to information that is especially significant to understanding and operating the equipment This document is based on information available at the time of its publication While efforts have been made to be accurate the information contained herein does not purport to cover all details or variations in hardware or software nor to provide for every possible contingency in connection with installation operation or maintenance Features may be described herein which are not present in all hardware and software systems GE Fanuc Automation assumes no obligation of notice to holders of this document with respect to changes subsequently made GE Fanuc Automation makes no representation or warranty expressed implied or statutory with respect to and assumes no responsibili
111. HSC 5 DOIO is the time to output values to discrete output module 6 Where there is more than one possible case the time indicated above represents the worst possible case 7 For instructions that have an increment value multiply the increment by Length 1 and add that value to the base time Timing information for the Micro PLC See the Series 90 Micro Programmable Logic Controller User s Manual GFK 1065B or later for this information Timing information for 350 and 360 Series PLCs See page A 6 and following GFK 0467K Appendix A Instruction Timing A 3 Table A 1 Instruction Timing Continued Search Not Equal INT 198 159 36 DINT 201 163 35 BYTE 179 141 36 WORD Search Greater Than INT DINT BYTE WORD 125 135 125 Search Greater Than Eq INT DINT BYTE WORD 124 E Search Less Than INT 124 DINT 135 BYTE 181 WORD 124 124 136 Search Less Than Equal INT DINT BYTE WORD 124 Conversion Convert to INT Convert to BCD 4 Notes 1 Time in microseconds is based on Release 5 01 of Logicmaster 90 30 20 software for Models 311 313 340 and 341 CPUs Release 7 for the 331 2 For table functions increment is in units of length specified for bit operation functions microseconds bit for data move functions microseconds number of bits or words 3 Enabled time for single length units of type R AI and AQ 4 COMMREQ time has been measured between CPU and HSC 5 DOIO is the time to output valu
112. In the final step of the execution the mode of the first sweep is determined based on CPU configuration If RUN mode the sweep proceeds as described under STOP to RUN Mode Transition Figure 2 5 on the next page shows the decision sequence for the CPU when it decides whether to copy from PROM or to power up in STOP or RUN mode Note Steps 2 through 6 above do not apply to the Series 90 Micro PLC For information about the power up and power down sequences for the Micro refer to the Power up and Power down Sequences section of Chapter 5 System Operation in the Series 90 Micro PLC User s Manual GFK 1065 2 30 Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K GFK 0467K a45680 Go to Clear All Process START USD PRESENT AND VALID URAM CORRUPT USD NOT PRESENT TRUE STOP MODE lt y FALSE HHP NOT RUN COPY PRG CFG COPY MNS STOP MODE amp REGS FROM PRG amp CFG FROM USD TO URAM USD TO URAM PRG or CFG CHECKSUM BAD Clear All Process LOW BATT STOP MODE CLEAR PRG CFG AND REGS STOP MODE PU MODE IS SAME AS POWERDOWN Cee Garner 19 STOP MODE Figure 2 5 Power Up Sequence Prior to the START statement on the Power Up Flowchart the CPU goes through power up diagnostics which test various periphal devices used by the CPU and tests RAM After completing
113. LC fault table through your programming software The following diagram identifies each field in the fault entry for the System Configuration Mismatch fault displayed above 00 000000 900373F2 0BQ3 0100 000000000000000000047E0C0B0301000000000000000000 Fault Extra Data Error Code Fault Action Fault Group Task Slot Rack Spare Long Short B 2 Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K The System Configuration Mismatch fault entry is explained below All data is in hexadecimal Field Value Description Long Short 00 This fault contains 8 bytes of fault extra data Rack 00 Main rack rack 0 Slot 03 Slot 3 Task 44 Fault Group OB System Configuration Mismatch fault Fault Action 03 FATAL fault Error Code 01 The following paragraphs describe each field in the fault entry Included are tables describing the range of values each field may have Long Short Indicator This byte indicates whether the fault contains 8 bytes or 24 bytes of fault extra data Type Code Fault Extra Data Short 00 8 bytes Long 01 24 bytes Spare These six bytes are pad bytes used to make the PLC fault table entry exactly the same length as the YO fault table entry Rack The rack number ranges from 0 to 7 Zero is the main rack containing the PLC Racks 1 through 7 are expansion racks connected to the PLC through an
114. N gt gt LABELO 1 The LABEL instruction has no inputs and no outputs there can be nothing either before or after a LABEL in a rung Non nested LABEL Nested LABEL 2222222 nested Example In the following examples power flow from JUMP TEST1 is resumed starting at LABEL TEST1 Example of a non nested LABEL TEST1 Example of a nested LABEL TEST1 nested Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K COMMENT Use the COMMENT function to enter a comment rung explanation in the program A comment can have up to 2048 characters of text It is represented in the ladder logic like this COMMENT The text can be read or edited by moving the cursor to COMMENT after accepting the rung and selecting Zoom F10 Comment text can also be printed Longer text can be included in printouts using an annotation text file as described below 1 Create the comment A Enter text to the point where the text from the other file should begin B Move the cursor to the beginning of a new line and enter M or i the drive followed by a colon the subdirectory or folder and the file name as shown in this example NI d text commnt1 The drive designation is not necessary if the file is located on the same drive as the program folder C Continue editing the program or exit to MS DOS 2 After exiting the programmer create a text file us
115. N o o o o o et ok Q o o o o o e Valid reference or place where power may flow through the function o Valid reference for INT data only not valid for DINT and REAL Constants are limited to values between 32 768 and 32 767 for double precision signed integer operations Example In the following example the square root of the integer number located at AI001 is placed into the result located at RO003 whenever I0001 is ON io I 10001 I II I ISQRT_ INT AI0001 IN Q R0003 I 4 34 Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K Trig Functions SIN COS TAN ASIN ACOS ATAN The SIN COS and TAN functions are used to find the trigonometric sine cosine and tangent respectively of its input When one of these functions receives power flow it computes the sine or cosine or tangent of IN whose units are radians and stores the result in output Q Both IN and Q are floating point values The ASIN ACOS and ATAN functions are used to find the inverse sine cosine and tangent respectively of its input When one of these functions receives power flow it computes the inverse sine or cosine or tangent of IN and stores the result in output Q whose units are radians Both IN and Q are floating point values The SIN COS and TAN functions accept a broad range of input val
116. N2 0 CONST IN3 0204 CONST IN4 0 CONST IN5 0 CONST IN6 0 CONST IN7 0 ll E M0001 2M0002 AAA e eE REQ GFK 0467K Chapter 4 Series 90 30 20 Micro Instructions Set 4 169 4 170 Example 2 This example reads the extra status data from the module in Rack 0 Slot 4 and from the module in Rack 1 Slot 1 It writes a 5 to the first module and a 9 to the second Note that the modules do not need to be listed in order by slot numbers Data read from the module in Rack 0 Slot 4 will be placed into R0007 Data read from the module in Rack 1 Slot 1 will be placed in R0004 CONST FNC 0046 2R0001 PARM FST_SCN I II BLKMv WORD CONST IN1 Q R0001 3 CONST IN2 o CONST IN3 0101 CONST IN4 o CONST IN5 39 CONST IN6 4 CONST IN7 o __ ES FST_SCN aa Y WORD CONST IN Q R0009 0 LEN 100001 A M0001 HE ee REQ CONST IN Ql R0008 5 LEN 0001 M0001 Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K PID The Propo
117. O WT a a A sa o 2 33 Section 4 Clocks and LImerS scaridoniainn cir dussccscessctads ndice dad iii 2 34 Contents Chapter 3 viii Elapsed Time Clock ota aaa 2 34 Time ot Day Clock vac isecissssaeseuss sgiewettsseeoostenceusttsansasadsnboeestonsteenedceueosgacwenegsdansees tscesse psi 2 34 Watchdog Tiida ciara ities Dilan eet hres 2 35 Constant Sweep TIME ld a tt ate 2 35 Time Tick Container ETE TR 2 35 Section 5 System OCULAR ERRE ARA 2 36 PASS WO ie dd 2 36 Privilege Level Change Requests 0 cccceesccessseceeseeceeececeeceesaeceeaaeceeeeecseeessaeceeaeeeenees 2 37 Locking Unlocking Subroutines oocoooccnoccconocncononccnnonononononnnncnnnnccnnnnonnnn nro nn conan ccnnnccnnncnss 2 37 Permanently Locking a Subroutine 0 0 0 0 ceecceesseceenceceeeeeeeeceesaeceeceeceeeeeaeeeeaeeeees 2 37 Section 6 Series 90 30 90 20 and Micro I O System cssscccssssessssceees 2 38 UE TN 2 39 VO Data Forms sees ites Loe GU a Lod RU RE andes a es 2 41 Default Conditions for Model 30 Output Modules oonoconoccnoncconcconnconnnonncnnnnonancnnccnnnos 2 41 Diagnostic Data 2 41 E sacnt ch cedesth oawataredeeenssageets seb yshde Eaa ikea ine a ie sche i eeina 2 42 Model 20 10 Modules iii deena i a i ees 2 42 Micro PECS errr ee AA A e A A RT ia 2 43 Fault Explanation and Correcti0N ooooommossss 3 1 Section 1 Fault Handling e sseessecssocesocesoocesscsssccesocesoosesocesoccssocesocssoosessessose 3 2 Alarm ProcessSoT iii
118. O001 is set ON if the operation succeeds 10001 200001 e _ _ _ _ _ _ _ _____a__ _ CONST FNC 00007 RO0001 PARM GFK 0467K Chapter 4 Series 90 30 20 Micro Instructions Set 4 133 SVCREQ 1 Change Read Constant Sweep Timer 4 134 Beginning with 90 30 CPU Release 8 use SVCREQ function 1 to e Disable CONSTANT SWEEP mode e Enable CONSTANT SWEEP mode and use the old timer value e Enable CONSTANT SWEEP mode and use a new timer value e Set a new timer value only e Read CONSTANT SWEEP mode state and timer value Note Of the CPUs discussed in this manual Service Request 1 is supported only by 90 30 CPUs beginning with Release 8 0 The parameter block has a length of two words To disable CONSTANT SWEEP mode enter SVCREQ function 1 with this parameter block To enable CONSTANT SWEEP mode enter SVCREQ function 1 with this parameter block Note If the timer should use a new value enter it in the second word If the timer value should not be changed enter 0 in the second word If the timer value does not already exist entering O will cause the function to set the OK output to OFF To change the timer value without changing the selection for sweep mode state enter SVCREQ function 1 with this parameter block address To read the current timer state and value without changing either enter SVCREQ fu
119. OEA E a EENE Aaa 4 4 Example ca ao 4 4 Retentive COL M sew Saca 4 5 Negated Retentive Coil M cccecscccsecceeseeceeneeceeneeceaeeeeaaecseaeeceeesenaeeeeaaeceeees 4 5 Positive Transition Coil gt EE ee eT Te 4 5 Negative Transition Coil A O RN 4 5 Example ia ii ad 4 5 SED Con EEE EE E oa 4 6 RESET COL RI D Ai addict 4 6 Example O 4 6 Retentive SET Coil A SM riia s TEE EET E E i 4 7 Retentive RESET Coil RM cccccccccccesssseecesssececesseececseseeeeceseeeaeceseeeaeesseeaaeees 4 7 DET EEE N E EE AT E E E E E EEE E ies 4 7 Examples iiss cies each edie E A E E AE EEEE E A E TE Ree 4 7 Continuation Coils lt gt and Contacts lt gt DEA aN eats 4 8 Section 2 Timers and CounterS seesessessesessossesossossessossesossossesossossessossssossoso 4 9 Function Block Data Required for Timers and Counters ooooonoccnoccnooncnoncnoncnoncnnacononos 4 9 ONDTR iera eee EO EE EE EEA EEE EEEO RERE A ERES 4 11 JLN AT PAA A RE E 4 12 Valid MeMOry Types oirr harne ra 4 12 Example o ni 4 13 MR A A se suaata E avin 4 14 O NS 4 15 Valid Memory Types rrinim i ereere e e nee e E E EEEa ESETE R 4 15 Contents ix Contents EXxampl ni ti os 4 16 DOE Ti A ecu hte cats A A E A 4 17 Parameters ss eit tees eet ad 4 18 Valid Memory Types sia a EA A E E ia 4 19 Example uti tdt 4 19 UPCTR A ioo aao EE EE EE A E E AEAEE e EAEE 4 20 JENN AE A A E O 4 20 Valid Memory TYPES cdta 4 21 EX AEE
120. The function passes power to the right whenever power is received unless e Not all references of the type specified are present within the selected range e The CPU is not able to properly handle the temporary list of I O created by the function e The range specified includes I O modules that are associated with a Loss of I O fault enable ok l l l starting address ST l l ending address END l l l l ALT Il Parameters Parameter Description enable When the function is enabled a limited input or output scan is performed ST ST is the starting address or set of input or output points or words to be serviced END END is the ending address or set of input or output points or words to be serviced ALT For the input scan ALT specifies the address to store scanned input point word values For the output scan ALT specifies the address to get output point word values from to send to the I O modules For Model 331 and later CPUs the ALT parameter can have an effect on speed of DOIO function block execution see Note below and the section on the enhanced DO I O function for 331 and later CPUs on page 4 110 ok The ok output is energized when the input or output scan completes normally Note For Model 331 and later CPUs the ALT parameter of the DOIO function block can be used to enter the slot of a single module in the main rack When that is done the DOIO
121. The range is O to 32 767 time units The state of this timer is retentive on power failure no automatic initialization occurs at power up When the OFDT first receives power flow it passes power to the right and the current value CV is set to zero The OFDT uses word 1 register as its CV storage location see the Parameters section on the next page for additional information The output remains on as long as the function receives power flow If the function stops receiving power flow from the left it continues to pass power to the right and the timer starts accumulating time in the current value Note If multiple occurrences of the same timer with the same reference address are enabled during a CPU sweep the current values of the timers will be the same The OFDT does not pass power flow if the preset value is zero or negative Each time the function is invoked with the enabling logic set to OFF the current value is updated to reflect the elapsed time since the timer was turned off When the current value CV is equal to the preset value PV the function stops passing power flow to the right When that occurs the timer stops accumulating time see Part C below When the function receives power flow again the current value resets to zero a42932 pa Ae AS ENABLE and Q both go high timer is reset CV 0 ENABLE goes low timer starts accumulating time CV reaches PV Q goes low and timer stops accumul
122. U Hardware Failure Fatal PLC sy_flt any_flt sy_pres hrd_cpu Program Checksum Failure Fatal PLC sy_flt any_flt sy_pres pb_sum Low Battery Diagnostic PLC sy_flt any_flt sy_pres low_bat PLC Fault Table Full Diagnostic sy_full T O Fault Table Full Diagnostic io_full Application Fault Diagnostic PLC sy_flt any_flt sy_pres apl_flt No User Program Informational PLC sy_flt any_flt sy_pres no_prog Corrupted User RAM Fatal PLC sy_flt any_flt sy_pres bad_ram Password Access Failure Diagnostic PLC sy_flt any_flt sy_pres bad_pwd PLC Software Failure Fatal PLC sy_flt any_flt sy_pres sft_cpu PLC Store Failure Fatal PLC sy_flt any_flt sy_pres stor_er Constant Sweep Time Exceeded Diagnostic PLC sy_flt any_flt sy_pres ov_swp Unknown PLC Fault Fatal PLC sy_flt any_flt sy_pres Unknown I O Fault Fatal TO io_flt any_flt io_pres GFK 0467K Chapter 3 Fault Explanation and Correction 3 3 Fault Action Faults may be fatal diagnostic or informational Fatal faults cause the fault to be recorded in the appropriate table any diagnostic variables to be set and the system to be halted Diagnostic faults are recorded in the appropriate table and any diagnostic variables are set Informational faults are only recorded in the appropriate table Possible fault actions are listed in the following table Table 3 2 Fault Actions Fault Action Response by CPU Fatal Log fault in fault table Set fault references
123. _ 0000032000 Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K MOD INT DINT The Modulo MOD function is used to divide one value by another value of the same data type to obtain the remainder The sign of the result is always the same as the sign of input parameter I1 The MOD function operates on these types of data Data Type Description INT Signed integer DINT Double precision signed integer The default data type is signed integer however it can be changed after selecting the function For more information on data types please refer to chapter 2 section 2 Program Organization and User References Data When the function receives power flow it divides input parameter I1 by input parameter I2 These parameters must be the same data type Output Q is calculated using the formula Q I1 11 DIV 12 12 where DIV produces an integer number Q is the same data type as input parameters I1 and I2 OK is always ON when the function receives power flow unless there is an attempt to divide by zero In that case it is set OFF enable ok INT l l input parameter 11 11 Q output parameter Q l l input parameter I2 I2 2 2 Parameters Parameter Description enable When the function is enabled the operation is performed n Il contains a constant or reference for the value to be divide
124. a A AA 3 2 Classes Of Earl eenaa EE re ER E EE o RA 3 2 System Reaction to Faults aseene i e E REE E E E EE E 3 3 Fault Tables iia tias 3 3 Fault Action e a E een ah ate ea on hea haan 3 4 Fault RETETEN CES o tte cedo lla decades 3 4 Fault Reference Definitions isep oense EEE E E nc cano nc cnnn nro nn anna nc E S 3 5 Additional Fault EffectSun roerien nentet iaeoe o eent ES Ea E aS EEVEE EEEN ENAERE 3 5 PEC Fault Table Display mesere ieee iaa et Teraa E E ei at ee 3 5 TO Fault Fable Display dt dd 3 5 Accessing Additional Fault Informati0N ooonnccnnncnonoconnnonnconnnnnnnnnnnnnn nono nono ncnn ccoo nono nccnne ns 3 6 Section 2 PLC Fault Table Explanations oooomo 3 7 Fault A CONS A A AAA AAA 3 8 Loss of or Missing Option Module ooooonnccnocccocococononcconnconnnonnnonn cono nonn nono n con ncrnncnnnc ns 3 8 Reset of Addition of or Extra Option Modul ooooncccnnnccnnonicinococonoconanonononacnnnccnncnos 3 9 System Configuration MisMatCh oconccnncnnnccnonnnnoncnoncnoncnnnoconoconoconncnnn cnn nnnn cra cra cra 3 10 Option Module Software FallUr oooooncnnnnnnnncnnocnnoncnoncnnnccnnoconocnnncnnn conc crac nrnn cra cra 3 11 Program Block Checksum Fallure oooonccnnncnnnccnocononoconoconoconoconnconn conc crac nrnnnrnacrna conan 3 11 Eow Batter yal aii gece puss gisasata AE EA E EEr E ao EE 3 11 Constant Sweep Time Exceeded c ooconoccnnoconoconocononononononoconoconoconccnnncnnn crac cra nrnn cra cra 3 12 Ser
125. a value between 0 and Number of Samples 1 This parameter is valid only when the Trigger Mode is set to Trigger Input Mod Slot 11 Specifies the location of the input module for data sampling slot in the main rack Note The user is responsible for guaranteeing this slot physically contains an input module A slot number of 0 disables scanning of an input module When an input module is scanned its values are stored locally and the values of the reference addresses configured for the module are not affected To store values from the scanned input module into the data block sample buffer a channel description must be used If the module 1s not present or faulted at the time of the scan the data returned will be zero A fault will not be logged in the fault table if this occurs fault indication will be left to the IO scanner Data Blk Seg Sel 12 Specifies the data type that the user has allocated for the Data Block For example if you wanted to begin at RO100 you would enter 08 for offset 12 and 99 for offset 13 Valid settings for this parameter include R 08h WAI OAh AQ OCh Data Blk Offset 13 Specifies the data type offset for the Data Block Segment Selector The data type offset is zero 0 based The user is responsible for allocating enough memory for the entire data block Chan Desrip 14 77 Specifies the reference location Segment Selector Length and Offset associated with a particul
126. ab Go to the next operand field Special Keys ALT O Password override Available only on the Password screen in the configuration software GFK 0467K D 1 D 2 The Help card on the next page contains a listing of the key help and also the instruction mnemonics help text for Logicmaster 90 30 20 Micro software This card is printed in triplicate and is perforated for easier removal from the manual Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K GFK 0467K Appendix D Key Functions Print side 1 of GFJ 035C on this page D 4 Print side 2 of GFJ 035C on this page Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K Appendix Using Floating Point Numbers E There are a few considerations you need to understand when using floating point numbers The first section discusses these general considerations Refer to page E 5 and following for instructions on entering and displaying floating point numbers Note Floating point capabilities are only supported on the 350 and 360 series CPUs Release 9 or later or on all releases of CPU352 Floating Point Numbers The programming software provides the ability to edit display store and retrieve numbers with real values Some functions operate on floating point numbers However to use floating point numbers with the programming software you must have a 350 or 360 series CPU see Note above
127. able When the function is enabled if it was not enabled on the previous sweep and if R is not energized the bit sequence shift is performed R When R is energized the bit sequencer s step number is set to the value in STEP default 1 and the bit sequencer is filled with zeros except for the current step number bit DIR When DIR is energized the bit sequencer s step number is incremented prior to the shift Otherwise it is decremented STEP When R is energized the step number is set to this value ST ST contains the first word of the bit sequencer ok The ok output is energized whenever the function is enabled LEN LEN must be between 1 and 256 bits Chapter 4 Series 90 30 20 Micro Instructions Set 4 81 Note Coil checking for the BITSEQ function checks for 16 bits from the ST parameter even when LEN is less than 16 Valid Memory Types Parameter flow I Q M T S G R WAI WAQ const none address enable R DIR STEP e ST e ok e Valid reference or place where power may flow through the function SA SB SC only S cannot be used Example In the following example the sequencer operates on register memory kR0001 Its static data is stored in registers R0010 ROO11 and RO012 When CLEAR is active the sequencer is reset and the current step is set to step
128. ad Sweep Time from Beginning of Sweep Use SVCREQ function 9 to read the time in milliseconds since the start of the sweep The data is in 16 bit Word format Note Of the CPUs discussed in this manual Service Request 9 is supported only by 90 30 CPUs beginning with Release 8 0 The parameter block is an output parameter block only it has a length of one word time since start of sweep address Example In the following example the elapsed time from the start of the sweep is always read into location R5200 If it is greater than the value in R5201 internal coil M0200 is turned on 200102 In SVC_ GT_ REQ WORD M0200 CONST FNC R5200 I1 Q 0009 R5200 PARM R5201 12 Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K SVCREQ 10 Read Folder Name GFK 0467K Use SVCREQ function 10 to read the name of the currently executing folder Note Of the CPUs discussed in this manual Service Request 10 is supported only by 90 30 CPUs beginning with Release 8 0 The output parameter block has a length of four words It returns eight ASCII characters the last is a null character 00h If the program name has fewer than seven characters null characters are appended to the end Low Byte High Byte Example In the following example when enabling input 910301 transitions off register location
129. al Event Recorder Table A 1 Instruction Timing Continued Enabled Disabled Increment Disabled an RD W WwW RL o o or The PID times shown above are based on the 6 5 release of the 351 CPU Service request 26 30 was measured using a high speed counter 16 point output in a 5 slot rack Notes 1 2 US AE GFK 0467K Appendix Time in microseconds is based on Release 7 of Logicmaster 90 30 20 Micro software for 350 and 360 Series CPUs For table functions increment is in units of length specified for bit operation functions microseconds bit for data move functions microseconds number of bits or words Enabled time for single length units of type R AI and AQ COMMREQ time has been measured between CPU and HSC DOIO is the time to output values to discrete output module Where there is more than one possible case the time indicated above represents the worst possible case For instructions that have an increment value multiply the increment by Length 1 and add that value to the base time A Instruction Timing A 9 A 10 Instruction Sizes for 350 and 360 Series CPUs Memory size is the number of bytes required by the instruction in a ladder diagram application program 350 and 360 Series CPUs require three 3 bytes for most standard boolean functions see Table A 2 Table A 2 Instruction Sizes for 350 and 360 Series CPUs Function No operation 1 Pop stack and AND to top
130. alue between O and 15 from the parameter block to that module This read write process is repeated for each module in a list in the parameter block The parameter block N 3 3 words of reference memory where N is the number of modules with which data will be exchanged Location Field Meaning Address Function 3 read write Address 1 Error Code An error code is placed here if the function fails because any of the modules is not present inappropriate or not working No error code is set if the function executes but any of the modules does not receive the write data properly Address 2 First rack amp slot Rack and slot number in the form RRSS in hexadecimal where RR is the rack number and SS is the slot number of the first module with which data will be exchanged Address 3 Read data from The data read from the first module will be placed here first module Address 4 Write data for This data value will be written to the first module first module Address 5 Second rack amp Rack and slot number in the form RRSS in hexadecimal slot where RR is the rack number and SS is the slot number of the second module with which data will be exchanged Address 6 Read data from The data read from the second module will be placed here second module Address 7 Write data for This data value will be written to the second module second module Address 1 1 3 2 I rack amp slot Rack and slot num
131. ammable Controllers Reference Manual September 1998 GFK 0467K Index User references analog inputs analog outputs discrete inputs discrete internal 2 20 discrete outputs 2 20 discrete references discrete temporar global datal2 21 register references system references system registers 2 20 system status 2 21 2 24 Vertical link VIEWLOCK 2 37 Watchdog timer 2 35 Window programmer communications window system communications window 2 10 WORD 2 23 4 103 x XOR 4 51 GFK 0467K Index Index 9
132. ange Mode and Flash Protect Each of the 350 and 360 series CPUs has a key switch on the front of the module that allows you to protect Flash memory from being over written When you turn the key to the ON RUN position no one can change the Flash memory without turning the key to the OFF position Beginning with Release 7 of the 35land 352 CPUs the same Key Switch has another function it allows you to switch the PLC into STOP mode into RUN mode and to clear non fatal faults as discussed in the next section Beginning with Release 8 of the 350 and the 360 series CPUs the same Key Switch has an enhanced memory protection function it can be used to provide two additional types of memory protection see the Using the Release 8 and Later Memory Protection section Using the Release 7 and Later Key Switch Unlike the Flash Protection capabilities in the earlier release if you do not enable the Key Switch through the RUN STOP Key Switch parameter in the CPU s configuration screen the CPU does not have the enhanced control discussed here The operation of the Key Switch has the same safeguards and checks before the PLC goes to RUN mode just like the existing transition to RUN mode that is the PLC will not go to RUN mode via Key Switch input when the PLC is in STOP FAULT mode However you can clear non fatal faults and put the PLC in RUN mode through the use of the Key Switch If there are faults in the fault tables that are not fa
133. ar channel There can be from 1 to 32 channel descriptions depending upon the number of channels being sampled and data length Data is returned in the order as defined in this section Chan Seg Selector Entered as a hexadecimal value this word defines both the segment selector and data length in bits MSB Segment Selector LSB Data Length The data length is useful for samples that are contiguous The Segment Selector may be set to any discrete data type I 46h Q 48h M 4Ch T 4Ah G 56h S 54h SA 4Eh SB 50h SC 52h Null Selector FFh and Input Module Selector 00h The length parameter can range from 32 but the sum of all of the lengths must not be greater than the Number of Channels parameter A length greater than one allows for multiple contiguous channels to be configured with a single channel description The range of valid offsets is dependent upon the data type and length The offset indicates the location within the data table or input module at which to sample The offset value is zero based Chan Offset Entered as a hexadecimal value this word defines the BIT offset for the data type or input module specified in the Segment Selector The offset is zero based The range for this parameter varies depending on the Segment Selector data type and length The offset indicates the location within the data table or input module at which to sample Series 90 30 20 Mic
134. arameter Ref 13 If power flow is provided to both Enable and Manual input contacts the PID block is placed in Manual mode and the output Control Variable is set from the Manual Command parameter Ref 13 If either the UP or DN inputs have power flow the Manual Command word is incremented or decremented by one CV count every PID solution For faster manual changes of the output Control Variable it is also possible to add or subtract any CV count value directly to from the Manual Command word The PID block uses the CV Upper and CV Lower Clamp parameters to limit the CV output If a positive Minimum Slew Time is defined it is used to limit the rate of change of the CV output If either the CV amplitude or rate limit is exceeded the value stored in the integrator is adjusted so that CV is at the limit This anti reset windup feature defined on page 4 178 means that even if the error tried to drive CV above or below the clamps for a long period of time the CV output will move off the clamp as soon as the error term changes sign This operation with the Manual Command tracking CV in Automatic mode and setting CV in Manual mode provides a bumpless transfer between Automatic and Manual modes The CV Upper and Lower Clamps and the Minimum Slew Time still apply to the CV output in Manual mode and the internal value stored in the integrator is updated This means that if you were to step the Manual Command in Manual mode the CV output will not cha
135. ating time ENABLE goes high timer is reset CV 0 ENABLE goes low timer starts accumulating time NABLE goes high timer is reset CV 0 NABLE goes low timer begins accumulating time E E TATED AW D ll CV reaches PV Q goes low and timer stops accumulating time GFK 0467K Chapter 4 Series 90 30 20 Micro Instructions Set 4 17 4 18 l l enable Q time l l l l preset value PV l address 3 words When the OFDT is used in a program block that is not called every sweep the timer accumulates time between calls to the program block unless it is reset This means that it functions like a timer operating in a program with a much slower sweep than the timer in the main program block For program blocks that are inactive for a long time the timer should be programmed to allow for this catch up feature For example if a timer in a program block is reset and the program block is not called is inactive for four minutes when the program block is called four minutes of time will already have accumulated This time is applied to the timer when enabled unless the timer is first reset Parameters Parameter Description address The OFDT uses three consecutive words registers of R memory to store the following Current value CV word 1 Preset value PV word 2 Control word word 3 When you enter an OFDT you must enter an address for the location of these three consecut
136. ation 2 43 Chapter 3 GFK 0467K Fault Explanation and Correction This chapter is an aid to troubleshooting the Series 90 30 90 20 and Micro PLC systems It explains the fault descriptions which appear in the PLC fault table and the fault categories which appear in the I O fault table Each fault explanation in this chapter lists the fault description for the PLC fault table or the fault category for the I O fault table Find the fault description or fault category corresponding to the entry on the applicable fault table displayed on your programmer screen Beneath it is a description of the cause of the fault along with instructions to correct the fault Chapter 3 contains the following sections Section Title Description Page 1 Fault Handling Describes the type of faults that may occur in the 3 2 Series 90 30 and how they are displayed in the fault tables Descriptions of the PLC and I O fault table displays are also included 2 PLC Fault Table Provides a fault description of each PLC fault and 3 7 Explanations instructions to correct the fault 3 VO Fault Table Describes the Loss of I O Module and Addition of I O 3 17 Explanations Module fault categories 3 1 Section 1 Fault Handling Note This information on fault handling applies to systems programmed using Logicmaster 90 30 20 Micro software Faults occur in the Series 90 30 90 20 or Series 90 Micro PLC system when certain failure
137. ator ok The ok output is energized whenever enable is energized DS DS contains the starting address of the destination array For ARRAY_MOVE_ BIT any reference may be used it does not need to be byte aligned However 16 bits beginning with the reference address specified are displayed online LEN LEN specifies the number of elements starting at SR and DS that make up each array Valid Memory Types Parameter flow I Q M T S G R AI AQ const none enable SR o o o o At o SNX a F E DNX N ok DS o o o o F o Valid reference or place where power may flow through the function For ARRAY_MOVE_BIT discrete user references l Q M and T need not be byte aligned Valid reference for INT BIT BYTE or WORD data only not valid for DINT Valid data type for BIT BYTE or WORD data only not valid for INT or DINT SA SB SC only S cannot be used Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K Example 1 In this example R0003 kR0007 of the array RO001 R0016 is read and then written into RO0104 R0108 of the array RO100 RO115 OS 10001 ARRAY MOVE_ WORD RO001 SR DS R0100 LEN 00016 CONST SNX
138. ator in Manual mode Table 4 4 PID Parameters Overview Register Parameter Low Bit Units Range of Values Ref 0000 Loop Number Integer 0 to 255 for user display only Ref 0001 Algorithm N A set and maintained by the Non configurable PLC Ref 0002 Sample Period 10 milliseconds 0 every sweep to 65535 10 9 Min Use at least 10 for 90 30 PLCs see Note on page 4 171 Ref 0003 Dead Band PV Counts 0 to 32000 never negative Ref 0004 Dead Band PV Counts 32000 to O never positive Ref 0005 Proportional Gain Kp 0 01 CV PV 0 to 327 67 Ref 0006 Derivative Gain Kd 0 01 seconds 0 to 327 67 sec Ref 0007 Integral Rate Ki Repeat 1000 Sec 0 to 32 767 repeat sec Ref 0008 CV Bias Output Offset CV Counts 32000 to 32000 add to integrator output JRef 0009 Upper Clamp CV Counts 32000 to 32000 gt Ref 10 output limit Ref 0010 Lower Clamp CV Counts 32000 to 32000 lt Ref 09 output limit Ref 0011 Minimum Slew Time Second Full 0 none to 32000 sec to move 32000 CV Travel JRef 0012 Config Word Low 5 bits used Bit 0 to 2 for Error OutPolarity Deriv Ref 0013 Manual Command CV Counts Tracks CV in Auto or Sets CV in Manual Ref 0014 Control Word Maintained by the PLC maintained unless set otherwise low PLC unless Bit 1 bit sets Override if 1 see description in Is set the PID Parameters Details table on page 4 174 Ref 0015 Inte
139. ay is to be shifted B1 B1 contains the bit value to be shifted into the array B2 B2 contains the bit value of the last bit shifted out of the array Q Output Q contains the first word of the shifted array LEN LEN is the number of words in the array to be shifted Valid Memory Types Parameter flow I WQ M T S G R WAI AQ const none enable IN e N Bl B2 Q et e Valid reference or place where power may flow through the function t PSA SB or SC only S cannot be used 4 56 Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K Example In the following example whenever input 10001 is set the output bit string represented by the nickname WORD2 is made a copy of WORDI left shifted by the number of bits represented by the nickname LENGTH The resulting open bits at the beginning of the output string are set to the value of 10002 I 10001 I I II SHL_ WORD WORD1 IN B2 OUTBIT LEN 00001 LENGTH N Q WORD2 10002 I II I B1 ft GFK 0467K Chapter 4 Series 90 30 20 Micro Instructions Set 4 57 4 58 ROL and ROR WORD The Rotate Left ROL function is used to rotate all the bits in a string a specified number of places to the left When rotation occurs the s
140. based on the fault group and the error codes Table B 10 lists the possible fault groups in the I O fault table Group numbers less than 80 Hex are maskable faults The last non maskable fault group Additional I O Fault Codes is declared for the handling of new fault conditions in the system without the PLC having to specifically know the alarm codes All unrecognized I O type alarm codes belong to this group Table B 10 1 0 Fault Groups Group Number Group Name Fault Action 3 Loss of or missing I O module Diagnostic 7 Addition of or extra I O module Diagnostic 9 IOC or I O bus fault Diagnostic A TO module fault Diagnostic Additional I O fault codes As specified Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K 1 0 Fault Action The fault action specifies what action the PLC CPU should take when a fault occurs Table B 11 lists possible fault actions Table B 11 1 0 Fault Actions Fault Action Action Taken by CPU Code Informational Log fault in fault table 1 Diagnostic Log fault in fault table 2 Set fault references Fatal Log fault in fault table 3 Set fault references Go to STOP mode 1 0 Fault Specific Data An I O fault table entry may contain up to 5 bytes of I O fault specific data Symbolic Fault Specific Data Table B 12 lists data that is required for block circuit configuration Table B 12 1 0
141. ber in the form RRSS in hexadecimal where RR is the rack number and SS is the slot number of the I module with which data will be exchanged Address I 1 3 3 Read data from Ith module The data read from the I module will be placed here Address 1 1 3 4 Write data for Ith module This data value will be written to the I module Address N 1 3 2 Last rack amp slot Rack and slot number in the form RRSS in hexadecimal where RR is the rack number and SS is the slot number of the last module with which data will be exchanged Address N 1 3 3 Read data from last module The data read from the last module will be placed here Address N 1 3 4 Write data for last module This data value will be written to the last module Address N 3 2 End of list indicator A zero in this word indicates the end of the list of modules Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K Example 1 The following example shows a Read of a single module at Rack 2 Slot 4 IN4 and IN5 must be set to zero 0 IN6 and IN7 are not important in this example If the function completes successfully the data will be in RO004 CONST FNC 0046 R0001 PARM __ FST_SCN I II BLKMv WORD CONST IN1 Q R0001 I 1 CONST I
142. block This will lead to the current sample offset being incorrect and to invalid data in the data block Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K e Inaparticular program there can only be one Sequential Event Recorder function block that can be associated with each command and data block e Ifthe user selects an input module to be scanned the PLC will NOT verify the module is a DISCRETE INPUT MODULE or that any Channel Descriptions associated with the module have valid lengths and offsets based upon the module size The user is responsible for correctly setting up the sampling of an Input Module e If an input module is selected to be scanned it is only scanned once per function block execution Multiple channel descriptions can target the input module but the scanning is still only performed once per function block execution e Ifthe user requires x channels where x is not equal to 8 16 24 but is less than 32 they must select a number of channels which is greater than x and a multiple of 8 and then fill in a null channel description for the remaining unused channels A null channel description has a segment selector of OxFFh a length parameter which must equal the number of unused channels and a 0 offset e The SER can be used in a periodic subroutine however caution should be used when doing so Depending on the mix of the samples being collected the SER could take more than Ims
143. called the CPU sweep There are seven parts to the execution sequence of the Standard Program Sweep 1 Start of sweep housekeeping 2 Input scan read inputs 3 Application program logic solution 4 Output scan update outputs 5 Programmer service 6 Non programmer service 7 Diagnostics Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K All of these steps execute every sweep Although the Programmer Communications Window opens each sweep programmer services only occur if a board fault has been detected or if the programming device issues a service request that is the Programmer Communications Window first checks for work to do and exits if there is none The sequence of the standard program sweep is shown in the following figure a43064 START OF SWEEP HOUSEKEEPING vO ENABLED INPUT SCAN HOUSEKEEPING SCAN PROGRAM EXECUTION TIME OF PLC OUTPUT SCAN PROGRAMMER COMMUNICATIONS SYSTEM COMMUNICATIONS USER PROGRAM CHECKSUM CALCULATION DATA OUTPUT PROGRAMMER SERVICE SYSTEM COMMUNICATIONS DIAGNOSTICS GFK 0467K Chapter 2 System Operation 2 3 START NEXT SWEEP Figure 2 1 PLC Sweep As shown in the PLC sweep sequence several items are included in the sweep These items contribute to the total sweep time as shown in the following table Table 2 1 Sweep Time Contribution Sweep Description Time Contribution ms 4 Element
144. cation within the bit string is written to AQ001 If 10001 is set bit M0001 is O and bit M0002 is 1 then the value written to AQOOL1 is 2 E I0001 l Q0001 m 37 p aua E Y Pos_ WORD MO001 IN LEN POS AQ0001 GFK 0467K Chapter 4 Series 90 30 20 Micro Instructions Set 4 65 MSKCMP WORD DWORD The Masked Compare MSKCMP function available for Release 4 41 or later CPUs is used to compare the contents of two separate bit strings with the ability to mask selected bits The length of the bit strings to be compared is specified by the LEN parameter where the value of LEN specifies the number of 16 bit words for the MSKCMPW function and 32 bit words for the MSKCMPD function When the logic controlling the enable input to the function passes power flow to the enable EN input the function begins comparing the bits in the first string with the corresponding bits in the second string Comparison continues until a miscompare is found or until the end of the string is reached The BIT input is used to store the bit number where the next comparison should start where a 0 indicates the first bit in the string The BN output is used to store the bit number where the last comparison occurred where a 7 indicates the first bit in the string Using the same reference for BIT and BN causes the compare to start at the next bit position after a miscompare or
145. ced in the hold new count for set parameter The second service request block requests the PLC to set the new word count FST_SCN I II XOR_ MOVE_ WORD INT R0150 I1 Q R0150 CONST IN Q R0152 00001 LEN 100001 RO150 12 10137 I svc_ ADD_ SVC_ REQ INT REQ CONST FNC RO151 I1 Q R0153 CONST FNC 00006 00006 R0150 PARM CONST 12 R0152 PARM __ 00016 __ _ The example parameter blocks are located at address RO150 They have the following content 0 read current count hold current count 1 set current count hold new count for set Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 RO150 RO1S1 RO152 RO153 GFK 0467K SVCREQ 7 Change Read Time of Day Clock Use the SVCREQ function with function number 7 to read and set the time of day clock in the PLC Note This function is available only in 331 or higher 90 30 CPUs and on the 28 point Series 90 Micro PLC CPUs that is IC693UDRO05 IC693UAA007 and 1IC693UDRO10 and the 23 point Series 90 Micro PLC CPUs IC693UAL006 Successful execution will occur unless 1 Some number other than 0 o
146. ceesneesseeeseecsaecsaecsaecaeceaeesseesseeeeneseneesnes A 9 Table A 2 Instruction Sizes for 350 and 360 Series CPUS cece eecceeceeereeeeeeeseeeseesseecsaecaecsaeenseeenaeens A 10 Table A 3 Boolean Execution Speeds cece esesssecssecsseceseceseceseceseceseesseeseneeeaeesseeeaaecaaecsaecsaecaeenaeesaeens A 10 Table B PEC Fault GroupsisS tai cote Sack Rh eee en teats he Peak te es B 4 Table B 2 PLC Fault A CtiOms A A ES B 5 Table B 3 Alarm Error Codes for PLC CPU Software Faults cee cesceseceseecsseeeeeeseeesneeeaeeeseeenaeenaees B 5 Table B 4 Alarm Error Codes for PLC Faults 0 ccc cccccecsseceeceessaeceeaeceeneeceeeeeaeceeaaecceeeesaeeceaaecseaeeeeaees B 6 GFK 0467K Contents xvii Contents Table B 5 PLC Fault Data Illegal Boolean Opcode Detected ooooonnccnnccnoccconcconncnonnconccnn nono nonnncnn corn ncnnnoss B 7 Table B 6 PEC Fault Time a naaa B 7 Table B 7 I O Fault Table Format Indicator Byte 0 eee eeeeseessecsseeeseceseceseceseeeseeeseeeseeeceeeneeenaeenaesnaees B 9 Table B 8 VO Reterence Address costs ei nepe adda eee teal ates dim eee ee B 9 Table B 9 I O Reference Address Memory Type eceeesscesseecsseceseeeseeeseecsaeceeeseeeseeesaeeeeesseeeeneeeneeaees B 9 Tabl B 10 Y O Fault Groups eins aia B 10 Table B I lr NO Fault Actions oeit A ei e Dated B 11 Table B 12 Y O Fault Specific Data iii A Al eases B 11 Table B 13 O Fault Time tapia elec ero iia B 12 General Case of Power Flow for
147. ck is at or later than the last PID solution time plus this Sample Period Remember that the 90 30 will not use a solution time less than 10 milliseconds see Note on page 4 171 so sweeps will be skipped for smaller sweep times This function compensates for the actual time elapsed since the last execution within 100 microseconds If this value is set to 0 the function is executed each time it is enabled however it is restricted to a minimum of 10 milliseconds as noted above Dead Band INT values defining the upper and lower Dead Band limits in PV Counts If no Dead Band is 4 required these values must be 0 If the PID Error SP PV or PV SP is above the value and 03 04 below the value the PID calculations are solved with an Error of 0 If non zero the value must be greater than O and the value less than 0 or the PID block will not function You should leave these at 0 until the PID loop gains are setup or tuned After that you may want to add Dead Band to avoid small CV output changes due to small variations in error perhaps to reduce mechanical wear Proportional This INT number called the Controller gain Kc in the ISA version determines the change in CV in CV Gain Kp Counts for a 100 PV Count change in the Error term It is displayed as 0 00 with an implied decimal 05 point of 2 For example a Kp entered as 450 will be displayed as 4 50 and will result in a Kp Error 100 or 450 Error 100
148. cks 2 16 Subroutines locking unlocking Subtraction function SVCREQ 4 132 change programmer communications window 3 change system communications window 4 121 141 change read constant sweep timer 1 4 134 change read number of words to checksum 4 143 143 change read time of day clock 4 145 clear fault table 4 155 Fast Backplane Status Access 4 165 interrogate vol4 163 read elapsed power down time 4 164 read elapsed time clock 4 160 Index 7 Index Index 8 read folder name 10 read I O override status read last logged fault table entry 4 156 read master checksum read PLC ID 11 read PLC run state 12 read sweep time 9 4 150 read window values 2 reset watchdog timer 8 shut down stop PLC Sweep time calculation Sweep PLC 2 2 application program logic scan 2 8 constant sweep time mode 2 13 2 35 housekeeping 2 6 input scan logic program checksum calculation 2 9 logic solution 2 8 output scan 2 9 PCM communications with the PLC 2 12 2 9 programmer communications window scan time contributions for 350 and 360 Series of CPUs 2 5 standard program sweep mode standard program sweep variations STOP mode 2 13 sweep time calculation 2 6 sweep time contribution system communications window 2 10 SY_FLT 2 26 SY_PRES 2 26 System communications window 2 10 System configuration mismatch 3 10 System
149. connected and seated 4 Replace the cables Error Code Name Description Correction 79 Loss of Daughterboard The daughterboard has been lost i e not seen by the CPU and will not function Make sure the CPU has a daughterboard physically present Error Code Name Description Correction All Others Module Failure During Configuration The PLC operating software generates this error when a module fails during power up or configuration store Power off the system Replace the module located in that rack and slot Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K Reset of Addition of or Extra Option Module The Fault Group Reset of Addition of or Extra Option Module occurs when an option module PCM ADC etc comes online is reset or a module is found in the rack but none is specified in the configuration The fault action for this group is Diagnostic Three bytes of fault specific data provide additional information regarding the fault Correction 1 Update the configuration file to include the module 2 Remove the module from the system This Fault Group also includes the following faults specific to systems having a daughterboard Error Code 4 Name Addition of Daughterboard Description There is a daughterboard present but not configured Correction Make sure the configuration stored to the CPU contai
150. cts 4 8 A contact is used to monitor the state of a reference Whether the contact passes power flow depends on the state or status of the reference being monitored and on the contact type A reference is ON if its state is 1 it is OFF if its state is O Table 4 1 Types of Contacts Type of Contact Display Contact Passes Power to Right Normally Open When reference is ON Normally Closed I When reference is OFF Continuation Contact lt gt Tf the preceding continuation coil is set ON Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K Using Coils Coils are used to control discrete references Conditional logic must be used to control the flow of power to a coil Coils cause action directly they do not pass power flow to the right If additional logic in the program should be executed as a result of the coil condition an internal reference should be used for that coil or a continuation coil contact combination may be used Coils are always located at the rightmost position of a line of logic A rung may contain up to eight coils The type of coil used will depend on the type of program action desired The states of retentive coils are saved when power is cycled or when the PLC goes from STOP to RUN mode The states of non retentive coils are set to zero when power is cycled or the PLC goes from STOP to RUN mode Table 4 2 Types of Coil
151. cumulating time ENABLE goes low Q goes low timer stops accumulating time and current time is cleared ENABLE goes high timer starts accumulating time wo aw ll ENABLE goes low before current value reaches preset value PV Q remains low timer stops accumulating time and is cleared to zero l l enable Q l time l l preset value PV address 3 words Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K GFK 0467K Parameters Parameter address Description The TMR uses three consecutive words registers of R memory to store the following Current value CV word 1 Preset value PV word 2 Control word word 3 When you enter a TMR you must enter an address for the location of these three consecutive words registers directly below the graphic representing the function Note Do not use this address with other instructions Caution Overlapping references will result in erratic operation of the timer enable When enable receives power flow the timer s current value is incremented When the TMR is not enabled the current value is reset to zero and Q is turned off PV PV is the value to copy into the timer s preset value when the timer is enabled or reset Output Q is energized when TMR is enabled and the current value is greater than or equal to the preset value Valid Memory Types
152. cuted Communications with the programmer and intelligent option modules continue In addition faulted board polling and board reconfiguration execution continue while in STOP mode For efficiency the operating system uses larger time slice values than those used in RUN mode usually about 50 milliseconds per window You can choose whether or not the I O is scanned I O scans may execute in STOP mode if the ZOScan Stop parameter on the CPU detail screen is set to YES Chapter 2 System Operation 2 13 Communication Window Modes The default window mode for the programmer communication window is Limited mode That means that if a request takes more than 6 milliseconds to process it is processed over multiple sweeps so that no one sweep is impacted by more than 6 milliseconds For the 313 323 and 331 CPUs the sweep impact may be as much as 12 milliseconds during a RUN mode store The active window mode may be changed using the Sweep Control screen in Logicmaster for instructions on changing the active window mode refer to Chapter 5 PLC Control and Status in the Logicmaster 90 Series 90 30 20 Micro Programming Software User s Manual GFK 0466 Note If the system window mode is changed to Limited then option modules such as the PCM or GBC that communicate with the PLC using the system window will have less impact on sweep time but response to their requests will be slower Key Switch on 350 and 360 Series CPUs Ch
153. d JUMPs Both forms of the JUMP instruction are always placed in columns 9 and 10 of the current rung line there can be nothing after the JUMP instruction in the rung Power flow jumps directly from the instruction to the rung with the named label 4 128 Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K Non nested JUMP Nested JUMP To avoid creating an endless loop with forward and backward JUMP instructions a backward JUMP must contain a way to make it conditional Example In the following examples whenever JUMP TESTI is active power flow is transferred to LABEL TESTI Example of a non nested JUMP 10001 gt gt TEST1 Example of a nested JUMP I0001 I I N gt gt TEST1 4 129 GFK 0467K Chapter 4 Series 90 30 20 Micro Instructions Set 4 130 LABEL The LABEL instruction functions as the target destination of a JUMP Use the LABEL instruction to resume normal program execution after a JUMP instruction There can be only one LABEL with a particular label name in a program Programs without a matched JUMP LABEL pair can be created and stored to the PLC but cannot be executed Logicmaster 90 30 20 Micro software supports two forms of the LABEL function a non nested and a nested form The non nested form LABELO1 must be used with the non nested JUMP function gt gt LABELO1 The nested form LABELO1 nested must be used with the nested JUMP function
154. d SHR WORD The Shift Left SHL function is used to shift all the bits in a word or group of words to the left by a specified number of places When the shift occurs the specified number of bits is shifted out of the output string to the left As bits are shifted out of the high end of the string the same number of bits 1s shifted in at the low end MSB LSB B2 1 11 0 1 1 11 11 11 0 01 00 0 lt B1 The Shift Right SHR function is used to shift all the bits in a word or group of words a specified number of places to the right When the shift occurs the specified number of bits is shifted out of the output string to the right As bits are shifted out of the low end of the string the same number of bits is shifted in at the high end MSB LSB B gt 1 1 0 1 1 11 11 1 0 0 1 0 0 0 gt 2B2 A string length of 1 to 256 words can be selected for either function If the number of bits to be shifted N is greater than the number of bits in the array LEN 16 or if the number of bits to be shifted is zero then the array Q is filled with copies of the input bit B1 and the input bit is copied to the output power flow B2 If the number of bits to be shifted is zero then no shifting is performed the input array is copied into the output array and input bit B1 is copied into the power flow The bits being shifted into
155. d by 12 I2 12 contains a constant or reference for the value to be divided into I1 ok The ok output is energized when the function is performed without overflow Q Output Q contains the result of dividing I1 by I2 to obtain a remainder GFK 0467K Chapter 4 Series 90 30 20 Micro Instructions Set 4 31 Valid Memory Types Parameter flow I WQ M T S G PR WAI AQ const none enable Il o o o o o et p o o o o o et ok Q o o o o o gt e Valid reference or place where power may flow through the function o Valid reference for INT data only not valid for DINT Constants are limited to values between 32 768 and 32 767 for double precision signed integer operations Example In the following example the remainder of the integer division of BOXES into PALLETS is placed into NT_FULL whenever I0001 is ON I I0001 I II I II MOD_ l INT PALLETS I1 Q NT_FULL 0005 BOXES I2 00006 4 32 Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K SQRT GFK 0467K INT DINT REAL The Square Root SQRT function is used to find the square root of a value When the function receives power flow the value of output Q is set to the integer portion of the square root of the input IN The output Q must be the sa
156. d to modify three standard PID settings The other bits should be set to 0 Set the low bit to 1 to modify the standard PID Error Term from the normal SP PV to PV SP reversing the sign of the feedback term This is for Reverse Acting controls where the CV must go down when the PV goes up Set the second bit to a 1 to invert the Output Polarity so that CV is the negative of the PID output rather than the normal positive value Set the fourth bit to 1 to modify the Derivative Action from using the normal change in the Error term to the change in the PV feedback term The low 5 bits in the Config Word are defined in detail below BitO Error Term When this bit is set to 0 the error term is SP PV When this bit is set to 1 the error term is PV SP Bit1 Output Polarity When this bit is set to 0 the CV output represents the output of the PID calculation When it is set to 1 the CV output represents the negative of the output of the PID calculation Bit 2 Derivative action on PV When this bit is set to 0 the derivative action is applied to the error term When it is set to 1 the derivative action is applied to PV All remaining bits should be zero Bit 3 Deadband action When the Deadband action bit is set to zero then no deadband action is chosen If the error is within the deadband limits then the error is forced to be zero Otherwise the error is not affected by the deadband limits If the Deadband action bit is set
157. dditional Fault Effects Two faults described previously have additional effects associated with them These are described in the following table Side Effect Description PLC CPU Software Failure Whenever a PLC CPU software failure is logged the Series 90 30 or 90 20 CPU immediately transitions into a special ERROR SWEEP mode No activity is permitted in this mode The only method of clearing this condition is to reset the PLC by cycling power PLC Sequence Store Failure During a sequence store a store of program blocks and other data preceded with the special Start of Sequence command and ending with the End of Sequence command if communications with the programming device performing the store is interrupted or any other failure occurs which terminates the download the PLC Sequence Store Failure fault is logged As long as this fault is present in the system the PLC will not transition to RUN mode PLC Fault Table Display The PLC Fault Table screen displays PLC faults such as password violations PLC configuration mismatches parity errors and communications errors The programming software may be in any operating mode If the programming software is in OFFLINE mode no faults are displayed In ONLINE or MONITOR mode PLC fault data is displayed In ONLINE mode faults can be cleared this may be password protected Once cleared faults which are still present are not logged again in the table except for the
158. de of the coil reference Q0004 is turned ON 200004 The programming software and the Hand Held Programmer both have a coil check function that checks for multiple uses of Q or M references with relay coils or outputs on functions Format of Program Function Blocks GFK 0467K Some functions are very simple like the MCR function which is shown with the abbreviated name of the function within brackets MCR Other functions are more complex They may have several places where you will enter information to be used by the function The generic function block illustrated below is multiplication MUL parameters vary with the type of function block Its parts are typical of many program functions The upper part of the function block shows the name of the function It may also show a data type in this case signed integer This is the function block name MUL MUL This is the function block name MUL and data type INT INT signed integer MUL_ represents the type and size of data to be acted on Many program functions allow you to select the data type for the function after selecting the function For example the data type for the MUL function could be changed to double precision signed integer Additional information on data types is provided earlier in this chapter Chapter 2 System Operation 2 27 Function Block Parameters 2 28 Each line
159. deeded 4 37 Valid Memory Types esoterismo scence etisees cious eea o r er Densidad 4 38 Example iii 4 38 Radian Conversion RAD DEG eeesseeeesseeessseressseeessseeeesseeessseeeesseeessseesssseese 4 39 Parameters ri treo 4 39 Valid Memory E yDES tii 4 40 Ex mplerici oi aa aes 4 40 Section 4 Relational Functions omoommmmmsmsmssmssssssssssss s 424 Parameters O NN 4 42 Expanded Descriptoms ssss iis soos sacesseteaesies sien sen EEE E EE EE RETE 4 42 Valid Memory Types ita 4 42 Examples sic savescisa o naa ii ieee heise net ad setae Seatac 4 43 RANGE INT DINT WORD onenei nei iiin esn rei aas 4 44 NO 4 45 Valid Memory Types oios iei oieri onsi e eeaeee eed arce 4 45 Example Lit 4 46 x Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K Contents Example Zac E EAEE 4 46 Section 5 Bit Operation Functions omoocomoscsscss 4 47 AND and OR WORD 00 A aaa 4 49 Parameters O NN 4 49 Valid Memory Types iioii tersiere esseri rn eE r a E aS 4 50 Example sists ca Ria 4 50 XOR WORD A ico 4 51 Parameters illa Opeth 4 51 Valid Memory Py pes ii ri 4 52 Example ios A oa iaa 4 52 NOT WORD Jus eii gaa se Ges a Saa 4 53 Parameters O ONE 4 53 Valid Memory Types cooconccconcconononnnonnnnnconoconoconocn nooo conoce Tet s E Con E EKo I eS 4 54 Example a ee ee es 4 54 SHE and SHR WORD stink cece saccade oud creais aria 4 55 Parameters i a ii 4 56 Va
160. descriptions needed and we have reached the end of our block The following table summarizes the values contained in a single sample based upon the above channel descriptions and control block Channel Number Channel Contents 10001 Input Module Point 13 lw Input Module Point 14 ee O ow o INC Data Block This is the format of the resulting data block from the control block described above Note that it begins at register 201 as described by the segment offset parameters in the control block Register Parameter Description Value dec Value hex R0201 Current sample offset 003B wis 203 206 Trigger time BCD Current sample offset is 59 meaning that we are 59 samples into the sample buffer not 59 registers With 3 bytes per sample we are actually at 59 3 177 bytes or the hi byte of the 88th register Since we have not met the trigger conditions yet the trigger sample and trigger time are 0 and the boolean output is not set The sample buffer contains 512 samples where 59 is the newest sample and 60 is the oldest sample Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K END The END function provides a temporary end of logic The program executes from the first rung to the last rung or the END function whichever is encountered first The END function unconditionally terminates program execution There can be nothing after the end function in the rung
161. diagnostics internal data structures and periphal devices used by the CPU get initialized The CPU then determines if User Ram has been corrupted If User Ram is corrupted the user program and configuration are cleared out and defaulted and all user registers are cleared Chapter 2 System Operation 2 31 FLOW CHART TERMS PRG user program CFG user configuration REGS user registers l Q M G R AI and AQ references USD user storage device either an EEPROM or flash device URAM non volatile user ram which contains PRG CFG and REGS FLOW CHART EXPANDED TEXT 1 Are the lt CLR gt and lt M_T gt keys being pressed on the HHP during power up to clear all URAM 2 Is the USD present could only be missing on models that use EEPROM device and is the information on the USD valid 3 Is the PRG SRC parameter in the USD set to Prom meaning to load the PRG and CFG from the USD device 4 Is the PRG SRC parameter in the URAM set to Prom meaning to load the PRG and CFG from the USD device 5 Is the REG SRC parameter in the USD set to Prom meaning to load the REGS from the USD device 6 amp 7 Are the lt LD gt and lt NOT gt keys being pressed on the HHP during power up to keep the PRG CFG and REGS from being loaded from USD 8 Copy PRG CFG and REGS from the USD to URAM 9 COPY PRG and CFG from the USD to URAM 10 Is the PRG or CFG checksums just loaded from USD invalid 11 Is the URAM c
162. does not need to be byte aligned However 16 bits beginning with the reference address specified are displayed online with the reference address specified are displayed online ST ST contains the first bit or word of the shift register For SHFR_BIT any discrete reference may be used it does not need to be byte aligned However 16 bits beginning ok The ok output is energized whenever the function is enabled and R is not enabled beginning with the reference address specified are displayed online Q Output Q contains the bit or word shifted out of the shift register For SHFR_BIT any discrete reference may be used it does not need to be byte aligned However 16 bits LEN LEN determines the length of the shift register For SHFR_WORD LEN must be between 1 and 256 words For SHFR_BIT LEN must be between 1 and 256 bits Valid Memory Types Parameter flow I Q M T S G R AI AQ const none enable R IN ST ot ok Q et e Valid reference for BIT or WORD data or place where power may flow through the function For SHFR_BIT discrete user references I Q M and T need not be byte aligned SA SB SC only S cannot be used Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K GFK 0467K Example 1
163. down by 1 CV per solution RefArray Address is the location of the PID control block information user and internal Address parameters Uses 40 R words that cannot be shared ok The ok output is energized when the function is performed without error Itis off if error s exist Cv CV is the control variable output to the process often a AQ analog output Incremented UP parameter or decremented DN parameter by one 1 per access of the PID function Valid Memory Types Parameter flow I Q M T S G R WAI AQ const none enable SP PV MAN UP DN address ok CV e Valid reference or place where power may flow through the function Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K PID Parameter Block Besides the 2 input words and the 3 Manual control contacts the PID block uses 13 of the parameters in the RefArray These parameters must be set before calling the block The other parameters are used by the PLC and are non configurable The Ref shown in the table below is the same RefArray Address at the bottom of the PID block The number after the plus sign is the offset in the array For example if the RefArray starts at R100 the R113 will contain the Manual Command used to set the Control Variable and the integr
164. e enable ON time reset R preset value PV address Enter the beginning address here here Note Do not use consecutive registers for the 3 word timer counter blocks Logicmaster does not check or warn you if register blocks overlap Timers and counters will not work if you place the current value of a block on top of the preset for the previous block GFK 0467K Chapter 4 Series 90 30 20 Micro Instructions Set 4 9 4 10 The control word stores the state of the boolean inputs and outputs of its associated function block as shown in the following format 15114 131 12110 10 o 8 7 6 s 4 3 2 1 E Reserved f Reserved Reset input Enable input previous execution Q counter timer status output EN enable input Bits 0 through 11 are used for timer accuracy bits 0 through 11 are not used for counters Note Use care if you use the same address for PV as the second word in the block of three words If PV is not a constant the PV is normally set to a different location than the second word Some applications choose to use the second word address for the PV such as using RO102 when the bottom data block starts at RO101 This allows an application to change the PV while the timer or counter is running Applications can read the first CV or third Control words but the application cannot write to these values or the function will not work
165. e In the following example when enabling output M0125 transitions on the mode and timer value of the system communications window is read If the timer value is greater than or equal to 25 ms the value is not changed If it is less than 25 ms the value is changed to 25 ms In either case when the rung completes execution the window is enabled The parameter block for all three windows is at location R5051 Since the mode and timer for the system communications window is the second value in the parameter block returned from the Read Window Values function function 2 the location of the existing window time for the system communications window is in the low byte of R5052 I0001 M0125 j T SM0125 l l l IBS SVC_ AND_ AND_ REQ WORD WORD CONST FNC SRS5052 11 Ol R5060 R5052 I1 Ol sR50061 0002 CONST 12 R5051 PARM CONST 12 FFOO l l OOFF l M0125 i i LT OR SVC_ WORD WORD REQ_ R5060 11 Q R5061 11 Q R5052 CONST FNC 0004 CONST 22 CONST 12 0025 0025 R5052 PARM ss __ __ Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K SVCREQ 6 Change Read Number of Words to Checksum Use the SVCREQ function with function number 6 in order to e Read the current word count e Set anew word count Successful
166. e information about this feature The Q prefix is followed by the reference s address in the output table for example Q00016 Q references are located in the output status table which stores the state of the output references as last set by the application program This output status table s values are sent to output modules during the output scan A reference address is assigned to discrete output modules using the configuration software or the Hand Held Programmer Until a reference address is assigned no data is sent to the module A particular Q reference may be either retentive or non retentive M The M prefix represents internal references The coil check function checks for multiple uses of M references with relay coils or outputs on functions Beginning with Release 3 of the software you can select the level of coil checking desired SINGLE WARN MULTIPLI or MULTIPLE Refer to the Logicmaster 90 30 20Micro Programming Software User s Manual GFK 0466 for more information about this feature A particular M reference may be either retentive or non retentive El Retentiveness is based on the type of coil For more information refer to Retentiveness of Data on page 2 21 Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K Table 2 4 Discrete References Continued Type Description T The T prefix represents tempora
167. e logical structure The function is the equivalent of two relay contacts in parallel multiplied by the number of bits in the string It can be used to drive indicator lamps directly from input states or superimpose blinking conditions on status lights The function passes power flow to the right whenever power is received l l enable ok l l WORD l l input parameter 11 11 Q output parameter Q l l l input parameter I2 I2 Parameters Parameter Description enable When the function is enabled the operation is performed n Il contains a constant or reference for the first word of the first string 12 I2 contains a constant or reference for the first word of the second string ok The ok output is energized whenever enable is energized Q Output Q contains the result of the operation GFK 0467K Chapter 4 Series 90 30 20 Micro Instructions Set 4 49 4 50 Valid Memory Types Parameter flow I enable 7Q M T S G R AI AQ const none Il 2 ok Q e Valid reference or place where power may flow through the function SA SB or SC only S cannot be used Example In the following example whenever input 10001 is set the 16 bit strings represented by nicknames WORD 1 and WORD are examined The results of the Logical AND are placed in output string
168. e output module Where there is more than one possible case the time indicated above represents the worst possible case NS DS Oe Timing information for the Micro PLC See the Series 90 Micro Programmable Logic Controller User s Manual GFK 1065B or later for this information Timing information for 350 and 360 Series PLCs See page A 6 and following A 2 Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K Table A 1 Instruction Timing Continued Logical AND Operation Logical OR Logical Exclusive OR Logical Invert NOT Shift Bit Left Shift Bit Right Rotate Bit Left Rotate Bit Right Bit Position Bit Clear Bit Test Bit Set Masked Compare WORD Masked Compare DWORD Data Move Move INT Move BIT Move WORD Block Move INT Block Move WORD Block Clear Shift Register BIT Shift Register WORD Bit Sequencer Array Move INT DINT BIT BYTE WORD Search Equal INT DINT BYTE WORD Notes 1 Time in microseconds is based on Release 5 01 of Logicmaster 90 30 20 software for Models 311 313 340 and 341 CPUs Release 7 for the 331 2 For table functions increment is in units of length specified for bit operation functions microseconds bit for data move functions microseconds number of bits or words 3 Enabled time for single length units of type R AI and AQ 4 COMMREQ time has been measured between CPU and
169. eated with this being the first transition The following table provides a summary of how the two CPU parameter settings affecting the Key Switch R S Switch and IOScan Stop and the Key Switch s physical position affect PLC R S Key Switch IOScan Stop Parameter in CPU Key Switch Parameter in CPU Configuration Position Configuration PLC Operation OFF X X All PLC Programmer Modes are allowed ON ON RUN X All PLC Programmer Modes are allowed ON OFF STOP X PLC not allowed to go to RUN ON Toggle Key X PLC goes to RUN if no fatal faults are present Switch from otherwise the RUN LED blinks for 5 seconds OFF STOP to ON RUN ON Toggle Key NO PLC goes to STOP NO IO Switch from ON RUN to OFF STOP ON Toggle Key YES PLC goes to STOP IO Switch from ON RUN to OFF STOP X Has no affect regardless of setting Enhanced Memory Protect with Release 8 and Later CPUs GFK 0467K In the Release 8 and later CPUs the Key Switch has all the functionality discussed above plus by setting a parameter in the programming package it can be used to protect RAM so that the RAM cannot be changed from the programming software Two types of operations are blocked when this memory protection is enabled the user program and configuration cannot be modified and the force and override of point data is not allowed This is activated through the Mem Protect field in the 350 or 360 series CPUs module configuration screen i
170. ec to execute and therefore it would not be practical to use it inside of a msec periodic subroutine It will function exactly as any other function block does in the periodic subroutine it is evaluated and executed according to the Boolean input logic GFK 0467K Chapter 4 Series 90 30 20 Micro Instructions Set 4 119 Example In the following example the offsets have been set up as described in the table below sT0003 Q0003 ser Iaia 2 BIT TOOO01 I I I IR_ I T0002 I II I Iz 1 R0100 For the sake of example assume that the system has a 16 point discrete input in rack O slot 4 has been executing for long enough that 572 samples 512 60 have been taken and that the Enable boolean input is receiving power flow but the Reset and Trigger boolean inputs are not Offset Register Parameter Description Value dec Value hex 0 RO100 Status hor sumen ron lege 103 nce ine Fama os free 10s eens ICONS Cr ior eens i toe params C o otoon o oss mee or 112 paa ck Segment eon 15 kot a a EE Channel description 1 Seg Sel Length Channel description 2 Seg Sel Length Channel description 3 Seg Sel Length Channel description 4 Seg Sel Length Toa oo 21 y eal PEA al ESA o oou E ial o7 DER ooa 4 120 Series 90 30 20 Micro Programmable Controllers Reference Manual September 19
171. ecksum DWORD data type address 6 Size of Configuration Data in Bytes address 8 Configuration Additive Checksum address 9 Configuration CRC Checksum DWORD data type address 10 Example In the following example when input 10251 is ON the master checksum information is placed into the parameter block and the output coil QO001 is turned on The parameter block is located at R0050 _ I0251 Q0001 a A gue _ e REQ CONST FNC 0023 2R0050 PARM 4 162 Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K SVCREQ 26 30 Interrogate 1 0 Use SVCREQ function 26 or 30 they are identical i e you can use either number to accomplish the same thing to interrogate the actual modules present and compare them with the rack slot configuration generating addition loss and mismatch alarms as if a store configuration had been performed This SVCREQ will generate faults on both the PLC and I O fault tables depending on the fault This function has no parameter block and always outputs power flow Note The time for this SVCREQ to execute depends on how many faults exist Therefore execution time of this SVCREQ will be greater for situations where more modules are at fault Example In the following example when input 10251 is ON the actual modules are interrogated and compared to the rack slot configuration Output QO001 i
172. ections for those faults are discussed on page 3 8 and following Beginning with Release 8 the 352 CPU supported floating point operations Beginning with Release 9 the 350 351 360 363 and 364 CPUs also support floating point operations but there are some differences between the software floating point capabilities of those models and the floating point capabilities of the 352 CPU which uses a floating point math co processor Those differences are discussed in Appendix E Also the instructional timing information in Appendix A includes floating point and other instructional timing for these new models Content of This Manual GFK 0467K Chapter 1 Introduction provides an overview of the Series 90 30 PLC the Series 90 20 PLC and the Series 90 Micro PLC systems and the Series 90 30 20 Micro instruction set Chapter 2 System Operation describes certain system operations of the Series 90 30 PLC Series 90 20 PLC or Series 90 Micro systems This includes a discussion of the PLC system sweep sequences the system power up and power down sequences clocks and timers security I O and fault handling It also includes general information for a basic understanding of programming ladder logic Chapter 3 Fault Explanations and Correction provides troubleshooting information for a Series 90 30 90 20 or Micro PLC system It explains fault descriptions in the PLC fault table and fault categories in the I O fault table Chapter 4 Series 90
173. ee subroutines each of which could be called as needed from the program In this example the program block might contain little logic serving primarily to sequence the subroutine blocks a45661 SUBROUTINE 2 PROGRAM SUBROUTINE SUBROUTINE 4 A subroutine block can be used many times as the program executes Logic which needs to be repeated several times in a program could be entered in a subroutine block Calls would then be made to that subroutine block to access the logic In this way total program size is reduced a45662 a SUBROUTINE PROGRAM me 2 Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K In addition to being called from the program subroutine blocks can also be called by other subroutine blocks A subroutine block may even call itself a45663 SUBROUTIN 4 The PEC will only allow eight nested calls before an Application Stack Overflow fault is logged and the PLC transitions to STOP Fault mode The call level nesting counts the main program as level 1 How Blocks Are Called A subroutine block executes when called from the program logic in the program or from another block CALL ASTRO SUBROUTINE I0010 This example shows the subroutine CALL instruction as it will appear in the calling block Periodic Subroutines Version 4 20 or later of the 340 and higher CPUs support periodic subroutines Please note the following
174. el 30 I O modules The I O structure for the Series 90 30 PLC is shown in the following figure PLC I O System AERDATO CACHE a43072 O an ian VO CONFIGURATION L _ _ _ Ht 16 BITs sT ht SERIES 90 30 BACKPLANE MODEL 30 MODEL 30 ay DISCRETE ANALOG GENIUS OUTPUT MODEL 30 DISCRETE INPUT VO COMMUNICATIONS MODULE MODULE MODULE MODULE GENIUS BUS SERIES SERIES SERIES GLOBAL FIVE SIX 90 70 GENIUS GBC GBC GBC SERIES SERIES SERIES SERIES FIVE SIX 90 70 90 30 CPU CPU CPU CPU Figure 2 7 Series 90 30 I O Structure Note The drawing shown above is specific to the 90 30 I O structure Intelligent and option modules are not part of the I O scan they use the System Communication Window For information about the 90 20 I O structure refer to the Series 90 20 Programmable Controller User s Manual GFK 0551 For information about the Micro PLC I O structure refer to the Series 90 Micro PLC User s Manual GFK 1065 Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K Model 30 I O Modules Model 30 1 O modules are available as five types discrete input discrete output analog input analog output and option modules The following table lists the Model 30 I O modules by catalog number number of I O points and a brief description of each module Note All of the I O modules listed below may not be available at the time this manual is printed For curr
175. ence Manual September 1998 GFK 0467K Section 3 I O Fault Table Explanations The I O fault table reports data about faults in three classifications e Fault category e Fault type e Fault description The faults described on the following page have a fault category but do not have a fault type or fault group Each fault explanation contains a fault description and instructions to correct the fault Many fault descriptions have multiple causes In these cases the error code displayed with the additional fault information obtained by pressing CTRL F is used to distinguish different fault conditions sharing the same fault description For more information about using CTRL F refer to Appendix B Interpreting Fault Tables in this manual The Fault Category is the first two hexadecimal digits in the fifth group of numbers as shown in the following example 02 1F0100 00030101FF7F 0302 0200 84000000000003 Fault Category first two hex digits in fifth group The following table enables you to quickly find a particular I O fault explanation in this section Each entry is listed as it appears on the programmer screen Loss of I O Module GFK 0467K The Fault Category Loss of I O Module applies to Model 30 discrete and analog I O modules There are no fault types or fault descriptions associated with this category The fault action is Diagnostic Description The PLC operating software generates this error when it
176. ent availability consult your local GE Fanuc PLC distributor or GE Fanuc sales representative Refer to the Series 90 30 I O Module Specifications Manual GFK 0898 for the specifications and wiring information of each Model 30 I O module Figure 2 8 Model 30 I O Modules Catalog Pub Number Points Description Number Discrete Modules Input IC693MDL230 8 120 VAC Isolated GFK 0898 IC693MDL231 8 240 VAC Isolated GFK 0898 IC693MDL240 16 120 VAC GFK 0898 IC693MDL241 16 24 VAC DC Positive Negative Logic GFK 0898 IC693MDL630 8 24 VDC Positive Logic GFK 0898 IC693MDL632 8 125 VDC Positive Negative Logic GFK 0898 IC693MDL633 8 24 VDC Negative Logic GFK 0898 1C693MDL634 8 24 VDC Positive Negative Logic GFK 0898 IC693MDL640 16 24 VDC Positive Logic GFK 0898 IC693MDL641 16 24 VDC Negative Logic GFK 0898 IC693MDL643 16 24 VDC Positive Logic FAST GFK 0898 IC693MDL644 16 24 VDC Negative Logic FAST GFK 0898 IC693MDL645 16 24 VDC Positive Negative Logic GFK 0898 IC693MDL646 16 24 VDC Positive Negative Logic FAST GFK 0898 IC693MDL652 32 24 VDC Position Negative Logic GFK 0898 IC693MDL653 32 24 VDC Positive Negative Logic FAST GFK 0898 IC693MDL654 32 5 12 VDC TTL Positive Negative Logic GFK 0898 IC693MDL655 32 24 VDC Positive Negative Logic GFK 0898 1C693ACC300 8 16 Input Simulator GFK 0898 GFK 0467K Chapter 2 System Operation 2 39 2 40 Table 2 7 Model 30 I O Modules Continued
177. entering the left side of a function block represents an input for that function There are two forms of input that can be passed into a function block constants and references A constant is an explicit value A reference is the address of a value In the following example input parameter I1 comes into the ADD function block as a constant and input parameter 12 comes in as a reference 00001 CONST 11 00010 R0001 12 Each line exiting the right side of the function block represents an output There is only one form of output from a function block or reference Outputs can never be written to constants Where the question marks appear on the left of a function block you will enter either the data itself a reference location where the data is found or a variable representing the reference location where the data is found Where question marks appear on the right of a function block you will usually enter a reference location for data to be output by the function block or a variable that represents the reference location for data to be output by the function block Ll oO 12 This is the output parameter 0 for the function block These are the input parameters I1 and 12 for the function block Most function blocks do not change input data instead they place the result of the operation in an output reference Series 90 30 20 Micro Programmable Controllers Reference Manual September
178. equires six contiguous memory locations for the parameter block FST_SCN MovE_ MOVE_ INT INT CONST IN Q NOON CONST IN Q MIN_SEC 04608 LEN 00000 LEN 100001 100001 I0016 TO001 MOVE A MOVE 8 _ AAA INT INT REQ 00000 LEN 00001 LEN 00007 00001 100001 CONST IN Q RO300 CONST IN Q R0301 CONST FNC R0300 PARM T0001 I0017 I II I II AND_ ADD WORD INT R0303 I1 Q RO303 R0303 I1 Q R0303 CONST 12 NOON I2 OOFF T0001 I0017 l 1 1 MOVE_4 HMOVE _ svc_ INT INT REQ MIN _SEC IN Q RO304 CONST IN Q RO300 CONST FNC LEN 00001 LEN 00007 100002 100001 R0300 PARM 4 146 Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K Parameter Block Contents Parameter block contents for the different data formats are shown on the following pages For both data formats e Hours are stored in 24 hour format e Day of the week is a numeric value Value Day of the Week 1 Sunday 2 Monday 3 Tuesday 4 Wednesday 5 Thursday 6 Friday 7 Saturday To Change Read Date a
179. er Down Time is placed into the parameter block and the output coil 200001 is turned on The parameter block is located at ROOSO es 10251 Q0001 A A A AA i lt _ _ ia a _ REQ CONST FNC 0029 R0050 PARM Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K SVCREQ 46 Fast Backplane Status Access Use the SVCREQ function 46 to perform one of the following fast backplane access functions 1 Read a word of extra status data from one of more specified smart modules 2 Write a word of extra status data from one of more specified smart modules 3 Read Write Read a word of extra status data from one or more specified modules and write the data value between 0 and 15 to the same module all in one operations Note This Service Request is available only for use with modules that support it Currently the only module designed to support this function is the DSM Digital Servo Module 312 Version This DSM module is not available at the time of publication of this manual however it is scheduled for release soon This Service Request has a variable length as described below The first word of the parameter block PARM has this format 1 Read extra data address 2 Write extra data 3 Read write extra data The first word of the parameter block determines which function
180. er of requests which are presented simultaneously 2 These measurements were taken with the PCM physically present but not configured and with no application task running on the PCM 3 The number of words checksummed each sweep can be changed with the SVCREQ function block 4 These measurements were taken with an empty program and the default configuration The Series 90 30 PLCs were in an empty 10 slot rack with no extension racks connected Also the times in this table assume that there is no periodic subroutine active the times will be larger if a periodic subroutine is active 5 The data input time for the Micro PLC can be determined as follows 0 365 ms fixed scan 0 036 ms filter time x total sweep time 0 5 ms 6 Since the Micro PLC has a static set of I O reconfiguration is not necessary 7 Since the user program for the Micro PLC is in Flash memory it will not be checked for integrity Note The times for the 350 CPU and the 360 series are estimated to be the same Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K Table 2 2 I O Scan Time Contributions for the 90 30 350 and 360 Series in milliseconds Module Type CPU 350 and 360 Series Main Expansion Remote Rack Rack Rack 8 point discrete input 030 055 206 16 point discrete input 030 055 206 32 point disc
181. es 90 30 20 Micro Instructions Set 4 117 4 118 SER Data Block The SER Data Block contains the sample buffer sample offsets and trigger information This information is supplied by the CPU and the user should only read from this data area It is the users responsibility to allocate enough register space for the Data Block The block format is as follows Offset Parameter Description 0 Current sample offset number References the location where the most recent sample was placed The parameter is zero based Valid ranges are 1 to 1023 Register Location of Sample Num Bytes per Sample Offset Parameter Sample Buffer Starting Register 1 Trigger sample offset number References the storage location of the sample obtained when the trigger condition transitioned to the True state The parameter is zero based Valid ranges are O to 1023 Register Location of Sample Num Bytes per Sample Offset Parameter Sample Buffer Starting Register Note This value is not valid until the trigger condition is met This value is set to 0 when the SER function is reset through the reset input 2 through 5 Trigger Time Indicates the time according to the Time of Day clock within the PLC that the trigger condition transitioned to the true state within the function block The time value is displayed in BCD format default although the time may be displayed in POSIX format also The format is determined by the Trigger
182. es on these types of data Data Type Description INT Signed integer DINT Double precision signed integer WORD Word data type The default data type is signed integer however it can be changed after selecting the function For more information on data types please refer to chapter 2 section 2 Program Organization and User References Data When the function is enabled the RANGE function block will compare the value in input parameter IN against the range specified by limit parameters L1 and L2 When the value is within the range specified by L1 and L2 inclusive output parameter Q is set ON 1 Otherwise Q is set OFF 0 INT enable limit parameter L1 L1 Q output parameter Q l limit parameter L2 L2 value to be compared IN Note Limit parameters L1 and L2 represent the end points of a range There is no minimum maximum or high low connotation assigned to either parameter Thus a desired range of 0 to 100 could be specified by assigning O to L1 and 100 to L2 or 0 to L2 and 100 to L1 Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K Parameters Parameter Description enable When the function is enabled the operation is performed L1 L1 contains the start point of the range L2 L2 contains the end point of the range IN IN contains the value to be compared against the range specified by L1 and L2
183. es to discrete output module 6 Where there is more than one possible case the time indicated above represents the worst possible case 7 For instructions that have an increment value multiply the increment by Length 1 and add that value to the base time 124 137 Timing information for the Micro PLC See the Series 90 Micro Programmable Logic Controller User s Manual GFK 1065B or later for this information Timing information for 350 and 360 Series PLCs See page A 6 and following A 4 Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K Function Table A 1 Instruction Timing Continued Enabled Disabled Increment Group Control Call a Subroutine Do I O PID ISA Algorithm PID IND Algorithm End Instruction Service Request 6 7 Read 7 Set 14 15 16 18 23 26 30 29 Nested MCR ENDMCR Combined OorRrFN NNN NY WY WY epeoocjeooecooo so N rae Service request 26 30 was measured using a high speed counter 16 point output in a 5 slot rack Notes 1 2 TED Ove a Timing information for the Micro PLC See the Series 90 Micro Programmable Logic Controller User s Manual GFK 1065B or later Time in microseconds is based on Release 5 01 of Logicmaster 90 30 20 software for Models 311 313 340 and 341 CPUs Release 7 for the 331 For table functions increment is
184. ete input output module with those of an enhanced DOIO function block Module 8 Pt Discrete Input Module 8 Pt Discrete Output Module Normal DOIO Execution Time 224 microseconds 208 microseconds Enhanced DOIO Execution Time 67 microseconds 48 microseconds 16 Pt Discrete Input Module 16 Pt Discrete Output Module 224 microseconds 211 microseconds 68 microseconds 47 microseconds 32 Pt Discrete Input Module 32 Pt Discrete Output Module 247 microseconds 226 microseconds 91 microseconds 50 microseconds GFK 0467K Chapter 4 Series 90 30 20 Micro Instructions Set 4 113 SER The SER function Sequential Event Recorder function is used to collect data based on an event trigger A function control block contains user supplied information about function block execution channel descriptions and operation parameters The function has a function control block three input parameters and one output parameter defined as follows Parameters Parameter Description enable Whenever the function is enabled and the reset input is off the SER function block will collect one sample from all configured channels Control Block The 78 word array begins at the Word reference you specify here and is used to define how the SER function will record data R When the reset input receives power flow the SER function will be reset regardless of the state of the enable input The functi
185. execution will occur unless some number other than 0 or is entered as the requested operation see below For the Checksum Task functions the parameter block has a length of 2 words To Read the Current Word Count Enter SVCREQ function 6 with this parameter block 0 address ignored address 1 After the function executes the function returns the current checksum in the second word of the parameter block No range is specified for the read function the value returned is the number of words currently being checksummed 0 address current word count address 1 To Seta New Word Count Enter SVCREQ function 6 with this parameter block 1 address new word count address 1 Entering 1 causes the PLC to adjust the number of words to be checksummed to the value given in the second word of the parameter block For either the 331 or 311 CPU the number can be either 0 or 32 in the 211 CPU the value can be either 0 or 4 Note This Service Request is not available on Micro PLCs Chapter 4 Series 90 30 20 Micro Instructions Set 4 143 4 144 Example In the following example when enabling contact FST_SCN is set the parameter blocks for the checksum task function are built Later in the program when input 910137 turns on the number of words being checksummed is read from the PLC operating system This number is increased by 16 with the results of the ADD_INT function being pla
186. fault table Cleared when the I O fault table has no entries SCO0014 HRD_FLT Set when a hardware fault occurs Cleared when both fault tables have no entries SC0015 SFT_FLT Set when a software fault occurs Cleared when both fault tables have no entries Note Any S reference not listed here is reserved and not to be used in program logic Function Block Structure Each rung of logic is composed of one or more programming instructions These may be simple relays or more complex functions Format of Ladder Logic Relays The programming software includes several types of relay functions These functions provide basic flow and control of logic in the program Examples include a normally open relay contact and a negated coil Each of these relay contacts and coils has one input and one output Together they provide logic flow through the contact or coil Each relay contact or coil must be given a reference which is entered when selecting the relay For a contact the reference represents a location in memory that determines the flow of power into the contact In the following example if reference 10122 is ON power will flow through this relay contact 2 26 Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 10122 I GFK 0467K For a coil the reference represents a location in memory that is controlled by the flow of power into the coil In this example if power flows into the left si
187. for Release 4 20 or later of Models 331 and later CPUs This enhanced version of the DOIO function can only be used on a single discrete input or discrete output 8 point 16 point or 32 point module The ALT parameter identifies the slot in the main rack that the module is located in For example a constant value of 2 in this parameter indicates to the CPU that it is to execute the enhanced version of the DOIO function block for the module in slot 2 Note The only checking done by the enhanced DOIO function block is to check the state of the module in the slot specified to see if the module is okay The enhanced DOIO function only applies to modules located in the main rack Therefore the ALT parameter must be between 2 and 5 for a 5 slot rack or 2 and 10 for a 10 slot rack The start and end references must be either I or Q These references specify the first and last reference the module is configured for For example if a 16 point input module is configured at 10001 through 10016 in slot 10 of a 10 slot main rack the ST parameter must be 10001 the END parameter must be 10016 and the ALT parameter must be 10 as shown below szr0001 Q0001 Do_10 _ _ _ _ _ _ _ _ _ __ ___Q____ gt 210001 ST 10016 END IO ALT The following table compares the execution times of a normal DOIO function block for an 8 point 16 point or 32 point discr
188. g example whenever input 10001 is set the bit at the location contained in reference PICKBIT is tested The bit is part of string PRD_CDE If it is 1 output Q passes power flow and the coil QO001 is turned on I0001 I BIT TEST WORD PRD_CDE IN Q LEN PICKBIT BIT GFK 0467K l 1000011 Chapter 4 Series 90 30 20 Micro Instructions Set 2090001 1 4 61 4 62 BSET and BCLR WORD The Bit Set BSET function is used to set a bit in a bit string to 1 The Bit Clear BCLR function is used to clear a bit within a string by setting that bit to 0 Each sweep that power is received the function sets the specified bit to 1 for the BSET function or to O for the BCLR function If a variable register rather than a constant is used to specify the bit number the same function block can set different bits on successive sweeps A string length of 1 to 256 words can be selected The function passes power flow to the right unless the value for BIT is outside the range 1 lt BIT lt 16 LEN Then ok is set OFF l enable ok l l SET_ WORD l l first word IN l LEN 1000011 l bit number of IN BIT l l Parameters Parameter Description enable When the function is enabled the bit operation is performed IN IN contains the first word of the data to be operated on BIT BIT contains the bit number
189. ght Rotate Bit Left Rotate Bit Right Bit Position Bit Clear Bit Test Bit Set Mask Compare WORD Mask Compare DWORD O 00 000 ooo ojom me O OO 0O0 o0000000o0oNo so o Notes 1 Time in microseconds is based on Release 7 of Logicmaster 90 30 20 Micro software for Model 351 and 352 CPUs For table functions increment is in units of length specified for bit operation functions microseconds bit for data move functions microseconds number of bits or words Enabled time for single length units of type R AI and AQ COMMREQ time has been measured between CPU and HSC DOIO is the time to output values to discrete output module Where there is more than one possible case the time indicated above represents the worst possible case For instructions that have an increment value multiply the increment by Length 1 and add that value to the base time p A GFK 0467K Appendix A Instruction Timing A 7 Table A 1 InstructionTiming C ontinued Function Enabled Disabled Increment Enabled Disabled Group Function 350 351 36X 350 351 36X 350 351 36X 352 352 352 o o Data Move Move INT Move BIT Move WORD Move REAL Block Move INT Block Move WORD Block Move REAL Block Clear Shift Register BIT Shift Register WORD Bit Sequencer COMM_REQ Array Move INT DINT BIT BYTE WORD Search Equal INT DINT BYTE WORD Search Not Equal INT DINT BYTE WORD
190. gth is not greater than the array size Q Output Q contains the first word of the rotated array LEN LEN is the number of words in the array to be rotated Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K Valid Memory Types Parameter flow I WQ M T S G R WAI AQ const none enable IN N ok Q et e Valid reference or place where power may flow through the function t SA SB or SC only S cannot be used GFK 0467K Example In the following example whenever input I0001 is set the input bit string 9 R0001 is rotated 3 bits and the result is placed in RO002 After execution of this function the input bit string ROOO1 is unchanged If the same reference is used for IN and Q a rotation will occur in place 10001 I II ROL WORD R0001 IN Q R0002 LEN 100001 CONST N l 00003 __ R0001 MSB LSB R0002 after 10001 is set MSB LSB Chapter 4 Series 90 30 20 Micro Instructions Set 4 59 4 60 BTST WORD The Bit Test BTST function is used to test a bit within a bit string to determine whether that bit is currentl
191. h of the up to 30 other Genius controllers on the network Data can be broadcast from or received into any memory type not just G global bits The original Genius Communications Module IC693CMM301 is limited to fixed G addresses and can only exchange 32 bits per serial bus address from SBA 16 to 23 This module should not be used as the enhanced GCM has over 100 times the capability Global data can be shared between Series Five Series Six and Series 90 PLCs existing on the same Genius I O bus Model 20 I O Modules The following I O modules are available for the Series 90 20 PLC Each module is listed by catalog number number of I O points and a brief description The I O is integrated into a baseplate along with the power supply For the specifications and wiring information of each module refer to chapter 5 in the Series 90 20 Programmable Controller User s Manual GFK 0551 Catalog Number Description T O Points IC692MAA541 T O and Power Supply Base Module 16 In 12 Out 120 VAC In 120 VAC Out 120 VAC Power Supply IC692MDR541 T O and Power Supply Base Module 16 In 12 Out 24 VDC In Relay Out 120 VAC Power Supply IC692MDR741 T O and Power Supply Base Module 16 In 12 Out 24V DC In Relay Out 240 VAC Power Supply IC692CPU211 CPU Module Model CPU 211 Not Applicable Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K Micro PLCs The following Series 90 Micro PL
192. h power loss and RUN TO STOP TO RUN transitions Retentive coils include retentive coils M negated retentive coils M retentive SET coils SM and retentive RESET coils RM The last time a Q or M reference is programmed on a coil instruction determines whether the PQ or M reference is retentive or non retentive based on the coil type For example if QO001 was last programmed as the reference of a retentive coil the Q0001 data will be retentive However if QO001 was last programmed on a non retentive coil then the QO001 data will be non retentive 2 22 Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K Data Types Data types include the following Table 2 5 Data Types Type INT Name Description Signed Integer Signed integers use 16 bit memory data locations and are represented in 2 s complement notation The valid range of an INT data type is 32 768 to 32 767 Data Format Register 1 ses 4 16 1 16 bit positions DINT Double Precision Signed Integer Double precision signed integers are stored in 32 bit data memory locations actually two consecutive 16 bit memory locations and represented in 2 s complement notation Bit 32 is the sign bit The valid range of a DINT data type is 2 147 483 648 to 2 147 483 867 Register 2 Register 1 32 17 16 1 Two s Complement Value BIT Bit A Bi
193. hapter 4 Series 90 30 20 Micro Instructions Set 4 47 The following bit operation functions are described in this section Abbreviation Function Description Page AND Logical AND If a bit in bit string I1 and the corresponding bit 4 49 in bit string 12 are both 1 place a 1 in the corresponding location in output string Q OR Logical OR Tf a bit in bit string 11 and or the corresponding 4 49 bit in bit string I2 are both 1 place a 1 in the corresponding location in output string Q XOR Logical exclusive If a bit in bit string I1 and the corresponding bit 4 51 OR in string I2 are different place a 1 in the corresponding location in the output bit string NOT Logical invert Set the state of each bit in output bit string Q to the 4 53 opposite state of the corresponding bit in bit string I1 SHL Shift Left Shift all the bits in a word or string of words to the left 4 55 by a specified number of places SHR Shift Right Shift all the bits in a word or string of words to the right 4 55 by a specified number of places ROL Rotate Left Rotate all the bits in a string a specified number of 4 58 places to the left ROR Rotate Right Rotate all the bits in a string a specified number of 4 57 places to the right BTST Bit Test Test a bit within a bit string to determine whether that 4 60 bit is currently 1 or 0 BSET Bit Set Set a bit in a bit string to 1 4 62 BCLR Bit Clear Clear a bit within a string by setti
194. he Series 90 30 PLC a cold power up and a warm power up The CPU normally uses the cold power up sequence However in a Model 331 or higher PLC system if the time that elapses between a power down and the next power up is less than five seconds the warm power up sequence is used Power Up A cold power up consists of the following sequence of events A warm power up sequence skips Step 1 1 The CPU will run diagnostics on itself This includes checking a portion of battery backed RAM to determine whether or not the RAM contains valid data 2 Ifan EPROM EEPROM or flash is present and the PROM power up option in the PROM specifies that the PROM contents should be used the contents of PROM are copied into RAM memory If an EPROM EEPROM or flash is not present RAM memory remains the same and is not overwritten with the contents of PROM 3 The CPU interrogates each slot in the system to determine which boards are present 4 The hardware configuration is compared with software configuration to ensure that they are the same Any mismatches detected are considered faults and are alarmed Also if a board is specified in the software configuration but a different module is present in the actual hardware configuration this condition is a fault and is alarmed 5 If there is no software configuration the CPU will use the default configuration 6 The CPU establishes the communications channel between itself and any intelligent modules 7
195. he current value of the DNCTR is retentive on power failure no automatic initialization occurs at power up l l enable Q l l l l reset R l _ preset value PV l l address Parameters Parameter Description address The DNCTR uses three consecutive words registers of R memory to store the following Current value CV word 1 Preset value PV word 2 Control word word 3 When you enter an DNCTR you must enter an address for the location of these three consecutive words registers directly below the graphic representing the function Note Do not use this address with another down counter up counter or any other instruction or improper operation will result Caution Overlapping references will result in erratic operation of the counter enable On a positive transition of enable the current value is decremented by one R When R receives power flow it resets the current value to the preset value PV PV is the value to copy into the counter s preset value when the counter is enabled or reset Q Output Q is energized when the current value is less than or equal to zero Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K GFK 0467K Valid Memory Types Parameter Row 21 0 am or as 56 aR WAT AQ coma none ee e E ee ee ee E ee ee ee enable E 5 UA ee ee ee i ee E ae Pea Sera AR AA EE ee E E ee ee
196. he same because other words in the array are used for internal PID data storage Make sure the array does not extend beyond the end of memory To configure the user parameters select the PID function and press F10 to zoom in to a screen displaying User Parameters then use arrow keys to select fields and type in desired values You can use 0 for most default values except the CV Upper Clamp which must be greater than the CV Lower Clamp for the PID block to operate Note that the PID block does not pass power if there is an error in User Parameters so monitor with a temporary coil while modifying data Once suitable PID values have been chosen they should be defined as constants in the BLKMOV so that they can be used to reload default PID user parameters if needed Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K Operation of the PID Instruction Normal Automatic operation is to call the PID block every sweep with power flow to Enable and no power flow to Manual input contacts The block compares the current PLC elapsed time clock with the last PID solution time stored in the internal RefArray If the time difference is greater than the sample period defined in the third word Ref 2 of the RefArray the PID algorithm is solved using the time difference and both the last solution time and Control Variable output are updated In Automatic mode the output Control Variable is placed in the Manual Command p
197. hecked That means that the Manual Command can not change the output above the CV Upper Clamp or below the CV Lower Clamps and the output can not change faster than the Minimum Slew Time allowed 4 180 Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K Sample Period and PID Block Scheduling The PID block is a digital implementation of an analog control function so the dt sample time in the PID Output equation is not the infinitesimally small sample time available with analog controls The majority of processes being controlled can be approximated as a gain with a first or second order lag possibly with a pure time delay The PID block sets a CV output to the process and uses the process feedback PV to determine an Error to adjust the next CV output A key process parameter is the total time constant which is how fast does the PV respond when the CV is changed As discussed in the Setting Loop Gains section below the total time constant Tp Tc for a first order system is the time required for PV to reach 63 of its final value when CV is stepped The PID block will not be able to control a process unless its Sample Period is well under half the total time constant Larger Sample Periods will make it unstable The Sample Period should be no bigger than the total time constant divided by 10 or down to 5 worst case For example if PV seems to reach about 2 3 of its final value in 2 seconds the Sample Period
198. id reference for WORD data only not valid for INT or REAL SA SB SC only S cannot be used Floating Point capabilities exist only on 350 and 360 series CPUs Release 9 or Note later or on all releases of CPU352 These 90 30 CPUs are the only ones capable of BLKMV_REAL Example In the following example when the enabling input represented by the nickname FST_SCN is ON the BLKMOV function copies the seven input constants into memory locations R0010 through ROO16 CA FST_SCN I BLKMV INT CONST IN1 Q R0010 32767 CONST IN2 32768 CONST IN3 00001 CONST IN4 00002 CONST IN5 00002 CONST ING 00001 CONST IN7 00001 Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K BLKCLR WORD Use the Block Clear BLKCLR function to fill a specified block of data with zeros The BLKCLR function has two input parameters and one output parameter When the function receives power flow it writes zeros into the memory location beginning at the reference specified by IN When the data to be cleared is from discrete memory I Q M G or T the transition information associated with the references is also cleared The function passes power to the right whenever power is received enable ok word to be cleared IN LEN 100001
199. ies 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K Chapter 4 GFK 0467K Contents Application Elton 3 12 No User Program Present citi sscsccsessceessssssiestevarsasadsatooeiconseeonsdceueosgacwenegsien seed sonetontsseee 3 13 Corrupted User Program on Power UP ceseesceseceseceseceseceseceseeeseeeeneeeneeeseeenaeesaes 3 13 Password Access Farle se anr ee eere dect 3 13 PLC CPU System Software Failure cece cesecesecsseceseceseceseceseeeseeseeeeeseeeseeeaeeenaes 3 14 Communications Failure During StOT8 ooonnncnnncnnocononoconaconoconnconn conc crac n ran nrnn cra crono 3 16 Section 3 I O Fault Table Explanations ooomms 3 17 E088 OF VO Module cocinar 3 17 Addition of VO Module yecvsssccsvseisadeesis ctedescdiateasassnesebed babendshanebasagcaech sg euvansiasadenstassedensasade 3 18 Series 90 30 20 Micro Instructions Set essesessossesossoesessossesossossesossossessossssossoso 4 1 Section 1 Relay Functions 4 svskssssceesccsncesvscscevsdssvcesvsevscvevecnssevescvsssevsnsnevunacpedeese 4 2 Usma Contacts iris A A A Suds aaa A eee 4 2 Using Collin A AE iia 4 3 Normally Open Contact l cooocccncccnoncnonononononoconanonnconnnnnn nono nono conan ron nc non con ncrnnccnncnns 4 4 Normally Closed Contact Ml ooonnccnnccnonononononoconnconnconncnnn nono nono nonnncnn nono n conan rn nccnnc ns 4 4 Example ia 4 4 A a O ld O e caste 4 4 O RN 4 4 INegated Corl Ma A A A E
200. if all bits compared successfully upon the next invocation of the function block the compare starts at the beginning If you want to start the next comparison at some other location in the string you can enter different references for BIT and BN If the value of BIT is a location that is beyond the end of the string BIT is reset to 0 before starting the next comparison If All Bits in 11 and 12 are the Same If all corresponding bits in strings I1 and 12 match the function sets the miscompare output MC to 0 and BN to the highest bit number in the input strings The comparison then stops On the next invocation of MSKCMPW it will be reset to 0 If a Miscompare is Found When the two bits currently being compared are not the same the function checks the correspondingly numbered bit in string M the mask If the mask bit is a the comparison continues until it reaches another miscompare or the end of the input strings If a miscompare is detected and the corresponding mask bit is a 0 the function does the following 1 Sets the corresponding mask bit in M to 1 2 Sets the miscompare MC output to 1 3 Updates the output bit string Q to match the new content of mask string M 4 Sets the bit number output BN to the number of the miscompared bit 5 Stops the comparison 4 66 Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K enable l l COMP_ l l WORD l input para
201. ignal to indicate that the voltage of the battery protecting the memory is low and should be replaced The condition or failure is called a fault Faults are handled by a software alarm processor function that records the faults in either the PLC fault table or the 1 O fault table The Model 331 and Model 340 341 CPUs also time stamp the faults These tables can be displayed through the programming software on the PLC Fault Table and I O Fault Table screens in Logicmaster 90 30 20 Micro software using the control and status functions Additional Reference Information See the appendices in the back of this manual Appendix A lists the memory size in bytes and the execution time in microseconds for each programming instruction Appendix B describes how to interpret the message structure format when reading the PLC and I O fault tables Appendix C lists the instruction mnemonics used with Logicmaster 90 30 20 Micro software Appendix D lists the special keyboard assignments used with Logicmaster 90 30 20 Micro software Appendix E provides special considerations and instructions for using floating point math available only on the 350 and 360 series of 90 30 CPUs Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K Chapter 2 GFK 0467K System Operation This chapter describes certain system operations of the Series 90 30 90 20 and Micro PLC systems These system operations include e
202. in memory beginning at that reference and the real input points are not updated ALT must be the same size as the reference type scanned Ifa discrete reference is used for ST and END then ALT must also be discrete If no reference is specified for ALT the real input points are updated When the DOIO function receives power flow and output references are specified the output points at the starting reference ST and ending at END are written to the output modules If outputs should be written to the output modules from internal memory other than Q or AQ the beginning reference can be specified for ALT The range of outputs written to the output modules is specified by the starting reference ST and the ending reference END Execution of the function continues until either all inputs in the selected range have reported or all outputs have been serviced on the I O cards Program execution then returns to the next function following the DO I O If the range of references includes an option module HSC APM etc then all of the input data I and AD or all of the output data Q and AQ for that module will be scanned The ALT parameter is ignored while scanning option modules Also the reference range must not include an Enhanced GCM module see Note below Note For Release 9 0 and later CPUs the DOIO function can be used with an Enhanced GCM module GFK 0467K Chapter 4 Series 90 30 20 Micro Instructions Set 4 109 4 110
203. in units of length specified for bit operation functions microseconds bit for data move functions microseconds number of bits or words Enabled time for single length units of type R AI and AQ COMMREQ time has been measured between CPU and HSC DOIO is the time to output values to discrete output module Where there is more than one possible case the time indicated above represents the worst possible case For instructions that have an increment value multiply the increment by Length 1 and add that value to the base time for this information Timing information for 350 and 360 Series PLCs See page A 6 and following GFK 0467K Appendix A Instruction Timing A 5 A 6 Function Group Timers Counters Up Counter Down Counter Math Trigonometric Logarithmic Exponential Radian Conversion Function On Delay Timer Timer Off Delay Timer Addition INT Addition DINT Addition REAL Subtraction INT Subtraction DINT Subtraction REAL Multiplication INT Multiplication DINT Multiplication REAL Division INT Division DINT Division REAL Modulo Division INT Modulo Div DINT Square Root INT Square Root DINT Square Root REAL SIN REAL COS REAL TAN REAL ASIN REAL ACOS REAL ATAN REAL LOG REAL LN REAL EXP EXPT Convert RAD to DEG Convert DEG to RAD Table A 1 Instruction Timing Continued Enabled 350 351 36x Disabled Increment 350 3
204. ing any MS DOS compatible software package Give the file the file name entered in the comment and place it on the drive specified in the comment GFK 0467K Chapter 4 Series 90 30 20 Micro Instructions Set 4 131 SVCREQ Use the Service Request SVCREQ function to request one of the following special PLC services Table 4 3 Service Request Functions Function Description 1 Change Read Constant Sweep Timer 2 Read Window Values 3 Change Programmer Communications Window Mode and Timer Value 4 Change System Comm Window Mode and Timer Value 6 Change Read Checksum Task State and Number of Words to Checksum 7 Change Read Time of Day Clock 13 Shut Down the PLC 14 Clear Fault Tables 15 Read Last Logged Fault Table Entry 16 Read Elapsed Time Clock 18 Read I O Override Status 23 Read Master Checksum 26 30 Interrogate I O 29 Read Elapsed Power Down Time The SVCREQ function has three input parameters and one output parameter When the SVCREQ receives power flow the PLC is requested to perform the function FNC indicated Parameters for the function begin at the reference given for PARM The SVCREQ function passes power flow unless an incorrect function number incorrect parameters or out of range references are specified Additional causes for failure are described on the pages that follow The reference given for PARM may represent any type of word memory R AI or AQ This reference is the first of a g
205. input I1 is greater than or equal to the value at input 12 or Equal output Q is energized Less Than When enabled if the value at input I1 is less than the value at input 12 output Q is energized Less Than When enabled if the value at input I1 is less than or equal to the value at input 12 output or Equal Q is energized Valid Memory Types Parameter flow I Q M T S G R WAI WAQ const none enable Il o o o o o ot 2 o o o o o ot Q Valid reference or place where power may flow through the function Valid reference for INT data only not valid for DINT or REAL Constants are limited to integer values for double precision signed integer operations Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K Example In the following example two double precision signed integers PWR_MDE and BIN_FUL are compared whenever I0001 is set If PWR_MDE is less than or equal to BIN_FUL coil Q0002 1s turned on I0001 I IlI IE Q0002 T PWR_MDE I1 Q BIN_FUL 12 GFK 0467K Chapter 4 Series 90 30 20 Micro Instructions Set 4 43 4 44 RANGE INT DINT WORD The RANGE function is used to determine if a value is between the range of two numbers Note This function is available only to Release 4 41 or later CPUs The RANGE function operat
206. ins the real value to be operated on ok The ok output is energized when the function is performed without overflow unless an invalid operation occurs and or IN is NaN or is negative Q Output Q contains the logarithmic exponential value of IN Note The LOG LN EXP and EXPT functions are only available on the 350 and 360 series CPUs Release 9 or later or on all releases of CPU352 Chapter 4 Series 90 30 20 Micro Instructions Set 4 37 Valid Memory Types Parameter flow Y1 Q M T S G R WAI WAQ const none enable IN ok Q ig For the EXPT function input IN is replaced by input parameters I1 and 12 Valid reference or place where power may flow through the function Example In the following example the value of 9 A10001 is raised to the power of 2 5 and the result is placed in kR0001 ALW_ON I EXPT_ REAL AI0001 I1 Q R0O001 CONST I2 2 50000E 00 4 38 Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K Radian Conversion RAD DEG When the function receives power flow the appropriate conversion RAD_TO_DEG or DEG_TO_RAD i e Radian to Degree or vice versa is performed on the real value in input IN and the result is placed in output Q The ok output will receive power flow unless IN is NaN Not a Number enable ok
207. ion NaN_ADD 7F81FFFFh Real addition error value in hex NaN_SUB 7F81FFFFh Real subtraction error value in hex NaN_MUL 7F82FFFFh Real multiplication error value in hex NaN_DIV 7F83FFFFh Real division error value in hex NaN_SQRT 7F84FFFFh Real square root error value in hex NaN_LOG 7F85FFFFh Real logarithm error value in hex NaN_POWO 7F86FFFFh Real exponent error value in hex NaN_SIN 7F87FFFFh Real sine error value in hex NaN_COS 7F88FFFFh Real cosine error value in hex NaN_TAN 7F89FFFFh Real tangent error value in hex NaN_ASIN 7F8AFFFFh Real inverse sine error value in hex NaN_ACOS 7F8BFFFFh Real inverse cosine error value in hex NaN_BCD 7F8CFFFFh BCD 4 to real error REAL_INDEF FFC00000h Real indefinite divide 0 by 0 error All other CPUs that support floating point operations produce one 1 Nan output FFFF FFFF When an NaN result is fed into another function it passes through to the result For example if an NaN_ADD is the first operand to the SUB_REAL function the result of the SUB_REAL is NaN_ADD If both operands to a function are NaNs the first operand will pass through Because Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K of this feature of propagating NaNs through functions you can identify the function where the NaN originated Note For NaN the ok output is OFF not energized
208. ion Correction 10 Invalid Scan Request of the I O Scanner The PLC operating software I O Scanner generates this error when the operating system or DO I O function block scan requests neither a full nor a partial scan of the I O This should not occur in a production system Display the PLC fault table on the programmer Contact GE Fanuc PLC Field Service giving them all the information contained in the fault entry Error Code Name Description Correction 13 PLC Operating Software Error The PLC operating software generates this error when certain PLC operating software problems occur This error should not occur in a production system 1 Display the PLC fault table on the programmer Contact GE Fanuc PLC Field Service giving them all the information contained in the fault entry 2 Perform the corrections for corrupted memory Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K GFK 0467K Error Code 14 27 Name Corrupted PLC Program Memory Description The PLC operating software generates these errors when certain PLC operating software problems occur These should not occur in a production system Correction 1 Display the PLC fault table on the programmer Contact GE Fanuc PLC Field Service giving them all the information contained in the fault entry 2 Perform the corrections for corrupted memory Error Code 27 through 4
209. ion a non nested form JUMP and a nested form JUMPN LABEL Specifies the target location of a JUMP instruction Logicmaster 90 30 20 Micro 4 130 and software supports two forms of the LABEL function a non nested form LABELN _ LABEL and a nested form LABELN COMMENT Places a comment rung explanation in the program After programming the 4 131 instruction the text can be typed in by zooming into the instruction SVCREQ _ Requests one of the following special PLC services 4 132 Change Read Task State and Number of Words to Checksum Change Read Time of Day Clock Shut Down the PLC Clear Fault Tables Read Last Logged Fault Table Entry Read Elapsed Time Clock Read I O Override Status Read Master Checksum Interrogate I O Read Elapsed Power Down Time PID Provides two PID proportional integral derivative closed loop control 4 165 algorithms Standard ISA PID algorithm PIDISA Independent term algorithm PIDIND Chapter 4 Series 90 30 20 Micro Instructions Set 4 107 CALL Use the CALL function to cause program execution to go to a specified subroutine block 27227229 SUBROUTINE When the CALL function receives power flow it causes the scan to go immediately to the designated subroutine block and execute it After the subroutine block execution is complete control returns to the point in the logic immediately following the CALL instruction Example The following exa
210. ion amp MUL amp MUL_I amp MUL_DI re Division amp DIV amp DIV_I amp DIV_DI amp MOD_R amp SQ_R Modulo amp MOD amp MOD_I amp MOD_DI Square Root amp SQ amp SQ I amp SQ_DI Sine amp SIN Cosine amp COS Tangent amp TAN Inverse Sine SASIN Inverse Cosine SACOS Inverse Tangent SATAN Base 10 Logarithm amp LOG Natural Logarithm amp LN Power of e amp EXP Power of x SEXPT Relational Equal amp EQ amp EQ I amp EQ_DI amp EQ R Not Equal amp NE amp NE_I amp NE_DI amp NE_R Greater Than amp GT amp GT_I amp GT_DI oy Greater or Equal amp GE amp GE_I amp GE_DI amp LT_R Less Than amp LT amp LTI amp LT_DI QLER Less Than or Equal amp LE amp LE_I amp LE_DI Bit AND amp AN amp AN_W Operation OR amp OR amp OR_W Exclusive OR amp XO amp XO_W NOT amp NOT amp NOT_W Bit Shift Left amp SHL amp SHL_W Bit Shift Right amp SHR amp SHR_W Bit Rotate Left amp ROL amp ROL_W Bit Rotate Right amp ROR amp ROR_W Bit Test amp BT amp BT_W Bit Set amp BS amp BS_W Bit Clear amp BCL amp BCL_W Bit Position amp BP amp BP_W Masked Compare amp MCM amp MCM_W Conversion Convert to Integer amp TO_INT amp TO_INT_BCD4 amp MOV Convert to Double Integer amp TO_DINT amp BLKM amp BCD4 R Convert to BCD 4 amp BCD4 amp BLKC amp TO_REAL_DI Convert to REAL amp TO_REAL amp SHF amp TO_REAL_W Convert to WORD amp TO_W amp BI Truncate to Integer amp TRINT amp COMMR Truncate to Double Integer amp TRDINT C 2 Series 90 30 20 Mic
211. ion Divide one number by another yielding a 4 27 quotient MOD Modulo Division Divide one number by another yielding a 4 31 remainder SQRT Square Root Find the square root of an integer or real value 4 33 SIN COS TAN Trigonometric Functions Perform the appropriate function on the real 4 35 ASIN ACOS value in input IN ATAN LOG LN Logarithmic Exponential Perform the appropriate function on the real 4 37 EXP EXPT Functions value in input IN RAD DEG Radian Conversion Perform the appropriate function on the real 4 39 value in input IN Y Trigonometric Functions Logarithmic Exponential Functions and Radian Conversion functions are only available on the model 350 and 360 series CPUs Release 9 or later or on all releases of CPU352 Note Division and modulo division are similar functions which differ in their output division finds a quotient while modulo division finds a remainder 4 26 Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K Standard Math Functions ADD SUB MUL DIV GFK 0467K Math functions include addition subtraction multiplication and division When a function receives power flow the appropriate math function is performed on input parameters I1 and I2 These parameters must be the same data type Output Q is the same data type as I1 and I2 Note DIV rounds down it does not round to the closest integer For example 24 DIV 5
212. is PV s CV s G s K e Tp 9 1 Te s GFK 0467K Chapter 4 Series 90 30 20 Micro Instructions Set 4 181 4 182 Plotting a step response at time t0 in the time domain provides an open loop unit reaction curve a45709 CV Unit Step Output to Process PV Unit Reaction Curve Input from Process 0 632K The following process model parameters can be determined from the PV unit reaction curve K Process open loop gain final change in PV change in CV at time t0 Note no subscript on K Tp Process or pipeline time delay or dead time after t0 before the process output PV starts moving Tc First order Process time constant time required after Tp for PV to reach 63 2 of the final PV Usually the quickest way to measure these parameters is by putting the PID block in Manual mode and making a small step in CV output by changing the Manual Command Ref 13 and plotting the PV response over time For slow processes this can be done manually but for faster processes a chart recorder or computer graphic data logging package will help The CV step size should be large enough to cause an observable change in PV but not so large that it disrupts the process being measured A good size may be from 2 to 10 of the difference between the CV Upper and CV Lower Clamp values Setting User Parameters Including Tuning Loop Gains As all PID parameters are totally dependent on the process being controlled there are no
213. is 01000001 01001000 00000000 00000000 or 41480000 hex in hexadecimal form The most significant bit the sign bit is zero s 0 The next eight most significant bits are 10000010 or 130 decimal e 130 The mantissa is stored as a decimal binary number with the decimal point preceding the most significant of the 23 bits Thus the most significant bit in the mantissa is a multiple of 21 the next most significant bit is a multiple of 22 and so on to the least significant bit which is a multiple of 2723 The final 23 bits the mantissa are 1001000 00000000 00000000 The value of the mantissa then is 5625 that is ls 24 Since e gt 0 and e lt 255 we use the third formula in the table above number 15 28127 x 1 f 10 2130 127 1 5625 1 23 1 5625 8 1 5625 12 5 Thus you can see that the above binary representation is correct The range of numbers that can be stored in this format is from 1 401298E 45 to 3 402823E 38 and the number zero Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K Entering and Displaying Floating Point Numbers In the mantissa up to six or seven significant digits of precision may be entered and stored however the programming software will display only the first six of these digits The mantissa may be preceded by a positive or negative sign If no sign is entered the floating point number is assumed to be positive If an expone
214. ith the PLC models 331 and Higher There is no way for intelligent option modules IOM such as the PCM to interrupt the CPU when they need service The CPU must poll each intelligent option module for service requests This polling occurs asynchronously in the background during the sweep see flow chart below When an intelligent option module is polled and sends the CPU a service request the request is queued for processing during the system communications window START a43067 POLL NEXT IOM STOP POLLING REQUEST RECEIVED 2 QUEUE REQUEST Figure 2 4 PCM Communications with the PLC Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K Standard Program Sweep Variations In addition to the normal execution of the standard program sweep certain variations can be encountered or forced These variations described in the following paragraphs can be displayed and or changed from the programming software Constant Sweep Time Mode In the standard program sweep each sweep executes as quickly as possible with a varying amount of time consumed each sweep An alternative to this is CONSTANT SWEEP TIME mode where each sweep consumes the same amount of time You can achieve this by setting the Configured Constant Sweep which will then become the default sweep mode thereby taking effect each time the PLC goes from STOP to RUN mode A value from 5 to 200 milliseconds or up to 500 mil
215. ive words registers directly below the graphic representing the function Note Do not use this address with other instructions Caution Overlapping references will result in erratic operation of the timer enable When enable receives power flow the timer s current value is incremented time Time increment is in tenths 0 1 hundredths 0 01 or thousandths 0 001 of seconds for the low bit of the PV preset value PV PV is the value to copy into the timer s preset value when the timer is enabled or reset Q Output Q is energized when the current value is less than the preset value The Q state is retentive on power failure no automatic initialization occurs at power up Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K Valid Memory Types Parameter flow WI Q M T S G R AI WAQ const none address enable PV e e e Q Valid reference or place where power may flow through the function Example In the following example an OFDT timer is used to turn off an output QO001 whenever an input 710001 turns on The output is turned on again 0 3 seconds after the input goes off I 10001 Q0001 dl I I0FDT l 10 10s CONST PV 00003 R00019 GFK 0467K Chapter 4 Series 90 30 20 Micro Instructions Set 4 19 4 20 UP
216. k number and SS is the slot number of the I module from which the data will be read Address I 2 1 Read data The data read from the 1 module will be place here from I module Address N 2 Last rack amp Rack and slot number in the form RRSS in hexadecimal slot where RR is the rack number and SS is the slot number of the last module from which the data will be read Address N 2 1 Read data The data read from the last module will be place here from last module Address N 2 2 End of list A zero in this word indicates the end of the list of modules indicator Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K Write Data Function 2 The write data function writes a data value between 0 and 15 from the parameter block to one or more modules specified by a list in the parameter block The parameter block requires N 4 words of reference memory where N is the number of modules to which the data will be written second module Location Field Meaning Address Function 2 write data Address 1 Error Code An error code is placed here if the function fails because any of the modules is not present inappropriate or not working No error code is set if the function executes but any of the modules does not receive the write data properly Address 2 First rack amp Rack and slot number in the form RRSS in hexadecimal s
217. ksum Failure The Fault Group Program Block Checksum Failure occurs when the PLC CPU detects error conditions in program blocks received by the PLC It also occurs when the PLC CPU detects checksum errors during power up verification of memory or during RUN mode background checking The fault action for this group is Fatal Error Code All Name Program Block Checksum Failure Description The PLC Operating Software generates this error when a program block is corrupted Correction 1 Clear PLC memory and retry the store 2 Display the PLC fault table on the programmer Contact GE Fanuc PLC Field Service giving them all the information contained in the fault entry Low Battery Signal The Fault Group Low Battery Signal occurs when the PLC CPU detects a low battery on the PLC power supply or a module such as the PCM reports a low battery condition The fault action for this group is Diagnostic Error Code 0 Name Failed Battery Signal Description The CPU module or other module having a battery battery is dead Correction Replace the battery Do not remove power from the rack Error Code 1 Name Low Battery Signal Description A battery on the CPU or other module has a low signal Correction Replace the battery Do not remove power from the rack GFK 0467K Chapter 3 Fault Explanation and Correction 3 11 Constant Sweep Time Exceeded The Fault Group Constant Sweep Time Exceeded occurs when
218. le address 1 clear I O fault table Example In the following example when input 10346 is on and input 10349 is on the PLC fault table is cleared When input 10347 is on and input 10349 is on the I O fault table is cleared When input 10348 is on and input 10349 is on both are cleared The parameter block for the PLC fault table is located at RO500 for the I O fault table the parameter block is located at RO550 Both parameter blocks are set up elsewhere in the program I0349 10346 1 I Srl 10348 CONST FNC 0014 R0500 PARM svc_ REQ I0348 CONST FNC 0014 R0550 PARM 10349 10347 O Chapter 4 Series 90 30 20 Micro Instructions Set 4 155 SVCREQ 15 Read Last Logged Fault Table Entry Use SVCREQ function 15 in order to read the last entry logged in either the PLC fault table or the TO fault table The SVCREQ output is set ON unless some number other than 0 or 1 is entered as the requested operation see below or the fault table is empty For additional information on fault table entries refer to chapter 3 Fault Explanations and Correction For this function the parameter block has a length of 22 words The input parameter block has this format 0 Read PLC fault
219. lement This value increments by one at the time of execution Therefore the values of output NX are to LEN If the value of input NX is out of range lt 0 or 2 LEN its value is set to the default value of zero enable l l EQ l l WORD l l starting address AR FD LEN 00001 input index NX NX output index l l l object of search IN I I GFK 0467K Chapter 4 Series 90 30 20 Micro Instructions Set 4 91 Parameters Parameter Description enable When the function is enabled the operation is performed AR AR contains the starting address of the array to be searched Input NX Input NX contains the index into the array at which to begin the search IN IN contains the object of the search Output NX Output NX holds the position within the array of the search target FD FD indicates that an array element has been found and the function was successful LEN LEN specifies the number of elements starting at AR that make up the array to be searched It may be to 32 767 bytes or words Valid Memory Types Parameter flow I Q M T S G R AI AQ const none enable AR o o o o A o NX in IN o o o o A o NX out FD e Valid reference or place where power may flow through the function o Valid reference f
220. lid Memory Types il 4 56 Exampl ivo ss sesage shes duck evs cessed land 4 57 ROL and ROR WORD eeaeee oine eeoa svestaasbasdaussuescedevstases 4 58 Parameters es ennan a E E A a E i eE 4 58 Valid Memory Types ocio aa ena e T E EER EE r et 4 59 EXAmmple ss cs EE E E AEA Sobsze dette cbsstetsvesdescsessees 4 59 BIS WORD lt a ia vas a iaa 4 60 PM 4 60 Valid Memory TypesSiciciisio diciendole SEENE E EED OE RSE SSe 4 61 JED kani a caa AEE e E ae 4 61 BSET and BECER WORD Jee nnee e E EEEE EE EE EETAS 4 62 A O O 4 62 Valid Memory Types isidro 4 63 Examplerinniiapo opi 4 63 BPOS WORD a 4 64 Parameters O NS 4 64 Valid Memory A sheen ecbes cote ea e EE e E E E 4 65 Examples ai 4 65 MSKCMP WORD DWORD ocooonnccccnccncconnnononccononononcnonnnacnnnccnnnononnnacnnnnccnnnncnnnos 4 66 If All Bits in I1 and I2 are the Same ccocooccncccconccconcnononaconcnononacono non noconenonnncconess 4 66 If a Miscompare is Found 00 ee eeeeceseceseceeceseceecseecneeeaeseaeseeeeeeeeseenseeenees 4 66 Parameters alain 4 67 Valid Memory Ey pes siii 4 67 Bxdmple2 sicicch sss sces Seas ce Gta ohen chads Sesh ahs wide ae as 4 68 Section 6 Data Move Functions ssscssscssssscsssssssssssssssssseesscssssesssssesssees 4 69 MOVE BIT INT WORD READ niiin e E E ai 4 70 A E 4 71 Valid Memory Types vennie eenia ine aE a EE ETEA 4 71 Example i 4 72 Example Zitacuaro Soca ER N EET A A EEI 4 72 BLKMOV INT WORD READ
221. links are used to connect elements of a line of ladder logic between functions Their purpose is to complete the flow of logic power from left to right in a line of logic Note You can not use a horizontal link to tie a function or coil to the left power rail You can however use S7 the AWL_ON always on system bit with a normally open contact tied to the power rail to call a function every sweep Example In the following example two horizontal links are used to connect contacts E2 and E5 A vertical link is used to connect contacts E3 E6 E7 E8 and E9 to E2 E2 E5 El pl Y E3 E6 E7 I II 1 I ES E9 I GFK 0467K Chapter 4 Series 90 30 20 Micro Instructions Set 4 7 Continuation Coils lt gt and Contacts lt gt 4 8 Continuation coils lt gt and continuation contacts lt gt are used to continue relay ladder rung logic beyond the limit of ten columns The state of the last executed continuation coil is the flow state that will be used on the next executed continuation contact There needs to be a continuation coil before the logic executes a continuation contact The state of the continuation contact is cleared when the PLC transitions from Stop to Run and there will be no flow unless the transition coil has been set since going to Run mode There can be only o
222. liseconds for the 350 and 360 series PLC CPUs for the constant sweep timer default is 100 milliseconds is supported Due to variations in the time required for various parts of the PLC sweep the constant sweep time should be set at least 10 milliseconds higher than the sweep time that is displayed on the status line when the PLC is in NORMAL SWEEP mode This prevents the occurrence of extraneous oversweep faults Use a constant sweep when I O points or register values must be polled at a constant frequency such as in control algorithms One reason for using CONSTANT SWEEP TIME mode might be to ensure that I O are updated at constant intervals Another reason might be to ensure that a certain amount of time elapses between the output scan and the next sweep s input scan permitting inputs to settle after receiving output data from the program If the constant sweep timer expires before the sweep completes the entire sweep including the windows is completed However an oversweep fault is logged at the beginning of the next sweep Note Unlike the Active Constant Sweep which can be edited only in RUN mode the Configured Constant Sweep Mode can be edited only during STOP mode and you must Store the configuration from the Programmer to the PLC before the change will take effect Once stored this becomes the default sweep mode PLC Sweep When in STOP Mode GFK 0467K When the PLC is in STOP mode the application program is not exe
223. ll continue as configured This function has no parameter block Example In the following example when a Loss of I O Module fault occurs SVCREQ function 13 executes Since no parameter block is needed the PARM input is not used however the programming software requires that an entry be made for PARM This example uses a JUMP to the end of the program to force a shutdown if the Shutdown PLC function executes successfully This JUMP and LABEL are needed because the transition to STOP mode does not occur until the end of the sweep in which the function executes LOS_MD T0001 o iT ST0001 I sve gt gt END_PRG REQ CONST FNC 0013 R1001 PARM END_PRG END OF PROGRAM LOGIC Note To ensure that the 9580002 LST_SCN contact will operate correctly the PLC will execute one additional sweep after the sweep in which the SVCREQ function 13 was executed 4 154 Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K GFK 0467K SVCREQ 14 Clear Fault Tables Use SVCREQ function 14 in order to clear either the PLC fault table or the I O fault table The SVCREQ output is set ON unless some number other than 0 or is entered as the requested operation see below For this function the parameter block has a length of 1 word It is an input parameter block only 0 clear PLC fault tab
224. lot where RR is the rack number and SS is the slot number of the first module to which the data will be sent Address 3 Write data for This data value will be written to the first module first module Address 4 Second rack amp Rack and slot number in the form RRSS in hexadecimal slot where RR is the rack number and SS is the slot number of the second module to which the data will be sent Address 5 Write data for This data value will be written to the second module Address I 2 I rack amp slot Rack and slot number in the form RRSS in hexadecimal where RR is the rack number and SS is the slot number of the I module to which the data will be sent Address I 2 1 Write data for This data value will be written to the I module I module Address N 2 Last rack amp Rack and slot number in the form RRSS in hexadecimal slot where RR is the rack number and SS is the slot number of the last module to which the data will be sent Address N 2 1 Write data for last module This data value will be written to the last module Address N 2 2 End of list indicator A zero in this word indicates the end of the list of modules GFK 0467K Chapter 4 Series 90 30 20 Micro Instructions Set 4 167 4 168 Read Write Data Function 3 The read write function reads a word of extra status data from a module specified in the parameter block then writes a data v
225. m The non nested form ENDMCR must be used with the non nested MCR function MCR The nested form ENDMCRN must be used with the nested MCR function MCRN The ENDMCR function has a negated boolean input EN The instruction enable must be provided by the power rail execution cannot be conditional The ENDMCR function also has a name which identifies the ENDMCR and associates it with the corresponding MCR s The ENDMCR function has no outputs there can be nothing before or after an ENDMCR instruction in a rung 9279227229 27227229 ENDMCRN Example In the following examples an ENDMCR instruction is programmed to terminate MCR range clear Example of a non nested ENDMCR CLEAR ENDMCR Example of a nested ENDMCR CLEAR ENDMCRN Chapter 4 Series 90 30 20 Micro Instructions Set 4 127 JUMP Use the JUMP instruction to cause a portion of the program logic to be bypassed Program execution will continue at the LABEL specified When the JUMP is active all coils within its scope are left at their previous states This includes coils associated with timers counters latches and relays Logicmaster 90 30 20 Micro software supports two forms of the JUMP instruction a non nested and a nested form The non nested form has been available since Release 1 of the software and has the form gt gt LABELO1 where LABELO1 is the name of the corresponding no
226. me Examples of time tick references include T_10MS T_100MS T_SEC and T_MIN Examples of convenience references include FST_SCN ALW_ON and ALW_OFF Note S bits are read only bits do not write to these bits You may however write to SA SB and SC bits Listed below are available system status references which may be used in an application program When entering logic either the reference or the nickname can be used Refer to chapter 3 Fault Explanations and Correction for more detailed fault descriptions and information on correcting the fault You cannot use these special names in another context Table 2 6 System Status References Reference Nickname Definition S0001 FST_SCN Set to 1 when the current sweep is the first sweep S0002 LST_SCN Reset from 1 to O when the current sweep is the last sweep S0003 T_10MS 0 01 second timer contact S0004 T_100MS 0 1 second timer contact S0005 T_SEC 1 0 second timer contact S0006 T_MIN 1 0 minute timer contact S0007 ALW_ON Always ON S0008 ALW_OFF Always OFF 7080009 SY_FULL Set when the PLC fault table fills up Cleared when an entry is removed from the PLC fault table and when the PLC fault table is cleared S0010 IO_FULL Set when the I O fault table fills up Cleared when an entry is removed from the I O fault table and when the I O fault table is cleared S0011 OVR_PRE Set when an override exists in I
227. me data type as IN The SQRT function operates on these types of data Data Type Description INT Signed integer DINT Double precision signed integer REAL Floating Point Note The REAL data type is only available on 350 and 360 series CPUs Release 9 or later or on all releases of CPU352 The default data type is signed integer however it can be changed after selecting the function For more information on data types please refer to chapter 2 section 2 Program Organization and User References Data OK is set ON if the function is performed without overflow unless one of these invalid REAL operations occurs e IN lt 0O e IN is NaN Not a Number Otherwise ok is set OFF enable ok INT input parameter IN IN Q output parameter Q __ Parameters Parameter Description enable When the function is enabled the operation is performed IN IN contains a constant or reference for the value whose square root is to be calculated If IN is less than zero the function will not pass power flow ok The ok output is energized when the function is performed without overflow unless an invalid operation occurs Q Output Q contains the square root of IN Chapter 4 Series 90 30 20 Micro Instructions Set 4 33 Valid Memory Types Parameter flow I Q M T S G R WAI AQ const none enable I
228. meter 11 I1 MC miscompare LEN 1000011 l input parameter 12 I2 0Q output parameter Q l l l bit string mask M_ BN bit number for last miscompare l l l bit number BIT __ Parameters Parameter Description enable Permissive logic to enable the function n Reference for the first bit string to be compared 2 Reference for the second bit string to be compared M Reference for the bit string mask BIT Reference for the bit number where the next comparison should start MC User logic to determine if a miscompare has occurred Q Output copy of the mask M bit string BN Number of the bit where the last compare occurred LEN LEN is the number of words in the bit string Valid Memory Types Parameter flow I Q M T S G R AI WAQ const none enable Il o o o o o n o o o o o M o o o o of o gt gt gt BIT LEN ot MC Q o o o o of o BN Valid reference or place where power may flow through the function Valid reference for WORD data only not valid for DWORD SA SB SC only S cannot be used Max const value of 4095 for WORD and 2047 for DWORD tka O GFK 0467K Chapter 4 Series 90 30 20 Micro Instructions Set 4 67 4 68 Example In the following example after first
229. mpare function 4 66 Master control relay function 4 124 26 Math functions Memory corrupted 3 7 Micro Models 2 43 Mnemonics instruction C 1 MoD 4 31 Model 20 I O modules 2 42 Model 30 I O modules 2 39 Modulo function MOVE 4 70 Index Index Move function Multiplication function 4 27 Natural logarithm function 4 37 NE 4 41 Negated coil 4 4 Negated retentive coil Negative transition coil No user program present 3 13 Normally closed contact Normally open contact NOT Not equal function 4 41 0 OFDT 4 17 Off delay timer 4 17 On delay timer ONDTR 4 11 Operation of system 2 1 Operational failures Option module software failure 3 11 Output references discrete 2 20 Output register references analog 2 20 Output scan Overrides Password access failure 3 13 Passwords 2 36 PB_SUM 2 25 PCM communications with the PLC 2 12 Periodic subroutines 2 19 pip 4 171 PLC CPU system software failure 3 14 PLC fault table error codes B 5 explanations fault action B 5 fault extra ee fault group B 4 fault time stamp B 7 interpreting a fault long short indicator rack B 3 Index 5 Index Index 6 PLC sweep 2 2 application program logic scan 2 8 configured constant sweep time mode constant sweep time mode 2 13 2 35 housekeeping 2 6 input scan logic pr
230. mple screen shows the subroutine CALL instruction as it appears in the calling block By positioning the cursor within the instruction you can press F10 to zoom into the subroutine I0004 T0001 el eT A i SI0006 CALL ASTRO I I SUBROUTINE 10003 10010 2090010 I EI Nr anna I0001 Note Micro PLCs do not accommodate subroutines therefore the CALL function is inappropriate for use with a Micro PLC 4 108 Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K DOIO The DO I O DOIO function is used to update inputs or outputs for one scan while the program is running The DOIO function can also be used to update selected I O during the program in addition to the normal I O scan If input references are specified the function allows the most recent values of inputs to be obtained for program logic If output references are specified DO I O updates outputs based on the most current values stored in I O memory I O is serviced in increments of entire I O modules the PLC adjusts the references if necessary while the function executes The DOIO function has four input parameters and one output parameter When the function receives power flow and input references are specified the input points at the starting reference ST and ending at END are scanned If a reference is specified for ALT a copy of the new input values is placed
231. n nested LABEL instruction For non nested JUMPs there can be only a single JUMP instruction for each LABEL instruction The JUMP can be either a forward or a backward JUMP The range for non nested JUMPs and LABELs cannot overlap the range of any other JUMP LABEL pair or any MCR ENDMCR pair of instructions Non nested JUMPs and their corresponding LABELs cannot be within the scope of any other JUMP LABEL pair or any MCR ENDMCR pair In addition an MCR ENDMCR pair or another JUMP LABEL pair cannot be within the scope of a non nested JUMP LABEL pair Note The non nested form of the JUMP instruction is the only JUMP instruction that can be used in a Release 1 Series 90 30 PLC The nested JUMP function can be used and is suggested for use for all new applications Also please note that the 350 and 360 series CPUs support only nested jumps Non nested jumps are not supported on 350 and 360 series CPUs The nested form of the JUMP instruction has the form N gt gt LABELO01 where LABELO is the name of the corresponding nested LABEL instruction It is available in Release 2 and later releases of Logicmaster 90 30 20 Micro software and PLC firmware A nested JUMP instruction can be placed anywhere within a program as long as it does not occur in the range of any non nested MCR or non nested JUMP There can be multiple nested JUMP instructions corresponding to a single nested LABEL Nested JUMPs can be either forward or backwar
232. n set this parameter to 0 To select Full buffer as the enabling condition set this parameter to 1 If the trigger condition is enabled by power flow to the Trigger boolean input the OK boolean output will not pass power flow until the Number of Samples After Trigger has been satisfied If the trigger condition is enabled by a Full buffer the OK boolean output will pass power flow when the user s buffer is full The buffer size is set through the Number of Samples parameter Trigger Time Determines how the Trigger Time will be displayed For BCD Binary Format 3 Coded Decimal display set this parameter to 0 For POSIX format display set this parameter to 1 Reserved 4 7 Words 4 through 7 are reserved and should be set to zero 0 Num of Channels 8 Specifies the number of bits of data that will be sampled and returned to the sample buffer for each execution of the function block Valid choices are 8 16 24 or 32 bits The increment is in byte size 8 bits and any unused channels must be configured with a null channel description GFK 0467K Chapter 4 Series 90 30 20 Micro Instructions Set 4 115 4 116 Parameter Offset Description Num of Samples 9 Specifies the sample buffer size in bytes Valid choices are 1 to 1024 samples Num Samp After Specifies the number of samples that are stored in the sample buffer when Trig 10 the trigger condition becomes true This parameter may be set to
233. n Logicmaster The default is Disabled Chapter 2 System Operation 2 15 Section 2 Program Organization and User References Data The total logic size for the Series 90 30 programmable controller can be up to 6 KB in size for a Model 311 or Model 313 CPU up to 16 KB in size for a Model 331 up to 32 KB in size for Model 340 CPUs 74 KB for Model 350 32 KB for program logic and prior to Release 9 up to 80 KB for Models 341 351 and 352 CPUs Beginning with Release 9 CPUs some memory sizes for the 351 352 and 360 series are configurable For detailed instructions and a discussion of memory sizes available refer to the Configurable Memory on 351 and higher CPUs in Chapter 10 Section 3 of the Logicmaster 90 Series 90 30 20 Micro Programming Software User s Manual GFK 0466K or later A program for the Series 90 20 programmable controller can be up to 2 KB in size for a Model 211 CPU A program for the Series 90 Micro programmable controller can be up to 6 KB in size up to 12 KB for a 28 point Micro The user program contains logic that is used when it is started up The maximum number of rungs allowed per logic block main or subroutine is 3000 for 90 30 PLCs the maximum block size is 80 kilobytes for C blocks and 16 kilobytes for LD and SFC blocks but in an SFC block some of the 16 KB is used for the internal data block The logic is executed repeatedly by the PLC a45660 Refer to the Series 90 30 Programmable Cont
234. n is Kp Ki and derivative gain is Kp Kd The Error sign DerivAction and Polarity are set by bits in the Config Word user parameter CV Amplitude and Rate Limits The block does not send the calculated PID Output directly to CV Both PID algorithms can impose amplitude and rate of change limits on the output Control Variable The maximum rate of change is determined by dividing the maximum 100 CV value 32000 by the Minimum Slew Time if specified as greater than 0 For example if the Minimum Slew Time is 100 seconds the rate limit will be 320 CV counts per second If the dt solution time was 50 milliseconds the new CV output can not change more than 320 50 1000 or 16 CV counts from the previous CV output The CV output is then compared to the CV Upper and CV Lower Clamp values If either limit is exceeded the CV output is set to the clamped value If either rate or amplitude limits are exceeded modifying CV the internal integrator value is adjusted to match the limited value to avoid reset windup Finally the block checks the Output Polarity 2nd bit of the Config Word Ref 12 and changes the sign of the output if the bit is 1 CV Clamped PID Output or Clamped PID Output if Output Polarity bit set If the block is in Automatic mode the final CV is placed in the Manual Command Ref 13 If the block is in Manual mode the PID equation is skipped as CV is set by the Manual Command but all the rate and amplitude limits are still c
235. n of these contacts a43071 T_XXXXX t ee a O x 2 x 2 SEC SEC Figure 2 6 Time Tick Contact Timing Diagram Chapter 2 System Operation 2 35 Section 5 System Security Security in Series 90 30 Series 90 20 and in the Micro PLCs is designed to prevent unauthorized changes to the contents of a PLC There are four security levels available in the PLC The first level which is always available provides only the ability to read PLC data no changes are permitted to the application The other three levels have access to each level protected by a password Each higher privilege level permits greater change capabilities than the lower level s Privilege levels accumulate in that the privileges granted at one level are a combination of that level plus all lower levels The levels and their privileges are Privilege Level Description Level 1 Any data except passwords may be read This includes all data memories I WQ AQ R etc fault tables and all program block types data value and constant No values may be changed in the PLC Level 2 This level allows write access to the data memories l R etc Level 3 This level allows write access to the application program in STOP mode only Level 4 This is the default level for systems which have no passwords set The default level for a system with passwords is to the highest unprotected level This level the highest allows read and write access
236. nction 1 with this parameter block Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K Note After using SVCREQ function 1 with the parameter block on the previous page Release 8 and higher CPUs will provide the return values O for Normal Sweep 1 for Constant Sweep Do not confuse this with the input values shown below Successful execution will occur unless 1 A number other than 0 1 2 or 3 is entered as the requested operation Disable CONSTANT SWEEP mode Enable CONSTANT SWEEP mode Set a new timer value only Read CONSTANT SWEEP mode and timer value See Note above 2 The time value is greater than 2550 ms 2 53 seconds 3 Constant sweep time is enabled with no timer value programmed or with an old value of O for the timer After the function executes the function returns the timer state and value in the same parameter block references 0 disabled 1 enabled address current timer value address 1 If word address 1 contains the hexadecimal value FFFF no timer value has ever been programmed GFK 0467K Chapter 4 Series 90 30 20 Micro Instructions Set 4 135 4 136 Example This example shows logic in a program block When enabling contact OV_SWP is set the constant sweep timer is read the timer is increased by two milliseconds and the new timer value is sent back to the PLC The parameter block is in local memory at location R3050 Because
237. nd Time Using BCD Format In BCD format each of the time and date items occupies a single byte This format requires six words The last byte of the sixth word is not used When setting the date and time this byte is ignored when reading date and time the function returns a null character 00 Example output parameter block Read Date and Time in BCD format High Byte Low Byte Sun July 3 1988 at 2 45 30 p m 1 change or 0 read address 0 1 address 1 1 month year address 2 07 88 hours day of month address 3 14 03 seconds minutes address 4 30 45 null day of week address 5 00 01 Chapter 4 Series 90 30 20 Micro Instructions Set 4 147 4 148 To Change Read Date and Time using Packed ASCII with Embedded Colons Format In Packed ASCII format each digit of the time and date items is an ASCII formatted byte In addition spaces and colons are embedded into the data to permit it to be transferred unchanged to a printing or display device This format requires 12 words High Byte Low Byte 1 change or O read 3 year year month space space month day of month day of month hours space hours minutes minutes seconds space seconds day of week day of week address address 1 address 2 address 3 address 4 address 5 address 6 address 7 address 8 address 9 address
238. nd cannot be used for other purposes Internal Parameters in RefArray Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K GFK 0467K As described in Table 4 6 on the previous pages the PID block reads 13 user parameters and uses the rest of the 40 word RefArray for internal PID storage Normally you would not need to change any of these values If you are calling the PID block in Auto mode after a long delay you may want to use SVC_REQ 16 to load the current PLC elapsed time clock into Ref 23 to update the last PID solution time to avoid a step change on the integrator If you have set the Override low bit of the Control Word Ref 14 to 1 the next four bits of the Control Word must be set to control the PID block input contacts as described in Table 4 5 on the previous pages and the Internal SP and PV must be set as you have taken control of the PID block away from the ladder logic PID Algorithm Selection PIDISA or PIDIND and Gains The PID block can be programmed selecting either the Independent PID_IND term or standard ISA PID_ISA versions of the PID algorithm The only difference in the algorithms is how the Integral and Derivative gains are defined To understand the difference you need to understand the following Both PID types calculate the Error term as SP PV which can be changed to Reverse Acting mode PV SP if the Error Term low bit 0 in the Config Word Ref 12 is
239. nd the LABEL are not executed and coils are not affected In the following example when 10002 is ON the JUMP is taken Since the logic between the JUMP and the LABEL is skipped QO001 is unaffected i e if it was ON it remains ON if it was OFF it remains OFF 1 I0001 E MMES I0001 Q0001 I aD 1C INT R0001 I1 Q R0001 1 12 TEST1 GFK 0467K Chapter 4 Series 90 30 20 Micro Instructions Set 4 125 Example In the following example whenever 10002 allows power flow into the MCR function program execution will continue without power flow to the coils until the associated ENDMCR is reached If 10001 and 10003 are ON Q0001 is turned OFF and Q0003 remains ON I0002 FIRST a I II MCR 11 11 1 I0001 00001 SSS O e or 11 11 11 T0003 2090003 SS eee SST 8 11 11 11 FIRST ENDMCR 4 126 Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K ENDMCR GFK 0467K Use the End Master Control Relay ENDMCR function to resume normal program execution after an MCR function When the MCR associated with the ENDMCR is active the ENDMCR causes program execution to resume with normal power flow When the MCR associated with the ENDMCR is not active the ENDMCR has no effect Logicmaster 90 30 20 Micro software supports two forms of the ENDMCR function a non nested and a nested for
240. nds The last word is the number of 100 microsecond ticks in the current second Example In the following example when internal coil M0233 is on the value of the elapsed time clock is read and coil M0234 is set When it is off the value is read again The difference between the values is then calculated and the result is stored in register memory at location RO250 The parameter block for the first read is at R0127 for the second read at RO131 The calculation ignores the number of hundred microsecond ticks and the fact that the DINT type is actually a signed value The calculation is correct until the time since power on reaches approximately 50 years A M0233 M0234 SS SS Se SIS CONST FNC 00016 M0233 M0234 M0234 l SB AR gt REQ DINT CONST FNC 2R0131 I1 Q RO250 00016 R0131 PARM R0127 12 SZ EOS VOZ Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K SVCREQ 18 Read I O Override Status Use SVCREQ function 18 in order to read the current status of overrides in the CPU Note This feature is available only for 331 or higher CPUs For this function the parameter block has a length of 1 word It is an output parameter block only 0 No overrides are set address 1 Overrides are set
241. ne continuation coil and contact per rung the continuation contact must be in column 1 and the continuation coil must be in column 10 An example continuation coil and contact are shown below PROGRM OS ASA GS FOLDER UTILTY PRINT edit modifugcearchy Bd Bpptioniiiyoto more zoom 1140_00 1141_07 710086 1 Q TOOO1 M0997 REG_112 DWELL_T 10041 x10063 0023 x00063 M0234 FST_SCN TOZ231 10003 710043 10074 7 M0099 eaa 7 n p END OF PROGRAM LOGIC 0 C LMSONLESSON Pre Lesson BLK MAIN PSIZE 177MRUNG 0007 Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K Section 2 Timers and Counters This section explains how to use on delay and stopwatch type timers up counters and down counters The data associated with these functions is retentive through power cycles Abbreviation Function Page ONDTR Retentive On Delay Timer 4 11 TMR Simple On Delay Timer 4 14 OFDT Off Delay Timer 4 17 UPCTR Up Counter 4 20 DNCTR Down Counter 4 22 Function Block Data Required for Timers and Counters Each timer or counter uses three words registers of R memory to store the following information current value CV word 1 preset value PV word 2 control word word 3 When you enter a timer or counter you must enter a beginning address for these three words registers directly below the graphic representing the function For exampl
242. ng example whenever input 10001 is set the integer content of R0002 is decremented by 1 and coil 900001 is turned on provided there is no overflow in the subtraction I0001 l Q0001 i i sw _ _ _ __ o J JJJ JJJ INT ROO02 I1 Q RO002 00095 CONST 12 00001 _ Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K Math Functions and Data Types Function Operation Displays as ADD INT QU6 bit 11 16 bit 2 16 bit 5 digit base 10 number with sign ADD DINT Q 32 bit 11 32 bit 12 32 bit 8 digit base 10 number with sign ADD REAL Q 32 bit 11 32 bit 12 32 bit 7 digit base 10 number sign and decimal SUB INT QU6 bit 11 16 bit R 16 bit 5 digit base 10 number with sign SUB DINT Q 32 bit 11 32 bit 12 32 bit 8 digit base 10 number with sign SUB REAL Q 32 bit 11 32 bit 12 32 bit 7 digit base 10 number sign and decimal MUL INT Q 16 bit 11 16 bit 2 16 bit 5 digit base 10 number with sign MUL DINT Q 32 bit 11 32 bit 12 32 bit 8 digit base 10 number with sign MUL REAL Q 32 bit 1182 bit 12 32 bit 7 digit base 10 number sign and decimal DIV INT QU6 bit 11 16 bit 12 16 bit 5 digit base 10 number with sign DIV DINT Q 32 bit 11 32 bit 12 32 bit 8 digit base 10 number with sign DIV REAL Q 32 bi
243. ng that bit to 0 4 62 BPOS Bit Position Locate a bit set to 1 in a bit string 4 64 MSKCMP Masked Compare Compare the contents of two separate bit strings with 4 66 the ability to mask selected bits available for Release 4 5 or higher CPUs 4 48 Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K AND and OR WORD Each scan that power is received the AND or OR function examines each bit in bit string I1 and the corresponding bit in bit string I2 beginning at the least significant bit in each For each two bits examined for the AND function if both are 1 then a 1 is placed in the corresponding location in output string Q If either or both bits are 0 then a 0 is placed in string Q in that location The AND function is useful for building masks or screens where only certain bits are passed through those that are opposite a in the mask and all other bits are set to 0 The function can also be used to clear the selected area of word memory by ANDing the bits with another bit string known to contain all Os The I1 and I2 bit strings specified may overlap For each two bits examined for the OR function if either or both bits are 1 then a is placed in the corresponding location in output string Q If both bits are 0 then a 0 is placed in string Q in that location The OR function is useful for combining strings and to control many outputs through the use of one simpl
244. nge any faster that the Minimum Slew Time Inverse rate limit and will not go above or below the CV Upper or CV Lower Clamp limits Note A specific PID function should not be called more than once per sweep The following table provides more details about the parameters discussed briefly in Table 4 4 The number in parentheses after each parameter name is the offset in the RefArray GFK 0467K Chapter 4 Series 90 30 20 Micro Instructions Set 4 175 4 176 Table 4 5 PID Parameters Details Data Item Description Loop Number This is an optional parameter available to identify a PID block It is an unsigned integer that 00 provides a common identification in the PLC with the loop number defined by an operator interface device The loop number is displayed under the block address when logic is monitored from the Logicmaster 90 30 20 Micro software Algorithm 01 An unsigned integer that is set by the PLC to identify what algorithm is being used by the function block The ISA algorithm is defined as algorithm 1 and the independent algorithm is identified as algorithm 2 Sample Period The shortest time in 10 millisecond increments between solutions of the PID algorithm For example 02 use a 10 for a 100 millisecond sample period If it is O the algorithm is solved every time the block is called see section below on PID block scheduling The PID algorithm is solved only if the current PLC elapsed time clo
245. nic is shown in column 3 of this table and the shortest entry you can make for each instruction is listed in column 4 At any time during programming you can display a help screen with these mnemonics by pressing the ALT and I keys Function Mnemonic Group Instruction All INT DINT BIT BYTE WORD REAL Contacts Any Contact amp CON amp CON Normally Open Contact amp NOCON amp NOCON Normally Closed Contact amp NCCON amp NCCON Continuation Contact amp CONC amp CONC Coils Any Coil amp COI amp COI Normally Open Coil amp NOCOI amp NOCOI Negated Coil amp NCCOI amp NCCOI Positive Transition Coil amp PCOI amp PCOI Negative Transition Coil amp NCOI amp NCOI SET Coil amp SL amp SL RESET Coil amp RL amp RL Retentive SET Coil amp SM amp SM Retentive RESET Coil amp RM amp RM Retentive Coil amp NOM amp NOM Negated Retentive Coil amp NCM amp NCM Continuation Coil amp COILC amp COILC Links Horizontal Link amp HO amp HO Vertical Link amp VE amp VE Timers On Delay Timer amp ON amp ON Elapsed Timer amp TM amp TM Off Delay Timer amp OF amp OF Counters Up Counter amp UP amp UP Down Counter amp DN amp DN GFK 0467K C 1 Function Mnemonic Group Instruction All BCD 4 INT DINT BIT BYTE WORD REAL Math Addition amp AD amp AD_I amp AD_DI amp AD_R Subtraction amp SUB amp SUBI amp SUB_DI amp SUB_R Multiplicat
246. nnected to the PLC Example of Sweep Time Calculation An example of the calculations for determining the sweep time for a Series 9030 model 331 PLC are shown in the table shown below The modules and instructions used for these calculations are listed below e Input modules five 16point model 30 input modules e Output modules four 16point model 30 output modules e Programming instructions A 1200step program consisting of 700 boolean instructions LD AND OR etc 300 output coils OUT OUTM etc and 200 math functions ADD SUB etc Time Contribution Sweep wo w w Component Calculation Programmer HHP LM90 Housekeeping 0 705 ms 0 705 ms 0 705 ms 0 705 ms Data Input 0 055 x 5 275 ms 0 275 ms 0 275 ms 0 275 ms Program 1000 x 0 4 us 200 x 89 us 18 2 ms 18 2 ms 18 2 ms 18 2 ms Execution Data Output 0 061 x 4 244 ms 0 244 ms 0 244 ms 0 244 ms Programmer 0 4 ms programmer time 0 6 ms 0 ms 4 524 ms 2 454 ms Service Non None in this example 0 ms 0 ms 0 ms Programmer Service Reconfiguration 0 639 ms 0 639 ms 0 639 ms 0 638 ms Diagnostics 0 048 ms 0 048 ms 0 048 ms 0 048 ms PLC Sweep Time Housekeeping Data Input Program 12 611 ms 17 135 ms 15 065 ms Execution Data Output Programmer Service NonProgrammer Service Diagnostics Refer to Table A 3 Boolean Execution Speed in Appendix A for contact and coil execution speeds which vary by
247. non nested and a nested form The non nested form has been available since Release 1 of the software and has the name MCR Note The 350 and 360 series CPUs do not have the non nested form i e MCR Use only the nested form i e MCRN with 350 and 360 series CPUs There can be only one MCR instruction for each ENDMCR instruction The range for non nested MCRs and ENDMCRs cannot overlap the range of any other MCR ENDMCR pair or any JUMP LABEL pair of instructions Non nested MCRs cannot be within the scope of any other MCR ENDMCR pair or any JUMP LABEL pair In addition a JUMP LABEL pair or an MCR ENDMCR pair cannot be within the scope of an MCR ENDMCR pair Note The non nested MCR function is the only Master Control Relay function that can be used in a Release 1 Series 90 30 PLC The nested MCR function should be used for all new applications The nested form of the MCR function has the name MCRN and is available in Release 2 and later releases of the Series 90 30 PLC An MCRN function can be nested with other MCRN functions provided they are nested correctly An MCRN instruction and its corresponding ENDMCRN instruction must be contained completely within another MCRN ENDMCRN pair An MCRN function can be placed anywhere within a program as long as it is properly nested with respect to other MCRNs and does not occur in the range of any non nested MCR or non nested JUMP Note Use only one 1 MCRN for each ENDMCRN with 350 and
248. ns have been defined 1 The first channel description selects the I Segment with a Length of 1 and offset of 0 This chooses 10001 for channel 1 2 The second channel description selects the NULL Selector with Length of 3 and offset of 0 The NULL selector causes channels 2 4 to be ignored or skipped These channels will always contain a sample value of Zero 3 The third channel description selects the Input Module Selector with a length of 3 and offset of 12 The Input Module Selector causes samples to be taken from the input module This channel description chooses the values in points 13 14 and 15 of the input module for channels 5 7 4 The fourth channel description selects the Q Segment with a Length of 2 and offset of 8 This chooses Q0009 and Q0010 for channels 8 and 9 5 The fifth channel description is another Input Module Selector It has a length of 8 and offset of 0 This causes the values for points to 8 of the input module to be placed in channels 10 17 6 The sixth channel description is another NULL Selector It has a Length of 7 and offset of 0 This NULL channel description causes channels 18 24 to be filled with Zeros This GFK 0467K Chapter 4 Series 90 30 20 Micro Instructions Set 4 121 4 122 last channel description is required to pad the sample buffer out to the 24 bits specified in the number of channels parameter Since all 24 channels are configured there are no more channel
249. ns may produce unexpected results The SHFR function has four input parameters and two output parameters The reset input R takes precedence over the function enable input When the reset is active all references beginning at the shift register ST up to the length specified for LEN are filled with zeros If the function receives power flow and reset is not active each bit or word of the shift register is moved to the next highest reference The last element in the shift register is shifted into Q The highest reference of the shift register element of IN is shifted into the vacated element starting at ST The contents of the shift register are accessible throughout the program because they are overlaid on absolute locations in logic addressable memory The function passes power to the right whenever power is received through the enable logic enable ok l l WORD l l reset R QI output parameter Q LEN 00001 l l l value to be shifted IN l l l l l l l l first bit or word ST l GFK 0467K Chapter 4 Series 90 30 20 Micro Instructions Set 4 77 4 78 Parameters Parameter Description enable When enable is energized and R is not the shift is performed R When R is energized the shift register located at ST is filled with zeros IN IN contains the value to be shifted into the first bit or word of the shift register For SHFR_BIT any discrete reference may be used it
250. ns the correct daughterboard Error Code 5 Name Daughterboard Reset Description The daughterboard has been reset either due to the occurance of a push button reset by the user or an internal error condition Correction None GFK 0467K Chapter 3 Fault Explanation and Correction 3 9 System Configuration Mismatch The Fault Group Configuration Mismatch occurs when the module occupying a slot is different from that specified in the configuration file The fault action is Fatal Error Code 1 Name System Configuration Mismatch Description The PLC operating software system configurer generates this fault when the module occupying a slot is not of the same type that the configuration file indicates should be in that slot or when the configured rack type does not match the actual rack present Correction Identify the mismatch and reconfigure the module or rack Error Code 6 Name System Configuration Mismatch Description This is the same as error code 1 in that this fault occurs when the module occupying a slot is not of the same type that the configuration file indicates should be in that slot or when the configured rack type does not match the actual rack present Correction Identify the mismatch and reconfigure the module or rack Error Code 18 Name Unsupported Hardware Description A PCM or PCM type module is present in a 311 313 or 323 or in an extension rack Correction Ph
251. nt is entered it must be preceded by the letter E or e and the mantissa must contain a decimal point to avoid mistaking it for a hexadecimal number The exponent may be preceded by a sign but if none is provided it is assumed to be positive If no exponent is entered it is assumed to be zero No spaces are allowed in a floating point number To provide ease of use several formats are accepted in both command line and field data entry These formats include an integer a decimal number or a decimal number followed by an exponent These numbers are converted to a standard form for display once the user has entered the data and pressed the Enter key Examples of valid floating point number entries and their normalized display are shown below 250 250 0000 4 4 000000 2383019 2383019 34 34 00000 0036209 003620900 12 E 9 1 20000E 10 0004E 11 4 00000E 15 731 0388 731 0388 99 20003e 29 9 92000E 28 Examples of invalid floating point number entries are shown below Invalid Entry Explanation 433E23 Missing decimal point 10e 19 Missing decimal point 10 e19 The mantissa cannot contain spaces between digits or characters This is accepted as 10 e0 and an error message is displayed 4 1e19 The exponent cannot contain spaces between digits or characters This is accepted as 4 1e0 and an error message is displayed GFK 0467K Appendix E Using Floating Point Numbers E 5 Errors in Floating Point Number
252. ntrollers Reference Manual September 1998 GFK 0467K Note For information specific to Micro PLC fault handling refer to chapter 7 of the Series 90 Micro PLC User s Manual GFK 1065 System Reaction to Faults Typically hardware failures require that either the system be shut down or the failure is tolerated TO failures may be tolerated by the PLC system but they may be intolerable by the application or the process being controlled Operational failures are normally tolerated Series 90 30 90 20 and Micro PLC faults have two attributes Attribute Description Fault Table Affected T O Fault Table PLC Fault Table Fault Action Fatal Diagnostic Informational Fault Tables Two fault tables are maintained in the PLC for logging faults the 1 O fault table for logging faults related to the I O system and the PLC fault table for logging all other faults The following table lists the fault groups their fault actions the fault tables affected and the name for system discrete S points that are affected Table 3 1 Fault Summary Fault Fault Group Fault Action Table Special Discrete Fault References Loss of or Missing I O Module Diagnostic TO io_flt any_flt io_pres los_iom Loss of or Missing Option Module Diagnostic PLC sy_flt any_flt sy_pres los_sio System Configuration Mismatch Fatal PLC sy_flt any_flt sy_pres cfg_mm PLC CP
253. number 3 The first 8 bits of R0001 are set to zero When NXT_SEQ is active and CLEAR is not active the bit for step number 3 is cleared and the bit for step number 2 or 4 depending on whether DIR is energized is set NXT_SEQ I Ii BIT SEQ CLEAR I II I IR LEN DIRECT 00008 I I IDIR CONST STEP 00003 ROOO1 ST R0010 4 82 Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K COMMREQ GFK 0467K Use the Communication Request COMMREQ function if the program needs to communicate with an intelligent module such as a Genius Communications Module or a Programmable Coprocessor Module Note The information presented on the following pages shows the format of the COMMREQ function You will need additional information to program the COMMREQ for each type of device Programming requirements for each module that uses the COMMREQ function are described in the module s documentation The COMMREQ function has three input parameters and one output parameter When the COMMREQ function receives power flow a command block of data is sent to the intelligent module The command block begins at the reference specified using the parameter IN The rack and slot of the intelligent module is specified in SYSID The COMMREQ may either send a message and wait for a reply or send a message and continue withou
254. o BCD format to drive BCD encoded LED displays or presets to external devices such as high speed counters When the function receives power flow it performs the conversion making the result available via output Q The function passes power flow when power is received unless the specified conversion would result in a value that is outside the range 0 to 9999 enable ok TO_ BCD4 value to be converted IN 0Q output parameter Q 1 Parameters Parameter Description enable When the function is enabled the conversion is performed IN IN contains a reference for the integer value to be converted to BCD 4 ok The ok output is energized when the function is performed without error Q Output Q contains the BCD 4 form of the original value in IN GFK 0467K Chapter 4 Series 90 30 20 Micro Instructions Set 4 95 Valid Memory Types Parameter flow I Q M T S G R WAI AQ const none enable IN ok Q e Valid reference or place where power may flow through the function Example In the following example whenever input 10002 is set and no errors exist the integer at input location 10017 through 10032 is converted to four BCD digits and the result is stored in memory locations 9 Q0033 through Q0048 Coil 0Q 1432 is used to check for successful conversion
255. o be taken Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K Section 2 PLC Fault Table Explanations GFK 0467K Each fault explanation contains a fault description and instructions to correct the fault Many fault descriptions have multiple causes In these cases the error code displayed with the additional fault information is used to distinguish different fault conditions sharing the same fault description The error code is the first two hexadecimal digits in the fifth group of numbers as shown in the following example 01 000000 01030100 0902 0200 000000000000 Error Code first two hex digits in fifth group Some faults can occur because random access memory on the PLC CPU board has failed These same faults may also occur because the system has been powered off and the battery voltage is or was too low to maintain memory To avoid excessive duplication of instructions when corrupted memory may be a cause of the error the correction simply states Perform the corrections for Corrupted Memory This means 1 Ifthe system has been powered off replace the battery Battery voltage may be insufficient to maintain memory contents 2 Replace the PLC CPU board The integrated circuits on the PLC CPU board may be failing The following table enables you to quickly find a particular PLC fault explanation in this section Each entry is listed as it appears on the programmer screen
256. o ooo oHFPnosSo OOOO OOo O00os0o N gt N Search Greater Than INT DINT BYTE WORD Search Greater Than Equal INT DINT BYTE WORD Notes 1 Time in microseconds is based on Release 7 of Logicmaster 90 30 20 Micro software for 350 and 360 Series CPUs For table functions increment is in units of length specified for bit operation functions microseconds bit for data move functions microseconds number of bits or words Enabled time for single length units of type R AI and AQ COMMREQ time has been measured between CPU and HSC DOIO is the time to output values to discrete output module Where there is more than one possible case the time indicated above represents the worst possible case For instructions that have an increment value multiply the increment by Length 1 and add that value to the base time AO Bee Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K Function Group Function 350 351 36x 350 351 36x 350 351 36x Search Less Th INT DINT BYTE WORD Search Less Than Equal INT DINT BYTE WORD Conversion Convert to INT Convert to BCD 4 Convert to REAL Convert to WO Truncate to INT Truncate to DINT Call a Subroutine Do I O PID ISA Algorithm PID IND Algorithm End Instruction Service Request 6 7 Read 7 Set 14 15 16 18 23 26 30 29 43 Nested MCR ENDMCR Combined Sequenti
257. oating point numbers E 3 values of floating point numbers E 4 Function block parameters 2 28 Index 3 Index Index 4 Function block structure format of program function blocks 2 27 format of relays function block parameters 2 28 power flow 2 29 GE 4 41 Global data Global data references 2 21 Greater than function 4 41 Greater than or equal function 4 41 ora H Horizontal link T O data formats V O fault table 3 31 3 5 explanations 3 17 fault action fault actions for specific faults B 11 fault address B 9 fault group fault specific data fault time stamp interpreting a fault long short indicator B 9 point B 10 rack B 10 reference address slot B 10 symbolic fault specific data I O structure Series 90 30 PLC 2 38 VO system Series 90 30 PLC 2 38 I O system Series 90 Micro PLC Micro vo 2 43 VO system Series 90 20 PLC 2 38 model 20 I O modules VO system Series 90 30 PLC default conditions for model 30 output modules 2 41 diagnostic data global data VO data formats model 30 I O modules 2 39 Informational faults Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 no user program present 3 13 password access failure 3 13 Input references discrete 2 20 Input register references analog Input scan 2 7 Instruction mnemonics C 1 Instruction set 4 1 bit operation func
258. oconccnnncconoconccnnncnanonancnnoo E 3 Values of Floating Point Numbers eeessseseeeesseseesssressissresresreeresrsseesrssrenessresrsreet E 4 Entering and Displaying Floating Point Numbers oooconconnconocnnonononononoconncnonocnccnnccns E 5 Errors in Floating Point Numbers and Operations oooconoccnocnnocnnoncnonononaconaconnconnccnnanns E 6 Contents xv Contents xvi Figure 2 1 PLOS Wei A ai 2 3 Figure 2 2 Programmer Communications Window Flow Chart ooooonnncnnncnnncconcconcconncnnnccnnccnnccnnncnnncnnncnnnos 2 10 Figure 2 3 System Communications Window Flow Chalt oooconccnincnoocnoccnonononnconnonnononoconoconorancnnncrnnccnnnos 2 11 Figure 2 4 PCM Communications with the PLC ee eeceesecsceeeseeeseeeseecaecsaeceaeeeeeeseeceseeeseeseeeseneeeaes 2 12 Figure 2 5 Power Up Sequence nonnina e tdo arial label pe aid 2 31 Figure 2 6 Time Tick Contact Timing Diagram ococononcnonononnnonnnnnnnnnnnnn nono nono ncnn ccoo nono nnnnn cnn nn cnn cnn ncnnccnnccnnno 2 35 Figure 2 7 Series 90 30 I O Struct oeeie ee E RE EA E E E E aa e 2 38 Figure 2 8 Model 30 O Modules ooooonnoccnoccnocononononononoconncnnncnnncnnncnnn a ee e n e e e eiie 2 39 Independent Term Algorithm PIDIND 0 cece ceeceeeeseecseeeeseeeseecseecsaeceaececeseeecsecseessaeseneeeaeeeaeeeaaesnaees 4 180 Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K Contents Table 2 1 Sweep Time Contribution ciclo ia ise 2 4
259. oes high C RESET goes high Q goes low accumulated time is reset D RESET goes low timer then starts accumulating again E ENABLE goes low timer stops accumulating Accumulated time stays the same F ENABLE goes high again timer continues accumulating time G CV becomes equal to PV Q goes high Timer continues to accumulate time until ENABLE goes low RESET goes high or CV becomes equal to the maximum time H ENABLE goes low timer stops accumulating time When power flow to the timer stops the current value stops incrementing and is retained Output Q if energized will remain energized When the function receives power flow again the current value again increments beginning at the retained value When reset R receives power flow the current value is set back to zero and output Q is de energized On 350 and 360 series PLCs if the enable to the ONDTR is low PV 0 and reset R receives power flow then the output will be low However on the 311 341 PLCs under these same conditions the output will be high GFK 0467K Chapter 4 Series 90 30 20 Micro Instructions Set 4 11 4 12 l l enable Q 0 10s l l l l reset R l l l l preset value PV l address Parameters Parameter Description address The ONDTR uses three consecutive words registers of R memory to store the following Current value CV word 1 Preset value PV word 2 Control
260. of the PID InstructiON oononoccnnncnonnnoncnnnconncnnnonnconnonnnonnnonn crac nnnnncnnos 4 175 Internal Parameters in RefAlTaY oooooncnnccnocnnonnnonconnconncnononnccn nono nonn nono nrnnnnnnnonnos 4 178 PID Algorithm Selection PIDISA or PIDIND and GalDS oconcccccccnoonccinncnnnos 4 179 CV Amplitude and Rate Limits ooonncnnnnnocunocnnoncnancnnnonononnc cono nononn conc crac cnn nocnnos 4 180 Sample Period and PID Block ScheduliN8 ooooocnnocinocinocccnnnonnnonocnnnonoconocnnoss 4 181 Determining the Process Characteristics ooooncnnncnnnnnccnncnnnoncnonccnnconoconocnnocnnonnss 4 181 Setting User Parameters Including Tuning Loop Gains eee 4 182 Setting Loop Gains Ziegler and Nichols Tuning Approach ce 4 183 Sample PUD Call nsee na npe e en S eae a ptvecseee oe 4 184 Instruction VMN realidades AL Boolean Execution Sp ed siiip reer eret er eieo oer TEE ES er EEs A 10 Interpreting Fault Tables sisscsccssscsscecccsisessessssvsdcansessccasessacassecsssccescvarsasennssceustiaseld PECGEFaUlt rable seeen aa a e E O E e e e A do locos Ss B 2 VO EdultLlable io da B 8 Instruction Mnemonics s sssssssssssssssssssosssososssosososososssssososssososososososososssosssss sl Key FORCE Using Floating Point NUMbEerS esssesssccssocesooesoocessecssocesocesooeesocessecesocesocssssssss Lum Floating Point Numbers ennea eiar e n E esi E 1 Internal Format of Floating Point Numbers ocooconoccnoconococon
261. ogram checksum calculation 2 9 logic solution 2 8 output scan 2 9 PCM communications with the PLC 2 12 w programmer communications window scan time contributions for 350 and 360 Series of 2 5 standard program sweep mode standard oo ram sweep variations STOP mode 2 1 sweep time Al ey sweep time contribution 2 4 system al window 2 10 PLC system operation 2 1 Positive ran coil 4 5 Power flow 2 29 Power of e aE TSI Power of X function 4 37 Power down 2 33 Power up 2 30 Power up and power down sequences 2 30 power down power up 2 30 Privilege level change requests 2 37 Privilege levels 2 36 change ses Program block how blocks are called 2 19 how C blocks are called 2 19 how subroutines are called 2 19 subroutine block 2 16 Program block checksum failure 3 11 Program organization and user data floating point numbers E 1 Program organization and user references data data types 2 23 function block structure 2 26 retentiveness of data system status 2 24 transitions and overrides 2 21 user references Program structure how blocks are called 2 19 how C blocks are called 2 19 how subroutines are called 2 19 subroutine block 2 16 Program sweep standard 2 2 Programmer communications window Programming instructions bit operation functions 4 47 control functions conversion functions data move functions instruc
262. on block will remain in the reset state until power flow is removed from the reset input The OK output will be turned off while in the reset state When the power flow is removed from the reset input channel sampling will resume de When the trigger input receives power flow and the reset input is off the SER moves to the triggered state and records the Trigger Time Trigger Sample Offset and a sample The trigger input requires power flow to the enable input so that a data sample may be collected from all configured channels on a trigger condition The trigger sample will be recorded regardless of the number of samples taken Once triggered the event recorder will continue sampling until the Number of Samples After Trigger is satisfied At which time it will stop collecting samples until power flow is seen on the reset input ok The ok output is energized whenever the trigger conditions are satisfied specified by the Trigger Mode parameter and all sampling is complete The output will continue to receive power flow regardless of the state of the enable input until the reset receives power flow Note This function requires version 9 00 or higher CPU firmware and is available only on 350 and higher CPUs Valid Memory Types Parameter flow I WQ M T S G R AI WAQ const none enable Control Block R e T ok e Valid reference
263. onccnnccocononcnnnnononanonancnancnn nc noc nocnnoo 4 160 Example ion tantito 4 160 SVCREQ 18 Read I O Override StatUS ocoooocconocnncnonoconononnncnnoncnnnonncccnnnnnncnnnnos 4 161 Ex mplerniid bial SA wlohe eae a ae wl 4 161 SVCREQ 23 Read Master Checksum oococoooccnonoconononononononnncnnnnnnnnnnncnnnnnnnncnnnnss 4 162 Example iio id 4 162 SVCREO 26 30 Interrogate Opsiener seipie peepee pessi inisee iiis 4 163 Example itoen nesa oea EE EE E E ne A EES E E E E 4 163 SVCREQ 29 Read Elapsed Power Down Time ooooccnccconocononanonancnoncnnnconoconocnnos 4 164 Example O E a o 4 164 SVCREQ 46 Fast Backplane Status ACCESS ooooocccocococonononncnononanonancnnn cono co noconocnnoo 4 165 Read Extra Status Data Function Hl ooooooccnnnoccinonoccnononnnononnnnnononnnononnnnnccnnnns 4 165 Write Data Function 2 oooocononococonononccononnnononnnonnonnnnccnnnnnnnnnn corno nn nccnnnnnncnnnnos 4 167 Read Write Data Function 43 ooooocccnnnoconccononononnnnnonnnonnnccnnnnnnonnnnnnnnannnnccnnnns 4 168 Example Litto id 4 169 Example Brit iii 4 170 PD a uate cee 4 171 AAA A dee E O E ERE 4 172 Valid Memory Types reen eaae reana E a Ee RE E 4 172 xiv Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K Appendix A Appendix B Appendix C Appendix D Appendix E GFK 0467K Contents PID Parameter Block eso occiso detsstsbhes steeds Seka casesoestaveas ESEESE SE died 4 173 Operation
264. onverted IN 0Q output parameter Q Parameters Parameter Description enable When the function is enabled the conversion is performed IN IN contains a reference for the value to be converted to double precision integer ok The ok output is energized whenever enable is energized unless the real value is out of range Q Q contains the double precision signed integer form of the original value in IN Note It is possible for a loss of precision to occur when converting from REAL to DINT since the REAL has 24 significant bits GFK 0467K Chapter 4 Series 90 30 20 Micro Instructions Set 4 99 Valid Memory Types Parameter flow I Q M T S G R WAI WAQ const none enable IN o o o o o e ok Q Valid reference or place where power may flow through the function Example In the following example whenever input 910002 is set the real value at input location R0017 is converted to a double precision signed integer and the result is placed in location RO001 The output Q1001 is set whenever the function executes successfully 10002 I REAL Q1001 TO_ DINT R0017 IN Ql R0001 __ 4 100 Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K gt REAL INT DINT BCD 4 WORD The Convert to Real function is used to output the
265. or INT BYTE or WORD data only not valid for DINT A Valid reference for BYTE or WORD data only not valid for INT or DINT 4 92 Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K Example 1 The array AR is defined as memory addresses RO001 RO005 When EN is ON the portion of the array between RO0004 and R0005 is searched for an element whose value is equal to IN If R0001 7 R0002 9 ROO03 6 RO004 7 ROOOS 7 and RO100 7 then the search will begin at R0004 and conclude at RO0004 when FD is set ON and a 4 is written to ZRO101 A I I0001 I II SRcH_ EQ_ INT Q0001 4R 0 00 1 AR FD LEN 00005 CONST NX NX R0101 00003 RO100 IN a Si Example 2 Array AR is defined as memory addresses AI0001 AI0016 The values of the array elements are 100 20 0 5 90 200 0 79 102 80 24 34 987 8 O and 500 Initially AQ0001 1s 5 When EN is ON each sweep will search the array looking for a match to the IN value of 0 The first sweep will start searching at AI0006 and find a match at 9 A10007 so FD is ON and AQO0001 is 7 The second sweep will start searching at AI0008 and find a match at AI0015 so FD remains ON and AQO001 is 15 The next sweep will start at AI0N016 Since the end of the array is reached without a match FD is set OFF and AQO001 is set
266. or place where power may flow through the function 4 114 Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K The Sequential Event Recorder function block is a 78 word array defining information about the data capture and trigger mechanism for the SER function Perform these steps to configure parameters for the SER function block 1 Set up the stored values for the array as defined in the table below You can use block moves to initialize the registers or initialize the data in the register table and store the table prior to activating the SER function 2 Add the SER function to your ladder Parameter Offset Description Status 0 Read only variable which indicates the current state of the SER function block Additional information is provided in Status Extra Data Offset 1 in the SER control block NOTE If an error is detected in the Control Block The status will be set to 6 the OK output will be cleared and no action will occur Valid settings for Status include 0 Reset 1 Inactive 2 Active 3 Triggered 4 Complete 5 Overrun Error 6 Parameter error Status Extra Data 1 A read only variable that provides additional state information about the SER function Click on Status Extra Data valid settings for this parameter Trigger Mode 2 Defines the enabling action for the trigger condition To select the Trigger boolean input as the enabling conditio
267. or to blink a group of bits at the rate of one ON state per two scans enable ok WORD l l input parameter 11 11 Q output parameter Q l input parameter 12 I2 Parameters Parameter Description enable When the function is enabled the operation is performed Il Il contains a constant or reference for the first word to be XORed 12 I2 contains a constant or reference for the second word to be XORed ok The ok output is energized whenever enable is energized Q Output Q contains the result of I1 XORed with I2 GFK 0467K Chapter 4 Series 90 30 20 Micro Instructions Set 4 51 Valid Memory Types Parameter flow I WQ M T S G R WAI AQ const none enable 11 R ok Q et e Valid reference or place where power may flow through the function t SA SB or SC only S cannot be used Example In the following example whenever 10001 is set the bit string represented by the nickname WORDS is cleared set to all zeros I0001 l I I I II XOR_ WORD WORD3 11 Q WORD3 I1 WORD3 oloo 1 l a lal l l l I2 WORD3 olojo aaa Lo 0 o o En o 0 ar PO al 4 52 Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K NOT WORD The NOT function is
268. orrupted Could be due to being powered down with out a battery attached or a low battery Could also be due to updating firmware 12 Is the PRG SRC parameter in the URAM set to Prom meaning to load the PRG and CFG from the USD device 13 Is the USD present Only applicable to models that use EEPROM device 14 Are the lt NOT gt and lt RUN gt keys being pressed on the HHP during power up to unconditionally power up in Stop Mode 15 Is the PWR UP parameter in URAM set to RUN 16 Is the battery low 17 Is the PWR UP parameter in URAM set to STOP 18 Set the power up mode to what ever the power down mode was 19 Clear PRG CFG and REGS Note The first part of this chart on the previous page does not apply to the Series 90 Micro PLC For information about the power up and power down sequences for the Micro refer to the Power up and Power down Sequences section of Chapter 5 System Operation in the Series 90 Micro PLC User s Manual GFK 1065 Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K Power Down System power down occurs when the power supply detects that incoming AC power has dropped for more than one power cycle or the output of the 5 volt power supply has fallen to less than 4 9 volts DC GFK 0467K Chapter 2 System Operation 2 33 Section 4 Clocks and Timers Clocks and timers provided by the Series 90 30 PLC include an elapsed time clock a time
269. pecified number of bits is rotated out of the input string to the left and back into the string on the right The Rotate Right ROR function rotates the bits in the string to the right When rotation occurs the specified number of bits is rotated out of the input string to the right and back into the string on the left A string length of 1 to 256 words can be selected for either function The number of places specified for rotation must be more than zero and less than the number of bits in the string Otherwise no movement occurs and no power flow is generated The ROL or ROR function passes power flow to the right unless the number of bits specified to be rotated is greater than the total length of the string or is less than zero The result is placed in output string Q If you want the input string to be rotated the output parameter Q must use the same memory location as the input parameter IN The entire rotated string is written on each scan that power is received enable ok WORD l l word to be rotated IN Ql output parameter Q l LEN 100001 l l number of bits N l __ Parameters Parameter Description enable When the function is enabled the rotation is performed IN IN contains the first word to be rotated N N contains the number of places that the array is to be rotated ok The ok output is energized when the rotation is energized and the rotation len
270. perand specifies the number of e Words to be moved for MOVE_INT and MOVE_WORD e Bits to be moved for MOVE_BIT e Reals to be moved for MOVE_REAL Note The REAL data type is only available on 350 and 360 series CPUs Release 9 or later or on all releases of CPU352 The function passes power to the right whenever power is received l l enable ok l l INT l l value to be moved IN Q output parameter Q l l LEN 100001 l Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K Parameters Parameter Description enable When the function is enabled the move is performed IN IN contains the value to be moved For MOVE_BIT any discrete reference may be used it does not need to be byte aligned However 16 bits beginning with the reference address specified are displayed online ok The ok output is energized whenever the function is enabled Q When the move is performed the value at IN is written to Q For MOVE_BIT any discrete reference may be used it does not need to be byte aligned However 16 bits beginning with the reference address specified are displayed online LEN LEN specifies the number of words or bits to be moved For MOVE_WORD and MOVE_INT LEN must be between 1 and 256 words For MOVE_BIT when IN is a constant LEN must be between 1 and 16 bits otherwise LEN must be between 1 and 256 Note On 351 352 and 360
271. place where power may flow through the function Example In the following example the COS of the value in R0001 is placed in RO033 ALW_ON l 3 1 cos_ REAL R0001 IN Q R0033 41500 1 000000 Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K Logarithmic Exponential Functions LOG LN EXP EXPT GFK 0467K The LOG LN and EXP functions have two input parameters and two output parameters When the function receives power flow it performs the appropriate logarithmic exponential operation on the real value in input IN and places the result in output Q e For the LOG function the base 10 logarithm of IN is placed in Q e For the LN function the natural logarithm of IN is placed in Q e For the EXP function e is raised to the power specified by IN and the result is placed in Q e For the EXPT function the value of input Il is raised to the power specified by the value I2 and the result is placed in output Q The EXPT function has three input parameters and two output parameters The ok output will receive power flow unless IN is NaN Not a Number or is negative l enable ok REAL input parameter IN IN Q output parameter Q I I Parameters Parameter Description enable When the function is enabled the operation is performed IN IN conta
272. predetermined values that will work however it is usually a simple iterative procedure to find acceptable loop gain 1 Set all the User Parameters to 0 then set the CV Upper and CV Lower Clamps to the highest and lowest CV expected Set the Sample Period to the estimated process time constant above 10 to 100 2 Put block in Manual mode and set Manual Command Ref 13 at different values to check if CV can be moved to Upper and Lower Clamp Record PV value at some CV point and load it into SP 3 Set a small gain such as 100 Maximum CV Maximum PV into Kp and turn off Manual mode Step SP by 2 to 10 of the Maximum PV range and observe PV response Increase Kp if PV step response is too slow or reduce Kp if PV overshoots and oscillates without reaching a steady value 4 Once a Kp is found start increasing Ki to get overshooting that dampens out to a steady value in 2 to 3 cycles This may required reducing Kp Also try different step sizes and CV operating points Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K GFK 0467K 5 After suitable Kp and Ki gains are found try adding Kd to get quicker responses to input changes providing it doesn t cause oscillations Kd is often not needed and will not work with noisy PV 6 Check gains over different SP operating points and add Dead Band and Minimum Slew Time if needed Some Reverse Acting processes may need setting Config Word Error Sign
273. put parameters and two output parameters When the function receives power flow it copies data from input parameter IN to output parameter Q as bits If data is moved from one location in discrete memory to another for example from I memory to T memory the transition information associated with the discrete memory elements is updated to indicate whether or not the MOVE operation caused any discrete memory elements to change state Data at the input parameter does not change unless there is an overlap in the source and destination For the BIT type there is another consideration If a BIT array specified on the Q parameter does not encompass all of the bits in a byte the transition bits associated with that byte which are not in the array will be cleared when the MOVE_BIT receives power flow Input IN can be either a reference for the data to be moved or a constant If a constant is specified then the constant value is placed in the location specified by the output reference For example if a constant value of 4 is specified for IN then 4 is placed in the memory location specified by Q If the length is greater than 1 and a constant is specified then the constant is placed in the memory location specified by Q and the locations following up to the length specified For example if the constant value 9 is specified for IN and the length is 4 then 9 is placed in the memory location specified by Q and the three locations following The LEN o
274. quests the memory manager to allocate or deallocate a block or blocks of memory from user RAM that are not legal These errors should not occur in a production system Display the PLC fault table on the programmer Contact GE Fanuc PLC Field Service giving them all the information contained in the fault entry Error Code Name Description Correction D System Memory Unavailable The PLC operating software I O Scanner generates this error when its request for a block of system memory is denied by the memory manager because no memory is available from the system memory heap It is Informational if the error occurs during the execution of a DO 1 O function block It is Fatal if it occurs during power up initialization or autoconfiguration Display the PLC fault table on the programmer Contact GE Fanuc PLC Field Service giving them all the information contained in the fault entry Error Code Name Description Correction E System Memory Could Not Be Freed The PLC operating software I O Scanner generates this error when it requests the memory manager to deallocate a block of system memory and the deallocation fails This error can only occur during the execution of a DO T O function block 1 Display the PLC fault table on the programmer Contact GE Fanuc PLC Field Service giving them all the information contained in the fault entry 2 Perform the corrections for corrupted memory Error Code Name Descript
275. r 1 is entered as the requested operation see below 2 An invalid data format is specified 3 The data provided is not in the expected format For the date time functions the length of the parameter block depends on the data format BCD format requires 6 words packed ASCII requires 12 words 0 read time and date address 1 set time and date 1 BCD format address 1 3 packed ASCII format data address 2 to end In word 1 specify whether the function should read or change the values 0 read 1 change In word 2 specify a data format 1 BCD 3 packed ASCII with embedded spaces and colons Words 3 to the end of the parameter block contain output data returned by a read function or new data being supplied by a change function In both cases format of these data words is the same When reading the date and time words address 2 through address 8 of the parameter block are ignored on input GFK 0467K Chapter 4 Series 90 30 20 Micro Instructions Set 4 145 Example In the following example when called for by previous logic a parameter block for the time of day clock is built to first request the current date and time and then set the clock to 12 noon using the BCD format The parameter block is located at global data location 9 R0300 Array NOON has been set up elsewhere in the program to contain the values 12 0 and 0 Array NOON must also contain the data at R0300 The BCD format r
276. register address of the reference for example A10015 An analog input register holds the value of one analog input or other value AQ The prefix AQ represents an analog output register This prefix is followed by the register address of the reference for example AQO0056 An analog output register holds the value of one analog output or other value Note All register references are retained across a power cycle to the CPU Table 2 4 Discrete References Type Description I The I prefix represents input references This prefix is followed by the reference s address in the input table for example 100121 I references are located in the input status table which stores the state of all inputs received from input modules during the last input scan A reference address is assigned to discrete input modules using the configuration software or the Hand Held Programmer Until a reference address is assigned no data will be received from the module I data can be retentive or non retentive Q The Q prefix represents output references The coil check function of Logicmaster 90 30 20 Micro software checks for multiple uses of Q references with relay coils or outputs on functions Beginning with Release 3 of the software you can select the level of coil checking desired SINGLE WARN MULTIPLE or MULTIPLE Refer to the Logicmaster 90 30 20Micro Programming Software User s Manual GFK 0466 for mor
277. rete input 043 073 269 8 point discrete output 030 053 197 16 point discrete output 030 053 197 32 point discrete output 042 070 259 Combination discrete input output 060 112 405 4 channel analog input 075 105 396 2 channel analog output 058 114 402 16 channel analog input 978 1 446 3 999 current or voltage 8 channel analog output 1 274 1 988 4 472 Combination analog input output 1 220 1 999 4 338 High Speed Counter 1 381 2 106 5 221 Power Mate APM 1 axis 1 527 2 581 6 388 VO Processor 1 574 2 402 6 388 Ethernet Interface no connection 038 041 053 no devices 911 1 637 5 020 GCM 8 64 word devices 8 826 16 932 21 179 no devices 567 866 1 830 GCM 32 64 word devices 1 714 2 514 5 783 no devices 798 1 202 2 540 GBC 32 64 word devices 18 382 25 377 70 777 not configured or 476 N A N A no application task PCM 311 read 128 R as fast 485 N A N A as possible ADC no task 476 N A N A VO Link Master no devices 569 865 1 932 16 64 point 4 948 7 003 19 908 devices VO Link Slave 32 point 087 146 553 64 point 154 213 789 GFK 0467K Chapter 2 System Operation 2 5 2 6 Sweep Time Calculation Table 2 1 lists the seven items that contribute to the sweep time of the PLC The sweep time consists of fixed times housekeeping and diagnostics and variable times Variable times vary according to the I O configuration size of the user program and the type of programming device co
278. rnal I O failures 3 2 F Fatal faults 3 4 communications failure during store corrupted user program on power up option module software failure 3 11 PLC CPU system software failure program block checksum failure 3 11 system configuration mismatch 3 10 Fault action 3 4 diagnostic faults 3 4 fatal faults T O fault action informational faults PLC fault action B 5 fault actions Fault category Fault description Fault effects additional 3 5 Fault expanations and correction 3 1 Fault explanation and correction T O fault group interpreting a fault PLC fault group B 4 Fault explanations and correction accessing additional fault information 3 6 addition of I O module 3 18 application fault 3 12 communications failure during store constant sweep time exceeded corrupted user program on mes CE fault category 3 17 fault description fault handling an fault type V O fault table 3 5 VO fault table explanations 3 17 loss of I O module 3 17 loss of or missing option module 3 8 low battery signal 3 11 no user program present 3 13 non configurable faults option module software failure 3 11 password access failure 3 13 PLC CPU system software failure 3 14 PLC fault table 3 5 PLC fault table explanations program block checksum failure 3 11 reset of addition of or extra option module 3 9 Index Index system configuration mismatch 3 1
279. rnal SP N A set and Non configurable maintained by the PLC Ref 0016 Internal CV N A set and Non configurable maintained by the PLC JRef 0017 Internal PV N A set and Non configurable maintained by the PLC Ref 0018 Output N A set and Non configurable maintained by the PLC GFK 0467K Chapter 4 Series 90 30 20 Micro Instructions Set 4 173 4 174 Table 4 4 PID Parameters Overview Continued Register Parameter Low Bit Units Range of Values Ref 0019 Diff Term Storage N A set and Non configurable maintained by the PLC Ref 0020 Int Term Storage N A set and Non configurable and maintained by the Ref 0021 PLC JRef 0022 Slew Term Storage N A set and Non configurable maintained by the PLC Ref 0023 Clock N A set and oRef 0024 maintained by Non configurable Ref 0025 time last executed the PLC Ref 0026 Y Remainder Storage N A set and maintained by the Non configurable PLC Ref 0027 Lower Range for SP PV PV Counts 32000 to 32000 gt Ref 28 for display JRef 0028 Upper Range for SP PV PV Counts 32000 to 32000 lt Ref 27 for display JRef 0029 Reserved for internal use N A Non configurable JRef 0034 Ref 0035 Reserved for external use N A Non configurable Ref 0039 The RefArray array must be R registers on the 90 30 PLC Note that every PID block call must use a different 40 word array even if all 13 user parameters are t
280. ro Programmable Controllers Reference Manual September 1998 GFK 0467K GFK 0467K Status Extra Data The Status Extra Data provides additional state information for the SER function State Description Inactive State 1 State between the Reset State and the Active State No actions are performed in this state The Boolean output is held to no power flow Transition to the Active State occurs when the function block receives enable power flow Active State 2 State after the Enable Boolean input has received power flow but the function block is not reset in error or triggered One sample is recorded for each execution when the function block is enabled The Boolean output is held to no power flow The Trigger condition specified by the Trigger Mode parameter is monitored and will cause transition to the Triggered State if conditions are true If more than the Number of Samples have been taken then Status Extra Data will be set to 0x01 otherwise it will 0x00 Triggered State 3 State 1f the trigger condition defined by Trigger Mode is true Additional Samples are taken depending upon the trigger mode and parameter settings The Boolean output is held to no power flow Transition to the Complete State will occur when all sampling is complete If more than the Number of Samples have been taken then Status Extra Data will be set to 0x01 otherwise 1t will be 0x00 Complete State 4
281. ro Programmable Controllers Reference Manual September 1998 GFK 0467K Function Mnemonic Group Instruction All INT DINT BIT BYTE WORD REAL Data Move Move amp MOV amp MOV_I amp MOV_BI amp MOV_W amp MOV_R Block Move amp BLKM BLKM_I amp BLKM_W BLKM_R Block Clear amp BLKC Shift Register amp SHF ii ZAR_W Bit Sequencer amp BI Communications Request amp COMMR Array Move amp AR_I amp AR_DI amp AR_BY amp AR_W Search Equal amp SRCHE_I amp SRCHE_DI amp SRCHE_BY amp SRCHE_W Search Not Equal amp SRCHN_I amp SRCHN_DI amp SRCHN_BY amp SRCHN_W Search Greater Than amp SRCHGT_I amp SRCHGT_DI amp SRCHGT_BY amp SRCHGT_W amp SRCHGE_W Search Greater Than or Equal amp SRCHGE_I amp SRCHGE_DI amp SRCHGE_BY SRCHLT W Search Less Than amp SRCHLT_I amp SRCHLT_DI amp SRCHLT_BY Search Less Than or Equal amp SRCHLE_I amp SRCHLE_DI amp SRCHLE_BY Control Call a Subroutine Do I O SER PID ISA Algorithm PID IND Algorithm SFC Reset End Rung Explanation System Services Request Master Control Relay End Master Control Relay Nested Master Control Relay Nested End Master Cntl Relay amp ENDMCRN Jump amp JUMP Nested Jump amp JUMPN Label amp LABEL Nested Label GFK 0467K Appendix C Instruction Mnemonics C 3 Appendix D Key Functions This appendix lists the keyboard functions that are active in the software environment This information ma
282. roller User s Manual GFK 0356 or the Series 90 20 Programmable Controller User s Manual GFK 0551 for a listing of program sizes and reference limits for each model CPU All programs have a variable table that lists the variable and reference descriptions that have been assigned in the user program The block declaration editor lists subroutine blocks declared in the main program Subroutine Blocks Series 90 30 PLC only A program can call subroutine blocks as it executes A subroutine must be declared through the block declaration editor before a CALL instruction can be used for that subroutine A maximum of 64 subroutine block declarations in the program and 64 CALL instructions are allowed for each logic block in the program The maximum size of a subroutine block is 16 KB or 3000 rungs but the main program and all subroutines must fit within the logic size constraints for that CPU model Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K Note Subroutine blocks are not available for the Series 90 20 PLC or for the Micro The use of subroutines is optional Dividing a program into smaller subroutines can simplify programming enhance understanding of the control algorithm and reduce the overall amount of logic needed for the program GFK 0467K Chapter 2 System Operation 2 17 2 18 Examples of Using Subroutine Blocks As an example the logic for a program could be divided into thr
283. roup that make up the parameter block for the function Successive 16 bit locations store additional parameters The total number of references required will depend on the type of SVCREQ function being used Parameter blocks may be used as both inputs for the function and the location where data may be output after the function executes Therefore data returned by the function is accessed at the same location specified for PARM enable ok REQ service number PE o beginning reference PARM 4 132 Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K Parameters Parameter Description enable When enable is energized the request service request is performed FNC FNC contains the constant or reference for the requested service PARM PARM contains the beginning reference for the parameter block for the requested service ok The ok output is energized when the function is performed without error Valid Memory Types Parameter flow I WQ M T S G R WAI WAQ const none enable FNC PARM ok e Valid reference or place where power may flow through the function Example In the following example when the enabling input 10001 is ON SVCREQ function number 7 is called with the parameter block located starting at 9 R0001 Output coil Q
284. rt Software Users Manual GFK 0255 Series 90 PCM Development Software PCOP Users Manual CIMPLICITY 90ADS Alphanumeric Display System Users Manual CIMPLICITY 90ADS Alphanumeric Display System Reference Manual Alphanumeric Display Coprocessor Module Data Sheet GFK 0521 Series 901M30 and 9020 PLC HandHeld Programmer Users Manual Power Mate APM for Series 901M30 PLC Standard Mode Users Manual GFK 0840 Power Mate APM for Series 901M30 PLC Follower Mode Users Manual GFK 0781 Series 901M30 High Speed Counter Users Manual Series 901M30 Genius Communications Module Users Manual Genius Communications Module Data Sheet GFK 0272 Series 901M30 Genius Bus Controller Users Manual GFK 1034 Series 90 70 FIP Bus Controller Users Manual Series 90 30 FIP Remote I O Scanner Users Manual Field Control Distributed I O and Control System Genius Bus Interface Unit Users Manual Series 90 Micro Programmable Logic Controller Users Manual Series 90 PLC Serial Communications Users Manua Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K Preface We Welcome Your Comments and Suggestions At GE Fanuc Automation we strive to produce quality technical documentation After you have used this manual please take a few moments to complete and return the Reader s Comment Card located on the next page David D Bruton Sr Technical Writer GFK 0467K Preface v Chapter
285. rtional plus Integral plus Derivative PID control function is the best known general purpose algorithm for closed loop process control The Series 90 PID function block compares a Process Variable feedback with a desired process Set Point and updates a Control Variable output based on the error The block uses PID loop gains and other parameters stored in an array of 40 16 bit words discussed on page 4 173 to solve the PID algorithm at the desired time interval All parameters are 16 bit integer words for compatibility with 16 bit analog process variables This allows AI memory to be used for input Process Variables and AQ to be used for output Control Variables The example shown below includes typical inputs 2M0002 DN l I 1 S00007 enable I ok Power flow out if OK IND set point RO0010 SP CV AQ0001 Control Variable 21000 25000 l l process variable AI0001 PvV 20950 l M0001 I I IMAN l l M0002 1 gt 10B l l l l l l R00100 RefArray is 40 R words reference array address As the input Set Point and Process Variable and output Control Variable terms are used so frequently they will be abbreviated as SP PV and CV As scaled 16 integer numbers many parameters must be defined in either PV counts or units or CV counts or units For example the SP input must be scaled over the same range as PV as the PID block calculates the error by s
286. ry references These references are never checked for multiple coil use and can therefore be used many times in the same program even when coil use checking is enabled T may be used to prevent coil use conflicts while using the cut paste and file write include functions Because this memory is intended for temporary use it is never retained through power loss or RUN TO STOP TO RUN transitions and cannot be used with retentive coils S The S prefix represents system status references These references are used to access special PLC data such as timers scan information and fault information System references include S WSA SB and SC references S TSA SB and SC can be used on any contacts SA SB and SC can be used on retentive coils M S can be used as word or bit string input arguments to functions or function blocks SA SB and SC can be used as word or bit string input or output arguments to functions and function blocks G The G prefix represents global data references These references are used to access data shared among several PLCs G references can be used on contacts and retentive coils because G memory is always retentive G cannot be used on non retentive coils Transitions and Overrides The I Q M and G user references have associated transition and override bits T S SA SB and SC references have transition bits but not override bits The CPU uses transi
287. s Type of Coil Display Power to Coil Result Normally 0 ON Set reference ON Open OFF Set reference OFF Negated ON Set reference OFF OFF Set reference ON Retentive M ON Set reference ON retentive OFF Set reference OFF retentive Negated M ON Set reference OFF retentive Retentive OFF Set reference ON retentive Positive o OFF gt 0N Tf reference is OFF set it ON for one sweep Transition Negative d ON lt OFF If reference is OFF set it ON for one sweep Transition SET S ON Set reference ON until reset OFF by R OFF Do not change the coil state RESET R ON Set reference OFF until set ON by S OFF Do not change the coil state Retentive SET SM ON Set reference ON until reset OFF by RM retentive OFF Do not change the coil state Retentive RM ON Set reference OFF until set ON by SM retentive RESET OFF Do not change the coil state Continuation lt gt ON Set next continuation contact ON Coil OFF Set next continuation contact OFF GFK 0467K Chapter 4 Series 90 30 20 Micro Instructions Set 4 3 Normally Open Contact A normally open contact acts as a switch that passes power flow if the associated reference is ON 1 Normally Closed Contact Coil A normally closed contact acts as a switch that passes power flow if the associated reference is
288. s and Operations E 6 On a 352 CPU overflow occurs when a number greater than 3 402823E 38 or less than 3 402823E 38 is generated by a REAL function On all other 90 30 models that support floating point operations the range is greater than 2 or less than 2 When your number exceeds the range the ok output of the function is set OFF and the result is set to positive infinity for a number greater than 3 402823E 38 on a 352 CPU or 2 on all other models or negative infinity for a number less than 3 402823E 38 or 2 on all other models You can determine where this occurs by testing the sense of the ok output POS_INF 7F800000h IEEE positive infinity representation in hex NEG_INF FF800000h IEEE negative infinity representation in hex Note If you are using software floating point all models capable of floating point operations except the 352 CPU numbers are rounded to zero 0 at 1 175494E 38 Tf the infinities produced by overflow are used as operands to other REAL functions they may cause an undefined result This undefined result is referred to as an NaN Not a Number For example the result of adding positive infinity to negative infinity is undefined When the ADD_REAL function is invoked with positive infinity and negative infinity as its operands it produces an NaN for its result On a 352 CPU each REAL function capable of producing an NaN produces a specialized NaN which identifies the funct
289. s are stored as bits in bit cache status table memory Analog input and analog output data are stored as words and are memory resident in a portion of application RAM memory allocated for that purpose Default Conditions for Model 30 Output Modules At power up Model 30 discrete output modules default to outputs off They will retain this default condition until the first output scan from the PLC Analog output modules can be configured with a jumper located on the module s removable terminal block to either default to zero or retain their last state Also analog output modules may be powered from an external power source so that even though the PLC has no power the analog output module will continue to operate in its selected default state Diagnostic Data GFK 0467K Diagnostic bits are available in S memory that will indicate the loss of an I O module or a mismatch in I O configuration Diagnostic information is not available for individual I O points More information on fault handling can be in Chapter 3 Fault Explanations and Correction Chapter 2 System Operation 2 41 2 42 Global Data The Series 90 30 PLC supports very fast sharing of data between multiple CPUs using Genius global data The Genius Bus Controller IC693BEM331 in CPU version 5 and later and the Enhanced Genius Communications Module IC693CMM302 can broadcast up to 128 bytes of data to other PLCs or computers They can receive up to 128 bytes from eac
290. s into consecutive locations beginning at the destination specified in output Q Output Q cannot be the input of another program function Note For BLKMOV_INT the values of IN1 IN7 are displayed as signed decimals For BLKMOV_WORD IN1 IN7 are displayed in hexadecimal For BLKMOV_REAL INI IN7 are displayed in Real format The function passes power to the right whenever power is received enable ok l l INT l constant value IN1 Q output parameter Q l l l constant value IN2 l l l l constant value IN3 l l l constant value IN4 l l l l constant value IN5 l l l constant value IN6 l l l l constant value IN7 l l Parameters Parameter Description enable When the function is enabled the block move is performed INI IN7 INI through IN7 contain seven constant values ok The ok output is energized whenever the function is enabled Q Output Q contains the first integer of the moved array IN1 is moved to Q Chapter 4 Series 90 30 20 Micro Instructions Set 4 73 4 74 Valid Memory Types Parameter flow I WQ M T S G R WAI AQ const none enable IN1 IN7 ok Q ot Note For REAL data the only valid types are R AL and AQ e Valid reference for place where power may flow through the function o Val
291. s or conditions happen which affect the operation and performance of the system These conditions such as the loss of an I O module or rack may affect the ability of the PLC to control a machine or process These conditions may also have beneficial effects such as when a new module comes online and is now available for use Or these conditions may only act as an alert such as a low battery signal which indicates that the battery protecting the memory needs to be changed Alarm Processor The condition or failure itself is called a fault When a fault is received and processed by the CPU it is called an alarm The software in the CPU which handles these conditions is called the Alarm Processor The interface to the user for the Alarm Processor is through the programming software Any detected fault is recorded in a fault table and displayed on either the PLC fault table screen or the I O fault table screen as applicable Classes of Faults The Series 90 30 90 20 and Micro PLCs detect several classes of faults These include internal failures external failures and operational failures Fault Class Examples Internal Failures Non responding modules Low battery condition Memory checksum errors External I O Failures Loss of rack or module Addition of rack or module Operational Failures Communication failures Configuration failures Password access failures Series 90 30 20 Micro Programmable Co
292. s the truncated INT or DINT value of the original value in IN Note It is possible for a loss of precision to occur when converting from REAL to DINT since the REAL has 24 significant bits Chapter 4 Series 90 30 20 Micro Instructions Set 4 105 4 106 Valid Memory Types Parameter flow PI PQ M T S G R AI WAQ const none enable IN ok Q o o o o Valid reference or place where power may flow through the function o Valid for REAL_TRUN_INT only Example In the following example the displayed constant is truncated and the integer result 562 is placed in TOOOL A ALW_ON fain TRUN_ CONST IN OQ T0001 l INT 5 62987E 02 Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K Section 9 GFK 0467K Control Functions This section describes the control functions which may be used to limit program execution and alter the way the CPU executes the application program Refer to Chapter 2 section 1 PLC Sweep Summary for information on the CPU sweep Function Description Page CALL Causes program execution to go to a specified subroutine block 4 108 DOIO Services for one sweep a specified range of inputs or outputs immediately All 4 109 inputs or outputs on a module are ser
293. s turned on after the SVCREQ is complete A 1 10251 Q0001 SS SN AAA Ne REQ CONST FNC 0026 R0050 PARM Note This Service Request is not available on Micro PLCs GFK 0467K Chapter 4 Series 90 30 20 Micro Instructions Set 4 163 4 164 SVCREQ 29 Read Elapsed Power Down Time Use the SVCREQ function 29 to read the the amount of time elapsed between the last power down and the most recent power up The SVCREQ output is always set to ON and the output block of information see below starts at the address given in parameter 3 PARM of the SVCREQ function Note This function is available only in the 331 or higher CPUs This function has an output parameter block only The parameter block has a length of 3 words Power Down Elapsed Seconds low order address Power Down Elapsed Seconds high order address 1 100 Microsecond ticks address 2 The first two words are the power down elapsed time in seconds The last word is the remaining power down elapsed time in 100 microsecond ticks which is always 0 Whenever the PLC can not properly calculate the power down elapsed time the time will be set to 0 This will happen when the PLC is powered up with CLR M T pressed on the HHP This will also happen if the watchdog timer times out before power down Example In the following example when input 10251 is ON the Elapsed Pow
294. scan the MSKCMPW function block is executed M0001 through M0016 is compared with M0017 through M0032 M0033 through M0048 contains the mask value The value in R0001 determines at which bit position the comparison starts within the two input strings The contents of the above references before the function block is executed are as follows 11 M0001 6C6Ch 0 1 1 0 1 1 0 0 2 M0017 606Fh 0 1 1 0 1 1 1 1 M Q M0033 000Fh 0 0 0 0 0 1 1 1 BIT BN R0001 0 MC Q0001 OFF The contents of these references after the function block is executed are as follows 11 MO0001 0 1 1 0 1 1 0 0 12 M0017 0 1 1 0 1 1 1 1 M Q M0033 0 0 0 0 0 1 1 1 BIT BN R0001 8 MC Q0001 ON Ladder Diagram Representation l FST_SCN e E td COMP WORD Q0001 M0001 11 MC S LEN 100001 R0001 BIT M0017 I2 Q M0033 M0033 M BN ROOO1 Notice that in the example shown above we used the FST_SCN contact to force one and only one execution otherwise the masked compare would repeat not necessarily delivering the desired results Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K Section 6 Data Move Functions Data move functions provide basic data move
295. se Correction 1 Check the bus for abnormal activity 2 Replace the intelligent option module to which the request was directed 3 Check parallel programmer cable for proper attachment Error Code All Others Name PLC CPU Internal System Error Description An internal system error has occurred that should not occur in a production system Correction Display the PLC fault table on the programmer Contact GE Fanuc PLC Field Service giving them all the information contained in the fault entry Chapter 3 Fault Explanation and Correction 3 15 3 16 Communications Failure During Store The Fault Group Communications Failure During Store occurs during the store of program blocks and other data to the PLC The stream of commands and data for storing program blocks and data starts with a special start of sequence command and terminates with an end of sequence command If communications with the programming device performing the store is interrupted or any other failure occurs which terminates the load this fault is logged As long as this fault is present in the system the controller will not transition to RUN mode This fault is not automatically cleared on power up the user must specifically order the condition to be cleared The fault action for this group is Fatal Correction Clear the fault and retry the download of the program or configuration file Series 90 30 20 Micro Programmable Controllers Refer
296. ssssssssessesees 4 94 gt BEDA MN Di 4 95 Parameters aid a 4 95 Valid Memory Types etico moteado abrieran ios e cad sino cons 4 96 Example ata 4 96 gt INT BCD 4 READ nicas lencia cansa 4 97 Parameters A RN 4 97 Valid Memory Types susp EE E EEES RT pte dt 4 98 Example tinca ronca nai 4 98 gt DINT READ 0 A A A At ad 4 99 Parameters O TN 4 99 AI ss ssceascevssiseescapussesessges op sheebseteebsbescaphsssevvenssepsapesoes 4 100 Example titi as 4 100 gt REAL INT DINT BCD 4 WORD o0oooconocccnoccnononanonnnoconononannnonnccnnaconinnnos 4 101 Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K GFK 0467K Contents Part titi aA ia AEAEE A it 4 101 Valid Memory Types cursa dido 4 102 Example ereer e pd di dai muon chased 4 102 gt WORD AREA DI o A A asd neta ae 4 103 A E OS 4 103 Valid Memory Types AAA ices cvscouecevicesossute spabevtseecb acs EE S EEE 4 104 Example tsic 2sdie cei neat a ld ete de 4 104 TRUN CINE DIN cn taa 4 105 Parameters aee e E E e sveevachedonoeuasacebaote obebiies oases ceettoreutehsobooe hy 4 105 Valid Memory Types iennet enee ennea oron orean nono non nono nena conos 4 106 Example no ser aos 4 106 Section 9 Control FunctioNS o ooommmssssssssssssss 4 107 CALL A O AN 4 108 Example at 4 108 DOI a eae ASA es ee RS 4 109 E A NO 4 110 Valid Memory Types sena a a a T a A a 4 110 Inp t Example lucia 4 111 Input Example Daconte ire 4
297. sts A programmer requests a privilege level change by supplying the new privilege level and the password for that level A privilege level change is denied if the password sent by the programmer does not agree with the password stored in the PLC s password access table for the requested level The current privilege level is maintained and no change will occur If you attempt to access or modify information in the PLC using the Hand Held Programmer without the proper privilege level the Hand Held Programmer will respond with an error message that the access is denied Locking Unlocking Subroutines Subroutine blocks can be locked and unlocked using the block locking feature of programming software Two types of locks are available Type of Lock Description View Once locked you cannot zoom into that subroutine Edit Once locked the information in the subroutine cannot be edited A previously view locked or edit locked subroutine may be unlocked in the block declaration editor unless it is permanently view locked or permanently edit locked A search or search and replace function may be performed on a view locked subroutine If the target of the search is found in a view locked subroutine one of the following messages is displayed instead of logic Found in locked block lt block_name gt Continue Quit or Cannot write to locked block lt block_name gt Continue Quit You may continue or abort the search Folders
298. sumed by the last sweep and counters by one count A 1 Table A 1 Instruction Timing Function Enabled Disabled Increment Timers On Delay Timer 81 Off Delay Timer 116 Timer 12 a 5 103 gt ds Ht Counters Up Counter 70 69 7 130 63 62 Down Counter bs 70 69 37 127 61 61 a E Math Addition INT Addition DINT Subtraction INT Subtraction DINT Multiplication INT Multiplication DINT Division INT Division DINT Modulo Division INT Modulo Div DINT Square Root INT Square Root DINT On rro FIO ORF OF OH Or Oe Oe oro on 0 o 0 50 009 gt 000 500 0 0 Relational Equal INT Equal DINT Not Equal INT Not Equal DINT Greater Than INT Greater Than DINT Greater Than Eq INT Greater Than Eq DINT Less Than INT Less Than DINT Less Than Equal INT Less Than Equal DINT Range INT Range DINT Range WORD Notes 1 Time in microseconds is based on Release 5 01 of Logicmaster 90 30 20 software for Models 311 313 340 and 341 CPUs Release 7 for the 331 For table functions increment is in units of length specified for bit operation functions microseconds bit for data move functions microseconds number of bits or words Enabled time for single length units of type R AI and AQ COMMREQ time has been measured between CPU and HSC DOIO is the time to output values to discret
299. t 11 32 bit 122 bit 7 digit base 10 number sign and decimal 350 and 360 series CPUs only Release 9 or later or all releases of CPU352 Note The input and output data types must be the same The MUL and DIV functions do not support a mixed mode as the 90 70 PLCs do For example the MUL INT of 2 16 bit inputs produces a 16 bit product not a 32 bit product Using MUL DINT for a 32 bit product requires both inputs to be 32 bit The DIV INT divides a 16 bit 12 for a 16 bit result while DIV DINT divides a 32 bit I1 by 32 bit I2 for a 32 bit result These functions pass power if there is no math overflow If an overflow occurs the result is the largest value with the proper sign and no power flow Be careful to avoid overflows when using MUL and DIV functions If you have to convert INT to DINT values remember that the CPU uses standard 2 s complement with the sign extended to the highest bit of the second word You must check the sign of the low 16 bit word and extend it into the second 16 bit word If the most significant bit in a 16 bit INT word is 0 positive move a 0 to the second word If the most significant bit in a 16 bit word is 1 negative move a 1 or hex OFFFFh to the second word Converting from DINT to INT is easier as the low 16 bit word first register is the INT part of a DINT 32 bit word The upper 16 bits or second word should be either a 0 positive or 1 negative value or the DINT number is
300. t 5 5 COMREQ WAIT mode not available for this command 6 6 COMREQ Bad Task ID 7 7 Application Stack Overflow Error Codes for System Bus Failure Group 1 1 Operating system Error Codes for Corrupted User RAM on Powerup Group 1 1 Corrupted User RAM on Power up 2 2 Illegal Boolean Opcode Detected 3 3 PLC_ISCP_PC_OVERFLOW 4 4 PRG_SYNTAX_ERR Error Codes for PLC CPU Hardware Faults All codes PLC CPU Hardware Failure B 6 Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K Fault Extra Data This field contains details of the fault entry An example of what data may be present are c ted desa ar Four of the error codes in the System Configuration Mismatch group supply fault Group extra data Table B 5 PLC Fault Data Illegal Boolean Opcode Detected Fault Extra Data Model Number Mismatch 0 ISCP Fault Register Contents 1 Bad OPCODE 2 3 ISCP Program Counter 4 5 Function Number For a RAM failure in the PLC CPU one of the faults reported as a PLC CPU hardware failure the address of the failure is stored in the first four bytes of the field PLC CPU PLC Fault Time Stamp Hardware Failure RAM The six byte time stamp is the value of the system clock when the fault was recorded Failure by the PLC CPU Values are coded in BCD format Table B 6 PLC Fault Time Stamp Byte Number Description 1 Seconds 2 Minutes 3 Hours
301. t and change its mode to STOP Constant Sweep Timer The constant sweep timer controls the length of a program sweep when the Series 90 30 PLC operates in CONSTANT SWEEP TIME mode In this mode of operation each sweep consumes the same amount of time Typically for most application programs the input scan application program logic scan and output scan do not require exactly the same amount of execution time in each sweep The value of the constant sweep timer is set by the programmer and can be any value from 5 to the value of the watchdog timer default is 100 milliseconds If the constant sweep timer expires before the completion of the sweep and the previous sweep was not oversweep the PLC places an oversweep alarm in the PLC fault table At the beginning of the next sweep the PLC sets the OV_SWP fault contact The OV_SWP contact is reset when the PLC is notin CONSTANT SWEEP TIME mode or the time of the last sweep did not exceed the constant sweep timer Time Tick Contacts GFK 0467K The Series 90 PLC provides four time tick contacts with time durations of 0 01 second 0 1 second 1 0 second and 1 minute The state of these contacts does not change during the execution of the sweep These contacts provide a pulse having an equal on and off time duration The contacts are referenced as T_10MS 0 01 second T_100MS 0 1 second T_SEC 1 0 second and T_MIN 1 minute The following timing diagram represents the on off time duratio
302. t data type is the smallest unit of memory It has two states 1 or 0 A BIT string may have length N BYTE Byte A Byte data type has an 8 bit value The valid range is 0 to 255 0 to FF in hexadecimal WORD A Word data type uses 16 consecutive bits of data memory but instead of the bits in the data location representing a number the bits are independent of each other Each bit represents its own binary state 1 or 0 and the bits are not looked at together to represent an integer number The valid range of word values is 0 to FFFF Register 1 16 bit positions 16 1 BCD 4 Four Digit Binary Coded Decimal Four digit BCD numbers use 16 bit data memory locations Each BCD digit uses four bits and can represent numbers between 0 and 9 This BCD coding of the 16 bits has a legal value range of 0 to 9999 Register 1 4 1312 1 16 13 9 5 1 4 BCD digits REAL Real numbers use 32 consecutive bits actually two consecutive 16 bit memory locations The range of numbers that can be stored in this format is from 1 401298E 45 to 3 402823E 38 Floating Point Register 2 Register 1 32 17 16 1 Two s Complement Value S Sign bit 0 positive 1 negative GFK 0467K Chapter 2 System Operation 2 23 System Status References 2 24 System status references in the Series 90 PLC are assigned to S SA SB and SC memory They each have a nickna
303. t parameter The operation of the function depends on the previous value of the parameter EN as shown in the following table R Current EN Previous EN Current Execution Execution Execution Bit Sequencer Execution OFF OFF OFF Bit sequencer does not execute OFF OFF ON Bit sequencer increments decrements by 1 OFF ON OFF Bit sequencer does not execute OFF ON ON Bit sequencer does not execute ON ON OFF ON OFF Bit sequencer resets The reset input R overrides the enable EN and always resets the sequencer When R is active the current step number is set to the value passed in via the step number parameter If no step number is passed in step is set to 1 All of the bits in the sequencer are set to 0 except for the bit pointed to by the current step which is set to 1 When EN is active and R is not active the bit pointed to by the current step number is cleared The current step number is either incremented or decremented based on the direction parameter Then the bit pointed to by the new step number is set to 1 e When the step number is being incremented and it goes outside the range of 1 lt step number lt LEN it is set back to 1 e When the step number is being decremented and it goes outside the range of 1 lt step number lt LEN it is set to LEN The parameter ST is optional If it is not used the BITSEQ operates as described above except that no bits are set or cleared Basicall
304. t waiting for a reply If the command block specifies that the program will not wait for a reply the command block contents are sent to the receiving device and the program execution resumes immediately The timeout value is ignored This is referred to as NOWAIT mode If the command block specifies that the program will wait for a reply the command block contents are sent to the receiving device and the CPU waits for a reply The maximum length of time the PLC will wait for the device to respond is specified in the command block If the device does not respond within that time program execution resumes This is referred to as WAIT mode The Function Faulted FT output may be set ON if 1 The specified target address is not present SYSID 2 The specified task is not valid for the device TASK 3 The data length is 0 4 The device s status pointer address part of the command block does not exist This may be due to an incorrect memory type selection or an address within that memory type that is out of range Command Block The command block provides information to the intelligent module on the command to be performed The address of the command block is specified for the IN input to the COMMREQ function This address may be in any word oriented area of memory R AI or AQ The length of the command block depends on the amount of data sent to the device Chapter 4 Series 90 30 20 Micro Instructions Set 4 83 4 84 The
305. table address 1 Read T O fault table The format for the output parameter block depends on whether the function reads data from the PLC fault table or the I O fault table PLC Fault Table Output Format TVO Fault Table Output Format Low Byte High Byte Low Byte High Byte 0 1 long short address 1 long short spare address 2 reference address PLC fault address address 3 address 4 TO fault address fault group and action address 5 error code address 6 fault group and action address 7 fault category fault type address 8 fault description address 9 address 10 address 11 fault specific data address 12 fault specific data address 13 address 14 address 15 address 16 address 17 address 18 address 19 time stamp address 20 time stamp address 21 4 156 Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K In the first byte of word address 1 the Long Short indicator defines the quantity of fault specific data present in the fault entry It may be PLC Fault Table 00 8 bytes short 01 24 bytes long I O Fault Table 02 5 bytes short 03 21 bytes long Example 1 In the following example when input I0251 is on and input 10250 is on the last entry in the PLC fault table is read into the parameter block When input 10251 is off and input 10250 is on
306. tal that is they do not cause the CPU to be placed in the STOP FAULT mode then the CPU will be placed in RUN mode the first time you turn the key from Stop to Run and the fault tables will NOT be cleared Tf there are faults in the fault table that are fatal CPU in STOP FAULT mode then the first transition of the Key Switch from the STOP position to the RUN position will cause the CPU RUN light to begin to flash at 2 Hz rate and a 5 second timer will begin The flashing RUN light is an indication that there are fatal fault s in the fault tables In which case the CPU will NOT be placed in the RUN state even though the Key Switch is in RUN position Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K Clearing the Fault Table with the Key Switch If you turn the key from the RUN to STOP and back to RUN position during the 5 seconds when the RUN light is flashing this will cause the faults to be cleared and the CPU will be placed into RUN mode The light will stop flashing and will go solid ON at this point The switch is required to be kept in either RUN or STOP position for at least 1 2 second before switching back to the other position Note If you allow the 5 second timer to expire RUN light stops flashing the CPU will remain in its original state STOP FAULT mode with faults in the fault table If you turn the Key Switch from the STOP to RUN position again at this time the process will be rep
307. th one SET Coil and one RESET Coil simultaneously When the level of coil checking is WARN MULTIPLE or MULTIPLE then each reference can be used with multiple Coils SET Coils and RESET Coils With multiple usage a reference could be turned ON by either a SET Coil or a normal Coil and could be turned OFF by a RESET Coil or by a normal Coil Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K Retentive SET Coil SM Retentive SET and RESET coils are similar to SET and RESET coils but they are retained across power failure or when the PLC transitions from STOP to RUN mode A retentive SET coil sets a discrete reference ON if the coil receives power flow The reference remains ON until reset by a retentive RESET coil Retentive SET coils write an undefined result to the transition bit for the given reference Refer to the information on Transitions and Overrides in chapter 2 System Operation Retentive RESET Coil RM This coil sets a discrete reference OFF if it receives power flow The reference remains OFF until set by a retentive SET coil The state of this coil is retained across power failure or when the PLC transitions from STOP to RUN mode Retentive RESET coils write an undefined result to the transition bit for the given reference Refer to the information on Transitions and Overrides in chapter 2 System Operation Links Horizontal and vertical
308. the MOVE and ADD functions require three horizontal contact positions the example logic uses discrete internal coil MO0001 as a temporary location to hold the successful result of the first rung line On any sweep in which OV_SWP is not set MO0001 is turned off Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 OV_SWP I MOVE_ SVC_ WORD REQ CONST IN Q R3050 CONST FNC 0003 LEN 0001 0001 R3050 PARM M0001 lis xil MOVE_ SVC_ WORD REQ CONST IN Q R3050 CONST FNC 0001 LEN 0001 0001 R3050 PARM M0001 ADD_ 7 INT R3051 I1 Q R3051 CONST 12 0002 GFK 0467K SVCREQ 2 Read Window Values Use SVCREQ function 2 to obtain the current window mode time values for the programmer communications window the system communications window and the background task window Note Of the CPUs discussed in this manual Service Request 2 is supported only by 90 30 CPUs beginning with Release 8 0 There are three modes for each window Limited Mode The execution time of the window is limited to its respective default value or to a value defined using SVCREQ function 3 for the programmer communications window or SVCREQ function 4 for the systems communications window The window will terminate when it has no more tasks to complete Constant Mode Each window will operate ina RUN TO COMPLETION mode and the
309. the PID block is in Automatic Command mode When the block is switched to Manual mode this value is used to set the CV 13 output and the internal value of the integrator within the Upper and Lower Clamp and Slew Time limits Control Word This is an internal parameter that is normally left at 0 14 a4 If the Override low bit is set to 1 this word and other internal SP PV and CV parameters must be used for remote operation of this PID block see below This allows remote operator interface devices such as a computer to take control away from the PLC program Caution if you do not want this to happen make use the Control Word is set to 0 If the low bit is 0 the next 4 bits can be read to track the status of the PID input contacts as long as the PID Enable contact has power A discrete data structure with the first five bit positions in the following format Bit Word Value Function Status or External Action if Override bit set to 1 0 1 Override If O monitor block contacts below If 1 set them externally 1 2 Manual If 1 block is in Manual mode other numbers Auto itis in Automatic mode 2 4 Enable Should normally be 1 otherwise block is never called 3 8 UP Raise If 1 and Manual Bit 1 is 1 CV is being incremented every solution 4 16 DN Lowerlf 1 and Manual Bit 1 is 1 CV is being incremented every solution SP 15 Non configurable set and maintained by the PLC Tracks SP in must be set externally if Override 1 CV 16
310. the beginning of the string are specified via input parameter B1 Ifa length greater than 1 has been specified as the number of bits to be shifted each of the bits is filled with the same value 0 or 1 This can be e The boolean output of another program function e All 1s To do this use the special reference nickname ALW_ON as a permissive to input B1 e All 0s To do this use the special reference nickname ALW_OFF as a permissive to input B1 The SHL or SHR function passes power flow to the right unless the number of bits specified to be shifted is zero Output Q is the shifted copy of the input string If you want the input string to be shifted the output parameter Q must use the same memory location as the input parameter IN The entire shifted string is written on each scan that power is received Output B2 is the last bit shifted out For example if four bits were shifted B2 would be the fourth bit shifted out GFK 0467K Chapter 4 Series 90 30 20 Micro Instructions Set 4 55 enable l l WORD l l word to be shifted IN B2 last bit shifted out LEN 100001 l l number of bits N QI output parameter Q l l bit shifted in B1 Parameters Parameter Description enable When the function is enabled the shift is performed IN IN contains the first word to be shifted N N contains the number of places bits that the arr
311. the last entry in the I O fault table is read into the parameter block The parameter block is located at location 9R0600 10250 10251 I I MOVE_ INT CONST IN Q RO600 0000 LEN 0001 10250 I0251 l 1 MOVE_ INT CONST IN Q R0600 0001 LEN 0001 p __ ALW_ON a a CONST FNC 0015 2R0600 PARM GFK 0467K Chapter 4 Series 90 30 20 Micro Instructions Set 4 157 4 158 Example 2 In the next example the PLC is shut down when any fault occurs on an I O module except when the fault occurs on modules in rack O slot 9 and in rack 1 slot 9 If faults occur on these two modules the system remains running The parameter for table type is set up on the first sweep The contact IO_PRES when set indicates that the I O fault table contains an entry The PLC CPU sets the normally open contact in the sweep after the fault logic places a fault in the table If faults are placed in the table in two consecutive sweeps the normally open contact is set for two consecutive sweeps The example uses a parameter block located at R0600 After the SVCREQ function executes the fourth fifth and sixth words of the parameter block contain the address of the I O module that faulted 1 RO600
312. the output scan portion of the sweep immediately following the logic solution Outputs are updated using data from Q for discrete outputs and AQ for analog outputs memory as appropriate If the Genius Communications Module is configured to transmit global data then data from G memory is sent to the GCM GCM or GBC The Series 90 20 and Micro output scans include discrete outputs only During the output scan all Model 30 output modules are scanned in ascending reference address order If the CPU is in the STOP mode and the CPU is configured to not scan I O during STOP mode the output scan is skipped The output scan is completed when all output data has been sent to all Model 30 output modules Logic Program Checksum Calculation A checksum calculation is performed on the user program at the end of every sweep Since it would take too long to calculate the checksum of the entire program you can specify the number of words from 0 to 32 to be checksumed on the CPU detail screen If the calculated checksum does not match the reference checksum the program checksum failure exception flag is raised This causes a fault entry to be inserted into the PLC fault table and the PLC mode to be changed to STOP If the checksum calculation fails the programmer communications window is not affected The default number of words to be checksummed is 8 Programmer Communications Window This part of the sweep is dedicated to communicating with the
313. tion as in 11 12 2 I2 contains a constant or reference for the second value used in the operation 12 is on the right side of the mathematical equation as in 11 12 ok The ok output is energized when the function is performed without overflow unless an invalid operation occurs Q Output Q contains the result of the operation Valid Memory Types Parameter flow I Q M T S G R AI WAQ const none enable Il o o o o o ot 2 o o o o o ot ok Q o o o o o gt e Valid reference or place where power may flow through the function o Valid reference for INT data only not valid for DINT or REAL Constants are limited to values between 32 768 and 32 767 for double precision signed integer operations Note The default type is INT for 16 bit or single register operands Press F10 to change the Types selection to DINT 32 bit double word or REAL for the 350 and 360 series CPUs only PLC INT values occupy a single 16 bit register R AI or WAQ DINT values require two consecutive registers with the low 16 bits in the first word and the upper 16 bits with the sign in second word REAL values in the 350 and 360 series CPUs only Release 9 or later plus all releases of CPU352 also occupy a 32 bit double register with the sign in the high bit followed by the exponent and mantissa Example In the followi
314. tion bits for counters and transitional coils Note that counters do not use the same kind of transition bits as coils Transition bits for counters are stored within the locating reference In the Model 331 and higher CPUs override bits can be set When override bits are set the associated references cannot be changed from the program or the input device they can only be changed on command from the programmer CPU Models 323 321 313 311 211 and the Micro CPUs do not support overriding discrete references Retentiveness of Data GFK 0467K Data is said to be retentive if it is saved by the PLC when the PLC is stopped The Series 90 PLC preserves program logic fault tables and diagnostics overrides and output forces word data R AI AQ bit data Jl SC G fault bits and reserved bits Q and M data unless used with non retentive coils and word data stored in Q and M T data is not saved Although as stated above SC bit data is retentive the defaults for S SA and SB are non retentive Q and M references are non retentive that is cleared at power up when the PLC switches from STOP to RUN whenever they are used with non retentive coils Non retentive coils include coils negated coils SET coils S and RESET coils R Chapter 2 System Operation 2 21 When Q or M references are used with retentive coils or are used as function block outputs the contents are retained throug
315. tion mnemonics math functions 4 26 relational functions relay functions 4 2 table functions timers and counters 4 9 Proportional Integral Deviation PID 4 171 R RAD 4 39 Radian conversion function 4 39 RANGE 4 44 Range function 4 44 REAL convert to REAL 4 Data type sn Using floating point numbers E E Using Real numbers references 2 20 Register Reference system registers Register references analog inputs analog outputs Relational functions EQ GE GT 4 41 contacts continuation medi continuation contact 4 8 horizontal and vertical Tinks 4 7 negated coil 4 4 negated retentive coil 4 5 negative transition coil 4 5 normally closed contact normally open contact positive transition coil RESET coil retentive coil 4 5 retentive RESET coil retentive SET coil 4 7 Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K SET coil RESET coil 4 6 Mies addition of or extra option module 3 9 Retentive coil 4 5 Retentive RESET coil 4 7 Retentive SET coil Retentiveness of data ROL 4 58 ROR 4 58 Rotate left function Rotate right function 4 58 S Scan Time Contributions for 350 and 360 Series of CPUs 2 5 Scan input Scan output Search array move function Search equal function 4 91 Search greater than function 4 91 Search greater than or equal function
316. tions 4 47 control functions conversion functions data move functions 4 69 math functions 4 26 relational functions 4 41 relay functions 4 2 table functions timers and counters 4 9 Instructions programmin bit operation functions 4 47 control functions conversion functions data move functions instruction mnemonics math functions 4 26 relational functions 4 41 relay functions 4 2 table functions 4 86 timers and counters 4 9 INT 2 23 4 97 Internal failures 3 2 Internal references discrete Inverse cosine function 4 35 Inverse sine function Inverse tangent function IO_FLT 2 26 IO_PRES J JUMP 4 128 Jump instruction 4 128 K Key switch on 350 and 360 Series CPUs 2 14 LABEL Label instruction 4 130 Le 4 41 Less than function 4 41 Less than or equal function 4 41 Levels privilege 2 36 change requests GFK 0467K Links horizontal and vertical LN 4 37 Locking unlocking subroutines 2 37 L0G 437 Logarithmic functions base 10 logarithm 4 37 natural logarithm Logic program checksum calculation 2 9 Logic solution 2 8 Logical AND function 4 49 Logical NOT function 4 53 Logical OR function Logical XOR function 4 51 LOS_IOM LOS_SIO 2 25 Loss of I O module 3 17 Loss of or missing option module Low battery signal 3 11 LOW_BAT 2 25 Ut M Maintenance 3 1 Masked co
317. to all memories as well as passwords in both RUN and STOP mode Configuration data cannot be changed in RUN mode Passwords There is one password for each privilege level in the PLC No password can be set for level 1 access Each password may be unique however the same password can be used for more than one level To maintain compatibility with the Hand Held Programmer passwords should be up to four Hex characters in length up to 7 accepted in the programming software they can only be entered or changed with the programming software or the Hand Held Programmer A privilege level change is in effect only as long as communications between the PLC and the programmer are intact There does not need to be any activity but the communications link must not be broken If there is no communication for 15 minutes the privilege level returns to the highest unprotected level Upon connection of the PLC the programming software requests the protection status of each privilege level from the PLC The programming software then requests the PLC to move to the highest unprotected level thereby giving the programming software access to the highest unprotected level without having to request any particular level When the Hand Held Programmer is connected to the PLC the PLC reverts to the highest unprotected level 2 36 Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K Privilege Level Change Reque
318. too big to convert to 16 bit Chapter 4 Series 90 30 20 Micro Instructions Set 4 29 4 30 A common application is to scale analog input values with a MUL operation followed by a DIV and possibly an ADD operation With a range up to 32000 using a MUL INT will overflow Using an AI value for a MUL DINT will also not work as the 32 bit I1 will combine 2 analog inputs at the same time You must move the analog input to the low word of a double register then test the sign and set the second register to 0 if positive or 1 if it was negative Use the double register with the MUL DINT for a 32 product for the following DIV function For example the following logic could be used to scale a 10 volt input AI1 to 25000 engineering units in RS5 ALW_ON MOVE MOVE __ LT_ lt lt gt INT INT INT 1 SAIO001 IN Q RO001 CONST IN Q ROOO2 R0001 I1 Q LEN 00000 LEN 00001 00001 CONST 12 00000 lt gt MOVE_ INT CONST IN Q R0002 00001 LEN 00001 Pes fs ALI E MULA DIv_ DINT DINT R0001 I1 Q 2 R0003 R0003 I1 Q R0005 CONST 1I2 CONST 1I2 0000025000 _
319. ty for the accuracy completeness sufficiency or usefulness of the information contained herein No warranties of merchantability or fitness for purpose shall apply The following are trademarks of GE Fanuc Automation North America Inc Alarm Master GEnet PowerMotion Series One CIMPLICITY Genius ProLoop Series Six CIMPLICITY PowerTRAC Genius PowerTRAC PROMACRO Series Three CIMPLICITY 90 ADS Helpmate Series Five VuMaster CIMSTAR Logicmaster Series 90 Workmaster Field Control Modelmaster VersaMax All Rights Reserved Preface This manual describes the system operation fault handling and Logicmaster 90 programming instructions for the Series 90 30 Series 90 20 and Series 90 Micro programmable logic controllers Series 90 30 PLCs Series 90 20 PLCs and Series 90 Micro PLCs are all members of the Series 90 family of programmable logic controllers from GE Fanuc Automation Revisions to This Manual There are new 350 and 360 series CPUs Differences in their memory limits and general operations are specified in Chapter 2 of this manual System Operations There are two new Service Requests and one new function in Release 9 02 of Logicmaster Service Request 46 Fast Backplane Status Access is discussed in Chapter 4 on page 4 165 and following The Sequential Event Recorder is a new function and discussed on page 4 114 and following There are also new fault reported from some of the newer CPUs Descriptions and corr
320. ubtracting these two inputs The PV and CV Counts may be 32000 or 0 to 32000 matching analog scaling or from 0 to 10000 to display variables as 0 00 to 100 00 The PV and CV Counts do not have to have the same scaling in which case there will be scale factors included in the PID gains Note The PID will not execute more often than once every 10 milliseconds This could change your desired results if you set it up to execute every sweep and the sweep is under 10 milliseconds In such a case the PID function will not run until enough sweeps have occurred to accumulate an elapsed time of 10 milliseconds e g if the sweep time is 9 milliseconds the PID function will execute every other sweep with an elapsed time of 18 milliseconds for every time it executes GFK 0467K Chapter 4 Series 90 30 20 Micro Instructions Set 4 171 4 172 Parameters Parameter Description enable When enabled through a contact the PID function is performed SP SP is the control loop or process set point Set using PV Counts the PID adjusts the output CV so that PV matches SP zero error PV Process Variable input from the process being controlled often a AI input MAN When energized to 1 through a contact the PID block is in MANUAL mode If the PID block is on manual off the PID block is in automatic mode UP Tf energized along with MAN it adjusts the CV up by 1 CV per solution DN Tf energized along with MAN it adjusts the CV
321. ues where 263 lt IN lt 263 263 9 22x 1018 The ASIN and ACOS functions accept a narrow range of input values where 1 lt IN lt 1 Given a valid value for the IN parameter the ASIN_REAL function will produce a result Q such that ASNAN 3 lt 0 lt F The ACOS_REAL function will produce a result Q such that ACOS IN 0 lt 0 IA a The ATAN function accepts the broadest range of input values where lt IN lt oo Given a valid value for the IN parameter the ATAN_REAL function will produce a result Q such that ATAN IN 7 s Q lt gt l l enable ok l l REAL l l input parameter IN IN 0Q output parameter Q Note The TRIG functions are only available on the 350 and 360 series CPUs Release 9 or later or on all releases of CPU352 GFK 0467K Chapter 4 Series 90 30 20 Micro Instructions Set 4 35 4 36 Parameters Parameter Description enable When the function is enabled the operation is performed IN IN contains the constant or reference real value to be operated on ok The ok output is energized when the function is performed without overflow unless an invalid operation occurs and or IN is NaN Q Output Q contains the trigonometric value of IN Valid Memory Types Parameter enable flow Y1 PQ M T S G R WAI WAQ const none IN ok Q Valid reference or
322. ulo division square root trigonometric functions logarithmic exponential functions and radian conversion Note that trigonometric functions logarithmic exponential functions and radian conversion functions are only available with the 350 and 360 series of CPUs 4 Relational Functions Describes how to compare two numbers for equality non 4 41 equality greater than greater than or equal to less than and less than or equal to 5 Bit Operation Describes how to perform comparison and move operations 4 47 Functions on bit strings 6 Data Move Functions Describes basic data move capabilities 4 69 7 Table Functions Describes how to use table functions to enter values into 4 86 and copy values out of a table 8 Conversion Describes how to convert a data item from one number type 4 94 Functions to another 9 Control Functions Describes how to limit program execution and alter the way 4 107 the CPU executes the application program by using the control functions 4 1 Section 1 Relay Functions 4 2 Using Contacts This section explains the use of contacts coils and links in ladder logic rungs Function Page Coils and negated coils 4 3 Normally open and normal closed contacts 4 2 Retentive and negated retentive coils 4 4 Positive and negative transition coils 4 5 SET and RESET coils 4 6 Retentive SET and RESET coils 4 7 Horizontal and vertical links 4 7 Continuation coils and conta
323. urrent Word Count cocconcccocnconcconocononononnnonnncnnonanonononnncnnncnecnnecnns 4 143 To Seta New Word Count sssri oepeti ieee Eaei 4 143 Example 4 144 SVCREQ 7 Change Read Time of Day Clock oooooccnocccoconoconaccnancnanconoconocnnoo 4 145 o ON 4 146 Parameter Block Contento aia 4 147 To Change Read Date and Time Using BCD Format coccococccoconoccnonconnconocanocnno 4 147 To Change Read Date and Time using Packed ASCII with Embedded Colons Format 4 148 SVCREQ 8 Reset Watchdog Timer ooooconnccnoccnococonoconoconcconnoconoconanancnnnnonnnrna conos 4 149 Examples sedi wtens oie 4 149 SVCREQ 9 Read Sweep Time from Beginning of Sweep 4 150 Ex mple i risa aiii laa 4 150 SVCREQ 10 Read Folder Name ocoonoocccnonococonononnnocononn nono nnnocnnnnnnccnnonnnccnnnnnnnnos 4 151 Example naien n S E T E R A E S A E ERR 4 151 SVCREQ FIT Redd PLEC TD ci tata NA 4 152 Example sert eii 4 152 SVCREQ 12 Read PLC Run State oooocooccconccconocononcnononacononoconoconancnonnnacnnnnccnncnnnn 4 153 Example A 4 153 SVCREQ 13 Shut Down Stop PLC ooooocnccocnconocononocnconcononncnnnononnnonnoncnnonncnncnne 4 154 Example 4 154 SVCREQ 14 Clear Fault Tables ooooooccnnoncccnononnonococonononnncconnnnnccnnnnnnnnnnnnncnnnos 4 155 Example cen sieist tie oh tii 4 155 SVCREQ 15 Read Last Logged Fault Table Entry eee cere eeeeeee 4 156 Example it 4 157 Example Dios irene ico Gee 4 158 SVCREQ 16 Read Elapsed Time Clock oooo
324. use Kp Kc Ki Ke Ti and Kd Kc Td to convert them to use as PID User Parameter inputs The CV Bias term above is an additive term separate from the PID components It may be required if you are using only Proportional Kp gain and you want the CV to be a non zero value when the PV equals the SP and the Error is 0 In this case set the CV Bias to the desired CV when the PV is at the SP CV Bias can also be used for feed forward control where another PID loop or control algorithm is used to adjust the CV output of this PID loop Chapter 4 Series 90 30 20 Micro Instructions Set 4 179 If an Integral Ki gain is used the CV Bias would normally be 0 as the integrator acts as an automatic bias Just start up in Manual mode and use the Manual Command word Ref 13 to set the integrator to the desired CV then switch to Automatic mode This also works if Ki is 0 except the integrator will not be adjusted based on the Error after going into Automatic mode The following diagram shows how the PID algorithms work a43646 PROPORTIONAL BIAS TERM Kp SP Error Sign N DEAD INTEGRAL Ki SLEW UPPER LOWER gt POLARITY Ly cv O BAND A TIME ag LIMIT gt CLAMP Deriv Action PY 2 VALUE DERIVATIVE gt A TIME TERM Kd Independent Term Algorithm PIDIND The ISA Algorithm PIDISA is similar except the Kp gain is factored out of Ki and Kd so that the integral gai
325. use Service Request 3 to assign a value of zero 0 In this example when M0126 transitions on the programmer communications window is enabled and assigned a value of 0 ms The parameter block is in memory location R5051 10002 M0126 M M0126 IN T0002 List MOVE_ SVC_ INT REQ CONST IN Ql R5051 CONST FNC 00000 LEN 00003 0001 R5051 PARM Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K SVCREQ 4 Change System Comm Window Mode and Timer Value Use SVCREQ function 4 to change the system communications window mode and timer value The change will occur in the CPU sweep following the sweep in which the function is called Note Of the CPUs discussed in this manual Service Request 4 is supported only by 90 30 CPUs beginning with Release 8 0 The SVCREQ function 4 will pass power flow to the right unless a mode other than O Limited 1 Constant or 2 Run to Completion is selected The parameter block has a length of one word To disable the system communications window enter SVCREQ function 4 with this parameter block High Byte Low Byte To enable the system communications window enter SVCREQ function 4 with this parameter block High Byte Low Byte Value from 1 to 255 ms address GFK 0467K Chapter 4 Series 90 30 20 Micro Instructions Set 4 141 4 142 Exampl
326. version function described in section 8 Conversion Functions to change the data to one of the supported types If input parameters I1 and I2 match the specified relation output Q receives power flow and is set ON 1 otherwise it is set OFF 0 INT enable input parameter Il 11 Q output parameter Q l l input parameter I2 12 __ Chapter 4 Series 90 30 20 Micro Instructions Set 4 4 4 42 Parameters Parameter Description enable When the function is enabled the operation is performed n Il contains a constant or reference for the first value to be compared Il is on the left side of the relational equation as in I1 lt 12 n I2 contains a constant or reference for the second value to be compared I2 is on the right side of the relational equation as in I1 lt 12 Q Output Q is energized when I1 and 12 match the specified relation Note Il and I2 must be valid numbers i e cannot be NaN Not a Number Expanded Description Function Description Equal When enabled if the value at input I1 is equal to the value at input 12 output Q is energized Not Equal When enabled if the value at input I1 is NOT equal to the value at input 12 output Q is energized Greater Than When enabled if the value at input I1 is greater than the value at input I2 output Q is energized Greater Than When enabled if the value at
327. viced if any reference locations on that module are included in the DO I O function Partial I O module updates are not performed Optionally a copy of the scanned I O can be placed in internal memory rather than the real input points SER Sequential Event Recorder collects data based on an event trigger A function 4 114 control block contains user supplied information about function block execution channel descriptions and operation parameters END Provides a temporary end of logic The program executes from the first rung to 4 123 the last rung or the END instruction whichever is encountered first This instruction is useful for debugging purposes but it is not permitted in SFC programming refer to the Note on page 4 114 MCR Programs a Master Control Relay An MCR causes all rungs between the MCR 4 124 and and its subsequent ENDMCR to be executed without power flow Logicmaster MCRN 90 30 20 Micro software supports two forms of the MCR function a non nested form MCR and a nested form MCRN ENDMCR _ Indicates that the subsequent logic is to be executed with normal power flow 4 127 and Logicmaster 90 30 20 Micro software supports two forms of the ENDMCR ENDMCRN function a non nested form ENDMCR and a nested form ENDMCRN JUMP Causes program execution to jump to a specified location indicated by a 4 128 and LABEL see below in the logic Logicmaster 90 30 20 Micro software JUMPN supports two forms of the JUMP funct
328. will be used Read Extra Status Data Function 1 The Read Extra Data function reads a word of extra status data from each of the modules specified by a list in the parameter block and places the status data values into the parameter block The parameter block requires N 4 words of reference memory where N is the number of modules to which the data will be written GFK 0467K Chapter 4 Series 90 30 20 Micro Instructions Set 4 165 4 166 Use the table on the following page to interpret the output values Location Field Meaning Address Function 1 read extra status data Address 1 Error Code An error code is placed here if the function fails because any of the modules is not present inappropriate or not working Address 2 First rack amp Rack and slot number in the form RRSS in hexadecimal slot where RR is the rack number and SS is the slot number of the first module from which the data will be read Address 3 Read data The data read from the first module will be place here from first module Address 4 Second rack Rack and slot number in the form RRSS in hexadecimal amp slot where RR is the rack number and SS is the slot number of the second module from which the data will be read Address 5 Read data The data read from the second module will be place here from second module Address I 2 I rack amp slot Rack and slot number in the form RRSS in hexadecimal where RR is the rac
329. within the bit string of the first non zero bit POS is set to zero if no non zero bit is found A string length of 1 to 256 words can be selected The function passes power flow to the right whenever enable is ON enable ok first word IN l l LEN 100001 l POS position of non zero bit or 0 Parameters Parameter Description enable When the function is enabled a bit search operation is performed IN IN contains the first word of the data to be operated on ok The ok output is energized whenever enable is energized POS The position of the first non zero bit found or zero if a non zero bit is not found LEN LEN is the number of words in the bit string Note When using the Bit Test Bit Set Bit Clear or Bit Position function the bits are numbered 1 through 16 NOT 0 through 15 Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K Valid Memory Types Parameter flow I WQ M T S G R WAI WAQ const none enable IN POS ok e Valid reference or place where power may flow through the function Example In the following example if 10001 is set the bit string starting at MO0001 is searched until a bit equal to 1 is found or 6 words have been searched Coil Q0001 is turned on If a bit equal to 1 is found its lo
330. wo numbers for non equality 4 41 GT Greater Than Test for one number greater than another 4 41 GE Greater Than Test for one number greater than or equal to another 4 41 or Equal LT Less Than Test for one number less than another 4 4 LE Less Than Test for one number less than or equal to another 4 41 or Equal RANGE Range Determine whether a number is within a specified range 4 44 available for Release 4 5 or higher CPUs Relational functions are used to determine the relation of two values When the function receives power flow it compares input parameter 11 to input parameter 12 These parameters must be the same data type Relational functions operate on these types of data Data Type Description INT Signed integer DINT Double precision signed integer REAL Floating Point Note The REAL data type is only available on the 350 and 360 series CPUs Release 9 or later or on all releases of CPU352 Also the Range function block does not accept REAL type Additionally the S0020 bit is set ON when a relational function using REAL data executes successfully It is cleared when either input is NaN Not a Number The default data type is signed integer To compare either signed integers double precision signed integers or real numbers select the new data type after selecting the relational function To compare data of other types or of two different types first use the appropriate con
331. word word 3 When you enter an ONDTR you must enter an address for the location of these three consecutive words registers directly below the graphic representing the function Note Do not use this address with other instructions Caution Overlapping references will result in erratic operation of the timer enable When enable receives power flow the timer s current value is incremented R When R receives power flow it resets the current value to zero PV PV is the value to copy into the timer s preset value when the timer is enabled or reset Q Output Q is energized when the current value is greater than or equal to the preset value time Time increment is in tenths 0 1 hundredths 0 01 or thousandths 0 001 of seconds for the low bit of the PV preset value Valid Memory Types Parameter flow I Q M T S G R AI WAQ const none address enable R PV Q e Valid reference or place where power may flow through the function Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K Example In the following example a retentive on delay timer is used to create a signal 22Q0011 that turns on 8 0 seconds after Q0010 turns on and turns off when Q0010 turns off Q0010 Q0011 I II ONDTR lC 0 1s Q0010 I I IR CONST
332. y the BITSEQ then just cycles the current step number through its legal range Memory Required for a Bit Sequencer Each bit sequencer uses three words registers of R memory to store the following information current step number word 1 length of sequence in bits word 2 control word word 3 When you enter a bit sequencer you must enter a beginning address for these three words registers directly below the graphic representing the function see example on next page 4 80 Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K GFK 0467K enable ok l l SEQ reset R LEN 00001 direction DIR l number STEP l l l starting address ST l _ address Enter the beginning address here The control word stores the state of the boolean inputs and outputs of its associated function block as shown in the following format is 14 13 12 19110 9 8 7 Lo s 4 3 2 1J0 Reserved Reserved OK status input EN enable input Note Bits 0 through 13 are not used Also note that bits need to be entered as 1 through 16 NOT 0 through 15 in the STEP parameter Parameters Parameter Description address Address is the location of the bit sequencer s current step length and the last enable and ok statuses en
333. y 1 or 0 The result of the test is placed in output Q Each sweep power is received the BTST function sets its output Q to the same state as the specified bit If a register rather than a constant is used to specify the bit number the same function block can test different bits on successive sweeps If the value of BIT is outside the range 1 lt BIT lt 16 LEN then Q is set OFF A string length of 1 to 256 words can be selected enable l l TEST WORD l bit to be tested IN Q output parameter Q LEN 00001 l bit number of IN BIT Parameters When the function is enabled the bit test is performed IN contains the first word of the data to be operated on BIT contains the bit number of IN that should be tested Valid range is 1 lt BIT lt 16 LEN Qe Output Q is energized if the bit tested was a 1 LEN is the number of words in the string to be tested Note When using the Bit Test Bit Set Bit Clear or Bit Position function the bits are numbered 1 through 16 NOT 0 through 15 Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K Valid Memory Types Parameter enable flow I 7 Q M T S G R AI AQ const none IN BIT Q e Valid reference or place where power may flow through the function Example In the followin
334. y also be displayed on the programmer screen by pressing ALT K to access key help Key Sequence Description Key Sequence Description Keys Available Throughout the Software Package ALT A Abort CTRL Break Exit package ALT C Clear field Esc Zoom out ALT M Change Programmer mode CTRL Home Previous command line contents ALT R Change PLC Run Stop state CTRL End Next command line contents ALT E Toggle status area CTRL Cursor left within the field ALT J Toggle command line CTRL gt Cursor right within the field ALT L List directory files CTRL D Decrement reference address ALT P Print screen CTRL U Increment reference address ALT H Help Tab Change increment field contents ALT K Key help Shift Tab Change decrement field contents ALT I Instruction mnemonic help Enter Accept field contents ALT N Toggle display options CTRL E Display last system error ALT T Start Teach mode F12 or Keypad Toggle discrete reference ALT Q Stop Teach mode F11 or Keypad Override discrete reference ALT n Playback file n n 0 thru 9 Keys Available in the Program Editor Only ALT B Toggle text editor bell Keypad Accept rung ALT D Delete rung element Delete rung Enter Accept rung ALT S Store block to PLC and disk CTRL PgUp Previous rung ALT X Display zoom level CTRL PgDn Next rung ALT U Update disk Horizontal shunt ALT V Variable table window Vertical shunt ALT F2 Go to operand reference table T
335. ysically correct the situation by removing the PCM or PCM type module or install a CPU that does support the PCM Error Code 26 Name Module busy config not yet accept by module Description The module cannot accept new configuration at this time because it is busy with a different process Correction Allow the module to complete the current operation and re store the configuration Error Code 51 Name END Function Executed from SFC Action Description The placement of an END function in SFC logic or in logic called by SFC will produce this fault Correction Remove the END function from the SFC logic or logic being called by the SFC logic Error Code 58 Name Daughterboard Mismatch Description The daughterboard physically present does not match the daughterboard in the configuration Correction Make sure the configuration stored to the CPU contains the correct daughterboard 3 10 Series 90 30 20 Micro Programmable Controllers Reference Manual September 1998 GFK 0467K Option Module Software Failure The Fault Group Option Module Software Failure occurs when a non recoverable software failure occurs on a PCM or ADC module The fault action for this group is Fatal Error Code All Name COMMREQ Frequency Too High Description COMMREQs are being sent to a module faster than it can process them Correction Change the PLC program to send COMMREQs to the affected module at a slower rate Program Block Chec

GE 90-30/20/Micro Universal Remote User Manual

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