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the Temperature Control Unit is adjusted. If the hunting is not within the permissi-
ble range determined by the user, use advanced PID control.

SP

PV

MV

100%

0%

Temperature

Hysteresis

Time

3-5-4 Advanced PID Control

If advanced PID control (i.e., SW1-1 is turned ON) is selected, the Temperature
Control Unit will operate with the P value fixed to 40.0, the I value fixed to 240,
and the D value fixed to 40.

The user’s required control may not be performed with the default PID parame-
ters. In this case, refer to 2-6 AT (Expansion Mode) and 3-6-1 Manual Settings
(Expansion Mode) to set the most suitable PID parameters.

Even if the most suitable PID parameters are set, hunting may occur if the con-
trol period is long. In this case, set SW1-6 according to the characteristics of the
controlled object. If SW1-6 is turned OFF, the control period will be 20 s and if
SW1-6 is turned ON, the control period will be 2 s.

When the control period is set to 2 s (i.e., SW1-6 is turned ON), it can be set to 1
through 99 s freely. Refer to 3-6-1 Manual Settings (Expansion Mode) for details.

Application Examples

Section 3-5

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Summary of Contents for CQM1H - 08-2005

Page 1: ...Cat No W238 E1 8 Dedicated I O Units CQM1H CQM1 series OPERATION MANUAL SYSMAC ...

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Page 3: ...CQM1H CQM1Series Dedicated I O Units Operation Manual Revised August 2000 ...

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Page 5: ...ans word and is abbreviated Wd in documentation in this sense The abbreviation PC means Programmable Controller and is not used as an abbreviation for any thing else Visual Aids The following headings appear in the left column of the manual to help you locate different types of information Note Indicates information of particular interest for efficient and convenient operation of the product 1 2 3...

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Page 7: ...and Settings 9 2 1 Nomenclature 10 2 2 Switch Settings 15 SECTION 3 Connections 17 3 1 Connections to B7A Link Terminals 18 3 2 Wiring 20 Appendices A Specifications 23 PART II 25 G730 Interface Unit 25 SECTION 1 Features and System Configuration 27 1 1 Features 28 1 2 System Configuration 29 1 3 Connecting Devices 32 SECTION 2 Nomenclature and Settings 33 2 1 Nomenclature 34 2 2 Switch Settings 3...

Page 8: ...SECTION 3 Connections 69 3 1 SYSMAC BUS Cable Connections 70 Appendices D Specifications 71 PART IV 73 Analog Input Unit and Analog Power Supply Units 73 SECTION 1 Features and System Configuration 75 1 1 Features 76 1 2 System Configuration 77 1 3 Connecting Devices 77 1 4 System Construction 78 SECTION 2 Nomenclature and Functions 79 2 1 Nomenclature 80 2 2 Functions 83 SECTION 3 Operation 85 3 ...

Page 9: ...21 PART VI 123 Sensor Unit 123 SECTION 1 Features and System Configuration 125 1 1 Features 126 1 2 System Configuration 126 1 3 Connecting Devices 126 1 4 System Construction 128 SECTION 2 Nomenclature and Functions 129 2 1 Nomenclature 130 2 2 Switch Settings 134 SECTION 3 Connections 137 3 1 Wiring Precaution 138 3 2 Mounting and Dismounting the Sensor Module 140 3 3 Connection of CQM1 TU001 Re...

Page 10: ...put 180 SECTION 3 Nomenclature and Functions 181 3 1 Nomenclature 182 3 2 Terminals 183 SECTION 4 Connections 185 4 1 Mounting and Wiring 186 SECTION 5 Basic Operation 187 5 1 Operating Method 188 5 2 Programming Console Operation 189 5 3 Operation Mode 190 5 4 Scaling 192 5 5 Comparison 194 5 6 Monitoring 196 SECTION 6 Applied Operation 199 6 1 Scaling Value Teaching 200 6 2 Set Value Teaching 20...

Page 11: ...3 2 1 Features and Word Allocations 234 2 2 Specifications 235 2 3 Nomenclature 238 2 4 Terminology and Function Descriptions 242 2 5 Wiring 243 2 6 Application 245 2 7 IOTC 251 2 8 Troubleshooting 259 2 9 Command Tables 260 SECTION 3 CQM1 TC00j TC10j Temperature Control Units 261 3 1 Features and Word Allocations 262 3 2 Specifications 263 3 3 Nomenclature 264 3 4 Wiring 266 3 5 Application Examp...

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Page 13: ...ration and word allocation of the CQM1 LK501 I O Link Unit Section 2 provides the nomenclature and switch settings for the CQM1 LK501 I O Link Unit Section 3 describes the SYSMAC BUS cable connections for the CQM1 LK501 I O Link Unit The Appendix provides the specifications for the Unit Part IV Analog Input Unit and Analog Power Supply Units Section 1 provides the features and system configuration...

Page 14: ...monitor output functions Section 3 provides the nomenclature and terminal and indicator functions of the Linear Sensor Interface Unit Section 4 describes the connections of the Linear Sensor Interface Unit Section 5 describes the basic operation of the Linear Sensor Interface Unit using the Programming Con sole Section 6 describes the applied operation of the Linear Sensor Interface Unit using the...

Page 15: ...ction is important for the safe and reliable application of the Programmable Con troller You must read this section and understand the information contained before attempting to set up or operate a PC system 1 Intended Audience xvi 2 General Precautions xvi 3 Safety Precautions xvi 4 Operating Environment Precautions xvii 5 Application Precautions xviii ...

Page 16: ...uring operation WARNING It is extremely important that a PC and all PC Units be used for the specified purpose and under the specified conditions especially in applications that can directly or indirectly affect human life You must consult with your OMRON representative before applying a PC System to the above mentioned applications 3 Safety Precautions WARNING Do not attempt to take any Unit apar...

Page 17: ...ler malfunctions 4 Operating Environment Precautions Caution Do not operate the control system in the following places Locations subject to direct sunlight Locations subject to temperatures or humidity outside the range specified in the specifications Locations subject to condensation as the result of severe changes in tempera ture Locations subject to corrosive or flammable gases Locations subjec...

Page 18: ...e torque specified in the relevant manuals Incorrect tightening torque may result in malfunction Always use the power supply voltage specified in this operation manual An incorrect voltage may result in malfunction or burning Take appropriate measures to ensure that the specified power with the rated voltage and frequency is supplied Be particularly careful in places where the power supply is unst...

Page 19: ... Unit properly as specified in the operation manual Improper installa tion of the Unit may result in malfunction Provide a control circuit so that the power to the I O circuits will turn ON after the power to the PC turns ON If the power to the I O circuits turns ON before the power to the PC turns ON the system may malfunction temporarily If the I O Hold Bit SR 25212 is turned ON the outputs from...

Page 20: ...ngs of the Temperature Controller properly according to the system to be controlled Allow at least 30 minutes after turning ON the Temperature Controller as war mup time Do not use thinner to clean the product Use commercially available cleaning alcohol ...

Page 21: ...1 PART I B7A Interface Unit CQM1 B7A02 CQM1 B7A03 CQM1 B7A12 CQM1 B7A13 CQM1 B7A21 ...

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Page 23: ...ion describes the general features system configuration and word allocation of the CQM1 B7Ajj Interface Units 1 1 Features 4 1 2 System Configuration 5 1 3 Connecting Devices 5 1 3 1 CPU 5 1 3 2 B7A Link Terminal 5 1 4 Word Allocation 6 1 5 Bit Allocation 7 ...

Page 24: ... the B7A Interface Units as the equivalent number of points It can handle remote I O equipment such as switches and lamps without recog nizing communications Note 1 HOLD When an error occurs the input bit status immediately prior to the error is held 2 LOAD OFF When an error occurs all input bits turn off The B7A Link Terminal is a terminal board that incorporates a communication function connects...

Page 25: ...e Unit connects to the following CPUs Name Model CQM1H series CPU CQM1H CPU11 CQM1H CPU21 CQM1H CPU51 CQM1H CPU61 CQM1 series CPU CQM1 CPU11 E CQM1 CPU21 E CQM1 CPU41 EV1 CQM1 CPU42 EV1 CQM1 CPU43 EV1 CQM1 CPU44 EV1 1 3 2 B7A Link Terminal The B7A Interface Unit connects to the following 16 point B7A Link Terminals with a standard I O delay of 19 2 ms typical Name Model Transmission delay time Scr...

Page 26: ...rminals with equal transmission delay times Transmission errors will occur if the transmission delay times used in the com bination are not equal Do not connect B7A Link Terminals with 10 points and I O mixed points Connect only 16 point transmission models 1 4 Word Allocation The CPU treats the B7A Interface Unit as an equivalent number of connected I O Units The words allocation is identical to ...

Page 27: ...al for output B7A Link Terminal for output 16 pts 16 pts IN IN OUT B7A12 B7A21 B7A03 Word Connection terminals 1 Points 0 to 15 Bit no 00100 to 00115 Points 0 to 15 Bit no 10300 to 10315 Points 0 to 15 Bit no 00300 to 00315 Points 0 to 15 Bit no 10200 to 10215 Points 0 to 15 Bit no 10000 to 10015 Connection terminals 2 Word 102 Word 003 Word 103 Word 100 Word 001 CQM1H CQM1 1 5 Bit Allocation The ...

Page 28: ...the B7A Interface Unit s output bit is larger than the above values If smaller than the above values data might not be correct transmitted Transmission Errors Power On If the input mode is set to 15IN ERR the transmission error bit becomes OFF when the CQM1H CQM1 power is turned on The transmission error bit turns ON if normal transmission with the input B7A Link Terminal is not established within...

Page 29: ...9 SECTION 2 Nomenclature and Settings This section provides the nomenclature and switch settings for the CQM1 B7Ajj Interface Units 2 1 Nomenclature 10 2 2 Switch Settings 15 ...

Page 30: ... Terminal Name Color Function RDY Unit ready Green Lit while the CQM1H CQM1 is supplied with power ERR Input transmission error Red Lit if the B7A Link Terminal for input is malfunctioning or the B7A Link Terminal for input is disconnected 3ms Transmission delay time Orange Lit while transmission delay time is set to RAPID 3 ms Not lit when set to STANDARD 19 2 ms LOAD OFF Transmission error proce...

Page 31: ...3ms Transmission delay time Orange Lit while transmission delay time is set to RAPID 3 ms Not lit when set to STANDARD 19 2 ms LOAD OFF Transmission error processing Orange Lit while transmission error processing is set to LOAD OFF Not lit when set to HOLD 15IN ERR Input mode Orange Lit while input mode is set to 15IN ERR Not lit when set to 16IN ERR1 Input 1 transmission error Red Lit when normal...

Page 32: ...t a 12 to 24 VDC power supply Terminal screws M3 Optimum tightening torque 0 5 N S m B7A Link Terminal connection terminals 2 For connection of a 16 point output B7A Link Terminal outputs most significant word m 1 data Name Color Function RDY Unit ready Green Lit while the CQM1H CQM1 is supplied with power 19ms 3ms Transmission delay time Orange Lit while transmission delay time is set to RAPID 3 ...

Page 33: ...hile the CQM1H CQM1 is supplied with power ERR Input transmission error Red Lit if the B7A Link Terminal for input is malfunctioning or the B7A Link Terminal for input is disconnected 3ms Transmission delay time Orange Lit while transmission delay time is set to RAPID 3 ms Not lit when set to STANDARD 19 2 ms LOAD OFF Transmission error processing Orange Lit while transmission error processing is ...

Page 34: ... Color Function RDY Unit ready Green Lit while the CQM1H CQM1 is supplied with power 19ms 3ms Transmission delay time Orange Lit while transmission delay time is set to RAPID 3 ms Not lit when set to STANDARD 19 2 ms Left side View Common to all models Operation setting DIP Switch Sets to the operation of the B7A Interface Unit see page 15 Set the switches before mounting the B7A Interface Unit in...

Page 35: ... Lit Note On delivery from the factory pin 1 is set ON and all others OFF CQM1 B7A03 CQM1 B7A02 Pin no Setting OFF ON 4 Transmission delay time STANDARD 19 2 ms RAPID 3 ms 3 Not used set OFF 2 Not used set OFF 1 Not used set OFF Note On delivery from the factory all pins set OFF CQM1 B7A13 Pin no Setting OFF ON 6 Transmission delay time STANDARD 19 2 ms RAPID 3 ms 5 Transmission error processing H...

Page 36: ...ror is held when a transmission error occurs HOLD or whether all input bits turn off LOAD OFF Setting Transmission error processing ON LOAD OFF OFF HOLD factory setting Input Mode Setting Set the input mode the use of bit 15 from the Input B7A Link Terminal to one of the modes shown in the table below Match the pin setting to the Input B7A Link Terminal Setting Input mode Description ON 15 point i...

Page 37: ...ctions This section describes the connections between the CQM1 B7Ajj Interface Units and B7A Link Terminals 3 1 Connections to B7A Link Terminals 18 3 1 1 Recommended Cables 18 3 1 2 Connecting Terminals 18 3 2 Wiring 20 ...

Page 38: ...ther power supply is shared or wired separately 3 1 2 Connecting Terminals Connect the input and output B7A Link Terminals to the B7A Interface Unit via the following terminals using crimp style terminals used for CQM1H CQM1 I O Units CQM1 B7A21 Unused Connect to the SIG terminal of the output B7A Link terminal Connect to the negative power supply ter minal of the output B7A Link Terminal Connect ...

Page 39: ...e negative power supply ter minal of the input B7A Link Terminal A0 A1 A2 A3 B0 B1 B2 B3 Word n Unused CQM1 B7A02 Unused Connect to the SIG terminal of the output B7A Link terminal Connect to the negative power supply ter minal of the output B7A Link Terminal A0 A1 A2 A3 B0 B1 B2 B3 Word m Unused Connectors Crimp connectors for I O Unit wiring should be less than 6 2 mm wide M3 and the wire should...

Page 40: ... Terminal Terminal screws M3 Terminal screws M3 5 Independent Power Supplies B7A Interface Unit B7A Link Terminal 12 to 24 VDC 12 to 24 VDC 12 to 24 VDC Transmission distance 500 m max Transmission cable VCTF 0 75 mm2 min B7A Link Terminal Terminal screws M3 Terminal screws M3 5 Note 1 The transmission distance depends on the type of wiring used 2 The size of terminal screw differs for the B7A Int...

Page 41: ...5 mm2 min B7A Link Terminal Shielded cable 0 75 mm2 min Ground Ground 12 to 24 VDC 12 to 24 VDC Note 1 The transmission distance depends on the type of wiring used 2 The size of terminal screw differs for the B7A Interface Unit and B7A Link Terminal Consider the size of the terminal screws when using crimped ter minals 3 It is recommend that the shield wire be grounded 4 If shielded cable is not u...

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Page 43: ... delay 5 ms max Minimum input time see note 4 STANDARD 16 ms RAPID 2 4 ms Power consumption 100 mA at 5 VDC External power supply 12 to 24 VDC 10 excluding the power required by the B7A Link Terminals B7A21 0 11 A min B7A13 0 07 A min B7A03 0 10 A min B7A12 0 05 A min B7A02 0 04 A min Weight 200 g max Dimensions 32 x 110 x 107 W x H x D mm Note 1 Input mode setting allows selection between 16 poin...

Page 44: ...Appendix A Specifications 24 Dimensions These dimensions are the same for all B7A Interface Unit models Unit mm ...

Page 45: ...25 PART II G730 Interface Unit CQM1 G7M21 CQM1 G7N01 CQM1 G7N11 ...

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Page 47: ...guration This section describes the general features system configuration and word allocation of the G730 Interface Units 1 1 Features 28 1 2 System Configuration 29 1 3 Connecting Devices 32 1 3 1 CPU 32 1 3 2 G730 Remote Terminal Slave 32 ...

Page 48: ...tem to permit control of up to 128 points Multiple Masters can be used Connection of multiple Masters in separate systems permits control within the range permitted for the CPU The number of input points and output points can independently be switched be tween 32 and 16 The HOLD HOLD OFF setting determines whether the signals into the CPU are held HOLD or cleared HOLD OFF when a transmission error...

Page 49: ... model G730 RI input model G730 RO output model Switch Sensor Lamp Valve Switch CQM1H CQM1 Note 1 Switches on the Master allow input and output to be independently set to 2 words 32 points or 1 word 16 points Connect Slaves according to the set number of points 2 If both input and output are set to 2 words 32 points up to eight Input Units and eight Output Units can be connected if 4 point Slaves ...

Page 50: ...Master in any system The systems must be separated if multiple Masters are used See page 31 2 Up to two Expansion Masters can be connected to each Master 3 When two Expansion Masters are used set one as Unit 1 and the other as Unit 2 The Slave address for Unit 2 can only be used for an 8 point or 16 point Slave It cannot be used for a 4 point Slave 4 The combination of one Master with two Expansio...

Page 51: ...el G730 RO output model Switch Sensor Lamp Valve Switch Note 1 When multiple Masters are used allocate system numbers to them in se quence from 1 starting from the Master nearest the CPU The system num bers have no special significance Refer to 4 1 Word Allocation 2 Up to two Expansion Masters can be connected to each Master 3 When two Expansion Masters are used set one as Unit 1 and the other as ...

Page 52: ...erminal Slave The following G730 Remote Terminals can be connected to a G730 Interface Unit Model I O type I O points G730 RID04 Relay input DC 4 G730 RIA04 Relay input AC G730 ROC04 Relay output G730 ROC04 A Relay output with error detection function G730 VID04 DC input NPN common G730 VOD04 Transistor output NPN common G730 ROC08 Relay output 8 G730 AOM08 Relay output power MOS FET G730 VID08 DC...

Page 53: ...33 SECTION 2 Nomenclature and Settings This section provides the nomenclature and switch settings for the G730 Interface Units 2 1 Nomenclature 34 2 2 Switch Settings 36 ...

Page 54: ...ecognizes a Master IN 1CH IN Mode Orange Lit while number of inputs set to 1 word 16 points Not lit when set to 2 words 32 points OUT 1CH OUT Mode Orange Lit while number of outputs set to 1 word 16 points Not lit when set to 2 words 32 points T R RDY Transmission Ready Green Lit while in transmission status with power on Not lit while in transmission error HOLD HOLD Setting Orange Lit while DIP s...

Page 55: ... Expansion Master Indicators see following table Transmission terminal 2 see page 40 For connection of transmission cable to next Expansion Master or Slave Name Color Function RDY Unit Ready Green Lit when power is on and if CQM1H CQM1 recognizes a Master IN 1CH IN Mode Orange Lit while number of inputs set to 1 word 16 points Not lit when set to 2 words 32 points ADR No 2 Unit 2 Orange Lit when U...

Page 56: ... words 32 points ADR No 2 Unit 2 Orange Lit when Unit 2 set Not lit when Unit 1 set T R Transmitting Red Flashes during transmission with power turned on Lit when there is a transmission error Not lit when there is an error in the Expansion Master Note The positive and negative terminals of the transmission terminals 1 and 2 are shorted internally Transmission terminals 1 and 2 can be connected in...

Page 57: ...tting Sets the number of input words points occupied at the Master Setting Description ON One word 16 points of inputs OFF Two words 32 points of inputs Note 1 Even when selected the HOLD function does not operate in the following cases Error in the Master CPU out of control etc HOLD inoperative for Master and Expansion Masters Error in Expansion Master CPU out of control etc HOLD operative for Ma...

Page 58: ...nnot be used for a 4 point Slave CQM1 G7N01 Output Expansion Master All pins are factory set to OFF OFF ON Pins 3 and 4 Not used set to OFF Pin 2 Expansion Master Unit Setting Sets the Expansion Master Unit Number Setting Description ON Expansion Master is Unit 2 OFF Expansion Master is Unit 1 Pin 1 Output Word Setting Sets the number of output words points occupied at the Expansion Master Setting...

Page 59: ...39 SECTION 3 Connections This section describes the connections between the G730 Interface Units and G730 Remote Terminals 3 1 Transmission Cables 40 3 2 External Output Connection Cables 41 ...

Page 60: ...to Slaves is shown in the diagram below G730 Interface Unit Master G730 Remote Terminal Slave G730 Remote Terminal Slave Terminal screws M3 Optimum tightening torque 0 5 N S m Terminal screws M3 5 Optimum tightening torque 0 8 N S m Set as terminator The connection method of a Master and Expansion Master to Slaves is shown in the following diagram Connect wiring of each system in series from Maste...

Page 61: ...xternal outputs are the Transmis sion Ready output and ALM output Recommended Cables The external outputs can be connected using the following cable Cable AWG22 to 18 0 3 to 0 75 mm2 Connections Transmission Ready terminals are shorted when Transmission Ready status occurs Example of external output connections G730 Interface Unit Master Transmission Ready output ALM output Max switching capacity ...

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Page 63: ...tional procedures for the G730 Interface Unit 4 1 Word Allocation 44 4 1 1 CQM1H CQM1 Word Allocation 44 4 1 2 Precautions 45 4 1 3 G730 Remote Terminal Allocation 47 4 1 4 Word Allocation Example 49 4 2 Handling Power On 50 4 3 Transmission Delay Time 50 ...

Page 64: ...d Expansion Master Unit number In multiple systems using multiple Masters the word addresses are allocated to the inputs and outputs sequentially from the leftmost mounted unit indepen dent of the system number DIP Switch Set the DIP switch before turning the CQM1H CQM1 power on The switch set tings are enabled when the CQM1H CQM1 power is turned on Master G7M21 Set OFF HOLD function setting Numbe...

Page 65: ...g Expansion Master G7N11 Set as Unit 1 Number of inputs 1 word Unit setting Number of input words setting CQM1H CQM1 System 1 I O Output System 2 Input I O Input 16 points 16 points Master Expansion Master Unit 1 Expansion Master Unit 2 Master Expansion Master Unit 1 Unit Input word Output word 4 1 2 Precautions Avoid the following cases which lead to complex word allocation and wiring con nection...

Page 66: ... Master Expansion Master Unit 1 and Unit 2 word addresses If one Expansion Master is used for input and another for output take care that the Expansion Master Unit numbers and the Unit 1 Unit 2 Slave address settings are not reversed A 4 point Slave cannot be used as a Unit 2 Slave address Connect the transmission cables in series from the Master I O Output Master Expansion Master Unit 1 Expansion...

Page 67: ... 1 and System 2 are not wired together Each system must be wired separately System 1 I O Output Master Expansion Master Unit 1 Expansion Master Unit 2 Unit Input word Output word Input 16 points 16 points System 1 System 2 Master CQM1H CQM1 4 1 3 G730 Remote Terminal Allocation Slave Address Allocation Using one Master and two Expansion Masters in one system allows the connec tion of up to 28 Slav...

Page 68: ... 24 00 to 07 24 00 to 15 Master Unit 2 Output for 8 16 point Slaves only 25 08 to 15 k 1 Do not set 4 point Slaves between 24 and 27 26 00 to 07 26 00 to 15 between 24 and 27 27 08 to 15 Note 1 Addresses n m j k are the start addresses allocated in CQM1H CQM1 for the Master or Expansion Master as shown above 2 Expansion Master Unit 2 is for 8 16 point Slaves only Do not set 4 point Slave addresses...

Page 69: ...Slaves are connected in order of ascending Slave address However the connection order is independent of the Slave address The only requirement is that they are connected in series Set the Slave connected at the end as the terminator regardless of its Slave ad dress Master I O set to 2 words Expansion Master Unit 1 output set to 2 words 0 Word 100 16 point output Bit address OUT 10000 to 10015 RS 4...

Page 70: ...1 Note It takes 1 s max for the Transmission Ready output to turn OFF after a transmis sion error occurs during normal operation On a transmission error the CPU input and Slave output is determined by the HOLD function setting of each Unit 4 3 Transmission Delay Time The transmission delay time arises because the G730 Interface Unit commu nications is conducted by polling from the Master to the Ex...

Page 71: ...lave I O delay time 1 5 ms Tmax 28 2 2 x 1 2 x 2 1 5 78 3 ms Modified System System 1 Transmission delay time Slave I O delay time 1 5 ms Tmax 14 0 2 x 1 2 x 2 1 5 39 9 ms Unit 2 Master Expansion Master IN Expansion Master OUT 4 point input Slave 4 point input Slave 4 point output Slave 4 point output Slave 8 point output Slave Master 4 point input Slave 4 point input Slave 4 point input Slave 4 p...

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Page 73: ...s Set with DIP switch External output Transmission Ready output G6D SPST NO 24 VDC 2 A max ALM output Internal current consumption 250 mA at 5 VDC Weight 250 g max Dimensions 32 W x 110 H x 107 D mm Performance Specifications Input Expansion Master Item Specification I O points Input 2 words 32 points 1 word 16 points Output 2 words 32 points 1 word 16 points Set with DIP switch Internal current c...

Page 74: ...Appendix A Specifications 54 Dimensions Common for Master and Expansion Master Unit mm ...

Page 75: ...ors before f X Y f fX f f Slave address set between 28 and 30 Set Slave address between 0 and 27 normal operation f X Y f X f f No terminator set Set the Slave connected at the end as the terminator Multiple terminators exists in a system Only one terminator allowed per system Wire separate systems with one Master each Different types of communications Master exist Do not mix Master G7M21 with dif...

Page 76: ...er normal f X f X f fY Transmission path shorted Transmission path discontinuity Correctly wire the transmission path operation X Power off at Slave Turn on the Slave power supply Slave CPU out of control Turn Slave power off and back on Replace Slave if same error re occurs f f Y X X f f Y Error occurred in the output of a Slave with error detection function Replace defective relay or normally re...

Page 77: ...28 and 30 f X Y f f X f f Incorrect transmission path setting f X Y f X f f Terminator not turned on f X Y f X f f Duplicate terminator setting f X Y Y X f f Duplicate Expansion Master Unit Slave address setting error f f X f Y Y f X X Y f f f Y Transmission path shorted discontinuity f X f X f f Y Slave power off CPU out of control f X f X f X Output error from Slave with error detection function...

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Page 79: ...59 PART III I O Link Unit CQM1 LK501 ...

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Page 81: ... features system configuration and word allocation of the CQM1 LK501 I O Link Unit 1 1 Features 62 1 2 System Configuration 62 1 3 Connecting Devices 62 1 3 1 CPU 62 1 3 2 Remote I O Master 63 1 4 Word Allocation 63 1 4 1 CQM1H CQM1 Word Allocation 63 1 4 2 Master Word Allocation 64 ...

Page 82: ...sible via I O points in the SYSMAC BUS Wired Remote I O System Refer to SYSMAC C series Rack PCs Wired Remote System Manual W120 for details on the SYSMAC BUS system 1 2 System Configuration The following is a CQM1H CQM1 system configuration example with CQM1 LK501 I O Link Units Remote I O Master PC Master 2 core cable SYSMAC BUS system 200 m max CQM1 LK501 I O Link Unit Other slave CQM1 LK501 I ...

Page 83: ...t and two input words Master Master s area For input reading For output writing SYSMAC BUS communication For input reading For output writing CQM1H CQM1 s area CQM1H CQM1 1 4 1 CQM1H CQM1 Word Allocation The CQM1H CQM1 treats the CQM1 LK501 I O Link Unit as an I O Unit with two output and two input words to which words are allocated from the left for both input and output Words from 000 are alloca...

Page 84: ...k Unit as shown in the following figure CQM1 LK501 I O Link Unit s DIP switch Example First offset address 24 Master s SYSMAC BUS area Offset address 24 23 22 Corresponds to each binary digit ON 1 OFF 0 22 x 0 23 x 1 24 x 1 24 24 0 31 The first word of the Master s SYSMAC BUS area varies with the model as seen in the following table Model SYSMAC BUS area first word C200H C200HS C200HX HG HE Word 2...

Page 85: ...65 SECTION 2 Nomenclature and Settings This section provides the nomenclature and switch settings for the CQM1 LK501 I O Link Unit 2 1 Nomenclature 66 2 2 Switch Settings 66 ...

Page 86: ...unction RDY Green Lit while the CQM1H CQM1 is supplied with power RUN Green Lit when the Master is in operating mode ERR T R Red Lit when there is a transmission error Flashes during normal transmission The terminator setting switch and DIP switch are located under the terminal board The ERR T R indicator is lit only when there is an error is and will flash automati cally when the transmission ret...

Page 87: ... before the error has occurred If this pin is set to ON the value will be cleared DIP switch Output hold setting pin Word setting pins see table below Word Setting Switch Setting 3 x 24 0 0 0 0 1 1 1 1 2 x 23 0 0 1 1 0 0 1 1 1 x 22 0 1 0 1 0 1 0 1 Word allocation of Master Output Words 0 1 Words 4 5 Words 8 9 Words 12 13 Words 16 17 Words 20 21 Words 24 25 Words 28 29 Input Words 2 3 Words 6 7 Wor...

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Page 89: ...69 SECTION 3 Connections This section describes the SYSMAC BUS cable connections for the CQM1 LK501 I O Link Unit 3 1 SYSMAC BUS Cable Connections 70 ...

Page 90: ...d between Slaves the positive terminals must be connected together and the negative terminals must be connected together as shown in the above diagram The end Slave of the system must be the terminator of the system Any other Slave must not be the terminator Remote I O Master CQM1 LK501 I O LInk Unit Other Slave Terminator setting Note 1 Connect the terminals with crimp style terminals and M3 term...

Page 91: ...mission speed 187 5k bps Transmission distance 200 m max Performance Specifications Item Specification Name I O Link Unit Model CQM1 LK501 Current consumption 150 mA at 5 VDC I O delay 8 ms 64 points I O points 64 points 32 input points and 32 output points External output Operating output G6D SPST NO 2 A max Diagnostic function Transmission error check BCC inverted double transmission collation C...

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Page 93: ...73 PART IV Analog Input Unit and Analog Power Supply Units CQM1 AD041 CQM1 IPS01 CQM1 IPS02 ...

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Page 95: ...Analog Input Unit and Analog Power Supply Units 1 1 Features 76 1 1 1 Analog Input Unit 76 1 1 2 Analog Power Supply Units 76 1 2 System Configuration 77 1 3 Connecting Devices 77 1 3 1 CPU 77 1 3 2 Analog Power Supply Units 77 1 4 System Construction 78 1 4 1 Total Number of I O Words 78 1 4 2 Total Current Consumption 78 ...

Page 96: ...t word Re fer to 3 2 1 Word Allocation for details The Analog Input Unit has input signal voltage ranges of 10 to 10 V 0 to 10 V and 1 to 5V any of which can be combined freely with the CQM1 AD041 s input signal current range of 4 to 20 mA The Analog Input Unit incorporates a mean value processing function so that it outputs stable conversion data The Analog Input Unit incorporates a broken wire d...

Page 97: ...ote Power must be supplied to the Analog Input Unit from the Analog Power Supply Unit and CQM1H CQM1 otherwise the Analog Input Unit will not operate 1 3 Connecting Devices 1 3 1 CPU The Analog Input Units can be mounted to the following CPUs Name Model CQM1H series CPU CQM1H CPU11 CQM1H CPU21 CQM1H CPU51 CQM1H CPU61 CQM1 series CPU CQM1 CPU11 E CQM1 CPU21 E CQM1 CPU41 EV1 CQM1 CPU42 EV1 CQM1 CPU4...

Page 98: ... the Analog Input Unit has one or two analog inputs turn OFF pin 9 of the Ana log Input Unit s DIP switch so that the Analog Input Unit will occupy only two words 1 4 2 Total Current Consumption The following is the capacity of each available Power Supply Unit from which power is supplied to a whole system Model Capacity CQM1 PA203 5 VDC 3 6 A 18 W CQM1 PA206 CQM1 PA216 5 VDC 6 0 A 24 VDC output 0...

Page 99: ...ions This section provides the nomenclature and functions of the Analog Input Unit and Analog Power Supply Units 2 1 Nomenclature 80 2 1 1 Analog Input Unit 80 2 1 2 Analog Power Supply Unit 82 2 2 Functions 83 2 2 1 Analog Input Unit 83 ...

Page 100: ...log Input Unit are all set to OFF i e when the conversion of all inputs is prohibited BROKEN WIRE Red Lit when an broken input wire is detected in an input range of 4 to 20 mA at 1 to 5 V 2CH 4CH Orange Lit when there are four words occupied Not lit when there are two words occupied Terminal Usage Input terminal 1 Connect analog input for input 1 Input terminal 2 Connect analog input for input 2 I...

Page 101: ...ted The Analog Input Unit will occupy four words 64 points when pin 9 is set to ON The Analog Input Unit will occupy two words 32 points when pin 9 is set to OFF Set pin 10 to ON to use the average processing function of the Analog Input Unit Set pin 10 to OFF if the average processing function is not used Caution All pins must be set before mounting the Analog Input Unit to the CQM1H CQM1 An erro...

Page 102: ...the Analog Input Unit via Connector 2 of the CQM1 IPS02 Note The P S P S1 and P S2 indicators are not lit when the power supply cable is disconnected Cable Connections Connect the power supply cable of the Analog Input Unit to the power supply connector of the Analog Power Supply Unit and secure the power supply cable connector with screws The CQM1 IPS02 incorporates two power supply connectors Th...

Page 103: ...e conversion range is F800 to 07FF 2048 to 2047 in decimal 0 to 10 V If the Analog Input Unit is set to a range of 0 to 10 V with the DIP switch data between addresses 0030 and 0FD0 hexadecimal will be converted Addresses 0030 to 0FD0 hexadecimal are 48 to 4048 in decimal 0 10 Input voltage V 5 Conversion data H indicates hexadecimal 4048 0FD0H 2048 0800H 0048 0030H Approx 0 1 Approx 10 1 The conv...

Page 104: ...ue processing function enables the Analog Input Unit to convert each input value eight times average the values and store the results as digital conversion data in the input word The contents of the word are refreshed with intervals of approximately 72 ms Note By using the AVG instruction of the CPU only particular input values can be av eraged or the number of averaging operations can be changed ...

Page 105: ...es for the Analog Input Unit and Analog Power Supply Units 3 1 Settings 86 3 1 1 Wiring 86 3 1 2 Wiring Precautions 86 3 2 Bit Number Allocation 88 3 2 1 Word Allocation 88 3 2 2 Bit Allocation 88 3 3 Programming and Adjustment 89 3 3 1 Programming 89 3 3 2 Adjustment 92 ...

Page 106: ...rent Input Short circuit the V and I terminals for current input 0 V V I COM FG V FG 3 1 2 Wiring Precautions In order to prevent noise interference note the following when wiring the Analog Input Unit Do not install power lines or high tension lines along in close proximity to the Analog Input Unit s input lines When connecting an inductive load such as a relay solenoid or electromagnet valve to ...

Page 107: ...electric welding machine share a single power source or if the Analog Input Unit is operated near a machine that generates high frequency electromagnetic waves Use a twisted pair cable for the input wiring to the Analog Input Unit Following is the input circuit for the Analog Input Unit Internal circuit 1 MΩ 250 Ω 10 kΩ 1 MΩ 250 Ω 10 kΩ 1 MΩ 250 Ω 10 kΩ 1 MΩ 250 Ω 10 kΩ Analog ground When the CQM1...

Page 108: ...owing shows how the words allocated to the Analog Input Unit are used Any conversion data is stored in hexadecimal Bit Word 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 n Input 1 conversion data n 1 Input 2 conversion data n 2 Input 3 conversion data n 3 Input 4 conversion data Error Flag Bit 13 of the First Word Bit 13 of the first word functions as an error flag The error flag turns ON be com...

Page 109: ... processing function is activated If the user wants to operate the Analog Input Unit immediately after turning the Analog Input Unit on construct the following program so that the Analog Input Unit will wait until the conversion data becomes effective When the power is ON Timer 5 starts operating The Up Flag of Timer 5 turns ON 100 ms later and the conversion data of input 1 which is stored in wor...

Page 110: ... DM 0102 and the result is stored in DM 0000 Scaling is executed by subtracting 30 hexadecimal from the conversion data and multiplying the result by 1 40 0001 BCD 0028 hexadecimal so that 0030 to 0FD0 hexadecimal will correspond to 0 to 100 BCD Program Example for Scaling Conversion Data in an Input Range of 10 to 10 V into a Positive Value The SCL2 instruction processes negative values expressed...

Page 111: ...ean value processing function of the Analog Input Unit The AVG instruction makes it possible to average conversion data the number of times specified by the user per scan Caution The AVG instruction cannot handle 2 s complement If the conversion data is 2 s complement i e the Analog Input Unit is set to a range of 10 to 10 V use the AVG instruction with the following program When input 00000 turns...

Page 112: ...eripheral device such as a Programming Console to the CPU in any mode and monitor the allocated word of the analog input to be ad justed PS CPU OUT AD OUT IN AD IPS Sensor or transducer Sensing object Peripheral device 3 Obtain the minimum value of the sensing object For a sensing operation for example set the sensing object so that the output value of the sensor or transducer will be minimum For ...

Page 113: ...nd sensor or transducer 2 Connect a peripheral device such as a Programming Console to the CPU and while referring to 3 3 1 Programming create a program to convert 2 s complement PS CPU OUT AD OUT IN AD IPS Sensor or transducer Sensing object Peripheral device n indicates the allocated word for analog input Input condition ANDW 34 0FFF n DM 0200 XORW 36 0800 DM 0200 DM 0200 00000 3 Obtain the mini...

Page 114: ...nd upper limit values and designate the lower and upper limit values that has been monitored as parameters Refer to page 89 Scaling for details n indicates the allocated word for analog input ANDW 34 0FFF n DM 0200 XORW 36 0800 DM 0200 DM 0200 SCL 66 DM 0200 DM 0100 DM 0000 00000 DM 0100 DM 0101 DM 0102 DM 0103 0000 0100 Insert the conversion value corresponding to the minimum value Insert the mon...

Page 115: ...Voltage input 1 MΩ max Current input 250 Ω Resolution 1 4000 Accuracy 0 5 25 C 1 0 0 to 55 C Conversion speed 2 5 ms point see note 1 Maximum input signal Voltage input 15 V max Current input 30 mA max Insulation method Input terminals and PC signals are insulated with photocoupler see note 2 Current consumption 80 mA at 5 VDC excluding the current supplied from the Analog Power Supply Unit Weight...

Page 116: ...lag caused by the Analog Input Unit s internal filter circuit 2 5 ms x 4 words 10 ms 0 V CQM1 IPS01 Analog Power Supply Unit No of connectable Units CQM1 AD041 x 1 Current consumption 420 mA at 5 VDC Weight 145 g Dimensions 32 x 110 x 107 W x H x D mm CQM1 IPS02 Analog Power Supply Unit No of connectable Units CQM1 AD041 x 2 Current consumption 950 mA at 5 VDC Weight 180 g Dimensions 32 x 110 x 10...

Page 117: ...Appendix A Specifications 97 Dimensions Analog Input Unit 110 32 107 115 7 2 130 47 284 Analog Power Supply Unit 122 32 115 7 2 110 107 Approx 140 ...

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Page 119: ...en if the input voltage or current is changed The power cable is not connected to the Analog Power Supply Unit Connect the power cable The voltage or current input is not within the range that has been set Check the input voltage or current or the range that has been set The conversion data of the Analog Input Unit changes slowly when the input voltage or current is changed The mean value processi...

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Page 121: ...101 PART V Analog Output Unit and Analog Power Supply Units CQM1 DA021 CQM1 IPS01 CQM1 IPS02 ...

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Page 123: ...ion This section provides the features and system configuration relating to the Analog Output Unit and Analog Power Supply Units 1 1 Features of Analog Output Unit 104 1 2 System Configuration 104 1 2 1 Analog Power Supply Units 104 1 2 2 CPU 105 ...

Page 124: ...alog Output Unit can be connected to the CQM1 IPS02 Analog Power Supply Unit Two Analog Output Units cannot be connected to the CQM1 IPS02 Analog Power Supply Unit The Analog Output Unit and Analog Power Supply Unit are mounted to the CPU just like I O Units The Analog Output Unit can be mounted either on the left or right of the Analog Power Supply Unit The Analog Output Unit must be however adja...

Page 125: ... consumption at 5 VDC mA CQM1 DA021 90 mA CQM1 IPS01 420 mA CQM1 IPS02 950 mA 1 2 2 CPU The Analog Output Unit occupies two I O words Make sure that the total I O points will not exceed the I O points of the CPU The Power Supply Unit does not occupy any words System Configuration Section 1 2 ...

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Page 127: ... Nomenclature and Functions This section provides the nomenclature and functions of the Analog Output Unit 2 1 Nomenclature 108 2 1 1 Functions of Setting Pins 109 2 2 Functions 109 2 2 1 Output Characteristics 109 ...

Page 128: ...er supply cable Connect to Analog Power Supply Unit Terminal screws M3 I1 I1 V1 V1 I2 I2 V2 V2 DA021 Left Side View Indicator JT1 setting pin JT2 setting pin Power supply cable Indicator The green indicator of the Unit will be lit if the Unit starts normally Nomenclature Section 2 1 ...

Page 129: ...pull up resistor is connected to the Analog Output Unit set the setting pins to normal setting If the setting pins are set to prohibit negative voltage output the Analog Output Unit will be influenced by the synch current and no output will be ON properly 3 Do not touch any internal components other than the setting pins 2 2 Functions 2 2 1 Output Characteristics The Analog Output Unit converts da...

Page 130: ...output from the CPU is converted into a current of 0 to 20 mA and output Bits 11 to 14 of the output data have nothing to do with output current i e 0 mA is output for 0000 and 7800 hexadecimal Bit 15 must be always set to 0 If bit 15 is set to 1 the data conversion of the Analog Output Unit may take longer 15 10 9 8 7 6 5 4 3 2 1 0 MSB LSB These four bits have nothing to do with the output voltag...

Page 131: ...r the Analog Output Unit 3 1 Settings 112 3 1 1 Cable Connections 112 3 1 2 Wiring 112 3 1 3 Terminal Arrangement 114 3 2 Bit Number Allocation 114 3 2 1 Word Allocation 114 3 2 2 Bit Allocation 115 3 3 Programming and Adjustment 115 3 3 1 Programming 115 3 3 2 Precaution 118 ...

Page 132: ... ply cable of the Analog Output Unit can be connected to either one of the power supply connectors Refer to the CQM1H Operation Manual W363 or the CQM1 Operation Manu al W226 for details on connecting an Analog Output Unit and Analog Power Supply Unit Note Do not pull the power supply cable or the power supply cable may be broken or connector may be disconnected 3 1 2 Wiring Voltage Output Analog ...

Page 133: ...elded wire must be grounded on the signal reception side The negative side of each output lines are internally connected as shown in the following diagram Analog GND I1 I1 V1 V1 I2 I2 V2 V2 If the CQM1 IPS02 is connected to the Analog Output Unit and Analog Input Unit the analog GND terminal of the Analog Output Unit and that of the Analog Input Unit will be connected to each other Settings Sectio...

Page 134: ...wer supply cable Terminal screws M3 3 2 Bit Number Allocation 3 2 1 Word Allocation Output words are allocated according to the mounting order from left to right of the Units Consecutive two output words are allocated to the Analog Output Unit Word 000 Word 001 Word 100 Word 101 Word 102 Word 103 Word 104 Bit Number Allocation Section 3 2 ...

Page 135: ...am n indicates the allocated word for analog output 1 MOV 21 DM0000 n Input condition Scaling The conversion of a value in a certain range to an output voltage or current in a certain range is called scaling An example for the conversion of data using the SCL3 and APR instructions is provided below The SCL3 instruction cannot be used with the CQM1 CPU11 or CQM1 CPU21 By using the SCL3 and APR inst...

Page 136: ...00 2 0200 3 9999 2 0100 9999 FC00 5 5 V Value of DM 0000 Input data BCD 1 Output data is hexadecimal 2 By executing the STC 40 instruction instead of the CLC 41 instruction turning the carry 25504 ON and executing the SLC3 instruction the input value of the SLC3 instruction for DM 0000 will be treated as a negative value APR Instruction The following is a program example for BCD output data stored...

Page 137: ... 0000 Input data BCD Output data hexadecimal It is possible to convert data into a polygonal line as shown below Refer to the linear approximation description for ARITHMETIC PROCESS APR in Section 5 of the CQM1 CPM1 Programming Manual W228 for details It is not possible to use the APR instruction to obtain negative output 2 s com plement If required execute the APR instruction in a positive range ...

Page 138: ...user needs to select direct OUT re fresh method take the following into consideration Word n Data output Word n 1 Data output 0 5 ms Completion of output After executing an instruction it takes approximately 0 5 ms for output comple tion If a new instruction or the END instruction is executed within 0 5 ms the completion of the output of the previous instruction may delay When turning PC on or off...

Page 139: ...ltage output 1 kΩ min resistance Current output 520 Ω max including wiring impedance External output impedance Voltage output 0 5 Ω max Resolution Voltage output 1 4096 Current output 1 2048 Accuracy 0 5 25 C 1 0 0 to 55 C Conversion speed 0 5 ms 2 points Insulation method Output terminals and PC signals are insulated with photocoupler Output terminals are not insulated from each other Dimensions ...

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Page 141: ... cable is not connected to the Analog Power Supply Unit Connect the power supply cable The output voltage or current does not match the output characteristics An external device with an impedance not within the permissible range is connected Check if the impedance of the external device is within the permissible range I O Unit over The CPU has an I O Unit over error The total number of words used ...

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Page 143: ...123 PART VI Sensor Unit CQM1 SEN01 Sensor Unit CQM1 TU001 Remote Console E3X MA11 Optical Fiber Photoelectric Module E3C MA11 Photoelectric Module E2C MA11 Proximity Sensor Module E39 M11 Dummy Module ...

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Page 145: ... and system configuration relating to the Sensor Unit and dedicated sensor modules 1 1 Features 126 1 2 System Configuration 126 1 3 Connecting Devices 126 1 3 1 CPU Models 126 1 3 2 Remote Console 127 1 3 3 Sensor Modules 127 1 3 4 Applicable Sensors 127 1 4 System Construction 128 ...

Page 146: ...mming Console connected to the PC is in program mode 1 2 System Configuration The CQM1 SEN01 is a four point input unit that occupies one input word All bits other than input bits will not be used as work bits It is recommended that the CQM1 SEN01 be mounted to the left of the CQM1 OCjjj Relay Contact Output Unit but not next to the CQM1 OCjjj Relay Contact Output Unit otherwise the sensor modules...

Page 147: ...d Model Thru beam E32 T11L E32 TC200 and E32 T11 Side view thru beam E32 T14L Heat resistive thru beam E32 T51 Screen thru beam E32 T16 Reflective E32 D11L E32 DC200 and E32 D11 Side view reflective E32 D14L Heat resistive reflective E32 D51 Retroreflective E32 R21 Note The E3X MA11 can be used with a variety of sensors in addition to those listed above The E3X MA11 however cannot be used with the...

Page 148: ...as work bits Any bits connected to a dummy module is always OFF Word CPU 000 001 100 101 IN 16 points CQM1H CQM1 IN 16 points Out 16 points P S PS Power Supply Unit CPU CPU IN Input Unit and terminals OUT Output Unit SEN Sensor Unit IN 16 points Out 16 points SEN 4 points 002 003 Slot no Bit 0 1 2 3 00300 00301 00302 00303 Note Refer to 3 2 3 I O Allocation of the CQM1H Programming Manual or 3 2 A...

Page 149: ...C MA11 2 1 Nomenclature 130 2 1 Nomenclature 130 2 1 1 Sensor Unit 130 2 1 2 Remote Console 130 2 1 3 Optical Fiber Photoelectric Module 132 2 1 4 Photoelectric Module 132 2 1 5 Proximity Sensor Module 133 2 2 Switch Settings 134 2 2 1 E3X MA11 Optical Fiber Photoelectric Module E3C MA11 Photoelectric Module 134 2 2 2 E2C MA11 Proximity Sensor Module 135 ...

Page 150: ...button Mode setting selector Teaching indicator red green Operation indicator orange Stability operation indicator green Module selector CQM1 TU001 Note 1 The buzzer beeps intermittently when the flashing function refer to pages 147 and 149 of the E3X MA11 or E3C MA11 connected to the CQM1 TU001 is working in teaching mode The buzzer will stop beeping when the teaching button is pressed While teac...

Page 151: ...e I O bus of the CQM1 SEN01 is ready to retrieve signals after the CQM1 SEN01 s address is set properly with the CPU The output indicators orange are lit according to the operation of each module inserted to slots 0 to 3 of the CQM1 SEN01 Remote Console The stability operation indicator green and operation indicator orange of the CQM1 TU001 correspond to the stability operation indicator green and...

Page 152: ...een Lit during stable light ON or dark ON which can be selected with the operation mode selector Note When the mode selector is set to SET the operation indicator and stability op eration indicator are used to monitor teaching Refer to 2 2 Switch Settings for details Operation mode selector L on Light ON D on Dark ON Refer to 2 2 Switch Set tings for details Timer selector 0 ms No timer 10 ms OFF ...

Page 153: ... connection terminals Refer to 3 4 3 E2C MA11 Proximity Sensor Module for details Teaching button Mode selector SET for teaching and RUN for normal opera tion Refer to 2 2 2 E2C MA11 Proximity Sensor Module for details Operation indicator orange Stability operation indicator green Front View E2C MA11 Name Color Function OPE Orange Lit when the control output is ON STAB Green The stability operatio...

Page 154: ... Timing Charts Timer selector set to OFF 0ms Timer selector set to ON 10 ms Operation indicator orange ON OFF Control output ON OFF Light received Light not received Operation mode selector set to L S on Light ON 10 ms Operation mode selector set to L S on Light ON Operation indicator orange ON OFF Control output ON OFF Light received Light not received Operation mode selector set to D S on Dark O...

Page 155: ...C CR5B Setting Function 0 ms No timer 10 ms 10 ms Off delay timer active The following is an example of a sensor output operation chart 10 ms ON OFF ON OFF Sensing distance Approx 107 Setting distance 100 h Control output OFF delay activated Control output OFF delay deactivated Operation indicator orange Stability operation indicator green Approx 93 ON OFF ON OFF Note Set the switches on the side ...

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Page 157: ...hotoelectric Module 138 3 1 2 Connecting Sensors to the E3C MA11 138 3 1 3 Connecting Sensors to the E2C MA11 139 3 2 Mounting and Dismounting the Sensor Module 140 3 3 Connection of CQM1 TU001 Remote Console 141 3 4 Connection of a Variety of Sensors 141 3 4 1 E3X MA11 Optical Fiber Photoelectric Module 141 3 4 2 E3C MA11 Photoelectric Module 144 3 4 3 E2C MA11 Proximity Sensor Module 144 ...

Page 158: ...olumn 0 29 N S m max E32 D14L 0 98 N S m max E32 T16 0 49 N S m max E32 R21 0 59 N S m max Use a proper sized wrench 3 1 2 Connecting Sensors to the E3C MA11 Strip the vinyl insulation off all the connection cords 12 mm from the ends for the receiver and projector terminals and expose each conductor 6 mm from the end of the conductor Due to the small terminals be careful not to short the wires whe...

Page 159: ...ting Bracket for 3 5 dia screws sold separately The Y92E F5R4 for 5 4 dia screws is sold separately 7 to 11 5 mm Effects of Surrounding Metal When mounting the sensor within a metal panel ensure that the clearances giv en in the following table are maintained m l dia d D Model Dimension mm I d D m E2C CR5B 2 6 2 1 5 E2C CR8j 0 3 5 0 2 4 E2C X1A 0 5 0 3 E2C C1A 0 5 4 0 3 E2C X1R5A 0 8 0 4 5 Note Di...

Page 160: ... 15 3 2 Mounting and Dismounting the Sensor Module Mounting Mount the E3C MA11 securely to the Sensor Unit so that the fiber sensor con nector side is on the left and the indicator side is on the right Dismounting A pulling tool is provided with the Sensor Unit To dismount the E3C MA11 from the Sensor Unit hook the pulling tool onto the square hole on the right side of the E3C MA11 and pull out th...

Page 161: ...an optical fiber cable to a fiber insertion mouth of the E3X MA11 as shown in the following il lustration After inserting two optical fiber cables from the Fiber Units to the fiber insertion mouths of the E3X MA11 set the fiber lock lever to LOCK to secure the optical fiber cables Insertion mark Insert the optical fiber cables into the E3X MA11 before mounting the E3X MA11 to the Sensor Unit Note ...

Page 162: ...irmly in direc tion 2 1 2 The cutting holes cannot be used twice If the same hole is used twice the cut ting face of the fiber will be rough and the sensing distance will be reduced Always use an unused hole Use either one of the two rightmost holes to cut a thin fiber as follows 1 2 3 1 An attachment is temporarily fitted to each thin fiber before shipment Temporarily fitted 2 Secure the attachme...

Page 163: ...d the Fiber Unit with a radius smaller than the permissible radius Make all bends in the optical fiber cable at least 20 mm from all connected units Amplifier Fiber unit 20 mm max Correct Incorrect 20 mm max Do not apply excess force on Fiber Units Fiber unit Nylon wire holder Correct Incorrect Metal holder The Fiber Head could be broken by excessive vibration To prevent this the following is effe...

Page 164: ...receiver and projector terminals and expose each conductor 6 mm from the end of the conductor Due to the small terminals be careful not to short the wires when wiring 2 The length of the cable connected to the terminals of the E3C MA11 must be 10 m maximum without any extension terminals 3 4 3 E2C MA11 Proximity Sensor Module Connection 3 4 Proximity sensor E2C MA11 Prox imity Module Shield Connec...

Page 165: ...ion provides information on the operation of the CQM1 SEN01 4 1 Operation without CQM1 TU001 Remote Console 146 4 1 1 E3X MA11 Optical Fiber Photoelectric Module 146 4 1 2 E3C MA11 Photoelectric Module 147 4 1 3 E2C MA11 Proximity Sensor Module 149 ...

Page 166: ...ctor to SET 3 Press the teaching button The teaching indicator orange will be lit 4 Set the mode selector to RUN If teaching is successful the stability opera tion indicator green will be lit If teaching is unsuccessful the stability op eration indicator will flash In this case make sure that the optical fiber cable of the sensor is connected securely and then change the sensing distance that has ...

Page 167: ... adjusted to agree with each other When the axes agree the tip of the fiber for light emission will be lit If a Remote Console is connected to the Sensor Unit the buzzer of the Remote Console will beep intermittently when the flashing function starts operating The buzzer will stop beeping when the axes agree and the tip of the fiber for light emission is lit Teaching is possible by pressing the te...

Page 168: ...n of objects is not possible after teaching try teaching with a sensing object as described in the following Teaching with a sensing object is recommended if delicate sensing operation is required 1 2 3 1 Locate the sensor head in the sensing range of the sensor 2 Set the mode selector to SET When using a thru beam fiber sensor adjust the optical axis using the flashing function of the thru beam f...

Page 169: ...eception 90 of the peak value Lit in this range Angle of the head θ Flashing Lit Flashing Indicator Sensor head for light emission Sensor head for light reception 4 1 3 E2C MA11 Proximity Sensor Module Be sure to perform teaching before using the E2C MA11 Proximity Sensor Module Sensitivity Adjustment There are three sensitivity adjustment methods Choose the most ideal method according to the appl...

Page 170: ... turn from orange to green É É É É ȏ2 Desired output at ȏ2 ON 5 Set the mode selector to RUN to complete the sensitivity setting on the E3X MA11 The ON point will be set midway between the points set in steps 3 and 4 If teaching is unsuccessful the teaching indicator orange will flash in which case check that the sensor cable is connected change the position of the object and the sensing distance ...

Page 171: ...ete the sensitivity setting on the E3X MA11 If teaching is unsuccessful the teaching indicator orange will flash in which case make sure that the sensor cable is connected change the position of the object and the sensing distance that have been set and re peat from step 3 ON point ȏ Note Teach within the stable sensing range Although indicators may indicate that teaching is OK even outside of thi...

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Page 173: ...n provides information on the operation of the CQM1 TU001 Remote Console 5 1 Mode Setting 154 5 2 Sensitivity Adjustment 154 5 2 1 E3X MA11 Optical Fiber Photoelectric Module E3C MA11 Photoelectric Module 154 5 2 2 E2C MA11 Proximity Sensor Module 155 ...

Page 174: ...from green 5 Set the mode selector to RUN to complete the maximum sensitivity setting of the E3X MA11 Note The maximum sensitivity of the Sensor Unit can be automatically set regardless of the set distance or light reception Teaching without a Sensing Object Only for Diffusive Reflective Sensor 1 2 3 1 Place the sensor head in the sensing range of the sensor 2 Connect the CQM1 TU001 to the CQM1 SE...

Page 175: ... the sensor module on which teach ing will be performed 4 Set the mode setting selector of the CQM1 TU001 to SET 5 Press the teaching button The teaching indicator red will be lit 6 Set the mode selector to RUN to complete the sensitivity setting on the E2C MA11 If teaching is unsuccessful the teaching indicator will flash In this case make sure that the optical fiber cable of the sensor is connec...

Page 176: ... ON the output and press the teaching button If teaching is successful the teaching indicator will turn from red to green 7 Do not move the sensing object and press the teaching button a third time If teaching is successful the teaching indicator will turn from green to orange 8 Set the mode selector to RUN to complete the sensitivity setting on the E3X MA11 If teaching is unsuccessful the teachin...

Page 177: ...ating Enclosed mounting Dimension mm 32 110 120 W H D Weight 160 g Module excluded Display READY green output orange CQM1 TU001 Remote Console Item Specification Cable length 3 m Power supply voltage 5 VDC supplied from Sensor Unit Current consumption 60 mA max Ambient temperature Operating 0 to 55 C Storage 20 to 75 C Operating ambient humidity 10 to 90 with no condensation Enclosure rating Enclo...

Page 178: ... 7 mm 0 16 to 1 2 mm 0 2 to 1 5 mm 0 3 to 2 mm Temperature influence 25 max of sensing distance at 23 C between 0 and 55 C 10 max of sensing distance at 23 C between 0 and 55 C Differential travel 15 max of rated sensing distance 10 max of rated sensing distance Response delay Refer to the response frequency for the proximity sensor Output type NO ON when sensing object detected Timer functions Of...

Page 179: ...M1 SEN01 Sensor Unit 110 3 3 32 120 35 4 4 5 8 5 7 CQM1 TU001 Remote Console 16 5 52 9 145 15 3 000 42 40 10 2 dia 12 dia Module selector Stability opera tion indicator Operation indicator Teaching indicator Mode setting selector Teaching button ...

Page 180: ...selector Timer selector 2 1 E3C MA11 Photoelectric Module Operation indicator 28 1 26 5 17 8 60 2 1 Four M2 6 x 6 Stability operation indicator Teaching button Mode setting selector Timer selector Operation mode selector E2C MA11 Proximity Sensor Module Operation indicator 28 1 26 5 17 8 60 2 1 Four M2 6 x 6 Stability operation indicator Teaching button Mode setting selector Timer selector Code le...

Page 181: ... object 300 mm 1 5 dia mm min non trans parent object 1 000 mm see note 2 view 10 mm wide 10 dia mm min non transparent object Minimum sensing object non trans parent object 0 2 dia mm 0 3 dia mm 0 4 dia mm 0 2 dia mm see note 2 Ambient operating temperature 40 to 70 C with no icing 40 to 150 C with no icing see note 3 40 to 70 C with no icing Ambient operating humidity 35 to 85 Permissible bend i...

Page 182: ... dia mm min non transparent object Black paper 50 mm 20 20 cm 20 mm 10 10 cm 15 mm 10 10 cm 8 mm 5 5 cm 12 mm 10 10 cm Minimum sensing object pure copper wire 0 015 dia mm 0 03 dia mm 0 6 dia mm Differential distance 20 max of the sensing distance Ambient operating temperature 40 to 70 C with no icing 40 to 150 C with no icing see note 40 to 70 C with no icing Ambient operating humidity 35 to 85 P...

Page 183: ... Y and Z directions for 2 hours each 10 to 55 Hz 1 5 mm double amplitude in X Y and Z directions for 2 hours each Shock resistance 500 m s2 3 times each in X Y and Z directions Enclosure rating IEC IP64 drip proof IEC IP66 water resistive IEC IP50 IEC IP64 drip proof Item Reflective model for mark detection E3C VS1G E3C VS3R E3C VM35R E3C VS7R Sensing distance 1 0 2 cm 3 0 5 cm 3 5 0 5 cm 7 1 0 cm...

Page 184: ... model E3C DS10 E3C VS1G E3C VS3R E3C LS3R Shielded parallel cable with vinyl insulation 2 4 4 3 Internal sheath Sheath Polyethylene Conductor Shield 12 strand wire 0 18 dia If the shielded parallel cable with vinyl insulation is not available use two single conductor shielded vinyl cables Reflective model E3C DS5W E3C VS7R E3C VM35R Shielded parallel cable with vinyl insulation 7 strand wire 0 18...

Page 185: ...ature influence 25 max of sensing distance between 10 and 55 C tested at 23 C 15 max of sensing distance between 25 and 70 C tested at 23 C Vibration resistance Destruction 10 to 55 Hz 1 5 mm double amplitude for 2 hrs each in X and Y directions Shock resistance Destruction 500 m s2 3 times each in X and Y directions Enclosure rating IEC IP64 IEC IP67 Cable length see note 2 3 m shielded cable 3 m...

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Page 187: ...167 PART VII Linear Sensor Interface Units CQM1 LSE01 CQM1 LSE02 ...

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Page 189: ...169 SECTION 1 Features and System Configuration This section provides the features and system configuration relating to the Linear Sensor Interface Unit 1 1 Features 170 1 2 System Configuration 170 ...

Page 190: ...ion enables the Linear Sensor Interface Unit to use actual input as scaling and comparison set values thus ensuring the easy adjust ment The zero point measurement standard point can be forced which allows rel ative object measurement A ladder program can be used to enable the CQM1 LSE02 to have voltage out put The ladder program used with the CQM1 LSE02 enables the output volt age to correspond t...

Page 191: ...utput word Words are allocated in left to right order to the CQM1H CQM1 series Dedicated I O Units mounted to the PC For example if an Input Unit that occupies one word an Output Unit that occupies two words and the CQM1 LSE01 LSE02 are mounted to the PC and if the Input Unit and Output Unit are located to the left of the CQM1 LSE01 LSE02 the input and output word numbers of the CQM1 LSE01 LSE02 w...

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Page 193: ...tion of the scaling timing hold data input teaching forced zero and monitor output func tions 2 1 Scaling 174 2 2 Timing Hold 175 2 3 Scaled Conversion Data Comparison Result 178 2 4 Teaching 178 2 5 Forced Zero Zero shift 179 2 6 Voltage Monitor Output 180 ...

Page 194: ...ta corresponding to input data X2 Scaled conversion data Input As shown in the above graph it is possible to obtain scaled conversion data Y corresponding to input data X Example for Measuring Lengths Using a Sensor with an Input of 4 to 20 mA If the output of the sensor is 4 mA when the length of the object sensed by the sensor is 10 centimeters and the output of the sensor is 15 mA when the leng...

Page 195: ... of input values that are input from the linear sensor computes them and then holds the computed values Any of the following timing hold types can be selected for the Unit Normal Sampling hold Maximum hold Minimum hold Peak to peak hold Normal If the timing hold is set to normal the TIMING input is not effective and the Unit continues sampling The reset input is not effective Sampling Hold If the ...

Page 196: ...he moment the Unit is turned ON until the first timing input is turned ON and OFF From the moment the reset input is turned ON until the timing input is ON and OFF for the first time after the reset input is turned OFF TIMING input Reset input Power on Input Sensing section Scaled conver sion data Minimum Hold If the timing hold mode is set to minimum hold the Unit continues data sampling while th...

Page 197: ...ult flags of the input word are turned ON or OFF according to the comparison result processed by the Unit The Unit stops data sampling during the following periods The scaled conver sion data is BBBB From the moment the Unit is turned ON until the first timing input is turned ON and OFF From the moment the reset input is turned ON until the timing input is ON and OFF for the first time after the r...

Page 198: ...nput word will be ON if the present scaled conversion data equals or is less than the L set value LL The LL bit of the input word will be ON if the present scaled conversion data equals or is less than the LL set value The PASS bit of the input word will be ON in other cases If the Unit is in normal hold mode the hysteresis of the present scaled conver sion data will be effective when any of the a...

Page 199: ...t object is being measured If the same command is executed while the largest object is being measured the highest set value HH can be set Smallest object Sensor input Adjustment value Actual size LL set value 2 5 Forced Zero Zero shift The forced zero function enables the Unit to shift the scaled conversion data to 0 to calibrate which allows relative object measurement with ease The forced zero s...

Page 200: ...have voltage output corresponding to the signed binary data stored in the output word of the CQM1 LSE02 by easy use of the ladder program The signed binary data range of the CQM1 LSE02 is from 9999 D8F1 to 9999 270F and the voltage output range of the CQM1 LSE02 corresponding to the signed binary data range is from 9 999 to 9 999 V If the signed binary data out of the range is stored in the output...

Page 201: ...181 SECTION 3 Nomenclature and Functions This section provides the nomenclature and terminal and indicator functions of the Linear Sensor Interface Unit 3 1 Nomenclature 182 3 2 Terminals 183 ...

Page 202: ...tioning occurs BROKEN WIRE Red Lit when 1 to 5 V or 4 to 20 mA input to the Unit is disconnected This indicator cannot be used to detect the disconnection of 9 999 or 5 V input TIMING GATE Orange Lit when TIMING or GATE input to the Unit is ON ZERO Orange Lit when the forced zero function is effective Side View Slide lock Cover Terminals Slide lock Indicators Nomenclature Section 3 1 ...

Page 203: ...t timing input is turned ON If the timing hold is set to maximum hold minimum hold or peak to peak hold the Unit will be in data sampling operation while timing input is ON This terminal is not used by if the timing hold is set to normal RES Reset input terminal When reset input is turned ON the Unit will no longer be in HOLD mode This terminal is used if the Unit is set to any timing hold other t...

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Page 205: ...185 SECTION 4 Connections This section describes the connections of the Linear Sensor Interface Unit 4 1 Mounting and Wiring 186 ...

Page 206: ... from the Unit After the terminals are wired make sure that the terminal block is properly con nected to the Unit Connection Terminals Connect each input line to the terminal using a solderless terminal Do not tighten any screw of the terminals to a torque exceeding 0 5 N m Use either of the following types of M3 solderless terminals for the input lines connecting to the terminals 6 2 mm max 6 2 m...

Page 207: ...tion describes the basic operation of the Linear Sensor Interface Unit using the Programming Console 5 1 Operating Method 188 5 2 Programming Console Operation 189 5 3 Operation Mode 190 5 4 Scaling 192 5 5 Comparison 194 5 6 Monitoring 196 ...

Page 208: ...adder program to retrieve the input word data for monitoring The input word data is the scaled conversion data if the Unit is in measurement mode The input word data is a comparison result if the Unit is in comparison mode Note The scaling values and zero shift value will be reset to the factory set values if the input type is changed with the operation mode A set command Be sure to set the scalin...

Page 209: ...screen of the Programming Console When measured mode is selected for data input the present binary coded scaled conversion data will appear under the input word display 1 2 3 1 The input word word 001 in this example will be displayed SHIFT CH A 0 A 0 B 1 MONTR c001 0000 2 The output word word 100 in this example will be displayed SHIFT CH B 1 A 0 A 0 MONTR c100 c001 0000 0000 Output word Input wo...

Page 210: ...ata monitor mode the Unit outputs the voltage corre sponding to the scaled conversion data In the set data D A output mode the monitor output terminal has voltage output corresponding to the data which is written to the output word allocated to the Unit The scaled conversion data monitor mode is the factory setting It is possible to select any of the following three items for the Unit with the ope...

Page 211: ... A set command Operation 1 2 3 1 The input word reads 1254 which is the present scaled conversion data and the output word reads 0000 c100 c001 0000 1254 Output word Input word 2 Set the command code C1000 to the output word to in order to set the opera tion mode A To input the letter C with the Programming Console press the Shift and 2 Keys The input word will be set to the response C000 CHG SHIF...

Page 212: ...ult Values The following are the factory set scaling values X1 0 X2 1000 Y1 0 Y2 1000 Input value Display data Therefore if the Unit is operated with the factory set scaling values with an input range from 4 to 20 mA an input of 4 mA will be regarded as 400 and an input of 20 mA will be regarded as 2000 When the input type is 1 to 5 V an input of 1 V will be 1000 and that of 5V will be 5000 When t...

Page 213: ...aled to binary data of 0 to 1000 and then converted into percentage data to the first decimal place In this example the factory set operation mode and scaling values have been set Operation 1 2 3 1 The input word reads 1254 which is the present scaled conversion data and the output word reads 0000 c100 c001 0000 1254 Output word Input word 2 Set the command code C400 for the X1 value To input the ...

Page 214: ...ng methods of the set values and hysteresis to compare the present scaled conversion data and the set values are explained below The preset set values and hysteresis are effective only when the Unit is set to comparison mode The hysteresis is however available only if the timing hold is set to normal Use the operation mode A set command to change the timing hold Refer to 6 2 Set Value Teaching for...

Page 215: ...he scaled conversion data is as follows L x 0000 PASS 0001 to 1999 H y 2000 Operation 1 2 3 1 The input word reads 1254 which is the present scaled conversion data and the output word reads 0000 c100 c001 0000 1254 Output word Input word 2 Input the set value set command code C710 for the L set value To input the letter C with the Programming Console press the Shift and 2 Keys The input word will ...

Page 216: ...conversion data or compari son result by using a ladder program set the mode select switch on the Pro gramming Console to the OPERATION MODE and then retrieve the input word data Measurement Mode The input word in measurement mode will be a binary coded scaled conversion data For example when the factory set scaling values are used the input word will be set to 270F for 9999 and D8F1 2 s complemen...

Page 217: ... data L set value hysteresis LL Scaled conversion data x LL set value Scaled conversion data LL set value hysteresis PASS HH H L and LL set values turned OFF HH H L or LL set values turned ON If the Unit receiving 1 to 5 V or 4 to 20 mA input detects sensor disconnection the Sensor Disconnection Flag will be ON and all the Comparison Result Flags will be OFF If input to the Unit is not within the ...

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Page 219: ...s section describes the applied operation of the Linear Sensor Interface Unit using the Programming Console 6 1 Scaling Value Teaching 200 6 2 Set Value Teaching 201 6 3 Forced zero Shift 202 6 4 BCD Value Read 203 6 5 Monitor Output 203 ...

Page 220: ...nt for the largest object Operation For the Smallest Object 1 2 3 1 Adjust the X1 value with the smallest object using the teaching function The input word reads 0002 which is the scaled conversion data of the smallest object measured with the Unit and the output word reads 0000 c100 c001 0000 0002 Output word Input word 2 Set the scaling value teach command code C500 for the X1 value to the out p...

Page 221: ...L Set Value C810 H Set Value C820 HH Set Value C830 Setting Example In this example the timing hold is set to normal and the L or H set value is ad justed using the teach function The L set value is used for the smallest object of all the objects measured by the Unit and the H set value is used for the largest object of all the objects The Unit is set to measurement mode so that the Unit will disp...

Page 222: ...ted to zero and stored as binary data in the input word or the comparison result flags of the input word are turned ON or OFF according to the comparison result processed by the Unit After the above processing the sampling is performed with side A treated as the reference side As the object moves the Unit measures side B of the object and the scaled conversion data indicates the difference between...

Page 223: ... data 5 While CC00 is set to the output word the A000 or A00F and the present scaled conversion data will be repeatedly displayed alternately at approxi mately 0 5 s intervals 6 Set 0000 to the output word again to cancel reading the present scaled con version data in binary CHG A 0 A 0 A 0 A 0 WRITE c100 c001 0000 0078 6 5 Monitor Output The CQM1 LSE02 has a monitor output function The CQM1 LSE02...

Page 224: ...erminal If the signed binary data of the CQM1 LSE02 output word is the same as or larger than 2710 10000 9 999 V will be output from the monitor output terminal Note When obtaining the value to be set to the output word through calculation using the ladder program be careful not to use the computed result of C000 to CFFF Even when the Unit is used in the set data D A output mode if C000 to CFFF is...

Page 225: ...Responses 208 7 3 1 Operation Mode A Set 208 7 3 2 Operation Mode A Read 209 7 3 3 Operation Mode B Set 210 7 3 4 Operation Mode B Read 211 7 3 5 Scaling Value Set 212 7 3 6 Scaling Value Teach 213 7 3 7 Scaling Value Read 213 7 3 8 Set Value Set 214 7 3 9 Set Value Teach 214 7 3 10 Set Value Read 215 7 3 11 Hysteresis Set 215 7 3 12 Hysteresis Read 216 7 3 13 Present Value Read 216 ...

Page 226: ...ponse for the command If the command code is incorrect an error code will be set to the input word 2 After confirming that the response sent back to the input word is correct set 0000 to the output word 3 The scaled conversion data or comparison result will stored in the input word Read Commands Operation Mode A Read Operation Mode B Read Hysteresis Read Set value Output word Input word Command Co...

Page 227: ...nput word is correct set 0000 to the output word The scaled conversion data or comparison result will stored in the input word Scaling Value Read Set Value Read Hysteresis Read Sign of set value 1 2 3 Set value Sign of set value Set value Output word Input word Command Command code Response 2 1 2 3 1 Set the command code to the output word The Unit will check the command code If the command code i...

Page 228: ... A set C000 Used to set operation mode A 208 Operation mode A read C100 Used to read the settings of operation mode A 209 Operation mode B set C200 Used to set operation mode B 210 Operation mode B read C300 Used to read the settings of operation mode B 211 Scaling value set C4 Used to set a scaling value 212 Scaling value teach C5 0 Used to execute scaling value teaching 213 Scaling value read C6...

Page 229: ... is set to the output word the same command code or parameter will be set to the input word If the wrong command code or parameter is set to the output word one of the following error codes will be set to the input word E000 This error code will be set to the input word if a nonexisting command code is used E001 This error code will be set to the input word if the parameter is not within the range...

Page 230: ...k to peak hold Data input 0 Unchanged 1 Measurement mode 2 Comparison mode If the wrong command code is set to the output word the following error code will be set to the input word E000 This error code will be set to the input word if a nonexisting command code is used 7 3 3 Operation Mode B Set This command is used to set the following Input sampling speed Number of mean value processings Zero s...

Page 231: ...word as a response If the wrong command code or parameter is set to the output word one of the following error codes will be set to the input word E000 This error code will be set to the input word if a nonexisting command code is used E001 This error code will be set to the input word if the parameter is not within the range covered by the Unit 7 3 4 Operation Mode B Read This command is used to ...

Page 232: ...2 Y1 or Y2 scaling value If the input type data is changed the scaling value will be set to the factory set scaling value The set data will be stored in the nonvolatile memory and will not be lost after the Unit is turned OFF Command Command Code Sign 0 Positive F Negative Scaling value 0 X1 1 X2 2 Y1 3 Y2 Parameter Value Range 0 to 9999 Factory set values X1 0 X2 1000 Y1 0 and Y2 1000 Response If...

Page 233: ...rror code will be set to the input word if a nonexisting command code is used E002 Teaching command execution error E003 This error code will be set to the input word if the mode designation for this command is not correct 7 3 7 Scaling Value Read This command is used to read a scaling value Command Command Code Scaling value 0 X1 1 X2 2 Y1 3 Y2 Parameter Parameters are not used with this command ...

Page 234: ...is set to the output word the same command code or parameter will be set to the input word If the wrong command code or parameter is set to the output word one of the following error codes will be set to the input word E000 This error code will be set to the input word if a nonexisting command code is used E001 This error code will be set to the input word if the parameter is not within the range ...

Page 235: ...et to the correct command code the sign of the set value and the set value will be set to the input word alternately in the following format Sign 0 Positive F Negative Value Range 0 to 9999 If the output word is set to the wrong command code the following error codes will be set to the input word E000 This error code will be set to the input word if a nonexisting command code is used 7 3 11 Hyster...

Page 236: ...mand code or parameter is set to the output word the same command code or parameter will be set to the input word Range 0001 to 0999 Default value 0001 If the wrong command code or parameter is set to the output word one of the following error codes will be set to the input word E000 This error code will be set to the input word if a nonexisting command code is used 7 3 13 Present Value Read This ...

Page 237: ...following error codes will be set to the input word E000 This error code will be set to the input word if a nonexisting command code is used E003 This error code will be set to the input word if the mode designation for this command is not correct Commands and Responses Section 7 3 ...

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Page 239: ...ng speed set to slow Sampling period 1 ms with input sampling speed set to fast and 2 ms with input sampling speed set to slow Operation processing time 5 ms External control input TIMING GATE ZERO ZERO RESET RESET No of occupied words 1 input word and 1 output word Moni Voltage output 9 999 V to 9 999 V tor Output linearity 0 1 FS output Output resolution 1 8192 Output refresh period 0 5 s Output...

Page 240: ...ING GATE 16 3 VDC min Other control output 17 1 VDC min OFF voltage TIMING GATE 3 8 VDC max Other control output 3 6 VDC max ON OFF response time see note TIMING GATE 50 µs TYP Other control output 4 ms TYP Circuit configuration Internal circuitry Figures in parentheses are values for TIMING input and GATE input 24 VDC 820 Ω 1 2 kΩ 2 2 Ω 2 kΩ Note The ON OFF response time is the time required for ...

Page 241: ...on circuit Control input circuit Digital analog output circuit Indicator circuit Micro computer Bus interface circuit Nonvola tile memory CQM1H CQM1 internal bus Input and analog digital conversion circuits Digital Analog output circuit Voltage stabi lizing circuit Voltage stabi lizing circuit Power supply circuit Internal circuit Internal power supply ...

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Page 243: ...s the following two sampling periods Fast 1 ms with 0 3 ms sampling time Slow 2 ms with 0 6 ms sampling time The necessity of the sampling hold process depends on the timing hold Sampling Example The following are typical sampling timing examples Example 1 Timing Hold Normal No of Mean Value Processings 1 Input Sampling Speed Fast Example 2 Timing Hold Sampling hold No of Mean Value Processings 4 ...

Page 244: ...lel The timing signal can connect with the TIMING GATE terminal and the input word of the CPU in parallel as shown in the following illustration to synchronize the operation of the CPU and the sampling timing of the Unit CQM1 LSE01 LSE02 CPU Timing signal The Unit requires time to process input and to set data to its input word corresponding to the input The actual data reading timing must be late...

Page 245: ... or sampling hold timing input to the Unit will work as gate input in which case reset input to the Unit will work as follows 1 2 3 1 If timing input is turned OFF while reset input is ON the present scaled conversion data will not be effective and BBBB will be read as the present scaled conversion data 2 The Unit will sample and process input from the moment reset input is turned OFF to the momen...

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Page 247: ...ires of the sensor connected to the Unit are broken short circuited or incorrectly connected to the Unit Overflow Word status Possible cause and remedy B000 measurement mode Bit 14 1 comparison mode Set all the set values within the permissible ranges of the Unit Command Error Word status Possible cause and remedy E000 A nonexisting command code was used Check the command description E001 Paramete...

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Page 249: ...229 PART VIII Temperature Control Units CQM1 TC001 CQM1 TC002 CQM1 TC101 CQM1 TC102 CQM1 TC201 CQM1 TC202 CQM1 TC301 CQM1 TC302 CQM1 TC203 CQM1 TC204 CQM1 TC303 CQM1 TC304 ...

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Page 251: ...231 SECTION 1 Temperature Control Unit Model Numbers This section lists the Temperature Control Unit model numbers and the basic specifications for each Unit ...

Page 252: ...ut word 002 Thermocouple input K J PNP output 101 Platinum resistance thermometer Pt100 JPt100 NPN output 101 Platinum resistance thermometer Pt100 JPt100 PNP output 201 Thermocouple input K J T L R S B NPN output 202 Thermocouple input K J T L R S B PNP output 301 Platinum resistance thermometer Pt100 JPt100 NPN output 302 Platinum resistance thermometer Pt100 JPt100 PNP output 203 Thermocouple i...

Page 253: ... 2 1 1 Features 234 2 1 2 Word Allocations 234 2 2 Specifications 235 2 3 Nomenclature 238 2 4 Terminology and Function Descriptions 242 2 5 Wiring 243 2 6 Application 245 2 6 1 Communications Procedure 245 2 6 2 Using Operation Control Commands 249 2 7 IOTC 251 2 7 1 Sending I O Allocation Commands 252 2 7 2 Sending Operation Control Commands 253 2 8 Troubleshooting 259 2 9 Command Tables 260 ...

Page 254: ...es See note Platinum resistance thermometers K CA K CA J IC J IC T CC L L R S B Pt100 JPt100 Pt100 JPt100 Termperature range degrees C 1800 1600 1300 800 600 400 300 200 100 0 100 200 1300 200 500 0 0 0 850 100 400 0 0 0 400 0 200 0 850 100 400 0 0 0 1700 0 1700 0 1800 100 650 0 200 0 650 0 200 0 250 0 20 0 250 0 20 0 Do not set Code No 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 to 9 Min unit 1 C 0 1 C 1 C 0 1...

Page 255: ... the cold junction compensator on the terminal block See note 2 0 1 C Ranges Process value 0 3 or 0 8 C whichever is larger 1 digit max 0 1 F Ranges Process value 0 3 or 1 6 F whichever is larger 1 digit max See note 1 0 01 C Ranges Process value 0 3 or 0 5 C whichever is larger 1 digit max Hysteresis adjustment 0 1 to 999 9 C F 0 1 C F unit Proportional band 0 1 to 999 9 C F 0 1 C F unit Derivati...

Page 256: ...rnout alarm output will turn ON if the alarm is set to 50 0 A 2 If the control output is ON for less than 200 ms heater burnout will not be detected and the heater current will not be measured Current Detector CT Ratings Item E54 CT1 E54 CT3 Continuous maximum heater current 50 A Range for accurate measurement 0 to 30 A 0 to 50 A Withstand voltage 1 000 VAC Shock resistance 50 Hz Approx 10 G Hole ...

Page 257: ...237 Current Detector Sold Separately E54 CT1 E54 CT3 5 8 dia Two 3 5 dia holes 2 36 dia 12 dia Two M3 depth 4 Unit mm 40 9 30 21 15 2 8 30 40 30 40 10 5 3 10 25 7 5 Specifications Section 2 2 ...

Page 258: ...ge lit when control output is ON Two loop Models OUT1 and OUT2 indicators orange lit when control output is ON HB1 and HB2 indicators red lit when a heater burnout has been detected Terminal screws M3 Side View Function DIP switch SW1 Cover Loops 1 and 3 Slide lock Terminals Slide lock Input type DIP switch SW2 ON OFF ON OFF Loops 2 and 4 Nomenclature Section 2 3 ...

Page 259: ...s 5 to 8 Thermocouple type and range setting for loops 2 and 4 Pins 1 to 4 Thermocouple type and range setting for loops 1 and 3 ON OFF Code Input type Setting No Units for thermocouples j Units for platinum resistance j Loops 1 and 3 Loops 2 and 4 CQM1 TC20j thermometers CQM1 TC30j 1 2 3 4 5 6 7 8 0 K 200 to 1 300 C Pt100 200 0 to 650 0 C f f f f f f f f 1 K 0 0 to 500 0 C JPt100 200 0 to 650 0 C...

Page 260: ...o 1800 100 to 1800 012C to 0C80 300 to 3200 0300 to 3200 300 to 3200 The setting ranges are shown in the following table Indication ranges are the setting range 20 C F See note 1 Code Input C F No type Binary 4 digit Hex BCD Binary 4 digit Hex BCD 0 Pt100 F830 to FFFF to 1964 200 0 to 0 1 to 650 0 F999 to 6500 See note 2 99 9 to 650 0 F448 to FFFF to 2EE0 300 0 to 1 to 1200 0 F999 to 9999 See note...

Page 261: ...f the setting range is exceeded The decimal points will be adjusted if the range is changed to another range with a different number of decimal places Example If pin 1 on SW2 is turned ON the K thermocouple range will be changed from 200 to 1 300 C to 0 0 to 500 0 C If a set point was pre viously 200 C it will be changed to 20 0 C Nomenclature Section 2 3 ...

Page 262: ... be detected The heater burnout alarm output will turn ON regardless of RUN STOP status This setting can be used to check wiring Heater Current If the heater current reaches 55 0 A or higher a CT input error will occur and E500 will be output if the heater current is being monitored The current at which a heater burnout will be detected is calculated as follows Set value Normal current current aft...

Page 263: ...set in the output word autotuning will be executed again as soon as it is com pleted 2 5 Wiring Wiring Units for Thermocouples CQM1 TC201 4 loops NPN outputs CQM1 TC202 4 loops PNP outputs CQM1 TC203 2 loops heater burnout alarm NPN outputs CQM1 TC204 2 loops heater burnout alarm PNP outputs Loop 2 Cold junction compensator Loop 4 Output 2 Output 4 24 VDC from external power supply Output 1 Output...

Page 264: ...internally connected The 0V terminals for NPN outputs are internally connected Use M3 crimp connectors and tighten terminal screws to a torque of 0 3 to 0 5 N m 6 2 mm max 6 2 mm max Control output Heater AC power Connect to CT input terminals on the Temperature Control Unit no polarity Heater wire Current Detector E54 CT1 CT3 CT Output Interface Maximum switching capability 100 mA 24 VDC 10 15 Le...

Page 265: ... tor data and read data Note No commands are set at startup Output word Input word Power ON Initialization Read data Initialization completed FFFF 0000 Cjjj Cjjj Write data 60 ms max 60 ms max 1 2 3 4 1 2 3 1 Output word An I O allocation command Cjjj is set to specify the loop and the items to be set and monitored 2 Input word The I O allocation command set in the output word will be set by the s...

Page 266: ...iable 9 Do not set 9 Status A Heater burnout alarm setting only for models with heater burnout alarms A Heater burnout alarm setting only for models with heater burnout alarms B Do not set B Heater current only for models with heater burnout alarms Note 1 A setting error will be indicated by outputting EE01 to the input word if any values other than those listed above are specified Reset the conte...

Page 267: ...in RAM Process value Depends on input type Depends on input type C F Manipulated variable See note 6 0000 to 03E8 0 0 to 100 0 0000 to 1000 0 0 to 100 0 Heater current 0000 to 0226 0 0 to 55 0 F500 55 0 min 0000 to 0550 0 0 to 55 0 E500 55 0 min A Note 1 A setting error will be indicated by outputting EE01 to the input word if any values other than those listed above are specified The setting will...

Page 268: ...op Manual auto status of specified loop 0 Auto 1 Manual 0 RUN 1 STOP Units with Two Loops and Heater Burnout alarms Heater burnout alarm output CT input error 0 OFF 1 ON 0 Normal 1 Error Input word Loop number Control output Autotuning Sensor error 0 OFF 1 ON 0 Normal 1 Autotuning 0 Normal 1 Error RUN STOP status of specified loop Manual auto status of specified loop 0 Auto 1 Manual 0 RUN 1 STOP N...

Page 269: ...A RUN Auto Mode CDCj j 1 to 4 or A Manual Mode See note 4 Not valid during CDDj j 1 to 4 or A Auto Mode autotuning CFCj j 1 to 4 or A Autotuning See note 5 PID control Not valid during Manual Mode or STOP CFDj j 1 to 4 or A Cancel autotuning PID control CEEA See note 6 Writing set point to EEPROM Always Note 1 The Unit will start in Auto Mode in STOP status when power is turned ON Auto Manual Func...

Page 270: ...ing command change the command code to an I O allocation command other than one to set PID pa rameters e g a read only command C7jj If the autotuning command is left in the output word autotuning will be re peated as soon as it has been completed After the autotuning command has been acknowledged the setting for the I O allocation command just prior to the operation control command will be valid f...

Page 271: ...ten to the input word indicating that the write operation has been completed c100 c001 0100 0025 Note If the contents of IR 100 are left unchanged the process value in IR 001 will be updated every 500 ms The following procedure would be used to switch to RUN status for all loops 1 2 3 1 Start by monitoring IR 001 and IR 1000 on the Programming Console c100 c001 0000 0000 c100 c001 0000 0000 2 Writ...

Page 272: ...fy the address of the output word allocated to the Unit Specify the address of the input word allocated to the Unit Used by the system software in the CPU Unit Setting 0001 to 0099 C C Read data 0 Read data 1 Read data n 1 Read data 3 Read data 2 S D Note 1 Do not execute a macro instruction for the same Unit until execution of any previously executed macro instructions has been completed Data may...

Page 273: ...als Flag ON when all commands have been acknowledged If a setting range error EE01 occurs for an item being set or a timeout error E900 occurs for an I O allocation command the settings will not be written Be sure to check the read data to confirm execution Note Operation control commands can be set along with I O allocation commands If an operation control command is set set the same write data f...

Page 274: ... EM 6143 Note If there are errors in the operand or word address specifications the ER Flag will turn ON and the instruction will not be executed Flags SR 25503 ER Flag ON for error in operands or word addresses ON if the a memory area boundary is exceeded SR 25506 Equals Flag ON when command has been acknowledged Sample Program 1 The IOTC instruction can be used with a CQM1H CPU Unit with a lot n...

Page 275: ... Set point DM 0101 5 Control period Word Monitor D DM 0200 Process value DM 0201 Status DM 0007 0100 DM 0008 0001 DM 0009 0000 DM 0010 0000 Command Meaning S Word Response D CCD2 Loop 2 ON CFC2 Loop 2 AT CCDA All loops ON 2 1 2 2 2 3 DM 0202 RUN DM 0203 AT DM 0204 RUN DM 0011 0100 DM 0012 0001 DM 0013 0000 DM 0014 0000 DM 0015 0004 DM 0016 C771 DM 0017 C772 Word Setting S Word Monitor D DM 0018 C7...

Page 276: ...allocation commands sent Writing set point and control cycle Normal end to I O allocation commands Macro instruction error occurred Com mands must be repeated after debugging Checking write parameters Leftmost 4 bits in IR001 will be 1110 E if an error has occurred and IR 01701 will be turned ON RUN start for loop 2 RUN acknowledged Macro instruction error Loop 2 autotuning started AT command ackn...

Page 277: ...or used in pro gramming Input word IR 001 Output word IR 100 Loop 1 process value DM 0010 Startup error check IR 01700 SET 01600 CMP 20 FFFF 001 ASL 25 016 01700 25315 01600 25506 01601 00115 00114 00112 00113 MOV 21 C071 100 01601 CMP 20 C071 001 ASL 25 016 25506 Command reception checked Always confirm reception be fore writing set value Command acknowledged Power ON and Unit initialization chec...

Page 278: ...D1 100 01603 CMP 20 CCD1 001 ASL 25 016 25506 Operation control command RUN written when set point has been set correctly RUN reception checked RUN acknowledged 01701 MOV 21 1000 100 01604 CMP 20 CCD1 001 ASL 25 016 25506 Same set value as before 1000 allocated to output status of previously specified I O alloca tion command Set data 1000 confirmed Acknowledged END 01 MOV 21 001 DM 0010 01605 Proc...

Page 279: ...to be sure they have not been reversed Be sure the correct sensor and compensating lead are connected Be sure the input temperature range has not been exceeded Check the cold junction compensator to be sure it is connected properly Be sure the sensor and input type settings agree Be sure the input type DIP switch and the function DIP switch settings are correct CT input error E500 set in input wor...

Page 280: ...burnout alarms B Do not set B Heater current only for models with heater burnout alarms Operation Control Commands Command Operation Validity CCCj j 1 to 4 or A STOP Always STOP RUN in Auto CCDj j 1 to 4 or A RUN Mode CDCj j 1 to 4 or A Manual Mode Not valid during autotuning CDDj j 1 to 4 or A Auto Mode CFCj j 1 to 4 or A Autotuning PID control Not valid during Manual Mode or STOP CFDj j 1 to 4 o...

Page 281: ...62 3 2 Specifications 263 3 3 Nomenclature 264 3 3 1 Control Modes 265 3 3 2 Switch Settings 265 3 4 Wiring 266 3 5 Application Examples 267 3 5 1 Basic Program for Temperature Control Unit 267 3 5 2 Run Stop and Error Processing Program 268 3 5 3 ON OFF Control 270 3 5 4 Advanced PID Control 271 3 6 AT Expansion Mode 272 3 6 1 Manual Settings Expansion Mode 273 3 6 2 Set Value Read 275 3 6 3 Set ...

Page 282: ... 8 7 4 3 0 Output m Loop 1 set point SP m 1 Loop 2 set point SP Input n Loop 1 process value PV n 1 Loop 2 process value PV One word each can be allocated for inputs and outputs if only one control loop is used when DIP switch pin 5 is ON Two words each will be allocated for inputs and outputs if two control loops are used when DIP switch pin 5 is OFF Data is handled as four digits of BCD except t...

Page 283: ...ed Control output NPN or PNP output with short circuit protection Power supply voltage 24 VDC 10 15 Maximum switching capacity 100 mA per output Leakage current 0 3 mA max Residual voltage 3 0 V max Control mode ON OFF or advanced PID control 2 degrees of freedom Setting and display accuracy CQM1 TC00j Process value 1 or 3 C whichever is larger 1 digit max CQM1 TC10j Process value 1 or 2 C whichev...

Page 284: ...nized as the Temperature Control Unit Word number indicator orange lit when two words are used and not lit when a single word is used Terminal screws M3 Optimum tightening torque 0 5 N m Side View Slide lock Function DIP switch SW1 Cover Terminals Slide lock Nomenclature Section 3 3 ...

Page 285: ...off the power supply or set the set point data to CCCC to stop control operation 3 3 2 Switch Settings 1 2 3 1 Set the function DIP switch pins SW1 before connecting the Temperature Control Unit to the other Units of the PC 2 All pins on the DIP switch are factory set to OFF 3 Use a pen tip or other pointed object to set the pins of the DIP switch Pin Function OFF ON 1 Control mode ON OFF Advanced...

Page 286: ...the terminals open E400 PV error will be read into the CPU Unit for approximately 10 seconds when power is turned ON CQM1 TC101 CQM1 TC102 B L L L L A COM DC 24 VDC Loop 1 OUT Loop 2 OUT Loop 1 OUT Loop 2 OUT 0 V COM 24 VDC B B A B Loop 1 Pt Loop 2 Pt B A B B A B Loop 1 Pt Loop 2 Pt Do not touch or remove the cold junction compensator CQM1 TC001 TC002 Connect to loop 1 terminals and turn ON pin 5 ...

Page 287: ...ue storage word DM 0001 Initialization End Flag IR 01600 CMP 20 FFFF 001 END 01 25313 01600 25506 01600 MOV 21 DM0000 100 MOV 21 001 DM0001 Always ON Flag If the process value contents of IR 001 is not FFFF IR 01600 is turned ON to indicate that initialization has been completed If IR 01600 is ON the contents of DM 0000 will be written as the set point to IR 100 If IR 01600 is ON the contents of I...

Page 288: ...ss value is read from the Temperature Control Unit and written to DM 0001 If an error has occurred however the value written to DM 0001 will be treated as an error code If the CQM1 TC00j TC10j in operation has an error the condition of the error is stored as error status Temperature control is enabled or disabled by turning the RUN STOP bit ON or OFF loop 1 only Item Word Remarks Temperature Contr...

Page 289: ...process value is EE01 IR 01701 is turned ON to signal a setting range error A comparison is made to E400 to see if an in put sensor error has occurred If the process value is E400 IR 01700 is turned ON to signal an input sensor error If neither a setting range error nor an input sensor error has occurred IR 01702 is turned ON to signal other errors 01600 MOV 21 DM0000 100 01800 MOV 21 CCCC 100 MOV...

Page 290: ...Control The default value of the ON OFF control hysteresis i e SW1 1 is turned OFF of the Temperature Control Unit is 0 8 C F Refer to 3 6 1 Manual Settings Ex pansion Mode for details on changing the hysteresis The following table lists the effectiveness of hysteresis adjustment Adjustment Effect Reduce the value The hunting amplitude becomes small When the process value is fluttering near the se...

Page 291: ...ormed with the default PID parame ters In this case refer to 2 6 AT Expansion Mode and 3 6 1 Manual Settings Expansion Mode to set the most suitable PID parameters Even if the most suitable PID parameters are set hunting may occur if the con trol period is long In this case set SW1 6 according to the characteristics of the controlled object If SW1 6 is turned OFF the control period will be 20 s an...

Page 292: ...ws PID parameter calculation by recognizing the character istics of the object from the waveform amplitude and period to be generated when ON OFF control is executed refer to the following diagram The PID pa rameters obtained will be refreshed automatically and after completion of auto tuning the Temperature Control Unit will start operating using the parameters SP 0 Auto tuning starts Auto tuning...

Page 293: ...t word data is left as CF00 auto tuning will be repeated Be sure to return it to the set value 3 6 1 Manual Settings Expansion Mode When the Temperature Control Unit is turned ON the SP will be allocated to the output word and the PV will be allocated to the PV word By changing the con tents of the allocation the following six set values can be read or written Parameter Setting range Unit Default ...

Page 294: ...table 8 Manipulated variable Always enabled 9 Not selectable 9 Status Always enabled Example If the user wants to write derivative time to the output word and a control period to the input word input C350 as the allocation change code to be written Note When the Temperature Control Unit is turned on the allocation change code C070 will be written Use the following procedure on the Programming Cons...

Page 295: ...Write the allocation change code C010 to the output word of the relevant loop c100 c001 C010 0098 Confirm that the input word of the relevant loop will become C010 c100 c001 C010 C010 Write the set point to the output word of the relevant loop c100 c001 0100 C010 Record the value read from the input word of the relevant loop as the propor tional band c100 c001 C100 0400 2 Read the integral time Re...

Page 296: ...onsole for loops 1 and 2 1 2 3 1 Write the proportional band Default SP 100 C and PV 98 C c100 c001 0100 0098 Write the allocation change code C110 to the output word of the relevant loop c100 c001 C110 0098 Confirm that the input word of the relevant loop will become C110 c100 c001 C110 C110 Write the set point to the output word of the relevant loop c100 c001 0400 C110 Confirm that the value rea...

Page 297: ...e CPU Unit so that this command is not sent within the first 100 ms after power is turned ON 3 7 Troubleshooting Error Control output Remedy Watchdog timer error EEEE PV data for control loops 1 and 2 Will be OFF for control loops 1 and 2 Turn the power supply off and then back on If the error persists replace the Unit RAM read write error E100 PV data for control loops 1 and 2 EEPROM error E120 P...

Page 298: ... detection function is not provided Page 131 PID with feed forward circuitry corrected to Advanced PID in the table 4 October 1995 Part VII Linear Sensor Interface Unit added Pages 6 7 Note 3 and caution added Page 23 Minimum input time and note 4 added to the table Page 87 Input circuit added for the Analog Input Unit Page 177 A table of available commands and functions added Page 189 Wording of ...

Page 299: ...tions Pages xvii and xviii Additions and changes made to application precautions Page 232 First bullet in features rewritten Page 238 Bullet added to the bottom of the page Page 239 External supply voltage specification modified Page 244 IR 01700 condition in middle of diagram changed to NC condition Page 245 Program comments changed Page 251 Parameters added to table Page 252 Table modified Page ...

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