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Chapter 15 The PID function

15.1 Introductions............................................................................. 15-1

15.2 PID control ................................................................................. 15-2

15.2.1 Control actions ..................................................................................................15-2

15.2.2 Realization of PID control on th e PLC........................................................15-13

15.3 Function blocks ...................................................................... 15-15

15.3.1 The function block for PID operation (PID6CAL) ......................................15-16

15.3.2 The error code of PID6CAL F/B...................................................................15-18

15.3.3 Auto tuning function block (PID6AT) ...........................................................15-19

15.3.4 Error codes of auto-tuning function block (PID6AT) .................................15-21

15.4 Programming........................................................................... 15-22

15.4.1 System configurat ion .....................................................................................15-22

15.4.2 Initial setting .................................................................................................... 15-22

15.4.3 Program description.......................................................................................15-23

Содержание GLOFA GM6 Series

Страница 1: ...U s e r s M a n u a l LG Programmable Logic Controller GLOFA GM6 Series L G Industrial Systems ...

Страница 2: ... CONTENTS ...

Страница 3: ...Specifications 3 1 Chapter 4 CPU MODULE 4 1 Performance Specifications 4 1 4 2 Operation processing 4 2 4 2 1 Operation processing Methods 4 2 4 2 2 Operation processing at momentary power failure occurrence 4 3 4 2 3 Scan Time 4 4 4 2 4 Scan Watchdog Timer 4 4 4 2 5 Timer processing 4 5 4 2 6 Counter processing 4 7 4 3 Program 4 9 4 3 1 Program Configuration 4 9 4 3 2 Program Execution Procedures...

Страница 4: ...attery Replacement 5 1 Chapter 6 USING THE USER PROGRAM IN FLASH MEMORY 6 1 Structure 6 1 6 3 Handling 6 1 Chapter 7 DIGITAL INPUT AND OUTPUT MODULES 7 1 Notes on Selecting Input and Output Modules 7 1 7 2 Digital Input Module Specifications 7 2 7 2 1 16 point 24VDC input module source sink type 7 2 7 2 2 16 point 24VDC input module source type 7 3 7 2 3 32 point 24VDC input module source sink typ...

Страница 5: ...ing and Unloading 10 7 10 2 Wiring 10 9 10 2 1 Power Supply Wiring 10 9 10 2 2 Input and Output Devices Wiring 10 11 10 2 3 Grounding 10 11 10 2 4 Cable Specification for wiring 10 12 Chapter 11 MAINTENANCE 11 1 Maintenance and Inspection 11 1 11 2 Daily Inspection 11 1 11 3 Periodic Inspection 11 2 Chapter 12 TROUBLESHOOTING 12 1 Basic Procedures of Troubleshooting 12 1 12 2 Troubleshooting 12 1 ...

Страница 6: ...tions 12 9 12 5 Error Code List 12 11 Chapter 13 Dedicated Cnet communication for GM6 13 1 Introduction 13 1 13 2 The example of system configuration 13 2 13 3 The pin assignment of RS 232C connector of the GM6 dedicated Cnet communication 13 3 13 4 Frame structure 13 4 13 5 List of commands 13 7 13 6 Data type 13 8 13 7 Execution of commands Ex 13 9 13 8 Error code during NAK occurrence for GM6 d...

Страница 7: ...ructions for other modules except for the CPU module Chapter 10 Installation and Wiring Describes installation wiring and handling instructions for reliability of the PLC system Chapter 11 Maintenance Describes the check items and method for long term normal operation of the PLC system Chapter 12 Troubleshooting Describes various operation errors and corrective actions Chapter 13 Chapter 16 Built ...

Страница 8: ...p with an operation dedicated processor included 2 Heightened Self diagnosis Cause of errors is easily found as error codes has been more divided in accordance with their contents 3 Restart mode setting The User can set Cold Warm restart mode in accordance with the environment 4 Debug operation On line debugging is available if the PLC operation mode is set to debug operation mode Debugging functi...

Страница 9: ...old I O statuses Watch Dog Timer Supervisors the pre set execution times of programs and warns if a program is not completed within the pre set time Function Operation Unit which outputs immediately its operation result of an input while four arithmetic operations comparison operation store their results in the inside of instructions Function Block Operation Units which store operation result in t...

Страница 10: ...ce Input Current flows from the PLC input terminal to the switch after a input signal turns on Sink Output Current flows from the load to the output terminal and the PLC output turn on Source Output Current flows from the output terminal to the load and the PLC output turn on Fnet Fieldbus Network Cnet Computer Network Output contact Output contact ...

Страница 11: ...he configuration and features of each system 2 1 Overall Configuration The following shows the overall configuration of the GLOFA GM6 series GM6 PAFA PO GM6 CPUA RUN STOP RUN PAU REM STOP CPU Module Battery RS 232C Cable GMWIN Power Supply Module GM6 PAF Baseboard GM6 B0 M Discket G6I D22B Input Module G6I G6I RY2A Output Module G6Q A G6F AD2A Special Module G6F G6L FUEA Communication Module G6L G...

Страница 12: ...urce sink input G6I D24B 32 point 12 24 VDC input module current source input G6I A11A 8 point 110 VAC input module Digital input module G6I A21A 8 point 220 VAC input module G6Q RY1A 8 pointrelayoutputmodule 2A G6Q RY2A 16 pointrelayoutputmodule 2A G6Q TR2A 16 point transistor output module 0 5A sink output G6Q TR2B 16 point transistor output module 0 5A source output G6Q TR4A 32 point transistor...

Страница 13: ... module G6L FUEA For Fnet I F 1 Mbps base band For twisted cable Fnet remote I F module G6L RBEA For Fnet remote I F 1 Mbps base band For twisted cable G6L CUEB RS 232C Computer Link module G6L CUEC RS422 G6L DUEA Dnet I Fmaster module Complying with ODVA Open Devicenet Vendor Association 2 0 standard G6L DSIA Dnet I Fslave input module 12 24 VDC input 16 points Complying with ODVA Open Devicenet ...

Страница 14: ...AFB GM6 PD3A GM6 PDFA BasicBase Unit GM6 B04 06 08M I O module G6I G6Q Special module G6F Configurationunits Communication module G6L I O number allocation 64 points are allocated to each slot in a base board whatever it is empty or not There s no limitation for the location and the number of special moduleson base board Special modules do not have fixed I O numbers while a fixed I O number is all...

Страница 15: ...he computer link module for GM 6 series For details of computer link module refer to related User s Manual 2 3 3 Network System The Network system adapted in the GLOFA series a Fnet system that satisfies the IEC ISA field bus specifications Fnet system as a network system is used for data communications between CPU modules and control of remote I O modules so that distribution of control and conce...

Страница 16: ...e half sine pulse 3 shocks per axis on X Y Z axis IEC 1131 2 Squarewave Impulse Noise 1 500 V Electronic discharge Voltage 4 kV IEC 1131 2 IEC 801 3 Radiated electromagnetic field noise 27 500 MHz 10 V m IEC 1131 2 IEC 801 3 Item Power supply Digital I O 24V Digital I O 24V Analog I O interface IEC 1131 2 IEC 801 4 7 Noise Immunity Fast transient burst noise Voltage 2 kV 1 kV 0 25 kV 8 Operating a...

Страница 17: ...ta memory Symbolic variable area 30k bytes Direct variable area Timer No limitations in points Time range 0 01 to 4294967 29 sec 1193 hours 1 point occupies 20 bytes ofsymbolic variable area Counter No limitations in points Counting range 32768 to 32767 1 point occupies 8 bytes of symbolic variable area Numbers of program blocks 100 Initialization programs 1 _INIT Time driven tasks 0 8 External in...

Страница 18: ...f self diagnosis 4Data clear 4I O module address allocation or type registration Input module conditions are read and stored into the input image area before operation processing of a program Program is sequentially executed from the first step to the last step The contents stored in the output image area is output to output modules when operation processing of a program is finished Stage for retu...

Страница 19: ...on processing at momentary power failure occurrence The CPU module detects any momentary power failure when the input line voltage to the power supply module falls down below the defined value When the CPU module detects any momentary power failure the following operations will be executed 1 Momentary power failure within 20 ms 1 The operation processing is stopped with the output retained 2 The o...

Страница 20: ...rvice processing time 2 Scan time differs in accordance with the execution or non execution of task programs and communications processing etc 2 Flag 1 Scan time is storedinthe following system flag area _SCAN_MAX Maximum scan time unit 1 ms _SCAN_MIN Minimum scan time unit 1 ms _SCAN_CUR Current scan time unit 1 ms 4 2 4 Scan Watchdog Timer 1 Watchdog timer is used to detect a delay of abnormal o...

Страница 21: ...ss time is newly changed when the timer function block is executed When the process time reaches the setting time process time setting time the Timer output contact turns on On Delay Timer Timing Diagram is shown as below 2 Off Delay Timer Process Time Change and Contact On Off If input condition turns on timer output contact Q turns on If input condition turns off timer process time change starts...

Страница 22: ...r function block is executed When the process time reaches the setting time process time setting time the contact Q turns off The contact turns off after the setting time regardless of input condition off status The following diagram shows pulse timer timing 4 Timer error The maximum timer error is 1 scan time time from the start of scan to execution of the timer function block ...

Страница 23: ... is a counter which compares the counting values of two input conditions 1 Counter Present Value Change and Contact On Off 1 Increment Counter It should have Input condition CU reset condition R and setting value PV If the counting value CV increments and reaches the setting value PV the output contact Q turns on When the reset signal is turn on the counting value is set to 0 and the output contac...

Страница 24: ...y 1at the rising edge of increment input CU and decreased by 1 at the edge of decrement input CD If counting value CV is equal or larger than setting value PV QU will be on and if counting value CV is equal or less than setting value PV QD will be on 2 Counting speed The counting speed is decided by scan time and it will be counted when on time or off time of input condition is larger than each sc...

Страница 25: ...or execution of scan program and the initialization of peripheral devices on special modules Scanprogram Processes the constantly repeated signals which are executed every scan Time driven task program When the following time conditional processing is required the program is executed complying with the time interval setting 4In case that the processing need a shorter interval than that of average ...

Страница 26: ...e called task program Event driven programs are classified into single task internal interrupt or interrupt task external interrupt according to the S W and H W interrupt signaling method Operationstart Initialization program Scanprogram External task program Time driven task program Internal task program Executed when the power has been applied ortheCPUoperation is in the Run mode Restart operati...

Страница 27: ...ion program 2 Scanprogram 1 Function In order to process signals which repeats constantly the program executes its sequential operation repeatedly from the first step to the end step If the interrupt task execution condition has been satisfied by a time driven task or event driven task module during scan program execution the program that is under execution will be temporary stopped and the corres...

Страница 28: ...ograms are applicable Time driven task program 4 The program is executed by the time internal set before Single internal task program 4 The corresponding program will be executed at the rising edge and on state of internal contact in the program 4 The detection of the start up condition will be executed after the scan program has been processed Interrupt external task program 4 The program is exec...

Страница 29: ...e used to execute programs Each task consists of one or more program blocks in the three types of program Those programs are called task programs A program to which a task has not been specified as marked with 1 will be automatically specified to scan program Program 1 Program Block Program 2 Function Program 3 Program Block Program 4 Function Block Program 5 Program Block Program 6 Function Progr...

Страница 30: ...am characteristics The task program will be executed when a execution condition is satisfied while the scan program is repeatedly processed at every scan Be sure to consider that point when writing a task program For example if a timer and a counter have been used in a 10 sec cycle time driven task program the timer can occur up to 10 sec error and an input which has been changed within 10 sec wil...

Страница 31: ...er will be assigned as task number automatically 2 Time driven task processing The corresponding time driven interrupt task program will be executed every setting time internal execution cycle 3 Precautions for using the time driven task program While a time driven task program is being executed or ready for its execution if a same priority task program has been invoked to be executed the newly in...

Страница 32: ...uest for a task program can be accepted only when the operation mode is in the RUN mode That is if the RUN mode has been changed into the PAUSE mode while operating with the RUN mode and the operation mode has been changed into the RUN mode again all execution requests occurred during the operation with the PAUSE mode will be ignored 5 Internal task program processing method The following explains...

Страница 33: ... scan the scan time become longer and irregular In case that the task setting cannot be changed check the maximum scan time 2 Task priorities are properly arranged The lower priority tasks still may not be processed after its time due to delay by higher priority tasks In some cases if the prior tasks have been delayed and next task occurs task collision can occur Set the priority with due consider...

Страница 34: ...s stopped and P3 is executed Execution request for P1 by E_INT1 at the 7 ms is ignored as the P2 is being executed 8 to 10 ms P3 finishes its execution and the P0 stopped continues its execution 10 to 12 ms P0 is stopped and P1 is executed due to execution request for P1 12 to 20 ms P2 finishes its execution and the P0 stopped continues its execution 20 ms Execution requests for P1 and P3 are simu...

Страница 35: ...t has occurred and continues its operation if an ordinary error such as battery error has occurred 2 System configuration error This error occurs when the PLC hardware configuration differs from the configuration defined in the software The system enter into the STOP state 3 Operation error during execution of the user programs If the numeric operation error of these errors occurs during execution...

Страница 36: ...rate error detection program does not have to be written For detailed description of function block refer to the User s Manuals of special modules and GLOFA GM instructions 2 Special Module Initialization This means to define the operations of a special module It is done with initialization function block Generally it specifies the data range to used channel resolution or filtering method etc It d...

Страница 37: ...iting the cold warm restart program and scan program for the scan program where the D A 02 outputs data every scan and the D A 03 outputs data only when the data has been changed DC32 32 point DC input module A D A D conversion module D A D A conversion module RY32 32 point relay output module As cold warm restart makes the whole system restart the cold warm restart program consists of only initia...

Страница 38: ...on of initialization AD2INI ACT VAR ARRAY 4 OF BOOL Shows active channel AD01_DT VAR ARRAY 4 OF BOOL Set by parameter Select digital output type AD01_CH VAR ARRAY 4 OF BOOL Set by parameter Select channel to be used AD2INI VAR FB Instance AD2INI STAT VAR USINT Shows error status AD01_FE VAR ARRAY 4 OF BOOL Enable Disable average function AVG_NUM VAR ARRAY 4 OF BOOL Set by parameter ...

Страница 39: ...VAR ARRAY 4 OF BOOL Shows the error status of AD read FB READ DATA VAR ARRAY 4 OF INT Digital data converted from analog input WRITE_1 VAR FB Instance DA01_DT VAR ARRAY 4 OF INT Digital data to be output WRITE_1 DONE VAR BOOL Indicates the write operation is completed WRITE_1 STAT VAR USINT Shows the error status of DA write FB WRITE_2 VAR FB Instance DA02_DT VAR ARRAY 4 OF INT Digital data to be ...

Страница 40: ...ted with the detection of their start up conditions 2 Normal or abnormal operation and mounting conditions of the loaded module are checked 3 Communications service or other internal operations are processed The first scan start in theRUN mode Mode condition at the start If the operation mode is the RUN mode when the power is applied Execution of inputrefresh Check on the effectiveness of the prog...

Страница 41: ...re the mode change is maintain 2 Operation processing contents 1 I O refresh is executed 2 Normal or abnormal operation and mounting conditions of the loaded module are checked 3 Communications service or other internal operations are processed 4 4 4 DEBUG mode In this mode errors of a program are searched and the operation sequence is traced Changing into this mode is only possible in the STOP mo...

Страница 42: ...GMWIN 2 In task programs each task can be specified to operation enable disable For detailed operation method refer to the GMWIN User s Manual Chapter 9 4 4 5 Operation mode change 1 Operation mode change methods The following method are used to change the operation mode 1 Change by the mode setting switch of CPU module 2 Change by the GMWIN connected with the CPU module communications port 3 Chan...

Страница 43: ...TOP µ µ Remote RUN DEBUG Remote PAUSE Remote RUN µ µ Remote PAUSE Remote STOP µ µ Remote PAUSE Remote DEBUG DEBUG Remote STOP µ µ DEBUG Remote RUN PAU REM DEBUG Remote PAUSE 4 Remote operation mode change enable disable It is possible to disable the mode change for system protection so that some parts of the operation mode sources cannot change the mode If remote operation mode change has been dis...

Страница 44: ...r has been set to the warm restart mode cold restart will be executed at the first execution of a program after it has been changed 4 In case of selection Reset command in the GMWIN it restarts in accordance with setting in parameter and in case of selection Overall Reset command it restarts as cold restart mode 2 Warm Restart 1 It is executed when the restart mode parameter has been set to the wa...

Страница 45: ...n Initializedwith 0 Previous value is retained Initialization Initialized with the user defined value Initialized with the user defined value Retain Initialization Initialized with the user defined value Previous value is retained REMARK 1 Definitions 1 Default variable A variable whose initial value is not defined or previous value will not be retained 2 Initialization variable A variable whose i...

Страница 46: ...rs the PLC is in the RUN state If an error is detected the system stops operation to prevent faulty PLC operation 2 Error flag If an error occurs it will be stored to the following flags and the STOP LED flickers Representative system error flag _CNT_ER Representative system warning flag _CNF_WAR REMARK 1 Refer to 12 5 Error Code List of Chapter 12 Troubleshooting for details of contents of self d...

Страница 47: ...CPU module is in the remote position The PAUSE operations stop the CPU module operation processing while maintaining the On Off state of the output module 2 This function is convenient when the user wants to maintain the ON state of the output module under the condition the CPU module has been stopped 3 Remote DEBUG 1 This function permits external operations to execute DEBUG operations under the ...

Страница 48: ...d data will be output However the force on off setting does not change the output image area datawhile it changes the input image area data 3 Force on off processing area Input output areas for force on off setting are larger than the real I O areas If remote I O is specified using this area the force on off function is as just available in it as in the basic I O areas 4 Precautions Turning the po...

Страница 49: ... 1 External device fault detection and classification 1 The user program detects external device faults The faults are classified into fatal fault error where the PLC stops its operation and ordinary fault warning where operation continues 2 The flag ANC_ERR n is used to indicate error The flag ANC_WN n is used to indicate warning 2 External Device Fatal fault Error Processing 1 If an error of ext...

Страница 50: ...e _ANNUN_WR of the representative system warning flag _CNF_WAR External device waning numbers will be written to from _ANC_WAR 0 to _ANC_WAR 7 according to occurrence sequence 2 The user can know the cause of error by use of the GMWIN and also by direct monitoring of the flags _ANC_WAR n and _ANC_WB n 3 If an external device waning is removed that is the elements of _ANC_WAR n are releasedfrom war...

Страница 51: ... on has occurred in the previous scan though the number 10 has lower priority than the numbers 1 2 and 3 it will be the lower element of _ANC_WAR n The _ANC_WB 75 is not indicated as it is turned on and the warning that occurred before has written to the _ANC_WAR n After the next scan has been finished if the numbers 1 2 3 10 15 40 50 60 and 75 of _ANC_WB n are tuned on _ANC_WAR n will be shown as...

Страница 52: ...meter area Interrupt setting information area 2 k bytes Program area Scan program area Task program area User defined function function block area Standard library area Access variable are Variable initialization information area Protective variable specification information area 66 k bytes 2 Data memory Configuration The table given below shows the contents to be stored and the storage capacity o...

Страница 53: ...put module is not installed can be used as auxiliary relay in user program Especially it is convenient to use the data storing area of remote output through high speed link 5 Direct variable area The user can use this area to access direct memory data through the variable names such as MX0 MB0 MW0 and MD0 which was pre defined by the system Memory size is defined when program is made by user and i...

Страница 54: ...allocated to each module for I O points 3 Fixed 64 points are allocated regardless of mounting dismounting or type of modules 4 The following shows I O No allocation method REMARK 1 Although there is no expansion base A base having more than 8 I O slot which has a plan to develop set by 1 as base number Input I X 0 0 0 Output Q X 0 1 15 Contact number on I O module 0 63 Slot number of Base 0 7 Bas...

Страница 55: ...p isdetected 2 STOP LED On when the mode setting switch is in the local or remote STOP state Off when the followings occur The mode setting switch is in the local RUN or local PAUSE state The operation state is in the RUM PAUSE DEBUG state Flickering when an error is detected by self diagnosis during operation 3 Battery installing connector It used to connect to the backup battery 4 Mode setting s...

Страница 56: ...h the operation mode and the operation mode complying with the position of the mode setting switch 1 LED status complying with the operation mode 2 Operation mode complying with the position of the mode setting switch l Change of remote mode is available only after the operation mode has entered into the remote STOP mode caution 1 In case of local pause disable it operated as Remote Run LED Status...

Страница 57: ...ure its voltage with a tester or short circuit 3 Donotdisassemble 5 3 Battery Replacement Backup battery needs periodicexchange When the battery exchange it should be done at power o n otherwise some or all data will be lost The following shows the battery replacement procedure Battery replacement Open the cover of the CPU module Release the existing battery from the holder and disconnect the conn...

Страница 58: ... is available to flash memory in accordance with selection of DIP switch Selection of DIP switch for flash memory Operation PLC is operated by the program in flash memory when power on or PLC reset PLC recognizethat noprogram is in flash memory Caution Lower switch should be attheoff position User program can be written to flash memory atthePLCstopmodeand then the selection of switch is ignored ON...

Страница 59: ...cifications of those input devices as the wiring method of the external input power supply varies complying with the type of digital input In the GM6 series the types are dedicated source input and source sink common DC input 2 Maximum simultaneous input points differs with the type of a module Check the specifications of the input module to be applied before use 3 Use transistor or triac output m...

Страница 60: ... 5 Maximum simultaneous input points 100 8 points COM simultaneously ON ON voltage ON current 9 5 VDC or higher 3 5 mA or higher OFF voltage OFF current 5 VDC or lower 1 5 mA or lower Input impedance Approx 3 3 kΩ OFF ON 5 ms or less Response time ON OFF 5 ms or less Commonterminal 8 points COM Internal current consumption 40 mA Operatingindicator LED turns on at ON state of input External connect...

Страница 61: ... simultaneously ON ON voltage ON current 9 5 VDC or higher 3 5 mA or higher OFF voltage OFF current 5 VDC or lower 1 5 mA or lower Input impedanc e Approx 3 3 kΩ OFF ON 5 ms or less Response time ON OFF 5 ms or less Commonterminal 8 points COM Internal current consumption 70 mA Operatingindicator LED turns on at ON state of input External connections 18 points terminal block connector M3 6 screws ...

Страница 62: ...ltaneously ON ON voltage ON current 15 VDC or higher 4 3 mA or higher OFF voltage OFF current 5 VDC or lower 1 7 mA or lower Input impedance Approx 3 3 kΩ OFF ON 5 ms or less Response time ON OFF 5 ms or less Commonterminal 8 points COM Internal currentconsumption 70 mA Operatingindicator LED turns on at ON state of input External connections 18 points terminal block connector M3 6 screws Weight 0...

Страница 63: ... higher OFF voltage OFF current 5 VDC or lower 1 5 mA or lower Input impedance Approx 3 3 kΩ OFF ON 5 ms or less Response time ON OFF 5 ms or less Commonterminal 32 points COM Internal current consumption 75 mA Operatingindicator LED turns on at ON state of input External connections 37 pointterminalblockconnector M3 6 screws Weight 0 11 kg 12 1 19 20 37 00 01 02 05 09 06 08 07 10 11 12 1 15 17 04...

Страница 64: ...FF voltage OFF current 5 VDC or lower 1 7 mA or lower Input impedance Approx 3 3 kΩ OFF ON 5 ms or less Response time ON OFF 5 ms or less Commonterminal 32 points COM Internal current consumption 75 mA Operatingindicator LED turns on at ON state of input External connections 37 pointterminalblockconnector M3 6 screws Weight 0 11 kg 1 19 20 37 00 01 02 05 09 06 08 07 10 11 12 1 15 17 04 03 27 26 25...

Страница 65: ... COM simultaneously ON Inrush current 300 mA 0 3 ms or lower 132 VAC ON voltage ON current 80 VAC or higher 5 mA or higher OFF voltage OFF current 30 VAC or lower 2 mA or lower Input impedance Approx 15 kΩ OFF ON 15 ms or less Response time ON OFF 25 ms or less Commonterminal 8 points COM Internal current consumption 60 mA Operatingindicator LED turns on at ON state of input External connections 9...

Страница 66: ...ltaneously ON Surge input current 600 mA 0 12 ms or lower 264 VAC ON voltage ON current 80 VAC or higher 5 mA or higher OFF voltage OFF current 30 VAC or lower 2 mA or lower Input impedance Approx 20 kΩ OFF ON 15 ms or less Response time ON OFF 25 ms or less Commonterminal 8 points COM Internal current consumption 41 mA Operatingindicator LED turns on at ON state of input External connections 9 po...

Страница 67: ...r more Rated load voltage current 100000 times or more 200 VAC 1 5 A 240 VAC 1 A COSΨ 0 7 100000 times or more 200 VAC 1 A 240 VAC 0 5 A COSΨ 0 35 100000 times or more Service life Electrical 24 VAC 1 5 A 100 VDC 0 1 A L R 7 ms 100000 times or more Off On 10 ms or less Response time On Off 12 ms or less Common terminal arrangement 1 points COM Internal current consumption 250mA Operationindicator ...

Страница 68: ...age current 100000 times or more 200 VAC 1 5 A 240 VAC 1 A COSΨ 0 7 100000 times or more 200 VAC 1 A 240 VAC 0 5 A COSΨ 0 35 100000 times or more Service life Electrical 24 VAC 1 5 A 100 VDC 0 1 A L R 7 ms 100000 times or more Off On 10 ms or less Response time On Off 12 ms or less Common terminal arrangement 8 points COM Internal current consumption 415mA Operationindicator LED turns on at ON sta...

Страница 69: ...r less Maximum voltage drop at ON circuit 1 5 VDC 0 5A Surge absorber Clamp Diode Off On 2 ms or less Response time On Off 2 ms or less Common terminal arrangement 16 points COM Internal current consumption 185 mA Voltage 24 VDC 10 ripple voltage 4VP P or less External power supply Current 48 mA or less all points ON Operationindicator LED turns on at ONstateofoutput External connections 18 point ...

Страница 70: ...aximum voltage drop at ON circuit 1 5 VDC 0 5A Surge absorber Clamp Diode Off On 2 ms or less Response time On Off 2 ms or less Common terminal arrangement 16 points COM Internal current consumption 185 mA Voltage 24 VDC 10 ripple voltage 4VP P or less External power supply Current 48 mA or less all points ON Operationindicator LED turns on at ON state of output External connections 18 point termi...

Страница 71: ...0 ms or less Maximum voltage drop at ON circuit 1 0 VDC Surge absorber None Off On 2 ms or less Response time On Off 2 ms or less Common terminal arrangement 32 points COM Internal current consumption 139 mA Voltage 24 VDC 10 ripple voltage 4VP P or less External power supply Current 36 mA or less 24 VDC COM Operationindicator LED turns on at ON state of output External connections 37 pin D Sub co...

Страница 72: ...me On Off 2 ms or less Common terminal arrangement 32 points COM Internal current consumption 139 mA Voltage 24 VDC 10 ripple voltage 4VP P or less External power supply Current 36 mA or less 24 VDC COM Operationindicator LED turns on at ON state of output External connections 37 pin D Sub connector Weight 0 11 kg The total current of each 8 points 0 7 8 15 16 23 and 24 31 should be lower than 600...

Страница 73: ...20 VAC 60 Hz Maximum inrush current 40 A 10 ms or less Maximum voltage drop at ON circuit 1 5 VAC or less 2 A Surge absorber Varistor 387 to 473 V C R absorber Off On 1ms or less Response time On Off 1ms 0 5 cycle or less Common terminal arrangement 8 points COM Internal current consumption 210 mA Operationindicator LED turns on at ON state of output External connections 9 point terminal block con...

Страница 74: ...cifications of those input devices as the wiring method of the external input power supply varies complying with the type of digital input In the GM6 series the types are dedicated source input and source sink common DC input 2 Maximum simultaneous input points differs with the type of a module Check the specifications of the input module to be applied before use 3 Use transistor or triac output m...

Страница 75: ... VDC to 28 8 VDC ripple less than 5 Maximum simultaneous input points 100 8 points COM simultaneously ON ON voltage ON current 9 5 VDC or higher 3 5 mA or higher OFF voltage OFF current 5 VDC or lower 1 5 mA or lower Input impedance Approx 3 3 kΩ OFF ON 5 ms or less Response time ON OFF 5 ms or less Commonterminal 8 points COM Internal current consumption 40 mA Operatingindicator LED turns on at O...

Страница 76: ...ess than 5 Maximum simultaneous input points 100 8 points COM simultaneously ON ON voltage ON current 9 5 VDC or higher 3 5 mA or higher OFF voltage OFF current 5 VDC or lower 1 5 mA or lower Input impedance Approx 3 3 kΩ OFF ON 5 ms or less Response time ON OFF 5 ms or less Commonterminal 8 points COM Internal current consumption 70 mA Operatingindicator LED turns on at ON state of input External...

Страница 77: ... Maximum simultaneous input points 100 8 points COM simultaneously ON ON voltage ON current 15 VDC or higher 4 3 mA or higher OFF voltage OFF current 5 VDC or lower 1 7 mA or lower Input impedance Approx 3 3 kΩ OFF ON 5 ms or less Response time ON OFF 5 ms or less Commonterminal 8 points COM Internal current consumption 70 mA Operatingindicator LED turns on at ON state of input External connection...

Страница 78: ...oints 60 simultaneously ON ON voltage ON current 9 5 VDC or higher 3 5 mA or higher OFF voltage OFF current 5 VDC or lower 1 5 mA or lower Input impedance Approx 3 3 kΩ OFF ON 5 ms or less Response time ON OFF 5 ms or less Commonterminal 32 points COM Internal current consumption 75 mA Operatingindicator LED turns on at ON state of input External connections 37 pointterminalblockconnector M3 6 scr...

Страница 79: ...imultaneously ON ON voltage ON current 15 VDC or higher 4 3 mA or higher OFF voltage OFF current 5 VDC or lower 1 7 mA or lower Input impedance Approx 3 3 kΩ OFF ON 5 ms or less Response time ON OFF 5 ms or less Commonterminal 32 points COM Internal current consumption 75 mA Operatingindicator LED turns on at ON state of input External connections 37 pointterminalblockconnector M3 6 screws Weight ...

Страница 80: ...ltaneous input points 100 8 points COM simultaneously ON Inrush current 300 mA 0 3 ms or lower 132 VAC ON voltage ON current 80 VAC or higher 5 mA or higher OFF voltage OFF current 30 VAC or lower 2 mA or lower Input impedance Approx 15 kΩ OFF ON 15 ms or less Response time ON OFF 25 ms or less Commonterminal 8 points COM Internal current consumption 60 mA Operatingindicator LED turns on at ON sta...

Страница 81: ... input points 100 8 points COM simultaneously ON Surge input current 600 mA 0 12 ms or lower 264 VAC ON voltage ON current 80 VAC or higher 5 mA or higher OFF voltage OFF current 30 VAC or lower 2 mA or lower Input impedance Approx 20 kΩ OFF ON 15 ms or less Response time ON OFF 25 ms or less Commonterminal 8 points COM Internal current consumption 41 mA Operatingindicator LED turns on at ON state...

Страница 82: ... 1200 times per hour Surge absorber None Mechanical 20 million times ormore Rated load voltage current 100000 times or more 200 VAC 1 5 A 240 VAC 1 A COSΨ 0 7 100000 times or more 200 VAC 1 A 240 VAC 0 5 A COSΨ 0 35 100000 times or more Service life Electrical 24 VAC 1 5 A 100 VDC 0 1 A L R 7 ms 100000 times or more Off On 10 ms or less Response time On Off 12 ms or less Common terminal arrangemen...

Страница 83: ...bsorber None Mechanical 20 million times or more Rated load voltage current 100000 times or more 200 VAC 1 5 A 240 VAC 1 A COSΨ 0 7 100000 times or more 200 VAC 1 A 240 VAC 0 5 A COSΨ 0 35 100000 times or more Service life Electrical 24 VAC 1 5 A 100 VDC 0 1 A L R 7 ms 100000 times or more Off On 10 ms or less Response time On Off 12 ms or less Common terminal arrangement 8 points COM Internal cur...

Страница 84: ... mA Maximum inrush current 4 A 10 ms or less Maximum voltage drop at ON circuit 1 5 VDC 0 5A Surge absorber Clamp Diode Off On 2 ms or less Response time On Off 2 ms or less Common terminal arrangement 16 points COM Internal current consumption 185 mA Voltage 24 VDC 10 ripple voltage 4VP P or less External power supply Current 48 mA or less all points ON Operationindicator LED turns on at ON state...

Страница 85: ... 1 mA Maximum inrush current 4 A 10 ms or less Maximum voltage drop at ON circuit 1 5 VDC 0 5A Surge absorber Clamp Diode Off On 2 ms or less Response time On Off 2 ms or less Common terminal arrangement 16 points COM Internal current consumption 185 mA Voltage 24 VDC 10 ripple voltage 4VP P or less External power supply Current 48 mA or less all points ON Operationindicator LED turns on at ON sta...

Страница 86: ... ms or less Maximum vo ltage drop at ON circuit 1 0 VDC Surge absorber None Off On 2 ms or less Response time On Off 2 ms or less Common terminal arrangement 32 points COM Internal current consumption 139 mA Voltage 24 VDC 10 ripple voltage 4VP P or less External power supply Current 36 mA or less 24 VDC COM Operationindicator LED turns on at ON state of output External connections 37 pin D Sub co...

Страница 87: ... Maximum voltage drop at ON circuit 1 0 VDC Surge absorber None Off On 2 ms or less Response time On Off 2 ms or less Common terminal arrangement 32 points COM Internal current consumption 139 mA Voltage 24 VDC 10 ripple voltage 4VP P or less External power supply Current 36 mA or less 24 VDC COM Operationindicator LED turns on at ON state of output External connections 37 pin D Sub connector Weig...

Страница 88: ...A Off leakage current 2 5 mA 220 VAC 60 Hz Maximum inrush current 40 A 10 ms or less Maximum voltage drop at ON circuit 1 5 VAC or less 2 A Surge absorber Varistor 387 to 473 V C R absorber Off On 1ms or less Response time On Off 1ms 0 5 cycle or less Common terminal arrangement 8 points COM Internal current consumption 210 mA Operationindicator LED turns on at ON state of output External connecti...

Страница 89: ...sumption of each module 1 Current consumption GM6 series modules unit mA Modules Models Current Consumption Modules Models Current Consumption GM6 CPUA 170 G6Q TR2A 180 GM6 CPUB 210 G6Q TR2B 170 CPUmodule GM6 CPUC 170 G6Q TR4A 140 G6I D21A 40 Transistoroutput module G6Q TR4B 145 G6I D22A 70 A D conversion module G6F AD2A 50 G6I D22B 70 G6F DA2V 50 G6I D24A 75 D A conversion module G6F DA2I 50 24 V...

Страница 90: ...load Input fuse 250 VAC 2A 250VAC 3A Input Allowable momentary power failure 20 ms or less 1ms or less Output voltage 5 VDC Output current 5 VDC 2 A Output Over current protection 5 VDC 2 2 A or more Output voltage 24 VDC 15VDC Output current 24 VDC 0 3 A 15 VDC 0 5 A 15VDC 0 2 A Over current protection 24 VDC 0 33 A or more 15 VDC 0 55 A 15VDC 0 22 A Voltage status indicator LED turns On at norma...

Страница 91: ... used to indicate the 5 VDC power supply Connect 110 or 220 VAC power GM6 PAFA GM6 PAFB Connect 12 24VDC power GM6 PDFA 2 Power input terminal Connect 24VDC power GM6 PD3A 3 LG terminal Line Ground 4 FG terminal FrameGround 24 VDC and DC24G terminal GM6 PAFA It used the 24 VDC power to supply to the other module 5 No connection GM6 PAFB GM6 PDFA GM6 PD3A No connection ...

Страница 92: ...6 modules 8 modules Outer dimensions mm 244 110 62 314 110 62 384 110 62 Panel installation hole size φ4 5 for M4 screw Weight kg 0 24 0 35 0 75 9 2 Names of Parts M o u n t i n g G u i d e H o l e H o o k C P U M o d u l e C o n n e c t o r I O M o d u l e C o n n e c t o r P o w e r M o d u l e C o n n e c t o r M o d u l e M o u n t i n g G u i d e R a i l ...

Страница 93: ...umidity outside the range of 5 to 95 7 Corrosive or flammable gases 2 Precautions during installing 1 During drilling or wiring do not allow any wire scraps to enter into the PLC 2 Install it on locations that are convenient for operation 3 Make sure that it is not located on the same panel that high voltage equipment located 4 Make sure that the distance from the walls of duct and external equipm...

Страница 94: ...nts simultaneously switched ON Not for 24 VDC power supplied from external or power supply modules that has no 24 VDC output 2 Total 5 VDC power consumption The total power consumption of all modules is the power of the 5 VDC output circuit of the power supply module W5V I5V 5 W 3 Average 24 VDC power consumption with points simultaneously switched ON The total power consumption of all modules is ...

Страница 95: ...odule power supply Ws I5V 5 I24V 24 I100V 100 W The sum of the above values is the power consumption of the entire PLC system W WPW W5V W24V WOUT WIN WS W Check the temperature rise within the control panel with calculation of that total power consumption W The temperature rise in the control panel is expressed as T W UA C W Power consumption of the entire PLC system obtained as shown above A Cont...

Страница 96: ...heck the input voltage for the input module If a voltage over the maximum switching capacity is applied it can cause faults destruction or fire 2 Used wire Select the wire with due consideration of ambient temperature and rated current Its minimum specifications should be AWG22 0 3 mm2 or more 3 Environment When wiring the I O module if it locates near a device generating an cause short circuit de...

Страница 97: ... no fuse breaker which produces vibration on the same panel Mount them on different panels or keep the baseboard away from such a vibration source 4 Mount the wire duct as it is needed If the clearances are less than those in Fig 10 1 follow the instructions shown below If the wire duct is mounted on the upper part of the PLC make the wiring duct clearance 50mm or less for good ventilation Also al...

Страница 98: ...Chapter 10 INSTALLATION AND WIRING 10 6 Fig 10 2 Clearance from the front device Fig 10 3 Vertical mounting Fig 10 4 Horizontal mounting ...

Страница 99: ...ounting slot with sliding guide Check that the module is firmly mounted onto the base board Note The CPU module should be mounted on the next of the power module If the CPU module is mounted other slot when a power module that has 15VDC output GM6 PAFB the CPU module will be damaged Therefore please be sure to mount CPU module on the proper slot Hook Locking part for Hook Locked Hook Sliding ...

Страница 100: ...Chapter 10 INSTALLATION AND WIRING 10 8 2 Module dismounting First push the locked hook and pull the module with direction of arrow ...

Страница 101: ... 1 When voltage fluctuations are larger than the specified value connect a constant voltage transformer 2 Use a power supply which generates minimal noise across wire and across PLC and ground When excessive noise is generated connect an insulating transformer 3 When wiring separate the PLC power supply from the I O and power device as shown below ...

Страница 102: ...age drop use the thickest max 2 mm2 wires possible for the 100 VAC 200VAC and 24 VDC cables 8 Do not bundles the 100 VAC and 24 VDC cables with main circuit high voltage large current wires or the I O signal wires If possible provide more than 100 mm distance between the cables and wires 8 As a lightning protection measure connect a surge absorber as shown below REMARK 1 Ground the surge absorber ...

Страница 103: ... 220 VAC cables 7 If wiring over 200 m or longer distance problems can be caused by leakage currents due to line capacity Refer to the Section 12 4 Examples 10 2 3 Grounding 1 This PLC has sufficient protection against noise so it can be us ed without grounding except for special much noise However when grounding it should be done conforming to below items 2 Ground the PLC as independently as poss...

Страница 104: ... malfunction occurs depend on grounding point separate FG Base Board with ground 10 2 4 Cable Specifications for wiring Cable Specifications Kinds of externalconnection Minimum Maximum Digital Input 0 18 AWG 24 1 5 AWG16 Digital Output 0 18 AWG24 2 0 AWG14 Analog Input Output 0 18 AWG24 1 5 AWG16 Communication 0 18 AWG24 1 5 AWG16 Main Power 1 5 AWG16 2 5 AWG12 Grounding 1 5 AWG16 2 5 AWG12 ...

Страница 105: ...e shortage and improve the storage condition 11 2 Daily Inspection The following table shows the inspection and items which are to be checked daily Check Items Check points Judgment Corrective Actions Base unit mounting conditions Check for loose mounting screws The base unit should be securely mounted Retighten Screws Mounting conditions of I O modules Check if the hook is securely engaged Check ...

Страница 106: ... Screws should not be loose Retighten Distance between terminals Visual check Proper clearance Correct Connecting conditions Loose connector Visual check Connectors should not be loose Retighten connector mounting screws Line voltage check Measure voltage across 110 220 VAC terminal 85 264VAC GM6 PAFA B 10 5 28VDC GM6 PDFA 20 28VDC GM6 PD3A Change supply power Battery Check battery replacement tim...

Страница 107: ...ices and check the operation status of the PLC and the program contents 2 Trouble Check Observe any change in the error conditions during the following Set the mode setting switch to the STOP position and then turn the power ONand OFF 3 Narrow down the possible causes of the trouble Deduce where the fault lies i e Inside or outside of the PLC I O module or another module PLC program 12 2 Troublesh...

Страница 108: ...nnected Is the power supply module Fixed to the base Over current protection Device activated Write down the troubleshooting questionnaires and contact the nearest service center Does the Power LED turn ON See the supply power to within the rated power Does the Power LED turn ON Replace the fuse Does the Power LED turn ON Fix the power supply module correctly Does the Power LED turn ON 1 Eliminate...

Страница 109: ...TOP LED is flickering during operation Program error Stop LED goes OFF Read the error code in the system flag Correct in accordance with the error contents Program error Write down the troubleshooting questionnaires and contact the nearest service center S W error Correct the program Set the operation mode to the STOP mode Write the program newly Set the operation mode to the RUN mode Complete Yes...

Страница 110: ...ollowing flowchart explains corrective action procedure use when the power is applied starts or the RUN and STOP LED is turned OFF is flickering during operation RUN andSTOP LED is turned OFF contact the nearest service center Complete Turn the power supply module from OFF to ON AreRUNandSTOP LED Turned OFF No Yes ...

Страница 111: ...t module ON Check the output status in monitor mode of the peripheral devices Yes Isthevoltageofpower supply for load applied Isthevoltageofpower supply for load applied Output module defect Is the indicator LED Of the input module ON Check the input signal OFF in monitormodewith the peripheral devices Check the wiring load of the power supply for load and restore the power Check the wiring load o...

Страница 112: ...orrective action procedure used when a program cannot be wri tten to the PLC module Program cannot be written to the PC CPU Isthemodesettingswitch set the remote STOP mode Set the mode setting switchtothe remoteSTOPmodeandexecute the program write No Is the STOP LED flickering Read the error code using the peripheral devices and correct the contents Yes Yes ...

Страница 113: ...sed to compile programs 4 General description of the device or system used as the control object 5 Operations used by the CPU module Operation by the mode setting switch Operation by the GMWIN or communications 6 Is the STOP LED of the CPU module turned ON Yes No 7 GMWIN error message 8 Used initialization program initialization program 9 History of corrective actions for the error message in the ...

Страница 114: ...ke the voltage across the terminals of the input module lowerthan C and R values are determined by the leakage current value Remindedvalue C 0 1 0 47 R 47 120Ω 1 2W Or make up another independent display circuit Input signal does not turn OFF Leakage current due to line capacity of wiring cable Power supply is located on the external device side as shown below Input signal does not turn OFF Leakag...

Страница 115: ... does not turn OFF Leakage current by surge absorbing circuit which is connected to output element in parallel Connect C and R across the load which are of registers of tens kΩ When the wiring distance from the output module to the load is long there may be a leakage current due to the line capacity When the load is C R type timer time constant fluctuates Leakage current by surge absorbing circuit...

Страница 116: ...y driven with the transistor output The off response time can be delayed by one or more second as some loads make the current flow across the diode attheofftimeofthetransistoroutput Insert a small L R magnetic contact and drive the load using the same contact Output transistor is destroyed Surge current of the white lamp A surge current of 10 times or more when turned ON To suppress the surge curr...

Страница 117: ..._ER _FUSE _ER_N FUSE_ER n and correct the in corrective slot and re start the system STOP 0 4 sec Whenscancompletes Cold 33 Abnormal I D module data access during run I O module read write error Refer to the flags IO_RWER _IP_RWER_N _IO_RWER n and restart the system STOP 0 4 sec Whenscancompletes During execution of program cold 34 Abnormal special link module data access during run Special link m...

Страница 118: ...onitoring variables registration n Monitoring execution n 1 1 communication only dedicated protocol n RS 232 communication only Because the dedicated Cnet communication for GM6 does not support all functions of Cnet module there are some limitations as following comparison with using Cnet module 1 At the pressing time the RS 422 protocol is not supported Only RS 232C protocol is supported RS422 pr...

Страница 119: ...guration the communication program of PC can be a user s own program written in C or other programming language or a commercial software like FAM or CIMON The configuration when connected to PMU P W R C P U GM6 I N O U T G L O F A P L C G M 6 RS 232C Interface IBM Compatible PC PMU LGIS P W R C P U GM6 I N O U T G L O F A P L C G M 6 The example of 1 1 connection Cnet connection with PC RS 232C In...

Страница 120: ...nnection with PC The pin assignment of RS232C connector which are used the connection of PC and GM6 CPU The 1 1 connection with the monitoring unit like PMU The pin assignment of RS232C connector which are used the connection of PMU and GM6 CPU 1 2 3 4 5 6 7 8 9 1 2 3 4 5 6 7 8 9 P C P L C G M 6 1 2 3 4 5 6 7 8 9 1 2 3 4 5 6 7 8 9 P M U P L C G M 6 ...

Страница 121: ...me Cnet module external communication devices when data is abnormally received Max 256 Bytes Header NAK Station No Command Type of command Error code ASCII 4 Bytes Tail ETX Frame check BCC Table 13 1 Controlcharacters Code Hex value Originalword Contents ENQ Header H05 Enquire Start code of request frame ACK Header H06 Acknowledge Start code of ACK response frame NAK Header H15 Not acknowledge Sta...

Страница 122: ...ation number Command type in case that command type is numerical means data type when main commands are R r and W w All items indicating data size of data area structurized Command type register number for monitor register and execution command M n All contents of data Frame numbe r of domain Remark For hex decimal data H such as H01 H12345 H34 H12 or H89AB indicates that the data is a type of hex...

Страница 123: ...Station No Command Error code ETX BCC PLC NAK response 2 Sequence of Download upload frame ENQ Station No Start Command Data EOT BCC ACK Station No Command Data or null ETX BCC ENQ Station No Command Formatted data EOT BCC Down upload command frame No H0001 ACK Station No Command Data or null ETX BCC ENQ Station No Command Formatted data EOT BCC Down upload end command frame No HFFFF ACK Station N...

Страница 124: ...variable of Bit Byte Word Dword Lword type Direct var Writing Contin w W H77 H57 SB 5342 Writes data to direct variable of Byte Word Dword Lword type in block unit Continuous reading Bit is unavailable Indivi w W H77 H57 H00 H14 3030 3134 Writes variable of each data type using variable name Variable to be read must be one registered in access variable area Named Var Writing2 Array w W H77 H57 H15...

Страница 125: ... of GLOFA GK PLC P M L K C D T S F Data type for direct variables is indicated next to direct variable indicating character Table 13 3 List of data types of direct variables Data type Ind charac Example of use BIT X 58H MX0 QX0 0 0 IX0 0 0 PX0 LX0 FX0 BYTE B 42H MB10 QB0 0 0 IB0 0 0 WORD W 57H MW10 QW0 0 0 IW0 0 0 PW0 LW0 FW0 DW0 DOUBLE WORD D 44H MD10 QD0 0 0 ID0 0 0 2 The CPU A type does not sup...

Страница 126: ...ng 1 Byte each to ASCII values from ENQ to EOT is converted into ASCII and added to BCC Number of blocks This specifies how much of the blocks composed of Variable length Variable name are in this request format This can be set up to 4 Therefore the value of Number of blocks must be H01 ASCII value 3031 H04 ASCII value 3034 Variable length Name length of direct variable This indicates the number o...

Страница 127: ...on No Command Comma nd type Number of blocks Variable length Data Tail Fame check Frame Ex ACK H20 R r SS H01 H02 HA9F3 ETX BCC ASCII value H06 H3230 H52 72 H5353 H3031 H3032 H4139463 3 H04 1 block Max 4 blocks Station number commands type of command and number of blocks are the same as computer request format BCC When command is one of lower case r only one lower byte of the value resulted by add...

Страница 128: ...e the same as computer request format BCC When command is one of lower case r only one lower byte of the value resulted by adding 1 Byte each to ASCII values from NAK to ETX is converted into ASCII added to BCC and sent Error code is hex and 2 Bytes ASCII code 4 Bytes which indicates type of error For the details see Appendix B Error Code Table If data type is BOOL data read is indicated by one By...

Страница 129: ... r SS H02 H05 MW20 H08 QW0 2 1 EOT BCC ASCII value H05 H3031 H52 72 H5353 H3032 H3035 H254D5 73230 H3038 H255157 302E322 E31 H04 For PLC ACK response after execution of command Format name Header Station No Comman d Comman dtype Number of blocks Numbe r of data Data Number of data Data Tail BCC Frame Ex ACK H01 R r SS H02 H02 H1234 H02 H5678 ETX BCC ASCII value H06 H3031 H52 72 H5353 H3032 H3032 H...

Страница 130: ... adding 1 Byte each to ASCII values from ENQ to EOT is converted into ASCII added to BCC Name length of direct variable This indicates the number of name s characters that means direct variable which is allowable up to 16 characters This value is one of ASCII converted from hex type and the range is from H01 ASCII value 3031 to H10 ASCII value 3130 Direct variables Address to be actually read is e...

Страница 131: ...8899AABBC CDDEEFF1122334455 EOT BCC ASCII value H06 H3130 H52 72 H5342 H3134 H313132323333343435353636 3737383839394141424243434 4444545464631313232333334 343535 H03 Station number main commands and type of command are the same as computer request format BCC When main command is lower case like r only one lower byte of the value resulted by adding ASCII values fromACK to ETX is converted into ASCI...

Страница 132: ...tformat BCC When main command is lower case like r only one lower byte of the value resulted by adding ASCII values fromNAK to ETX is converted into ASCII added to BCC and sent Whenmain command isuppercase like r BCC is not used Error code is hex and 2 Bytes ASCII code 4 Bytes which indicates type of error For the details see Appendix B Error Code Table Ex 1 When memory type included in direct var...

Страница 133: ...0A R r SB H04 MD0 H02 EOT BCC ASCII value H05 H3041 H52 72 H5342 H3034 H254D4430 H3032 H04 For PLC ACK response after execution of command Format name Header Station No Command Command type Number of blocks Number of data Data Tail BCC Frame Ex ACK H0A R r SB H01 H08 123456789ABCDEF0 ETX BCC ASCII value H06 H3041 H52 72 H5342 H3031 H3038 H313233343536373839 41424344454630 03 For PLC NAK response a...

Страница 134: ... sent Number of blocks This specifies how much of the blocks composed of Variable length Variable name are in this request format This can set up to 4 blocks Therefore the value of Number of blocks must be H01 ASCII value 3031 H04 ASCII value 3034 Variable length Name length of direct variable This indicates the number of the name s characters that registered in directvariable of PLC which is allo...

Страница 135: ...ion number commands and type of command are the same as computer request format BCC When command is one of lower case w only one lower byte of the value resulted by adding 1 Byte each to ASCII values from ACK to ETX is converted into ASCII added to BCC and sent Ex 1 If type of data to be currently written is DOUBLE WORD the data is H12345678 ASCII code converted value of this is 3132333435363738 a...

Страница 136: ... type of error For the details see Appendix B Error Code Table 5 Example of use This supposes that H00FF is written in MW230 address Computer request format Format name Head er Station No Command Command type Number of blocks Variable name length Variable name Data Tail BCC Frame Ex ENQ H01 W w SS H01 H06 MW230 H00FF EOT BCC ASCII value H05 H3031 H57 77 H5353 H3031 H3036 H254D573 23330 H303046 46 ...

Страница 137: ... values from ENQ to EOT is converted into ASCII added to BCC Protocol of continuous writing function of direct variable has not Number of blocks Name length of direct variable This indicates the number of name s characters that means direct variable which is allowable up to 16 characters This value is one of ASCII converted from hex type and the range is from H01 ASCII value 3031 to H10 ASCII valu...

Страница 138: ... BCC When command is one of lower case w only one lower byte of the value resulted by adding 1 Byte each to ASCII values from ACK to ETX is converted into ASCII added to BCC and sent 4 Response format for PLC NAK response Format name Header Station No Command Command type Errorcode Hex 2 Bytes Tail Frame check Frame Ex ENQ H10 W w SB H1132 EOT BCC ASCII value H05 H3130 H57 77 H5342 H31313332 H03 S...

Страница 139: ...H01 HAA150 56F EOT BCC ASCII value H05 H3031 H57 77 H5342 H3038 H254442302 E302E30 H3031 H414131 3503536 46 H04 For PLC ACK response after execution of command Format name Header Station No Command Command type Tail Frame check Frame Ex ACK H01 W w SB ETX BCC ASCII value H06 H3031 H57 77 H5342 H03 For PLC NAK response after execution of command Format name Header Station No Command Command type Er...

Страница 140: ...ing 1 Byte each to ASCII values from ENQ to EOT is converted into ASCII added to BCC and sent Register No This can be registered up to 32 0 31 H00 H1F and if an already registered No is registered again the one of current execution is registered Register format This is used to before EOT in command of formats of separate reading of direct variable continuous reading and named variable reading Regi...

Страница 141: ...alue H06 H3130 H58 78 H3146 H31313332 H03 Station number main commands and resister No are the same as computer request format BCC When command is one of lower case x only one lower byte of the value resulted by adding 1 Byte each to ASCII values from NAK to ETX is converted into ASCII added to BCC and sent Error code is hex and 2 Bytes ASCII code 4 Bytes which indicates type of error For the deta...

Страница 142: ...nd RegisterNo Tail Frame check Frame Ex ACK H01 X x H01 ETX BCC ASCII value H06 H3031 H58 78 H3031 H03 For PLC NAK response after execution of command Format name Header Station No Command Command type Errorcode Hex 2 Bytes Tail Frame check Frame Ex NAK H01 X x H01 Error code 2 ETX BCC ASCII value H15 H3031 H58 78 H3031 Error code 4 H03 ...

Страница 143: ...sulted by adding 1 Byte each to ASCII values from ENQ to EOT is converted into ASCII added to BCC and sent In computer request format register No can be set to 00 31 H00 H1F 3 Response format for PLC ACK response In case that the register format of register No is the separate reading of direct variable Format name Header Station No Command Register No Number of blocks Number of data Data Tail Fram...

Страница 144: ...s one of lower case y only one lower byte of the value resulted by adding 1 Byte each to ASCII values from ACK to ETX is converted into ASCII added to BCC and sent 4 Response format for PLC NAK response Format name Header Station No Command RegisterNo Error code Hex 2 Bytes Tail Frame check Frame Ex NAK H10 Y y H1F H1132 ETX BCC ASCII value H15 H3130 H59 79 H3146 H31313332 H03 Station number comma...

Страница 145: ...rame check Frame Ex ENQ H01 Y y H01 EOT BCC ASCII value H05 H3031 H59 79 H3031 H04 For PLC ACK response after execution of command Format name Header Station No Command Register No Number of blocks Number of data Data Tail Frame check Frame Ex ACK H01 Y y H01 H01 H04 H23422339 ETX BCC ASCII value H06 H3031 H59 79 H3031 H3031 H3034 H3233343232 333339 H03 For PLC NAK response after execution of comm...

Страница 146: ... variable Equalize variable and data type of PLC program H7132 Variable request format error is missing Inspect format correct and then execute again H2232 Area exceeding error M I Q area exceeding error Inspect area difinition and execute again H0190 Monitor execution error Registered number exceeding range Execute again after adjusting monitor registration number to 31 or less H0290 Monitor regi...

Страница 147: ...munication of GM6 CPUB 14 1 Introductions 14 1 14 2 Features 14 1 14 3 Parameter setup 14 2 14 4 The status flag 14 4 14 5 Monitoring 14 5 14 6 Communication method and termination resistor 14 6 14 7 RS 422 485 pin assignment 14 6 ...

Страница 148: ...parameters and high speed link parameters should be set properly 3 The dedicated GLOFA Cnet protocol is used for transmission control 4 The GM6 CPUA and GM6 CPUC does not support the master station function 14 2 Features 1 Max 64 high speed link items can be assigned 2 Max 32 stations can be linked 3 According to the parameter setting the operation mode and error code of slave stations is stored a...

Страница 149: ...r Assign the station number of master station in the range of 0 31 b Baud rate Select the communication as 9600 19200 or 38400 bps c Master Slave Only GM6 CPUB can be set as master station I f the CPU is selected as master station the network type of high speed link 1 is automatically set as GLOFA 422 485 d Timeout Set the period that the interval until a timeout error occurs The default value is ...

Страница 150: ...be set as GLOFA 422 485 network type b The setup is similar as the high speed link parameter setup with other communication modules such as Fnet module Max 64 items can be assigned The size of data block is assigned by the unit of word and the Max size is 60 words Area setup Send From I Q M To Q M Receive From I Q M To Q M ...

Страница 151: ... Indicates the operation mode of slave PLC Bit 4 STOP Bit 5 RUN Bit 6 PAUSE Bit 7 DEBUG 4 The status flag of master station Flag name _M422_STATE Byte Type n 0 31 Description Bit 0 Turn on when the CPU module is assigned as master station but it is not B type GM6 CPUB Bit 1 Turn on when the master station number of basic parameter setting is duplicated with one of the slave station numbers of high...

Страница 152: ...be a B type and assigned as master station in the basic parameter setting Otherwise the monitor screen will show the status of high speed link service In the monitoring screen the following flags are shown Master PLC parameter _M422_STATE On Off The scan time of communication _M422_SCAN_MAX Maximum scan time _M422_SCAN_MIN Minimum scan time _M422_SCAN_CUR Current scan time No Type From To Size The...

Страница 153: ...t resistance with the characteristic impedance of cable When use the RS 422 protocol connect two termination resistors between SDA and SDB RDA and RDB With the RS 485 protocol connect a termination resistor between RDA and RDB or SDA and SDB 14 7 RS 422 485 pin assignment 1 The RS 422 network is connected with 5 pin connector The following table shows the name and description of each pins and dire...

Страница 154: ...5 3 Function blocks 15 15 15 3 1 The function block for PID operation PID6CAL 15 16 15 3 2 The error code of PID6CAL F B 15 18 15 3 3 Auto tuning function block PID6AT 15 19 15 3 4 Error codes of auto tuning function block PID6AT 15 21 15 4 Programming 15 22 15 4 1 System configurat ion 15 22 15 4 2 Initial setting 15 22 15 4 3 Program description 15 23 ...

Страница 155: ...pulate value MV to the actuator to eliminate the difference The PID control consists of three control actions that are proportional P integral I and differential D The characteristics of the PID function of GM6 is as following the PID function is integrated into the CPU module Therefore all PID control action can be performed with F B Function Block without any separated PID module Forward reverse...

Страница 156: ... the proportional constant gain b reference value SV set value PV present value 3 If the Kp is too large the PV reaches to the SV swiftly but it may causes a bad effect like oscillations shown in the Fig 2 1 4 If the Kp is too small oscillation will not occur However the PV reaches to the SV slowly and an offset may appear between PV and SV shown in the Fig 2 2 5 The manipulation value MV varies f...

Страница 157: ...Chapter 15 The PID functions 15 3 Fig 2 1 When the proportional constant Kp is large Fig 2 1 When the proportional constant Kp is small ...

Страница 158: ...and represented as Ki 3 Integral action when a constant deviation has occurred is shown as the following Fig 2 4 Fig 2 4 The integral action with constant deviation 4 The expression of I action is as following As shown in the expression Integral action can be made stronger or weaker by adjusting integration time Ki in I action That is the more the integration time the longer the integration time a...

Страница 159: ...s used in either PI action in which P action combines with I action or PID action in which P and D actions combine with I action Fig 2 5 The system response when a long integration time given Fig 2 6 The system response when a short integration time given ...

Страница 160: ...ation by applying a large control action in the direction that the deviation will be eliminated at the earlier time that the deviation occurs 4D action can prevent the large changes of control object due to external conditions 2 The period of time from when the deviation has occurred to when the MV of D action become the MV of P action is called derivative time and represented as Kd 3 The D action...

Страница 161: ...15 2 1 4 PID action 1 PID action controls the control object with the manipulation quantity produced by P I D action 2 PID action when a given deviation has occurred is shown as the following Fig 2 8 Fig 2 8 PID action with a constant deviation ...

Страница 162: ...e PV reaches to SV by outputting a positive MV when the PV is less than SV 2 A diagram in which forward and reverse actions are drawn using MV PV and SV is shown as Fig 2 9 Fig 2 9 MV of forward reverse action 3 Fig 2 10 shows examples of process control by forward and reverse actions respectively Fig 2 10 PV of forward reverse action Reverse action Forward action ...

Страница 163: ...ression of PID control is as following t dt dEd Td ds s Ei Ti Ep K MV 0 1 MV Manipulate value K Proportional gain Ti Integral time Td Derivative time Ep Deviation value for proportional action Ei Deviation value for integral action Ed Deviation value for derivative action The deviation values of P I and D action is described as following equations PV Ed PV SV Ei PV SV b Ep The b of the first equat...

Страница 164: ...ntrolled actuator has limitation of operation The motor has speed limit the valve can not flow over the maximum value When the control system has wide PV range the PV can be over the maximum output value of actuator At this time the actuator keeps the maximum output regardless the change of PV while the PV is over the maximum output value of actuator It can shorten the lifetime of actuator When th...

Страница 165: ...rger than SV deviation 0 However the MV keeps the saturated status until the integral term is small enough to cancel the windup of actuator As the result of the windup the actuator will output positive value for a while after the PV reached to the SV and the system show a large overshoot A large initial deviation load disturbance or mis operation of devices can cause windup of actuator M V S V T i...

Страница 166: ...ained as the difference value between actuator output U and manipulation value of PID controller MV The Tt of the feedback gain is tracking time constant and it is in inverse proportion with the resetting speed of integral term Smaller Tt will cancel the windup of actuator faster but too small Tt can cause anti windup operation in derivative operation The Fig 2 14 shows several Tt value and PV in ...

Страница 167: ...rol is as following n PV n SV b K n P n sampling number K proportional gain constant b reference value SV set value PV present value 15 2 2 2 I control The continuous formula of I control is as following t ds s e Ti K t I 0 I t integral term K proportional gain constant Ti integral time e s deviation value By deviation about t we can obtain e Ti K dt dI e SV PV deviation value The digitized formul...

Страница 168: ... as following Step 1 Get constants that are used for PID operation Ti h K Bi integral gain 2 2 h N Td h N Td Ad derivation gain 2 2 h N Td Td N K Bd Tt h A 0 anti windup gain Step 2 Read SV and PV value PV adin ch1 Step 3 Calculate the proportional term P K b SV PV Step 4 Update the derivative term initial value of D 0 D As D Bd PV PV_old Step 5 Calculate the MV initial value of I 0 MV P I D Step ...

Страница 169: ...are included in the GMWIN software version 3 2 or later No Name Description 1 PID6CAL Perform the PID operation 2 PID6AT Perform the auto tuning operation 1 GM6 PID function blocks do not support array type 2 Refer the GMWIN manual for the registration and running of function block 3 GM6 CPUA does not support PID operation Remarks ...

Страница 170: ...I_TIME the integration time range 0 0 2000 0 D_TIME the deviation time range 0 0 2000 0 MV_MAX the maximum value of MV range 0 4000 MV_MIN the minimum value of MV range 0 4000 MVMAN the input data of manual operation mode range 0 4000 S_TIME operation scan time range 0 1 10 REF the reference value range 0 1 1 TT tracking time constant range 0 01 10 00 N high frequency noise depression ratio range ...

Страница 171: ... designated P_GAIN is 10 99 input 1099 to the P_GAIN 5 I_TIME and D_TIME are 10 times scaled up For example input 18894 if the designated I_TIME value is 1889 4 The range of actual input is 0 20000 6 S_TIME is the period of reading data sampling and also 10 times scaled up Generally it should be synchronized with external trigger input EN input of function block to perform proper PID operation The...

Страница 172: ...range Change the D_TIME within 0 20000 6 S_TIME is out of range Change the S_TIME within 0 100 7 REF is out of range Change the REF within 0 10 8 TT is out of range Change the TT within 0 1000 9 N is out of range Change the N within 0 1000 10 EN_I and or EN_D is set as 1 when EN_P is 0 Only P PI and PID controls are available with GM6 CPUB and GM6 CPUC Please change the setting of EN_P EN_I and EN...

Страница 173: ...the auto tuning operation is completed END Turns on when the F B operation is completed with no error and keep the status until next F B execution STAT shows the error code MV the manipulated value of current loop on which the auto tuning operation is performed range 0 4000 P the proportional gain constant obtained by auto tuning operation range 0 01 100 00 I the integral time constant obtained by...

Страница 174: ...ata sampling and 10 times scaled up for more precious operation Generally it should be synchronized with external trigger input EN input of function block to perform proper PID operation The range of sampling time is 0 1 10 seconds and actual input range is 0 100 3 The GM6 CPUB and GM6 CPUC module perform auto tuning operation based on the frequency response method PID parameters are obtained by O...

Страница 175: ...AT function block Error code STAT output Type Description Countermeasure 0 Normal operation 1 SV is out of range Change the SV within 0 4000 2 PV is out of range It may caused by fault of A D module Check the A D module 3 S_TIME is out of range Change the S_TIME within 0 100 4 Local CPU type is mismatched Replace the CPU module with GM6 CPUB or GM6 CPUC ...

Страница 176: ...etting EN_P 1 EN_I 1 EN_D 1 PID operation f REF TT N REF 10 TT 5 N 1 g MV_MAX MV_MIN MVMAN MV_MAX 4000 MC_MIN 0 MAMAN 2000 h S_TIME S_TIME 100 sampling time 10 seconds 2 Auto tuning parameters a PV setting 1600 100 C b S_TIME S_TIME 100 sampling time 10 seconds Power converter Signal converter Electricoven 0 200 C heater GM6 PAFB 5V 15V GM6 CPUB or GM6 CPUC Input module Output module A D module In...

Страница 177: ...ted MV is output to the channel 0 of D A module 3 D A module will convert the MV 0 4000 to analog signal 4 20mA and output to the actuator power converter 15 4 3 2 Use PID operation with A T function 1 Convert the measured temperature 0 250 C to current signal 4 20mA and input the current signal to the channel 0 of A D module Then the A D module converts the analog signal to digital value 0 4000 2...

Страница 178: ...Chapter 15 The PID functions 15 24 Example program of 15 4 3 1 ...

Страница 179: ...Chapter 15 The PID functions 15 25 Example program of 15 4 3 2 continue to next page ...

Страница 180: ...Chapter 15 The PID functions 15 26 Example program of 15 4 3 2 continued ...

Страница 181: ...16 16 2 16 3 Input specifications 16 16 3 16 3 1 Function of input terminals 16 16 3 16 3 2 Names of wiring terminals 16 16 3 16 3 3 External interface circuit 16 16 4 16 4 Wiring 16 16 5 16 4 1 Wiring instructions 16 16 5 16 4 2 Wiring examples 16 16 5 16 5 Programming 16 16 6 16 5 1 Function block F B 16 16 6 ...

Страница 182: ... 1 phase up down counter Up down is selected by user program 1 phase up down counter Up down is selected by external B phase input 2 phase up down counter Up down is automatically selected by t he phase difference between phase A and B Multiplication 1 2 or 4 with 2 phase counter 2 phase pulse input multiplied by one Counts the pulse at the leading edge of phase A 2 phase pulse input multiplied by...

Страница 183: ...reset Rated level 24VDC 13mA Input signal Signal type Voltage input Counting range 0 16 777 215 Binary 24 bits Max counting speed 50k pps 1 phase Sequence program or B phase input Up Down selection 2 phase Auto select by phase difference of phase A and B Multiplication 1 2 or 4 Preset input Sequence program or external preset input ...

Страница 184: ...e 14VDC or higher A B phase Off voltage 2 5VDC or lower Rated input 24VDC 10mA On voltage 19VDC or higher Off voltage 6V or lower On delay time Less than 1 5ms Preset input Off delay time Less than 2ms 16 3 2 Names of wiring terminals RUN STOP GM6 CPUC 1 2 ON ROM MODE TEST MODE No of terminal Input signal 1 A phase input 2 B phase input 3 COM 4 Preset input 5 Preset COM ...

Страница 185: ... Internal circuit No of terminal Signal type Operationvoltage ON 14 26 4 VDC 1 A phase pulse input 24VDC OFF Less than 2 5VDC ON 14 26 4 VDC 2 B phase pulse input 24VDC OFF Less than 2 5VDC Input 3 COM ON 19 26 4 V 4 Preset input 24V OFF 6 V or less Input 5 Preset COM 3 3KΩ 820Ω 3 3KΩ 270Ω ...

Страница 186: ...ir cables Also provide Class 3 grounding 2 Do not run a twisted pair cable in parallel with power cables or other I O lines which may generate noise 3 Before applying a power source for pulse generator be sure to use a noise protected power supply 4 For 1 phase input connect the count input signal only to the phase A input for 2 phase input connect to phases A and B 16 4 2 Wiringexamples 1 Voltage...

Страница 187: ...ase input signal 1 up count 0 down count CY_R Carry reset signal 1 reset DOWN Select the count direction 0 up 1 down when the counter is set as 1 phase counter and up down is selected by sequence program PHS 0 U D_I E 0 CT_E Counter enable signal 0 Counter disable 1 Enable PRE_I E Assign PRESET input 0 PRESET by sequence program 1 PRESET by external input at the PRESET terminal O u t p u t DONE Tu...

Страница 188: ...n REQ STAT DONE BOOL CHSC_RD BOOL USINT CY CNT UDINT BOOL I n p u t REQ Request signal for F B execution O u t p u t DONE Turns on after the F B is executed with no error STAT Indicates the operation status of F B CNT The current value of HSC 0 16 777 215 CY Carry flag 0 OFF 1 ON Read the current value and operation status of HSC ...

Страница 189: ... of F B When the PRE_I E is set as 0 Preset input by sequence program the current value of HSC is changed as the assigned preset value with the rising edge of REQ input When the PRE_I E is set as 1 Preset input by external preset input the current value of HSC is changed as the assigned preset value with the rising edge of external preset input At this time the REQ input of CHSC_PRE is ignored The...

Страница 190: ...F B execution SET Set a setting value 0 16 777 215 O u t p u t DONE Turns on after the F B is executed with no error STAT Indicates the operation status of F B Run a task program when the current value of HSC reaches to the setting value To run a task program define a high speed counter task program as following figure and write a task program Assign a setting value to be compared with the current...

Страница 191: ... output E r r o r c o d e D e s c r i p t i o n 00 No error 01 Built in high speed counter is not found GM6 CPUA GM6 CPUB CPU module 02 Input data error at MULT input of CHSC_WR 2 Phase Mode에서 1 2 4 이외의 숫자일 때 03 PSET CHSC_PRE or SET CHSC_SET is out of specified range 0 16 777 215 04 Execute Preset command while the HSC is disabled status ...

Страница 192: ...nfigured using communication modules 2 Enabling Disabling the control of the PLC via communications This parameter is used to enable or disable the remote control of this PLC system through the FAM or computer link module etc except for the GMWIN If this parameter has been set to enable change of the operation mode and download of programs are available via communications 3 Restart Mode This param...

Страница 193: ...an Watch Dog Time This parameter is used to set the maximum allowable execution time of an user program in order to supervisor its normal or abnormal operation Only one CPU module can be mounted in the GM3 4 series therefore scan watchdog is valid to only the resource 0 6 Unable to Pause bymode settingswitch Set When switch mode is changed from runto pause remote RUN à PAU REM PLC is operatedas Lo...

Страница 194: ...e all set to default DEF_MODULE If I O configuration parameters are set to default the operation starts on the basis of the configuration of the real mounted module when the power is applied Therefore though a power failure had occurred during normal operation or the system configuration had been changed due to slip out of a mounted module operation starts and continues when the power has been re ...

Страница 195: ...AV DAI D A conversion module G6F DA2V 4channels voltage type G6F DA2I 4channels current type HSC High speed counting module G6F HSCA 1 channels GLOFA Fnet FnetI F module G6L FUEA GLOFA Cnet Cnet I F module G6L CUEB G6l CUEC DEF_I All input modules G6I D22A 16 points G6I D24A 32 points G6I D22B 16 points G6I D24B 32 points G6I A11A 8points G6I A21A 8 points DEF_O All output modules G6Q RY2A 16point...

Страница 196: ...cations module has been mounted 3 Local No Local number of the module which executes high speed link communications 1 Station type Type of the communications module in the opposite station Local or remote will be set 2 Station No Used to indicate the station that has invoked data during communications 3 Mode Used to set the communications mode to Send or Receive 4 Block No Designating number for i...

Страница 197: ...e flags will change in accordance with the restart mode set If cold or warm restart has been set the flags will be initialized when the scan program starts its execution If hot restart has been set the flags will be restored to the state before the last stop when the scan program starts its execution 2 Representative System Error Flag List Keyword Type Bit No Name Description _CNF_ER WORD Represen...

Страница 198: ...e and external tasks This flag indicates that task collision has occurred as execution request for a same task had been repeatedly invoked Refer to the flag _TC_BMAP n and _TC_CNT n _BAT_ERR BOOL Bit5 Battery fault This flag detects and indicates that the voltage of the battery which is used to backup user programs and data memory is lower than the defined value _ANNUN_WR BOOL Bit6 External device...

Страница 199: ... input modules of a slot cannot be normally read from or written to and indicates the lowest slot No of the detected slot numbers _IO_RWERR n BYTE n 0 to1 The location of slot where I O module read write occurred This flag detects that input modules of a slot cannot be normally read from or written to and indicates the slot locations in the bit map ofbaseunits _IP_IFER_N UINT 0 to15 Special link m...

Страница 200: ...imes during operation in the RUN mode is written to this flag _AC_F_TM n DATE TIME n 0 to 15 Momentary power failurehistory The times of the latest sixteen momentary power failures are written _ERR_HIS n n 0 to 15 Error history The times and error codes of the latest sixteen errors are written to this flag Stop time DATE TIME 8 bytes Error code UINT 2 bytes _MODE_HIS n n 0 to 15 Operation mode cha...

Страница 201: ...STOP function Bit 13 Bit 14 During monitoring External monitoring is being executed for programs or variables _SYS_STATE Word Bit 15 Remote mode ON Operation in the remote mode Representati ve keyword GMWIN connection state Connection state between CPU module and GMWIN Bit 0 Local GMWIN connection Local GMWIN connection state Bit1 Remote GMWIN connection RemoteGMWINconnectionstate _GMWIN_CNF Byte ...

Страница 202: ...igh speed link parametererror Checks and indicates High speed link parameter error 2 OperationMode change switchStatus Information Keyword Type Data Setting range Name Description Representative keyword Mode setting switch position Indicates the statemode setting switch of CPU module Bit0 KEY_STOP Indicates that themode settingswitchisintheSTOPstate Bit1 KEY_RUN Indicates that themode setting swit...

Страница 203: ...INRING _CnIFERR _CnSVBSY _CnCRDER UINT BIT 15 BIT 14 BIT 13 BIT 12 BIT 11 Mnet Fnet Cnet Minimum communications scan time unit 1 ms Operation mode RUN 1 TEST 0 In ring IN_RING 1 Interface error error 1 Insufficient common RAM Insufficient 1 Communications module system error error 1 Indicates operation state of communications module with a word Indicates that operation mode of co mmunications modu...

Страница 204: ... flag turns on under the following conditions 1 All stations set in the parameter are in the RUN mode and have no error and 2 All blocks set in the parameter normally communicate and 3 The parameter set in all stations which are set in the parameter normally communicate Once this flag is turned on it maintains that state as long as link enable does not make that state stopped _HSmLTRBL Bit Fnet Mn...

Страница 205: ...NT_TO_DINT Conversion of INT type into DINT type 12 0 9 INT_TO_BCD Conversion of INT type into BCD type 12 180 129 9 NUM_TO_STRING int Conversion of number into string 52 808 159 9 SINT_TO_BCD Conversion of SINT type into BCD type 12 140 67 9 STRING_TO_INT Conversion of string into INT type 16 1308 281 9 CONCAT To concatenate strings 72 248 54 9 DELETE To delete string 68 298 63 9 EQ Equality comp...

Страница 206: ... 6 6 RS Preference reset table 48 72 2 7 5 8 7 TON ON delay timer 56 200 2000 8 5 11 1 REMARK 1 The items marked with has following meaning 1 The size of the program memory which a program occupies when it uses the function once 2 The size of the program memory which a program occupies only one time though it uses the function many times 3 The size of the program memory which a program occupies wh...

Страница 207: ...Appendix 4 Outer Dimensions APP4 1 Appendix 4 Dimensions Unit mm 1 CPU module 2 I O Module 38 35 90 110 RUN STOP GM6 CPUA RUN PAU REM STOP 38 35 90 110 ...

Страница 208: ...4 2 3 Power Supply Module 4 Basic Extension Base Unit Unit mm A B C D E GM6 B04M 230 5 244 92 0 110 62 GM6 B06M 300 5 314 92 0 110 62 GM6 B08M 370 5 384 92 0 110 62 GM6 B12M 510 5 524 92 0 110 62 38 45 90 110 POWER GM6 PAFA A B C D E ...

Страница 209: ...Appendix 4 Outer Dimensions APP4 3 ...

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