User`s Manual LG Programmable Logic Controller GLOFA

User`s Manual LG Programmable Logic Controller GLOFA
GLOFA GM7U
Programmable Logic Controller
y Read this manual carefully before installing,
wiring, operating, servicing or inspecting
this equipment.
y Keep this manual within easy reach
for quick reference.
SAFETY INSTRUCTIONS
To prevent injury and property damage, follow these instructions.
Incorrect operation caused by ignoring instructions may cause harm or
damage. The consequences are indicated by the following symbols.
DANGER
This symbol indicates instant death or
serious injury.
WARNING
This symbol indicates the possibility of death
or serious injury.
CAUTION
This symbol indicates the possibility of injury
or damage to property.
■ The meaning of each symbol on the equipment is shown below.
This is the safety alert symbol.
Read and follow instructions carefully to avoid dangerous situation.
This symbol alerts the user to the presence of “dangerous voltages”.
Harm or electric shock may occur inside of these areas.
SAFETY INSTRUCTIONS
Design Precautions
Warning
Install a safety circuit external to the PLC that keeps the entire system
safe even when there are problems with the external power supply or
the PLC module. Otherwise, serious problems such as erroneous
outputs or operations may occur.
- Outside the PLC, construct mechanical damage preventing interlock
circuits. These include emergency stop, protective circuits, positioning
upper and lower limits switches and interlocking forward/reverse
operation.
When the PLC detects watchdog timer error, module interface error, or
other hardware errors, it will stop calculation and turn off all output.
However, one or more outputs could be turned on when there are
problems that the PLC CPU cannot detect, such as malfunction of output
device (relay, transistor, etc.) themselves or I/O controller. Build a fail
safe circuit exterior to the PLC to insure the equipment operates safely at
such times. Also, build an external monitoring circuit to monitor any
single outputs that could cause serious problems.
Make sure all external loads connected to output does NOT exceed
the rating of the output module.
Over current exceeding the rating of the output module could cause fire,
damage or malfunction.
Build a circuit that turns on the external power supply when the PLC
main module power is turned on.
If the external power supply is turned on first, it could cause an erroneous
output or operation.
SAFETY INSTRUCTIONS
Design Precautions
Caution
Do not bunch the control wires or communication cables with the main
circuit, power wires, or close together. They should be installed 100mm
(3.94 inches) or more from each other.
Not doing so could result in noise that may cause erroneous operation.
Installation Precautions
Caution
Use the PLC in an environment that meets the general specification
contained in this manual or datasheet.
Using the PLC in an environment outside the range of the general
specifications could result in electric shock, fire, erroneous operation, and
damage to the product.
Completely turn off the power supply before loading or unloading the
module.
Not doing so could result in electric shock or damage to the product.
Make sure all modules are loaded correctly and securely.
Not doing so could cause a malfunction, failure, and/or drop.
Make sure I/O and extension connectors are installed correctly.
Poor connection could cause an input or output failure.
When install the PLC in a vibrating environment, be sure to insulate
the PLC from direct vibration.
Not doing so could cause electric shock, fire, and/or erroneous operation.
Be sure that there are no foreign substances such as conductive
debris inside the module.
Conductive debris could cause fires, damage, and/or erroneous operation.
SAFETY INSTRUCTIONS
Wiring Precautions
Warning
Completely turn off the external power supply when installing or wiring.
Not turning off the external power supply may cause an electric shock
or damage to the product.
Make sure that all terminal covers are correctly attached.
Not attaching the terminal cover could result in an electric shock.
Caution
Be sure that wiring is done correctly by checking the product’s rated
voltage and the terminal layout.
Incorrect wiring could result in fire, damage, or erroneous operation.
Tighten the terminal screws with the specified torque.
Loose terminal screws, it could result in short circuits, fire, or
erroneous operation.
Be sure to ground the FG or LS terminal to the protective ground
conductor.
Not doing so could result in erroneous operation.
Be sure there are no foreign substances such as sawdust or wiring
debris inside the module.
Such debris could cause fire, damage, or erroneous operation.
SAFETY INSTRUCTIONS
Startup and Maintenance Precautions
Warning
Do not touch the terminals while power is on.
This may cause an electric shock or erroneous operation.
Switch all phases of the external power supply off when cleaning the
module or retightening the terminal or module mounting screws.
Not doing so could result in electric shock or erroneous operation.
Do not charge, disassemble, heat, place in fire, short circuit, or solder
the battery.
Mishandling of the battery could cause overheating or cracks resulting
in injury and/or fires.
Caution
Do not disassemble or modify the modules.
Doing so could cause erroneous operation, injury, or fire.
Switch all phases of the external power supply off before mounting or
removing the module.
Not doing so could cause failure or malfunction of the module.
Use cellular phones or walky-talkies more than 30cm (11.81 inch)
away from the PLC.
Not doing so could cause a malfunction.
Disposal Precaution
Caution
When disposing of this product, treat it as industrial waste.
Not doing so could cause environmental damage or explosion.
◎
Chapter 1.
Contents
◎
General
1.1 Guide to Use This Manual ················· 1 - 1
1.2 Feature ························ 1 - 2
1.3 Terminology ······················ 1 - 4
Chapter 2.
System Configuration
2.1 Overall Configuration ··················· 2 - 1
2.1.1 Basic System································································································ 2 - 1
2.1.2 Cnet I/F System····························································································· 2 - 2
2.2 Product List ······················ 2 - 4
2.2.1 Product Functional Block ················································································· 2 - 4
2.2.2 GM7U Series System Equipment Product ··························································· 2 - 5
Chapter 3.
General Specifications
3.1 General Specifications ·················· 3 - 1
Chapter 4. Names of Parts
4.1 Main Units ······················· 4 - 1
4.1.1 60 Points Main Unit ······················································································ 4 - 2
4.1.2 40 Points Main Unit ······················································································ 4 - 5
4.1.3 30 Points Main Unit ······················································································4 – 8
4.1.4 20 Points Main Unit ·····················································································4 - 10
4.2 Expansion Modules···················· 4 - 14
4.2.1 20 Points I/O Expansion Module ······································································4 - 14
4.2.2 16 Points I/O Expansion Module ······································································4 - 14
4.2.3 10 Points I/O Expansion Module ······································································4 - 15
4.2.4 8 Points I/O Expansion Module ········································································4 - 15
4.3 Special Modules ····················
4 - 17
4.3.1 A/D·D/A Combination Module········································································4 - 17
4.3.2 D/A Conversion Module··················································································4 - 18
4.3.3 A/D Conversion Module··················································································4 - 19
4.3.4 Analog Timer Module·····················································································4 - 20
4.3.5 RTD Input Module·························································································4 - 20
4.4 Communication I/F Module ················· 4 - 21
4.4.1 Cnet I/F Module····························································································4 - 21
4.4.2 Fnet I/F Module ····························································································4 - 21
4.4.3 Pnet I/F Module ····························································································4 - 22
4.4.4 DeviceNet I/F Module ····················································································4 - 22
4.4.5 Rnet I/F Module····························································································4 - 22
Chapter 5. Power Supply / CPU
5.1 Power Supply Specifications ················ 5 - 1
5.1.1 AC Power Supply··························································································· 5 - 1
5.3.2 DC Power Supply ·························································································· 5 - 1
5.2 CPU Specifications ···················· 5 - 2
5.3 Operation Processing ··················· 5 -5
5.3.1 Operation Method ·························································································· 5 - 5
5.3.2 Operation Processing at Momentary Power Failure ··············································· 5 - 6
5.3.3 Scan Time···································································································· 5 - 7
5.3.4 Scan Watchdog Timer····················································································· 5 - 7
5.3.5 Timer Processing ························································································· 5 - 8
5.3.6 Counter Processing························································································ 5 - 9
5.4 Program························································································ 5 - 12
5.4.1Program Configuration ··················································································5 - 12
5.4.2 Program Execution Procedure ·········································································5 - 12
5.4.3Task············································································································5 - 15
5.4.4 Error Handling······························································································5 - 22
5.5 Operation Modes ···················· 5 - 23
5.5.1 RUN Mode ··································································································5 - 23
5.5.2 STOP Mode·································································································5 - 24
5.5.3 PAUSE Mode·······························································································5 - 24
5.5.4 DEBUG Mode ······························································································5 - 24
5.5.5 Operation Mode Change ················································································5 - 25
5.6 Functions ······················· 5 - 27
5.6.1 Restart Mode ·······························································································5 - 27
5.6.2 Self-diagnosis ····························································································5 - 29
5.6.3 Remote Function ··························································································5 - 29
5.6.4 I/O Force On/Off Function·············································································· 5 – 30
5.6.5 Direct I/O Operation Function ········································································· 5 – 31
5.6.6 External Device Error Diagnosis Function··························································5 – 31
5.7 Memory Configuration ··················· 5 - 33
5.8 I/O Allocation Method ··················· 5 - 35
5.9 Built-in Cnet Communication Setting Switch ········································ 5 - 35
5.9.1 Structure·····································································································5 - 35
5.9.2 Usage ········································································································5 - 36
5.10 External Memory Module ················· 5 - 37
5.10.1 Structure ···································································································5 - 37
5.10.2 Usage·······································································································5 - 37
5.11 RTC Option Module ··················· 5 - 39
5.11.1 Specifications ···························································································· 5 – 39
5.11.2 Structure ··································································································5 – 40
5.11.3 Usage······································································································ 5 – 40
5.11.4 Read RTC Data ·························································································5 – 41
5.11.5 Write RTC Data·························································································· 5 – 42
Chapter 6.
Input and Output Specifications
6.1 Input / Output Specifications ················ 6 - 1
6.2 Digital Input Specifications ················· 6 - 2
6.2.1 Main Unit ····································································································· 6 - 2
6.2.2 Expansion Module ························································································· 6 - 6
6.3 Digital Output Specifications ················ 6 - 7
6.3.1 Main Unit (Relay Output) ················································································· 6 - 7
6.3.2 Main Unit (NPN TR Output)·············································································6 - 10
6.3.3 Main Unit (PNP TR Output) ·············································································6 - 13
6.3.4 Expansion Module (Relay Output) ····································································6 - 16
6.3.5 Expansion Module (TR Output) ········································································6 - 17
Chapter 7. Usage of Various Functions
7.1 Built-in Functions ···················· 7 - 1
7.1.1 High Speed Counter Function··········································································· 7 - 1
7.1.2 Pulse Catch·································································································7 - 16
7.1.3 Input Filter···································································································7 - 17
7.1.4 PID Control ·································································································7 - 19
7.2 Special Modules ····················· 7 - 42
7.2.1 A/D·D/A Combination Module········································································7 - 43
7.2.2 A/D Conversion Module··················································································7 - 54
7.2.3 D/A Conversion Module··················································································7 - 61
7.2.4 Analogue Timer ··························································································7 - 68
7.2.5 RTD input Module ·······················································································7 - 70
7.3 Positioning Function ··················· 7 - 77
7.3.1 Specification ································································································7 - 77
7.3.2 Positioning Function ······················································································7 - 80
7.3.3 Positioning parameter and Operation Data ·························································7 - 93
7.3.4 Instructions ······························································································ 7 - 100
7.3.5 Flag list and Error codes ············································································ 7 – 110
7.3.6 Wiring with Servo and Stepping Motor Drive ·················································· 7 – 114
Chapter 8. Communication Functions
8.1 Dedicated Protocol Communication ·············· 8 - 1
8.1.1 Introduction ·································································································· 8 - 1
8.1.2 System Configuration Method··········································································· 8 - 2
8.1.3 Frame Structure ···························································································· 8 - 5
8.1.4 Commands List ····························································································· 8 - 7
8.1.5 Data Type ···································································································· 8 - 8
8.1.6 Command Command······················································································ 8 - 9
8.1.7 1:1, 1:N Built-in Communication between LSIS Products ·····································8 - 25
8.1.8 Error Codes································································································ 8 – 37
8.1.9 LS Inverter-dedicated Protocol·········································································8 - 38
8.2 User Defined Protocol Communication ············· 8 - 41
8.2.1 Introduction ·································································································8 - 41
8.2.2 Parameter Setting ·························································································8 - 41
8.2.3 Function Block ····························································································8 - 49
8.2.4 Example ·····································································································8 - 50
8.3 Modbus Protocol Communication ··············· 8 - 62
8.3.1 Introduction ·································································································8 - 62
8.3.2 Basic Specifications ······················································································8 - 62
8.3.3 Parameter Setting ·························································································8 - 66
8.3.4 Function Block ···························································································· 8 – 68
8.3.5 Example ···································································································· 8 – 79
8.4 No Protocol Communication ················ 8 - 83
8.4.1 Introduction ·································································································8 - 83
8.4.2 Parameter Setting ·························································································8 - 84
8.4.3 Function Block ·····························································································8 - 85
8.4.4 Examples····································································································8 - 87
8.5 Remote Connection and Communication I/F module ········ 8 - 89
8.5.1 Remote Connection·······················································································8 - 89
8.5.2 Communication I/F Module ·············································································8 - 93
Chapter 9. Installation and Wiring
9.1 Installation ······················· 9 - 1
9.1.1 Installation Environment ·················································································· 9 - 1
9.1.2 Handling Instructions ······················································································ 9 - 3
9.1.3 Connection of Expansion Module ······································································ 9 - 6
9.2 Wiring ························ 9 - 7
9.2.1 Power Supply Wiring ······················································································ 9 - 7
9.2.2 Input and Output Devices Wiring ······································································· 9 - 8
9.2.3 Grounding ···································································································· 9 - 9
9.2.4 Cable Specifications for wiring ·········································································· 9 - 9
Chapter 10. Maintenance
10.1 Maintenance and Inspection ················ 10 - 1
10.2 Daily Inspection ···················· 10 - 1
10.3 Periodic Inspection ··················· 10 - 2
Chapter 11.
Troubleshooting
11.1 Basic Procedure of Troubleshooting ············· 11 - 1
11.2 Troubleshooting ············································································ 11 - 1
11.2.1 Flowchart for when the “POWER” LED turned off ··············································11 - 2
11.2.2 Flowchart for when the “ERRORR” LED is flashing ·············································11 - 3
11.2.3 Flowchart for when the “RUN” LED turned off ····················································11 - 4
11.2.4 Flowchart for when the I/O devices does not operate normally ······························11 - 5
11.2.5 Flowchart for when unable to write a program to the CPU ····································11 - 7
11.3 Troubleshooting Questionnaire ························································· 11 - 8
11.4 Troubleshooting Examples······························································· 11 - 9
11.4.1 Input circuit troubles and corrective actions ·······················································11 - 9
11.4.2 Output circuit troubles and corrective actions··················································· 11 - 10
11.5 Error Code List············································································· 11 - 12
Appendix ··················································································································
Appendix 1 System Definitions·······························································App1-1
Appendix 2 Flag Lists···········································································App2-1
Appendix 3 Function/Function Block Lists·················································App3-1
Appendix 4 External Dimensions ····························································App4-1
Chapter 1. General
Chapter 1. General
1.1 Guide to Use This Manual
This manual includes specifications, functions and handling instructions for the GLOFA-GM 7U series PLC.
This manual is separated into the following chapters:
No.
Title
Contents
Chapter 1
General
Describes the contents of this manual, the features of the PLC and
terminologies
Chapter 2
System Configuration
Describes available units and system configurations for the GLOFA-GM7U
series
Chapter 3
Chapter 4
Chapter 5
General Specifications
Names of Parts
Power Supply / CPU
Input and Output
Specifications
Usage of Various
Functions
Chapter 6
Chapter 7
Describes general specifications of the units used in the GLOFA-GM7U series
Describes each component, names, and main functions
Describes each component’s usage
Chapter 8
Communication
Functions
Describes built-in communication functions
Chapter 9
Installation and Wiring
Describes installation, wiring and handling instructions for insuring the reliability
of the PLC system
Chapter 10
Maintenance
Chapter 11
Appendix 1
Appendix 2
Troubleshooting
System Definitions
Flag Lists
Function / Function
Block Lists
Dimensions
Appendix 3
Appendix 4
Describes the checklist and method for long-term normal operation of the PLC
system
Describes various operation errors and the corresponding corrective actions
Describes parameter settings for the basic I/O and communication modules
Describes the types and descriptions of various flags
Describes the types and descriptions of various Functions / Function Blocks
Shows dimensions of the main units and expansion modules
REMARK
This manual does not describe the programming method. For these functions, refer to the related user's manuals.
1-1
Chapter 1. General
1.2 Feature
1) GLOFA-GM7U series have the following features.
1) GLOFA-GM series features
(1) Designed on the basis of international standard specifications (IEC61131-3)
y Supports easy programming
y Provides IEC61131-3 Language (IL / LD / SFC)
(2) Supports an open network by the international standard communication protocol
(3) High speed processing with an embedded operation-dedicated processor.
(4) Various special modules that enlarge the PLC application range
2) GM7U series are extremely compact to fit a wide range of applications.
(1) High speed processing
High speed processing with 0.1~0.9 μs/step
(2) Various built-in functions
Only with the base unit, the user can configure various systems because it has many built-in functions.
• Fast Processing Applications
-Pulse catch: allows the base unit to read a pulse stably as short as 10μs
-High-speed counter: supports high-speed counting up to 1 phase 100kHz, and 2 phase 50kHz
-External contact interrupts: enables the applications which require immediate responses by using a built-in 8-point
interrupt input
• The input filter function helps to reduce the possibility of false input conditions from external noise, such as signal
chattering. The filter time can be programmed from 0 to 1000 ms.
• The built-in positioning control function enables to control a stepping motor or a servo motor without a separate
positioning module. (DRT, DT type)
• Using RS-232C and RS-485 built-in ports, GM7U can connect to external devices, such as computers or
monitoring devices. These devices can communicate 1:1 with the GM7U or GM6 system.
• Using the built-in PID control function, the PID control system can be configured easily without using separate
PID module.
(3) The user can easily turn On/Off the system with RUN/STOP switch.
(4) The user can configure various systems using a separate Cnet I/F module.
(5) The user program can be easily saved in EEPROM by simple manipulation in GMWIN without using external memory.
(6) Advanced self-diagnostic functions
- GLOFA-GM7U series can detect the errors precisely with more detailed error codes.
(7) Unintentional reading and writing can be prevented by using a password.
(8) Restart mode setting
- The user can select Cold/Warm restart mode.
1-2
Chapter 1. General
(9) Battery-less
- With the EEPROM, the user program and parameter can be saved permanently without the battery.
(10) Debugging function
On-line debugging is available if the PLC Operation mode is set to debug mode.
y Executed by one command
y Executed by break-point settings
y Executed by the condition of the device
y Executed by the specified scan time
(11) Various program execution function
- Time driven interrupt, external and internal interrupt programs as well as scan programs can be executed by setting the execution condition.
This allows the user to set various program execution modes.
1-3
Chapter 1. General
1.3 Terminology
The following table gives a definition of terms used in this manual.
Terms
Definition
Remarks
Example)
Module
Unit
A standard element that has a specified function which
configures the system. The devices such as I/O board, which
inserted onto the mother board or base unit.
A single module or group of modules that perform an
independent
Operation as a part of PLC system.
PLC System
A system which consists of the PLC and peripheral devices. A
user program can control the system.
Cold Restart
To restart the PLC system and user programs after all of the
data (variables and programs of I/O image area, of internal
register, of timer of counter) were set to the specified
conditions automatically or manually.
CPU module,
Power supply
module,
I/O module
Example)
Main unit
In the warm restart mode, the power supply Off occurrence will
be informed to the user program and the PLC system restarts
Warm Restart
with the previous user-defined data and user program after the
power supply Off.
After the power went off, the PLC system restores the data to
Hot Restart the previous conditions and restarts in the maximum allowed
time.
I/O Image
Area
Internal memory area of the CPU module which used to hold
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 the inside of
instruction such as timer and counter and use the operation
results which have been stored through many scans.
Direct
Variable
Variables used without the definition of their names and types.
There are I, Q, M areas.
Example)
1-4
y%IX0.0.2
y%QW1.2.1
y%MD1234 etc.
Chapter 1. General
Terms
Definition
Symbolic
Variable
Variables used after the user’s definition of their names and
types. Declarations as ‘INPUT_0’ = %IX0.0.2, ‘RESULT
= %MD1234’ makes INPUT_0 and RESULT be able to used
instead of %IX0.0.2 and %MD123 in programming.
GMWIN
A peripheral device for the GLOFA-GM series. It executes
program creation, edit, compile and debugging.
FAM
Abbreviation of the word ‘Factory Automation Monitoring S/W’.
It is used to call S/W packages for process supervision.
Task
RTC
It means startup conditions for a program. There are three
types of periodic task, internal contact task and external
contact task which starts by the input signals of external input
modules.
Abbreviation of ‘Real Time Clock’. It is used to call general IC
that contains clock function.
Current flows from the switch to the PLC input terminal if a
input signal turns on.
Sink Input
Current flows from the PLC input terminal to the switch after an
input signal turns on.
Source Input
Current flows from the load to the output terminal and the PLC
output turn on.
Sink Output
Output
Contact
1-5
Remarks
Chapter 1. General
Terms
Definition
Current flows from the output terminal to the load and the PLC
output turn on.
Source
Output
Fnet
Fieldbus Network
Cnet
Computer Network
Dnet
DeviceNet Network
1-6
Remarks
Chapter 2. System Configuration
Chapter 2. System Configuration
The GLOFA-GM7U series has suitable to configuration of the basic, computer link and network systems.
This chapter describes the configuration and features of each system.
2.1 Overall Configuration
2.1.1 Basic system
Main unit
Expansion module
Expansion cable
Total I/O points
Maximum
number of
expansion
modules
20 ~ 120 points
Digital I/O module
A/D-D/A module
3
Analog timer
3
Cnet I/F module
1
Main unit
Digital I/O
Expansi
on
module
Item
Commu
nication
I/F
module
Option
module
3
A/D,D/A
• G7M-DR20,30,40,60U
• G7M-DR20,30,40,60U/DC
• G7M-DRT20,30,40,60U(N)
• G7M-DRT20,30,40,60U(N)/DC
• G7M-DT20,30,40,60U(N)
• G7M-DRT20,30,40,60U(N)/DC
• G7M-DT20,30,40,60U(P)
• G7M-DRT20,30,40,60U(P)/DC
G7E-DR10A/G7E-DR20A/G7E-TR10A/G7E-DC08A/G7E-RY08A/G7E-DR08A
G7E-RY16A
G7F-ADHA/G7F-AD2A/G7F-DA2I/G7F-ADHB/G7F-DA2V/G7F-AD2B /G7F-ADHC
RTD Input
G7F-RD2A
Analog Timer
G7F-AT2A
Cnet I/F
Total 3 modules
(External Memory and RTC modules can
be connected as a 4th expansion module)
G7L-CUEB,G7L-CUEC
DeviceNet I/F
G7L-DBEA
Fnet I/F
G7L-FUEA
Pnet I/F
G7L-PBEA
Rnet I/F
G7L-RUEA
RTC
G7E-RTCA
G7M-M256B (*1)
Memory
* G7M-M256 is not available for GM7U series. Please use G7M-M256B.
2-1
Chapter 2. System Configuration
2.1.2 Cnet I/F system
The Cnet I/F System are used for communication between the main unit and external devices using RS-232C/RS-422
Interface. The GM7U has a built-in RS-232C port, RS-485 port and has also G7L-CUEB for RS-232C, G7L-CUEC for
RS-422. It is possible to construct communication systems on demand.
1) 1:1 Communications system
(1) 1:1 communication between PC and GM7U via RS-232C built-in port
GM7U Series
RS-232C
(2) 1:1 communication via modem connection function of Cnet I/F module to interface with long distance devices
GM7U Series
G7L-CUEB
GM7U Series
G7L-CUEB
Modem
Modem
GM7U Series
Modem
G7L-CUEB
Modem
2-2
Chapter 2. System Configuration
(3) 1:1 communication between HMI andGM7U via RS-485 built-in port
RS-485
GM7U Series
2) 1:N communication system
This method can connect a computer to multiple main units up to a maximum of 32 stations.
(1) Via RS-422 Cnet I/F module
Max. of 32 stations can be added
G7L-CUEC
RS-232C ⇔ RS-422 Converter
G7L-CUEC
(2) Via RS-485 Cnet I/F module
GLOFA-GM7U
GLOFA-GM7U
GLOFA-GM7U
RS-232C ⇔ RS-485
Converter
Built-in RS-485
Built-in RS-485
* For details, refer to the section chapter 8. ‘Communication Function’.
2-3
Built-in RS-485
Chapter 2. System Configuration
2.2
Product List
The following describes functional model of the GLOFA-GM7Useries.
2.2.1 Product functional block
Product configuration block for the GM7U series is as follows.
Main Unit
Power supply
Input signal
Power
supply
DC24V
Power
supply
Output
Power Supply
Communication
Interface
Special/Communication modules
Output
Output
Built-in RS-232C I/F
Input
Input
CPU
Comm.
I/F
Sub-system
CPU
Input signal
Input
•
Built-in RS-232C
Built-in RS-485
Expansion Modules
Output signal
Output signal
O
Output signal
Description
• Signal processing function
- Operating system function
- Application program storage / memory function
- Data storage / memory function
- Application program execution function
The input signals obtained from the machine/process to appropriate signal levels for
processing
The output signals obtained from the signal processing function to appropriate signal
levels to drive actuators and/or displays
Provides for conversion and isolation of the PLC system power from the main supply
Supports 1:1 or 1:N communication system using built-in communication I/F function or
GMWIN
2-4
Chapter 2. System Configuration
2.2.2 GM7U series system equipment product
1) Main Unit
Items
Models
G7M-DR20U
G7M-DR20U/DC
G7M-DR30U
G7M-DR30U/DC
G7M-DR40U
G7M-DR40U/DC
G7M-DR60U
G7M-DR60U/DC
G7M-DRT20U(N)
G7M-DRT20U(N)/DC
Main unit
G7M-DRT30U(N)
G7M-DRT30U(N)/DC
G7M-DRT40U(N)
G7M-DRT40U(N)/DC
G7M-DRT60U(N)
G7M-DRT60U(N)/DC
G7M-DT20U(N)
G7M-DT20U(N)/DC
G7M-DT20U(P)
G7M-DT20U(P)/DC
G7M-DT30U(N)
G7M-DT30U(N)/DC
G7M-DT30U(P)
G7M-DT30U(P)/DC
G7M-DT40U(N)
G7M-DT40U(N)/DC
G7M-DT40U(P)
G7M-DT40U(P)/DC
G7M-DT60U(N)
G7M-DT60U(N)/DC
G7M-DT60U(P)
G7M-DT60U(P)/DC
I/O Point & Power Supply
Built-in Function
1) DC24V input 12 points
2) Relay output 8 points
3) AC 85 ~ 264[V]
/DC : DC10.8~26.4V
1) DC24V input 18 points
2) Relay output 12 points
3) AC 85 ~ 264[V]
/DC : DC10.8~26.4V
1) DC24V input 24 points
2) Relay output 16 points
3) AC 85 ~ 264[V]
/DC : DC10.8~26.4V
- High speed counter
1 phase: 100kHz 2Ch, 20 kHz 2Ch
2 phase: 50kHz 1Ch, 10 kHz 1Ch
1) DC24V input 36 points
2) Relay output 24 points
3) AC 85 ~ 264[V]
/DC : DC10.8~26.4V
with groups)
Remark
- Pulse catch: 10 ㎲ 2 points / 50 ㎲ 6 points
(IX0.0.0~IX0.0.7)
- External interrupt:
1 ㎲ 2 points/50
(IX0.0.0~IX0.0.7)
- Input filter:
㎲
6
points
0 ~ 1s (can be designated
- PID control
- RS-232C / RS-485
1) DC24V input 12 points
2) Relay output 4 points
3) NPN TR output 4 points
4) AC 85 ~ 264[V]
/DC : DC10.8~26.4V
1) DC24V input 18 points
2) Relay output 8 points
3) NPN TR output 4 points
4) AC 85 ~ 264[V]
/DC : DC10.8~26.4V
1) DC24V input 24 points
2) Relay output 12 points
3) NPN TR output 4 points
4) AC 85 ~ 264[V]
/DC : DC10.8~26.4V
1) DC24V input 36 points
2) Relay output 20 points
3) NPN TR output 4 points
4) AC 85 ~ 264[V]
/DC : DC10.8~26.4V
1) DC24V input 12 points
2) TR. output 8 points
3) AC 85 ~ 264[V]
/DC : DC10.8~26.4V
- High speed counter
1 phase: 100kHz 2Ch, 20 kHz 2Ch
2 phase: 50kHz 1Ch, 10 kHz 1Ch
- Pulse catch: 10 ㎲ 2 points / 50 ㎲ 6 points
(IX0.0.0~IX0.0.7)
- External interrupt:
10 ㎲ 2 points / 50 ㎲ 6 points
(IX0.00~IX0.0.7)
- Input filter:
with groups)
0 ~ 1s (can be designated
- PID control
- RS-232C / RS-485
- Positioning function
- 2axes 100 kpps
- Absolute / Incremental positioning
- Single / Repeat operation
- End / Keep / Continuous mode
- Return to origin, JOG, PWM, velocity
control
1) DC24V input 18 points
2) TR. output 12 points
3) AC 85 ~ 264[V]
/DC : DC10.8~26.4V
1) DC24V input 24 points
2) TR. output 16 points
3) AC 85 ~ 264[V]
/DC : DC10.8~26.4V
(N) : NPN TR. output
(P) : PNP TR. output
1) DC24V input 36 points
2) TR. output 24 points
3) AC 85 ~ 264[V]
/DC : DC10.8~26.4V
2-5
Chapter 2. System Configuration
2) Expansion/Special modules
Expansion module
Items
Models
G7E-DR10A
• DC 24V input 6 points / Relay output 4 points
G7E-DR20A
• DC 24V input 12 points / Relay output 8 points
G7E-RY16A
• Relay output 16 points
G7E-TR10A
• TR output 10 points
G7E-RY08A
• Relay output 8 points
G7E-DR08A
• DC input 4 points, Relay output 4 points
G7E-DC08A
• DC 24V input 8 points
G7F-ADHA
• A/D : 2 channel , D/A : 1 channels
G7F-ADHB
• A/D : 2 channels , D/A : 2 channels
G7F-ADHC
• A/D : 1 channel (0~1V), D/A : 1 channel (current output)
G7F-AD2A
• A/D : 4 channels
G7F-AD2B
• A/D : 4 channels
G7F-DA2I
• D/A : 4 channels (current output)
G7F-DA2V
• D/A : 4 channels (voltage output)
G7F-AT2A
• Timer points: 4 points
• Digital output range: 0 ~ 200
G7F-RD2A
• 4 channels
G7L-CUEB
• RS-232C : 1 channel
G7L-CUEC
• RS-422 : 1 channel
DeviceNet I/F
G7L-DBEA
• DeviceNet (Slave) I/F module
Fnet I/F
G7L-FUEA
• FieldBus (Fnet) I/F module
Pnet I/F
G7L-PBEA
• ProfiBus (Slave) I/F module
Rnet I/F
G7L-RUEA
• Remote I/O I/F module
RTC pack
G7E-RTCA
• RTC module
Memory pack
G7M-M256B
• Memory module
Digital I/O
Special module
A/D , D/A combination
A/D
D/A
Analog timer
RTD input
module
Communication module
Cnet I/F
Option
Specifications
* External memory G7M-M256 is not supported in GM7U series. Only G7M-M256B is available for GM7U series.
2-6
Remark
Slim type
Slim type
Slim type
Slim type
Slim type
Chapter 3. General Specifications
Chapter 3. General Specifications
3.1 General Specifications
The following shows the general specifications of the GLOFA-GM series.
No.
1
2
3
4
Item
Operating ambient
temperature
Storage ambient
temperature
Operating ambient
humidity
Storage ambient
humidity
5
Vibrations
6
Shocks
7
8
9
10
11
Noise immunity
Atmosphere
Altitude
Pollution degree
Cooling method
Specifications
References
0 ~ 55 °C
−25 ~ +70 °C
5 ~ 95%RH, non-condensing
5 ~ 95%RH, non-condensing
Occasional vibration
Frequency
Acceleration
Amplitude
Sweep count
0.075mm
10 ≤ f < 57Hz
−
9.8m/s2 {1G}
57 ≤ f ≤ 150Hz
−
10 times for each
Continuous vibration
X, Y, Z axis
Frequency
Acceleration
Amplitude
0.0375mm
10 ≤ f < 57Hz
−
4.9m/s2 {0.5G}
57 ≤ f ≤ 150Hz
−
• Maximum shock acceleration: 147 m/s2 {15G}
• Duration time: 11ms
• Pulse wave: half sine pulse (3 shocks per axis, on X, Y, Z axis)
Square wave
± 1,500 V
Impulse noise
Electronic
Voltage: 4 kV (Discharge by contact)
discharge
Radiated
electromagnetic 27 ~ 500 MHz, 10 V/m
field noise
Digital I/O
Power
Digital I/O
(<24V)
Item
Fast transient
supply
(>24V)
Analog I/O
/burst noise
Interface
Voltage
2kV
1kV
0.25kV
Free of corrosive gases and excessive dust
Up to 2,000m
Below 2
Air-cooling
IEC 61131-2
IEC 61131-2
LSIS’ Standard
IEC 61131-2,
IEC 1000-1-2
IEC 61131-2,
IEC 1000-1-3
IEC 61131-2
IEC 1000-1-4
REMARK
1) IEC (International Electro-technical Commission): An international non-governmental organization enacting international
standards of electric and electronic fields.
2) Pollution degree: Index indicating the pollution of operating environment to determine the insulation capacity of equipment.
Pollution degree 2: Normally only nonconductive pollution occurs. Temporary conductivity caused by condensation is to be
expected.
3-1
Chapter 4. Names of Parts
Chapter 4. Names of Parts
4.1 Main Units
⑤
④
⑧
BUILT_IN CNET
⑦ ②
RUN
PAU/REM
STOP
OFF
ON
ROM MODE
①
⑥
③
③
⑨
- +
RS-485
No.
Name
Descriptions
Indicates the status of the power supply to the system
PWR LED
y On: when the supplied power is normal
y Off: when the supplied power is abnormal
Indicates operating status of the main unit
y On: indicates local key switch or remote running mode
①
CPU
condition
LED
RUN LED
y Off: the following turns the LED off
- the supplied power to the main unit is abnormal
- the key switch is on stop mode
- an error is detected which makes operation stop
Indicates operating status of the CPU
ERR LED
y Flickering: self-inspected error
y Off: CPU is working normally
4 -1
Chapter 4. Names of Parts
No.
Name
②
I/O LED
③
Built-in RS-485 connector
Descriptions
Indicates the operating status of I/O
A connector for built-in RS-485 communications
Designates the main unit’s operation mode
y RUN: runs the operation
④
Mode selection key switch
y STOP: stops the operation
y PAU / REM: the usage of each modules is as follow
- PAUSE: temporarily stops the operation
- REMOTE: remote driving
⑤
Dip-switch for Cnet I/F
⑥
RS-232C connector
⑦
Expansion connector cover
⑧
Terminal block cover
A protective cover for the terminal block’s wiring
⑨
DIN rail hook
A hook for DIN rail mounting
See Chapter 5. Power Supply / CPU
A connector to connect with PADT (GMWIN)
A cover of connector which is used to connect with expansion unit
4.1.1 60-point main unit
1) G7M-DR60U
4 -2
Chapter 4. Names of Parts
2) G7M-DRT60U(N)
3) G7M-DT60U(N)
4) G7M-DT60U(P)
4 -3
Chapter 4. Names of Parts
5) G7M-DR60U/DC
6) G7M-DRT60U(N)/DC
7) G7M-DT60U(N)/DC
4 -4
Chapter 4. Names of Parts
8) G7M-DT60U(P)/DC
4.1.2 40-point main unit
1) G7M-DR40U
2) G7M-DRT40U(N)
4 -5
Chapter 4. Names of Parts
3) G7M-DT40U(N)
4) G7M-DT40U(P)
5) G7M-DR40U/DC
4 -6
Chapter 4. Names of Parts
6) G7M-DRT40U(N)/DC
7) G7M-DT40U(N)/DC
8) G7M-DT40U(P)/DC
4 -7
Chapter 4. Names of Parts
4.1.3 30-point main unit
1) G7M-DR30U
2) G7M-DRT30U(N)
3) G7M-DT30U(N)
4 -8
Chapter 4. Names of Parts
4) G7M-DT30U(P)
5) G7M-DR30U/DC
6) G7M-DRT30U(N)/DC
4 -9
Chapter 4. Names of Parts
7) G7M-DT30U(N)/DC
8) G7M-DT30U(P)/DC
4.1.4 20-point main unit
1) G7M-DR20U
4 -10
Chapter 4. Names of Parts
2) G7M-DRT20U(N)
3) G7M-DT20U(N)
4) G7M-DT20U(P)
4 -11
Chapter 4. Names of Parts
5) G7M-DR20U/DC
6) G7M-DRT20U(N)/DC
7) G7M-DT20U(N)/DC
4 -12
Chapter 4. Names of Parts
8) G7M-DT20U(P)/DC
4 -13
Chapter 4. Names of Parts
4.2 Expansion Modules
4.2.1 20-point I/O expansion module
1) G7E-DR20A
④
③
No.
①
⑦
⑧
②
⑤
⑥
⑤
Names
①
Input LED
②
Output LED
③
Input Contact
④
Input Common Terminal
⑤
Output Contact
⑥
Output Common
⑦
Expansion Cable
⑧
Expansion Cable Connecting Terminal
⑥
4.2.2 16-point I/O expansion module
2) G7E-RY16A
②
③
③
②
No.
④
Names
①
Input LED
②
Output Common
③
Output Contact
④
Expansion Cable
⑤
Expansion Cable Connecting Terminal
⑤
①
③
②
③
②
4 -14
Chapter 4. Names of Parts
4.2.3 10-point I/O expansion module
1) G7E-DR10A
④
③
No.
①
⑦
⑧
②
⑥⑤ ⑥ ⑤ ⑥
⑤
Names
①
Input LED
②
Output LED
③
Input Contact
④
Input Common Terminal
⑤
Output Contact
⑥
Output Common
⑦
Expansion Cable
⑧
Expansion Cable Connecting Terminal
2) G7E-TR10A
①
No.
⑥
⑤
③
②
Names
①
Output LED
②
Output Contact
③
Output Common Terminal
④
External Power Supply Terminal (DC 24V)
⑤
Expansion Cable
⑥
Expansion Cable Connecting Terminal
④
4.2.4 8-point I/O expansion module
1) G7E-DC08A
②
③
No.
①
⑤
④
②
③
4 -15
Names
①
Input LED
②
Input Contact
③
Input Common Terminal
④
Expansion Cable
⑤
Expansion Cable Connecting Terminal
Chapter 4. Names of Parts
2) G7E-RY08A
③
②
No.
Names
①
①
Output LED
②
Output Contact
③
Output Common Terminal
④
Expansion Cable
⑤
Expansion Cable Connecting Terminal
⑤
④
②
③
3) G7E-DR08A
③
④
No.
①
⑥
⑤
②
⑦
⑧
4 -16
Names
①
Input LED
②
Output LED
③
Input Contact
④
Input Common Terminal
⑤
Expansion Cable
⑥
Expansion Cable Connecting Terminal
⑦
Output Common Terminal
⑧
Output Contact
Chapter 4. Names of Parts
4.3 Special Modules
4.3.1 A/D ㆍ D/A combination module
1) G7F-ADHA
⑤
②
No.
⑦
⑥
①
③
④
Names
①
RUN LED
②
Analog Output Terminal
③
Analog Input (Voltage/current) selecting jumper pin
④
Analog Input Terminal
⑤
External Power Supply Terminal (DC24V)
⑥
Expansion Cable
⑦
Expansion Cable Connecting Terminal
2) G7F-ADHB (Slim Type)
③
Names
No.
⑥
⑤
①
④
②
4 -17
①
RUN LED
②
Analog Input Terminal
③
Analog Output Terminal
④
External Power Supply Terminal (DC24V)
⑤
Expansion Cable
⑥
Expansion Cable Connecting Terminal
Chapter 4. Names of Parts
3) G7F-ADHC
No.
Names
①
RUN LED
②
Analog Input Terminal
③
Analog Output Terminal
④
External Power Supply Terminal (DC24V)
⑤
Expansion Cable
⑥
Expansion Cable Connecting Terminal
4.3.2 D/A conversion module
1) G7F-DA2I
No.
③
④
①
⑤
Names
①
RUN LED
②
D/A Output Channel
③
Expansion Cable
④
Expansion Cable Connecting Terminal
⑤
External Power Supply Terminal (DC24V)
②
2) G7F-DA2V (Slim Type)
⑤
No.
④
③
①
②
4 -18
Names
①
RUN LED
②
D/A Output Channel
③
Expansion Cable
④
Expansion Cable Connecting Terminal
⑤
External Power Supply Terminal (DC24V)
Chapter 4. Names of Parts
4.3.3 A/D conversion module
1) G7F-AD2A
①
④
No.
24V 24G
Names
①
RUN LED
②
Analog Input Terminal
③
Analog
Input
⑥
⑤
Input
Select
CH3
CH2
CH1
CH0
③
CH0
CH1
CH2
CH3
V0 COM V1 COM V2 COM V3 COM
I0 · I1 · I2 · I3 ·
Input
(Voltage/current)
Selecting
Jumper Pin
②
④
External Power Supply Terminal (DC24V)
⑤
Expansion Cable
⑥
Expansion Cable Connecting Terminal
2) G7F-AD2B
No.
4 -19
Names
①
RUN LED
②
Analog Input Terminal
③
Analog Input (Voltage/current) Selecting Jumper
Pin
④
External Power Supply Terminal (DC24V)
⑤
Expansion Cable
⑥
Expansion Cable Connecting Terminal
Chapter 4. Names of Parts
4.3.4 Analog timer module
②
No.
③
④
①
Names
①
RUN LED
②
Analog Timer Volume Control Resistor
③
Expansion Cable
④
Expansion Cable Connecting Terminal
4.3.5 RTD input module
⑤
②
No.
④
③
Names
①
RUN LED
②
RTD Input Channel
③
Expansion Cable
④
Expansion Cable Connecting Terminal
⑤
External Power Supply Terminal (DC24V)
①
②
4 -20
Chapter 4. Names of Parts
4.4 Communication I/F Module
4.4.1 Cnet I/F module
1) G7L-CUEB
No.
②
PWR
G
③
CTS
RX
DSR
CD
①
RS-232C connector
②
Communication status LED
③
Expansion cable
④
Expansion cable connecting terminal
⑤
TM/TC selecting dip switch
No.
Names
①
RS-422/485 connector
②
Power supply/Communication status LED
③
Expansion cable
④
Expansion cable connecting terminal
④
PROGRAMMABLE
LOGIC
CONTROLLER
TM/TC MODE
D-SUB
Names
ON↔OFF
①
⑤
2) G7L-CUEC
①
②
RXB
RXA
TXA
③
SG
·
·
④
G
7
L
4.4.2 Fnet I/F module
1) G7L-FUEA
①
No.
⑤
Names
①
Station No. selecting switch
②
Fnet cable connector 1 and 2
③
Expansion cable
④
Expansion cable connecting terminal
⑤
Communication status LED
ADD
RES
③
G7LFUEA
④
PROGRAMMABLE
LOGIC
CONTROLLER
②
4 -21
Chapter 4. Names of Parts
4.4.3 Pnet I/F module
1) G7L-PBEA
No.
Names
⑤
③
①
Station No. selecting switch
②
Pnet Connecting Cable
③
Expansion cable
④
Expansion cable connecting terminal
⑤
Communication status LED
No.
Names
④
G7L-PBEB
PROGRAMMABLE
LOGIC
CONTROLLER
COM
RUN
ERROR LINK-IF
ADDRESS
COMM. CONN.
X16
x1
①
②
4.4.4 DeviceNet I/F module
1) G7L-DBEA
⑥
③
G7L-DBEA
④
125k
PROGRAMMABLE
250k
NS
②
①
Station No. selecting switch(NA)
②
DeviceNet cable connector
③
Expansion cable
④
Expansion cable connecting terminal
⑤
Baud rate selecting switch
⑥
Power supply/Communication status LED
500k
①
⑤
4.4.5 Rnet I/F module
①
No.
⑤
Names
x
③
G7LRUEA
④
PROGRAMMABLE
LOGIC
CONTROLLER
②
4 -22
①
Station No. selecting switch(NA)
②
Rnet cable connector 1, 2
③
Expansion cable
④
Expansion cable connecting terminal
⑤
Communication status LED
Chapter 5. Power Supply / CPU
Chapter 5. Power Supply / CPU
5.1 Power Supply Specifications
5.1.1 AC power supply
Models
Items
Voltage
Frequency
Current
Inrush current
Input
Efficiency
Fuse
Momentary
Power Failure
Output
(1)
Output
(2)
G7M-DR20U
G7M-DR30U
G7M-DR40U
G7M-DR60U
G7M-DRT20U(N)
G7M-DRT30U(N)
G7M-DRT40U(N)
G7M-DRT60U(N)
G7M-DT20U(N/P)
G7M-DT30U(N/P)
G7M-DT40U(N/P)
G7M-DT60U(N/P)
AC 85 ~ 264V
50 / 60 Hz (47 ~ 63 Hz)
0.5A (AC110V) / 0.25A (AC220V)
30 A or less
65% or higher (rated input/load)
2A/AC250V (Time Lag Type)
10 ms or less
Voltage
DC 5V
Current
1.2 A
Voltage
DC24V
Current
0.2 A
Power indicator
0.6A (AC110V) / 0.3A (AC220V)
2.0 A
PWR LED On when the power supply is normal
5.1.2 DC power supply
Models
Items
Input
G7M-DR30U/DC
G7M-DR40U/DC
G7M-DR60U/DC
G7M-DRT20U/DC
G7M-DRT30U/DC
G7M-DRT40U/DC
G7M-DRT60U/DC
G7M-DT20U(N/P)/DC
G7M-DT30U(N/P)/DC
G7M-DT40U(N/P)/DC
G7M-DT60U(N/P)/DC
Voltage
DC 10.2 ~ 28.8V
Current
1.6A (DC12V) / 0.9A (DC24V)
2.5A (DC12V) / 1.5A (DC24V)
70 A or less
80 A or less
50% or higher (rated input/load)
55% or higher (rated input/load)
Inrush current
Efficiency
Momentary
Power Failure
Output
G7M-DR20U/DC
10ms or less (DC 24V/80% load)
Voltage
DC 5V
DC 5V
Current
1.2 A
2.0 A
Power indicator
PWR LED On when the power supply is normal
5-1
Chapter 5. Power Supply / CPU
5.2
CPU Specifications
The following table shows the general specifications of the GLOFA–GM7U series.
Items
Operation method
Specifications
Scan synchronized batch processing method (Refresh method),
Direct input/output method by input/output function
Program language
Instruction List, Ladder Diagram, Sequential Function Chart
LD: 13, IL: 21
Standard function
138
Standard function
block
11
Special function
block
Operator
Processing speed
Numbers of instructions
I/O control method
Operator
Standard
function/function
block
Remarks
20-point Main Unit 30-point Main Unit 40-point Main Unit 60-point Main Unit
Cycle execution of stored program, Time-driven interrupt, Process-driven
interrupt
Function blocks for built-in functions, special, communication modules
0.1 ~ 0.9μs
Refer to the section Appendix 3
Including
Program memory capacity 132K byte
parameter
(Approx. 8K bytes)
• 20-point main unit: 12-point input/8-point output
I/O points
• 30-point main unit: 18-point input/ 12-point output
• 40-point main unit: 24-point input/ 16-point output
• 60-point main unit: 36-point input/ 24-point output
Data
Direct variable
area
14K Byte
Memory
Symbolic
variable area
30K Byte
Timer
Counter
Operation mode
Data retention at power
failure
No limitation,
Time range: 0.001~4,294,967.295 sec(1,193 hours)
No limitation,
Count range: -32,768 ~ +32,767
RUN, STOP, PAUSE, DEBUG
Set to ‘Retain’ at data declaration
Number of program blocks 100
5-2
Max. of 3
expansion
modules can be
attached
I/O point: 20~120
Chapter 5. Power Supply / CPU
(Continued)
Specifications
Items
20-point Main Unit 30-point Main Unit 40-point Main Unit 60-point Main Unit
Program Type
Scan
Task
Remarks
100
Time-driven
8
External
8
HSC
4
Internal
8
Initialization
8 in total
1(_INIT)
Control by function block, Auto tuning, Forward/Reverse operation, PWM
PID control
output function, Manual output, Operation scan time setting, Anti-windup,
Selecting PID algorithm (velocity, positioning) available, Delta MV, SV ramp
function, etc
Dedicated
Cnet interface
MODBUS
1 RS-232C port
User-defined
1 RS-485 port
No protocol
LS inverter
Counting speed
1-phase: 100 kHz (2 channels) / 20 kHz (2 channels)
2-phase: 50 kHz (1 channel) / 10 kHz (1 channel)
• 1-phase up counter
HSC
Counting method
• 2-phase up/down counter (up/down: pulse input)
• 2-phase up/down counter (up/down: automatic selection by phase differen
ce)
Additional
• Internal/external preset • Latch counter
• Comparison output
• RPM
No. of control axis: 2,
Control method: PTP/speed/synchronous, Control unit: pulse
Basic
Positioning data: 20/axis (operation step no. 1~20)
Operation mode: end/continuous/keep
Operation method: single/repeat
Positioning method: absolute/incremental
Positioning
Built-in communication
• 1-phase up/down counter (up/down: selection by B-phase)
Positioning
Address range: -2,147,483,648 ∼ 2,147,483,647
DRT/DT Type
Speed: Max.100Kpps (setting range: 5 ∼ 100,000pps)
Only
Acceleration/Deceleration method: Trapezoidal method
Return to origin
JOG
Synchronous
control
DOG/HOME (ON), DOG/HOME (OFF), approximate origin
Setting range: 5 ∼ 100,000pps (high/low speed)
Control high speed counter and synchronous output
Scale rate: 0 ~ 100 %
5-3
Chapter 5. Power Supply / CPU
(Continued)
Built-in communication
Items
Pulse catch
Specifications
20-point Main Unit
30-point Main Unit
40-point Main Unit
Remarks
60-point Main Unit
Pulse width: 10 ㎲ (2 points, IX0.0.0 ~ IX0.0.1) / 50 ㎲ (6points, IX0.0.2 ~ IX0.0.7)
External interrupt 8 points: 10 ㎲ (2 points, IX0.0.0 ~ IX0.0.1) / 50 ㎲ (6 points, IX0.0.2 ~ IX0.0.7)
Input filter
Weight(g)
0,1,2,5,10,20,50,100,200,500,1000ms
520
540
660
5-4
850
Chapter 5. Power Supply / CPU
5.3 Operation Processing
5.3.1 Operation method
1) Cyclic execution
A PLC program is sequentially executed from the first step to the last step. This process is called a scan, and the
sequential processing is called cyclic execution. Cyclic execution of the PLC continues as long as the conditions
are not changed for the interrupt processing during program execution. This processing is classified into the following
stages:
Stages
Processing
Operation Start
Stage for the start of a scan processing. It is executed only
one time when the power is applied or reset is executed.
It executes the following process:
▶ I/O reset
▶ Execution of self-diagnosis
▶ Data clear
▶ Allocating I/O address and type
Initialization
Input conditions are read and stored into the input image
area before starting process.
Input image area refresh
Program is sequentially executed from the first step to the last
step.
Program operation processing
Program starts
~
Program ends
The contents stored in the output image area is output to output
part when operation processing of a program is finished.
Input/Output image area refresh
Stage for return processing after the CPU part has finished
END processing
1 scan. The END processing following process is executed.
▶ Self-diagnosis
▶ Change the present values of the timer and counter, etc.
▶ Processing data communications between the computer
link and communications module.
▶ Checking the switch for mode settings.
5-5
Chapter 5. Power Supply / CPU
2) Time-driven operation
In time driven interrupt operation method, operations are processed not repeatedly but at every preset interval. In the GM7U
series, interval time can be set between 0.001 to 4,294,967.29 sec. This operation is used to process operation with a
constant cycle.
3) Interrupt task operation
The existing PLC program can be interrupted if an operation is required to be urgently processed.
The signal which informs the CPU of the urgent conditions is called the interrupt signal. The GM7U CPU has
three kinds of interrupt operation methods. These are internal, external, and high speed counter interrupt signal me
thods.
5.3.2
Operation processing at momentary power failure
Momentary power failure occurs when the input voltage to the power supply falls below the rated voltage. If there
is momentary power failure under 10ms, the CPU maintains operation processing. If it exceeds 10ms, the CPU will stop
processing and all outputs will be turned off. When the power is restored, the operation will be executed again
automatically.
1) Momentary power failure under 10 ms
y The operation is maintained.
Power
Input
Momentary power failure
under 1Oms
2) Momentary power failure exceeding 10 ms
y The operation is stopped.
y The operation is executed again when the
Power
power is restored
Input
Power failure exceeding 10m
REMARK
1) Momentary power failure?
The PLC defines power failure as a state when the voltage has been lowered over the allowable range. The power
failure with a short interval (several to tens ms) is called momentary power failure.
5-6
Chapter 5. Power Supply / CPU
5.3.3
Scan time
The processing time from a 0 step to the next 0 step is called Scan Time.
1) Scan time measurement
Scan time is the sum of the processing time that the user has written, and this includes the task program processing
time and the PLC internal processing time. The scan time can be measured as below.
(1) Scan time = Scan program processing time + Task program processing time + PLC internal processing time
• Scan program processing time = The processing time used to process a user program that is not specified
to a task program.
• Task program processing time = The total processing time of interrupt programs executed during one scan.
• PLC internal processing time = Self-diagnosis time + I/O refresh time + Internal data processing time +
Communications service processing time
(2) Scan time differs in accordance with the execution or non-execution of interrupt programs and commun
ication processing, etc.
2) Flag
(1) Scan time is stored in the following system flag area.
y _SCAN_MAX: Maximum scan time (unit: 1 ms)
y _SCAN_MIN: Minimum scan time (unit: 1 ms)
y _SCAN_CUR: Current scan time (unit: 1 ms)
5.3.4
Scan Watchdog Timer
1) Watchdog timer is used to detect a delay of abnormal operation of sequence program (Watchdog time is set in menu
of basic parameter of GMWIN.)
2) When watchdog timer detects an exceeding of preset watchdog time, the operation of PLC is stopped immediately and all
output is off.
3) If an exceeding of preset watchdog time is expected in sequence program, use ‘WDT_RST’ function. ‘WDT_RST’
function makes elapsed watchdog time as zero.
4) In order to clear watchdog error, using manual reset switch, restarting the PLC or mode change to STOP mode are
available.
REMARK
1) Setting range of watchdog: 1 ~ 65535ms ( unit: 1ms ).
5-7
Chapter 5. Power Supply / CPU
5.3.5
Timer processing
The CPU timer is an incremental timer, which increases its present value according to the measuring time. Three types
of On Delay Timer (TON), Off Delay Timer (TOF) and Pulse Timer (TP) are available. Its measuring range is 0.001 to
4,294,967,295 sec (1,193 hours) by 1 ms. For details, refer to “GLOFA-GM programming”.
Timer output contact
Timer trigger condition
Timer preset time
Elapsed time
1) On Delay Timer : Process Time Change and Contact On/Off
Timer Process 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.
IN
t0
t1
t2
t3
t5
t4
Q
t0+PT
t4+PT
t1
t5
PT
ET
t0
t1
t2
t3
t4
t5
2) Off Delay Timer : Process Time Change and Contact On/Off
y If input condition turns on, timer output contact (Q) turns on. If input condition turns off, timer process time starts
increasing.
y The process time is newly changed when the timer function block is executed. When the process time reaches the
setting time (process time = setting time), the contact (Q) turns off. The following diagram shows Off Delay Timer
Timing.
IN
t0
t2
t1
t3
t4
t5
Q
t0
t1+PT
t2
t5+PT
PT
ET
t1
t3
5-8
t5
Chapter 5. Power Supply / CPU
3) Pulse Timer Process Time Change and Contact On/Off
If input condition turns on, output contact (Q) turns on.
The process time is newly changed when the timer 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.
IN
t1
t0
t2
t3
t5
t4
Q
t2
t0+PT
t0
t2+PT
t4+PT
t4
PT
ET
t0
t1
t2
t4
t5
4) Timer Error
The maximum timer error is ‘1 scan time + time from the start of scan to execution of the timer function block’
5.3.6 Counter processing
The CPU part counter increase/decrease the present counting value by the detection of rising edge (Off → On) of input
signal. Three types of counter are increment counter, Decrement counter and Increment/Decrement Counter. For details,
refer to GLOFA — GM Programming’.
• The Increment counter is a counter which increment the present counting value
• The Decrement counter is a counter which decrement the present counting value
• The Increment-Decrement counter 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).
Up count pulse input
Up count output
Reset input
Current value
Preset value
5-9
Chapter 5. Power Supply / CPU
• 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 contact (Q) turns off.
(2) Decrement Counter
• It should have input condition (CD), load (LD) and setting value (PV).
• If the counting value (CV) decrements and reaches 0’, the output contact (Q) turns on. If the load (LD) signal is
turned on, the counting value is set to the setting value and the output contact (Q) turns off.
Down count pulse input
Counter output
Current value
Load input
Preset value
(3) Increment / Decrement Counter
• It should have Increment input condition (CU); Decrement input condition (CD), load (LD) and setting value (PV).
• If reset signal (R) turns on, counting value (CV) is set to 0.
• If load signal (LD) turns on; counting value is set to setting value (PV).
• It is increased by 1 at 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.
Up counter output
Up count pulse input
Down count pulse input
Down counter output
Reset input
Current value
Load input
Preset value
5-10
Chapter 5. Power Supply / CPU
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 scan time.
Max. Counting speed C max =
n
1
× ( ) [pps/s]
100 tS
n : duty (%)
ts : scan time [s]
• Duty (n) is the percentage (%) of On/Off of the input signal.
On
Off
Off
T2
T1
T1 ≤ T2: n =
T1
T2
× 100[%] , T1 > T2: n =
× 100[%]
T1 + T 2
T1 + T 2
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Chapter 5. Power Supply / CPU
5.4 Program
5.4.1 Program configuration
A program consists of all of the function elements that are needed to execute a particular control. It is to be stored in the
internal RAM of the CPU part or the EEPROM memory. The function elements are classified as below.
Function elements
Processing Operation
Initialization program
• Executes when the power is applied or the CPU operation is transited to the RUN mode.
• Executes the initial/fixes data setting for execution of scan program and the initialization of
peripheral devices on special modules.
Scan program
• Processes the constantly repeated signals that are executed every scan.
Time driven task
• When the following time conditional processing is required the program is executed
Program
complying with the time interval setting.
- In case of the processing need a shorter interval than that of average scan processing time.
- In case of the processing needs a longer interval than that of average scan processing time.
- In case that the processing should be executed by the specified time interval.
Interrupt program
HSC interrupt program
5.4.2
• A fast processing is executed for internal or external interrupt.
• Executes when HSC Comparison Output occurs.
Program execution procedure
The followings explain the program execution procedure when the power is applied or the mode-setting switch of CPU part is
in the RUN status. Program operation processing is executed as the procedure given below:
Operation start
Initializing program
∗1
y Executes when the power has been
applied or the CPU operation is in the
Run mode.
Executed only when
the condition has been
External task program
satisfied.
Time driven task program
Scan program
Internal task program
END processing
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Executed only when
the condition has been
satisfied.
Chapter 5. Power Supply / CPU
REMARK
∗ 1: In the GLOFA PLC, the time driven interrupt task programs and event driven interrupt task programs are 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.
1) Initialization program
(1) Function
• The Initialization program initializes the program to execute scan and task programs.
(2) Cold/warm restart program
• The initialization program specified to _INIT task is executed with cold or warm restart mode when the operation
starts.
• This initialization program executes the operations repeatedly until the setting conditions are satisfied (that is, until
the Flag _INIT_DONE in the initialization program turns on). However, the I/O refresh is still executed.
(3) Flag
• _INIT_RUN flag is on during executing the initialization program.
2) Scan program
(1) Function
• In order to process signal, 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 during scan
program execution, the program that is under execution will be temporary stopped and the corresponding task
program will be executed.
(2) Configuration
• Up to 100 scan programs can be used.
(If task programs are used, the usable number is reduced as many as that of the used task programs)
• Program has been not specified to initialization or task program when writing that program, it will be automatically
specified to scan program.
• Scan program has lowest execution priority and the priorities of scan program are determined their registration
sequence in the GMWIN screen when writing those programs.
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Chapter 5. Power Supply / CPU
3) Task program
(1) Function
•
In order to process internal/external signal, which occurs periodically, or non-periodicity the task program
temporarily stop the operation of scan program and processes first the corresponding function.
(2) Types
• Task programs are classified into four types as below.
▶ Time driven task program : Up to 8 programs are applicable
▶ Single (internal) task program: Up to 8 programs are applicable
▶ Interrupt (external) task program: Up to 8 programs are applicable
▶ High speed counter task program: Up to 4 programs are applicable.
• Time driven task program
▶ The program is executed by the time internal set before.
• Single (internal) task program
▶ The corresponding program will be executed at the rising edge and on state of internal contact
in the program.
▶ The detection of the start up condition will be executed after the scan program has been processed.
• Interrupt (external) task program
▶ The program is executed according to the external signal a input to the interrupt module
• High-speed counter task program
▶ The program is executed according to speed level.
REMARK
1) Refer to section 5.4.3 “Task” for details of task program.
2) GM7U series uses separate input program to manage sign of interrupt. Refer to section 5.4.3 “Task” for
details of task program.
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Chapter 5. Power Supply / CPU
5.4.3 Task
The followings explain the program structure and tasks of the GMWIN, that is, the GLOFA-GM programming S/W, in
order to give an understanding of the task function. (Refer to GIMWIN section for details of GMWIN program)
Program
Program 1
Task 1
태스크
1
(Program
1)
Function block
Program 2
Function
Program 3
Function block
Program 4
Task 2
Function Block
(Program 3)
Program 5
∗1
Task 3
Program block
(Program 7)
Program 6
Function
REMARK
1) A task executes the same function as the control panel executing
Program 7
Program block
programs. Each task consists of more than one program blocks
out of the 3 types of programs. Those programs are called task
program. A program to which a task has not been specified as
marked with “*1”, will be automatically specified to scan program.
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Chapter 5. Power Supply / CPU
1) Task types and functions
The following table shows the types and functions of tasks.
Type
Size
Time driven task
External interrupt task
Internal interrupt task
High speed task
8
8
8
4
At the rising / falling /
rising ·falling edge of the
input contact
(IX0.0.0~IX0.0.7)
The rising edge or on
state of the BOOL
variable data which has
been specified of buffer
data.
Using HSC parameter
Executed with edge
detection after scan
program has been
finished.
When reaches the SV,
it executes.
Number
Start up
condition
Detection
and
execution
Time driven interrupt
(up to 4,294,967.29
sec by the 10 ms)
Executed periodically
as setting time
Detection
delay time
Up to 1 ms delay
Execution
priority
Level 0 to 7 (Level 0
has highest priority)
Immediately executed at
the rising / falling / rising
·falling edge of the
input contact
(IX0.0.0~IX0.0.7)
10 ㎲ 2 points
(IX0.0.0 ~ IX0.0.1)
50 ㎲ 6 points
(IX0.0.2 ~ IX0.0.7)
Level 0 to 7 (Level 0 has
highest priority)
Delayed for the same
time as max. scan time.
Level 0 to 7 (Level 0
has highest priority)
10 ㎲ 2 points
(IX0.0.0 ~ IX0.0.1)
50 ㎲ 6 points
(IX0.0.2 ~ IX0.0.7)
Level 0 to 7 (Level 0
has highest priority)
2) Task program processing method
The following explains the common processing method and instructions for task programs.
(1) Task program characteristics
•
The task program will be executed when an 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 will not be counted because the
counter checks its input status every 10 sec.
(2) Execution priority
•
The higher priority task program will be executed firstly.
• If a newly invoked task has higher priority than that of existing tasks which are under execution, they are temporary
stopped and task has higher priority will be executed.
• When determining the priority of a task program, consider the characteristics, importance and urgency of the
program.
REMARK
1) The priority for GM7U can’t be set as the same. If it is set as the same, an error will occur.
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Chapter 5. Power Supply / CPU
(3) Processing delay time
The following factors influence on the processing delay of task program, consider the characteristics, importance and
urgency of the program.
• Task detection delay (Refer to the detailed description of each task)
• Execution delay due to the execution of prior task programs
• Delay due to the execution of higher priority task programs white executing task programs
(4) Relationship of task program to initialization or scan program
• User defined tasks will not start while the initialization task program is being executed.
• As scan program has the lowest priority, if a task is invoked the scan program will be stopped and the task
programs will be processed prior to them. Therefore, if tasks are invoked many times or concentrated sometimes
the scan time may be extended abnormally. Be cautious when setting task conditions.
(5) Protection of the programs under execution from task programs
• If problems can be occur in case that program lose its execution continuousness by the task programs which have
higher proprieties, the execution of task programs can be partly perverted For program protection, use the Dl
function (Task program start-up disable) or El function (task program start-up enable)
• Use ‘DI’ function where program needs protection and ‘EI’ function where program needs cancellation. After the
scan program ends of the running program, automatically it becomes permissible. Initialization program doesn’t get
influences from ‘DI and EI.’
3) Time driven task program processing method
The followings explain the processing method of a task program when its task condition (start-up condition) has been
set to drive by time.
(1) Settings that have to be set for the task
• Set the task execution cycle and its priority, which are used as start-up conditions for the task programs to be
executed. Priority number will be task number.
(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 invoked task will be ignored, the representative task collision warning flag
(TASKERR) will be set to ON, the detailed system error flag (JC BMAP[n] will be set to ON at its corresponding
location and occurrence time of the time driven tasks whose execution requests have been ignored will be written at
its corresponding location of the flag TC_CNT[n].
• The timer that invokes the execution request for time driven task programs will be incremented only when the
operation mode is in the RUN mode
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Chapter 5. Power Supply / CPU
• If the RUN mode has been changed into the PAUSE mode while operating with the RUN mode, and then the
operation mode has been changed again into the RUN mode, the operation time spent with the PAUSE mode will
be ignored.
• When setting the execution cycle for a time driven task program, be cautious that execution requests for many time
driven task programs can occur. If four time driven task programs of cycle 2, 4,10 and 20sec are used, four
execution requests will occur every 20 sec and scan time can be momentarily extended.
4) External contact program processing method
In GM7series, it is different from GM1/2/3/4 to use normal digital input task program, not a separate interrupt input
module. The following explains in the case that the task (start-up condition) of a task program has been set to an
external input signal.
(1) Settings that have to be set for the task
• Set the contact No. of input module and priority for the task that will be used as start-up conditions of the task
programs to be executed. Priority will be the task number.
(2) External contact task processing
•
The CPU module checks the occurrence of interrupt input every time and executes the task program, which are
designated by the contact at which the signal has been occurred.
(3) Precautions for using an external contact task.
• Input interrupt that is possible to set is up to %IX0.0.0~%IX0.0.7.
• While a task program which are designated by an input module having interrupt input, contact is being executed or
ready for its execution, if an execution request of a task program has been occurred to the same input contact then
the newly invoked task will be ignored, the representative task collision warning flag (_TASK_ERR) will be set to
ON, the detailed system error flag (_TC_BAMP [n], TC_CNT [n] will be set to ON at its corresponding location and
the occurrence time of the external task whose execution request has been congested.
• Execution request 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 the processing method when the task (start-up condition) of a task program has been set to the
contact of direct variable area (l, Q or M) or automatic variable area.
(1) Settings that have to be set for the task.
• Set the contact No. of input module and priority for the task that will be used as start-up conditions of the task
programs to be executed. Priority will be the task number.
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Chapter 5. Power Supply / CPU
(2) Internal contact task processing
• After the execution of scan program has been completed in the CPU module, the internal contacts that are the startup conditions of the task program will be checked and the internal task programs where rising edge or on state has
been occurred will be executed in accordance with its parameter.
(3) Precautions when using an internal task program.
• The internal task program is executed when scan program has finished its execution. Therefore, though the
execution condition for the internal task program has been invoked in the scan program or task program (time
driven, external) the task (start-up condition) will not be immediately executed but will be executed when scans
program has finished its execution.
• If execution of an internal task program is requested, the execution conditions will be checked when scan program
has finished its execution. Therefore, if an internal task execution conditions, during ‘One’ scan, has been occurred
and disappeared (if the specified contact has been turned from OFF to ON, and then from ON to OFF) by scan
program or (time driven or external) task program the task will not be executed as the execution condition can not
be detected at the time that execution conditions are being checked.
REMARK
1) When an action must continuously be executed according to the related contact point set as a start-up
condition, select a level.
6) Execution of high-speed task program
GM7U series uses general digital input contact point to count high-speed pulse, not a separate high-speed pulse input
module. Setting a task (startup condition) as the same with the one of the high-speed pulse input will be explained.
(1) Conditions to be set for a task
y Set the priority on the tasks that are startup conditions for the task program to be executed. Then a task number
will automatically be added in the priority order.
(2) Processing the high speed counter task
y When CHSC_SET F/B of the program assigns a set value, the task program whose set value matches with the
counted value of the pulse that is input in a high speed is executed.
(3) Precautions for using high speed counter task program
y Even though the operation is in the PAUSE mode, counted value rises. However, the task program is not executed
although the counter value reaches to the set value.
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Chapter 5. Power Supply / CPU
7) Examination on task program
After writing down a task program, be sure to examine the following items.
(1) Task setting has been correctly done?
y If tasks are invoked more frequently than necessary or several tasks are invoked simultaneously within one scan,
the scan time become longer and irregular. If the task setting cannot be changed, check the maximum scans time.
(2) Task priorities are properly arranged?
y 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
consideration of items such as urgency and execution time of a task.
(3) Task programs are written as shortly as possible?
y If execution time of a task program is long, the scan time may become longer and irregular and also collision of
task programs may occur. Therefore, write task programs as shortly as possible.
(4) Protection of lower priority programs against higher priority program isn’t needed during execution of those programs.
y If the priority of a task program (or a scan program) has been set to lower priority and other tasks must not interrupt
during its execution, use the function Dl and ‘El’ to protect the program partly. When processing global variables
used commonly in other programs, special modules or communications modules, problems can occur.
8) Example of program configuration and processing
When the task and program have been registered as below,
•
Task registration :
T_SLOW (interval T#10ms, priority = 0)
PROC_1 (internal contact point: %MX0, priority = 3)
E_INT1 (external contact point: %IX0.0.1, priority = 2)
•
Program registration :
program → P0
program → P1 with the task T_SLOW
program → P2 with the task PROC_1
program → P3 with the task E_INT1
If program execution time is equal to external interrupt occurrence time:
•
Execution time for each program: P0= 17ms, P1= 2ms, P2= 7ms, P3= 2ms
•
Interrupt E_INT1 occurrence time: Occurred at the 6, 7 and 20ms after the operation started.
•
PROC_1 occurrence: Invoked during the execution of scan program
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Chapter 5. Power Supply / CPU
Program execution is shown as below.
S ta rt s c a n
( F ir s t R U N )
F in is h s c a n p r o g r a m
E nd of 1 scan
(S ta r t n e x t s c a n )
E x e c u te P 0
E x e c u te P 1
T _ S L O W o c c u rs
E x e c u te P 2
D e te c t P R O C _ 1
E x e c u te P 3
E _ IN T 1 o c c u rs
T im e :
0
6
7 8
10 12
E x e c u t e w it h o u t p r o g r a m s t o p
20 22 24 25
30 32 34
[mS]
E x e c u t e w it h p r o g r a m p a u s e
D e la y p r o g r a m e x e c u t io n
y Processing with time
Time
(ms)
Processing
0
Scan starts and the scan program P0 starts its execution.
0~6
The program P0 is being executed.
6~8
Execution request for P3 is input, and P0 is stopped and P3 is executed. P3 execution is
requested by E_INT1 of 7 [ms], but it is ignored because P3 is executing.
8~10
P3 finishes its execution and the P0 stopped continues its execution.
10~12
P0 is stopped and P1 is executed due to execution request for P1.
12~20
P2 finishes its execution and the P0 stopped continues its execution.
20
Execution requests for P1 and P3 are simultaneously exist, but the higher priority P1 is
executed and P3 is ready for its execution.
20~22
P0 is stopped and P1 is executed.
22~24
P1 finishes its execution and the higher priority P3 is executed before P0.
24~25
P3 finishes its execution and the P0 stopped completes its execution.
25
Execution request for P2 is checked at the finish time of the scan program (P0) and P2 is
executed.
25~30
The program P2 is executed.
30~32
Execution request for P1 is input and P2 is stopped and P1 finishes its execution.
32~34
P1 finishes its execution and the P2 stopped finishes its execution.
34
A new scan starts. (P0 starts its execution.)
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Chapter 5. Power Supply / CPU
5.4.4 Error handling
1) Error Classification
Errors occur due to various causes such as PLC system defect, system configuration fault or abnormal
operation result. Errors are classified into fatal error mode, which stops system operation for system stability,
and ordinary error mode, which continues system operation with informing the user of its error warning.
The main factors that occurs the PLC system error are given as followings.
• PLC hardware defect
• System configuration error
• Operation error during execution of the user programs
• External device malfunction
2) Operation mode at error occurrence
In case of error occurrence, the PLC system write the error contents the corresponding flags and stops or continues its
operation complying with its operation mode.
(1) PLC hardware defect
The system enters into the STOP state if a fatal error such as the CPU module defect 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 GM7U series. The
system enters into the STOP state.
(3) Operation error during execution of the user programs
It the numeric operation error of these errors occurs during execution of the user programs, its contents
are marked on the error flags and the system continues its operation. If operation time overruns the watchdog time or
I/O modules loaded are not normally controlled, the system enters into the STOP state.
(4) External device malfunction
The PLC user program detects malfunctions of external devices. If a fatal error is detected the system
enters into the STOP state, and if an ordinary error is detected the system continues its operation.
REMARK
1) In occurrence of a fatal error the state is to be stored in the representative system error flags, and an ordinary error
in the representative system warning flags.
2) For details of flags, refer to Appendix 2. Flag List.
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Chapter 5. Power Supply / CPU
5.5 Operation Modes
The CPU module operates in one of the four modes - the RUN, STOP, PAUSE and DEBUG mode. The following describes the PLC
operation processing in each operation mode.
5.5.1 RUN mode
In this mode, programs are normally operated.
The first scan start in the RUN mode
If the operation mode is in the RUN
mode when the power is applied.
Check operation mode
Change to RUN mode from
STOP mode
Initialize data area according to the preset
Initialize data area according to the
preset restart mode.
restart mode.
Check the program and determine it can be
executed or not.
Execute input refresh
Execute programs and tasks
Check the availability of expansion units
Execute communication and internal service
Execute output refresh
Keep RUN mode
Operation mode is changed?
Change to other mode
Operate with new mode
1) Processing when the operation mode changes.
Initialization of data area is executed when the first scan starts.
(1) If the PLC is in the RUN mode when applying the power:
(2) If the operation mode has been changed into from the STOP mode into the RUN mode: the initialization is
executed complying with the restart mode set. (cold I warm I hot)
(3) The possibility of execution of the program is decided with check on its effectiveness.
2) Operation processing contents
I/O refreshes and program operation are executed.
(1) Task programs are executed 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.
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Chapter 5. Power Supply / CPU
5.5.2 STOP mode
In this mode, programs are not operated.
1) Processing when the operation mode changes
The output image area is cleared and output refresh is executed.
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.
5.5.3 PAUSE mode
In this mode, the program operation is temporarily stopped. If it returns to the RUN mode, the operation continues from
the state before the stop.
1) Processing when the operation mode changes
Data area and input image are not cleared and the operating conditions just before 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.
5.5.4 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 mode. In this mode, a program can be checked with examination on its execution state and
contents of each data.
1) Processing when the operation mode changes
[1] Data area is initialized at the starting time of the mode change complying with the restart mode, which has been set
on the parameters.
(2) The output image area is cleared and output refresh is executed.
2) Operation processing contents
(1) I/O refresh is executed by one time every scan.
(2) Communications service or other internal operations are processed.
3) Operation method
(1) Execute the operation after the debug operation conditions have been set in the 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 ‘Debugging’.
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Chapter 5. Power Supply / CPU
4) Debug operation conditions
• Two or more of the following four operation conditions can be simultaneously specified
Operation conditions
Executed by the one
(step over)
Description
If an operation command is ordered, the system operates one operation unit
operation unit, and stops.
• If break step is specified in the program, the operation stops at those step, before
Executed to the specified
execution.
breakpoint
• Up to 8 break points can be specified.
If the contact area to be watched and the condition (Read, Write, Value) where the
Executed according to the
operation has to stop are specified, the operation stops when the specified
contact state
operation occurs at the specified contact. (after execution)
Executed by the specified If the number of scan that will be operated is specified, the operation stops after it
scan number
has operated by the specified scan number.
5.5.5 Operation mode change
1) Operation mode change methods
The following method is 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) Change by the GMWIN connected to the remote CPU module through Fnet.
(4) Change by the user’s command using FAM or computer link module, etc.
(5) Change by the STOP function’, ‘ESTOP function’ during program execution.
2) Operation mode change by the mode-setting switch of CPU module
The following shows the operation mode change by the mode-setting switch of CPU module.
Operation mode
Mode setting switch position
RUN
Local RUN
STOP
Local STOP
Remote STOP
STOP
→
PAU / REM
PAU / REM
→
RUN
RUN
→
PAU / REM * 2
Local PAUSE
PAU / REM
→
STOP
Local STOP
Local RUN
∗1
REMARK
1) ∗ 1: If the operation mode changes from RUN mode to local RUN mode by the mode setting switch, the
PLC operates continuously without stopping.
2) * 2: If Local PAUSE disable (or Local PAUSE enable) is set by parameter in GMWIN, it operated as
Remote RUN (or Local PAUSE).
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Chapter 5. Power Supply / CPU
3) Remote operation mode change
Remote operation mode change is available only when the operation mode is set to the remote STOP mode (i.e., the
mode setting switch position is in the STOP→ PAU/REM’).
Mode setting
switch position
PAU / REM
Mode change by the Mode change using FAM or
GMWIN
computer link, etc.
Mode Change
Remote STOP → Remote RUN
○
○
Remote STOP → Remote PAUSE
X
X
Remote STOP → DEBUG
○
○
Remote RUN → Remote PAUSE
○
○
Remote RUN → Remote STOP
○
○
Remote RUN → DEBUG
X
X
Remote PAUSE → Remote RUN
○
○
Remote PAUSE → Remote STOP
○
○
Remote PAUSE → Remote DEBUG
X
X
DEBUG → Remote STOP
○
○
DEBUG → Remote RUN
X
X
DEBUG → Remote PAUSE
X
X
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 disabled, the operation mode change is possible
only by the mode setting switch and GMWIN. To enable the remote operation change, set the parameter ‘Enabling the
PLC control by communications’ to enable. (For details, refer to the Appendix 1. System Definitions)
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Chapter 5. Power Supply / CPU
5.6 Functions
5.6.1 RESTART mode
The restart mode defines how to initialize variables and the system and how to operate in the RUN mode when the
system starts its operation with the RUN mode by re-application of the power or mode change. Two restart modes, cold
and warm restart are available and the execution condition for each restart mode is given below.
(For details, refer to the 4.5.1 Basic Parameters Edit’ of the GMWIN User’s Manual Section 4.5 Parameters Edit.)
1) Cold Restart
(1) It is executed when the restart mode parameter has been set to the cold restart mode.
(2) All data are cleared as ‘0’ and only variables of which initial value has been defined will be set as their initial value.
(3) Though the parameter 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 warm restart mode.
(2) A data which set as retain & initial will be retain and a data which set as initial value will be set with default value during
the warm restart. All other data will be cleared with ‘0’.
(3) Though the parameter has been set to the warm restart mode, cold restart will be executed at the first execution of a
program after it has been stopped due to its down load and error.
(4) Though the parameter has been set to the warm restart mode, cold restart will be executed if data contents are
abnormal (i.e., the data does not remain at a power failure)
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Chapter 5. Power Supply / CPU
• Restart mode is executed as the figure given below when the power has been re-applied during execution of the CPU module.
Power ON
Check operation mode
STOP
Stop mode operation
RUN
Retain variables are…
abnormal
Timeout
Restart mode is …
Cold restart
Warm restart
Execute warm restart
Execute cold restart
RUN mode operation
3) Data initialization according to the restart mode
The variables relating to the restart mode are classified into three types, i.e., default variable, initialization variable and
retain variable. The following table shows the initialization method for each type variable.
Mode
Cold
Warm
Default
Initialized with 0’
Initialized with 0’
Retain
Initialized with ‘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.
Variable type
REMARK
Definitions of variable
(1) Default variable: A variable whose initial value is not defined or previous value will not be retained.
(2) Initialization variable: A variable whose initial value is defined.
(3) Retain variable: A variable whose previous value will be retained.
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Chapter 5. Power Supply / CPU
5.6.2 Self-diagnosis
1) Functions
(1) The self-diagnosis function permits the CPU module to detect its own errors.
(2) Self-diagnosis is carried out when the PLC power supply is turned on and when an error occurs 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 11.5 ‘Error Code List of Chapter 11’. Troubleshooting for details of contents of self-diagnosis
and corrective actions.
5.6.3 Remote function
The CPU module can be controlled by external operations (from GMWIN and computer link module, etc.). For remote
operation, set the mode setting switch of CPU module to remote position.
1) Remote RUN/STOP
(1) The remote RUN/STOP permits external operations to RUN/STOP the CPU module under the condition that the
mode- selling switch of CPU module is in the remote position.
(2) This function is convenient when the CPU module is located on the place where it is difficult to control the CPU
module or the user want to control the CPU module in the control panel from outside.
2) Remote PAUSE
(1) The remote PAUSE permits external operations to execute PAUSE operations under the condition that the modesetting switch of 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 condition that the mode setting
switch of CPU module is in the remote position. The DEBUG operations execute programs complying with the
specified operation conditions.
(2) This function is convenient when program execution or contents of any data are checked for debugging of the
program.
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Chapter 5. Power Supply / CPU
4) Remote RESET
(1) This function permits remote operations to reset the CPU module, which locates in the place where direct operations
cannot be applied, when an error has occurred.
REMARK
1) For remote function operations, refer to the GMWIN User’s Manual Chapter 7. On-line.
5.6.4 I/O Force On/Off function
1) Force On/Off setting method
Force on/off setting is applied to input area and output area.
Force on/off should be set for each input and output, the setting operates from the time that Force I/O setting enable’ is
set.. This setting can be done when I/O modules are not really loaded.
2) Force on off Processing timing and method
(1) Force Input
• After data have been read from input modules, at the time of input refresh the data of the junctions which have
been set to force on/off will be replaced with force setting data to change the input image area. And then, the user
program will be executed with real input data and force setting data.
(2) Force output
• When a user program has finished its execution the output image area has the operation results. At the time of
output refresh the data of the junctions which have been set to force on/off will be replaced with force setting data
and the replaced data will be output. However, the force on/off setting does not change the output image area data
while 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 power off and on changes of the operation mode or operation by reset switch (GM3) does not change
the previous force on/off setting data. They remain within the CPU module and operation is executed with the same
data.
• Force I/O data will not be cleared even in the STOP mode.
• If a program is downloaded or its backup breaks, the force on/off setting data will be cleared. The operating
program in memory differs from the program in the flash memory so that if operation restarts with the program in the
flash memory the on/off setting data will be also cleared.
• When setting new data, disable every I/O settings using the setting data clear’ function and set the new data.
REMARK
1) For detailed operation, refer to the GMWIN user’s Manual Chapter 7 ‘Force I/O setting.
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Chapter 5. Power Supply / CPU
5.6.5 Direct I/O operation function
This function is usefully available when an input junction state is directly read during execution of a program and used in
the operation, or the operation result is directly output to an output junction.
1) Direct input
• Direct input is executed by use of the ‘DIRECT_IN7’ function. If this function is used, the input image area will be
directly updated and applied to the continuing operations.
2) Direct output
• Direct output is executed by use of the ‘DIRECT_07’ function. If this function is used, the data of the output image
area, which has the operation results by the time, will be directly output to the direct output module.
3) Force on/off
• Force on/off settings are still effective when processing direct I/O.
5.6.6 External device error diagnosis function
Flags are given for the user to implement easily the program in which the error detection of external devices and system
stop and warning are coded. By use of these flags, error indication of external devices is possible without complex
programming and monitoring of the error location can be done without special tools (GMWIN, etc.) or source programs.
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_WB [n’] is used to indicate warning.
2) External device fatal-fault (error) processing
(1) If an error of external device is detected and the error type, where other value than 0 is used, is written to the system
flag ANC_ERR [n], the flag will checked at the time that scan program finishes its execution. If an error is indicated on
the flag, it will be also indicated on the _ANNUN_ER of the representative system error flag _CNF_ER, the PLC turns
all output modules off and the error state will be same as the PLC self-diagnosis.
(2) The user can know the cause of error by use of the GMWIN, and also by direct monitoring of the flag _ANC_ERR [n].
(3) As the flag _ANC_ERR [n] has 8 elements (n: 0 to 7), the user can classify error states largely. User defined error No.
can be written to the elements. A number of 1 to 65,535 is available.
„ Example
5-31
Chapter 5. Power Supply / CPU
3) External device Ordinary-fault (warning) Processing
(1) If a warning of external device is detected and the corresponding flag of the system flag _ANC_WB[n] is set to on, the
flag will checked from the _ANC_WB[0] at the time that scan program finishes its execution. If an error is indicated on
the flag, it will be also indicated on the _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_WB [n] are released from warning, the
corresponding _ANC_WAR [n] will be automatically cleared, If all element flags are cleared, the flag _ANNUN_WR of
the system flag _CNF_WAR will be reset.
„ Example
Flag Status
_ANNUN_WR = 1
_ANC_WAR[0] = 10
_ANC_WAR[1] = 0
_ANC_WAR[2] = 0
_ANC_WAR[3] = 0
_ANC_WAR[4] = 0
_ANC_WAR[5] = 0
_ANC_WAR[6] = 0
_ANC_WAR[7] = 0
_ANNUN_WR = 1
_ANC_WAR[0] = 10
_ANC_WAR[1] = 1
_ANC_WAR[2] = 2
_ANC_WAR[3] = 3
_ANC_WAR[4] = 15
_ANC_WAR[5] = 40
_ANC_WAR[6] = 50
_ANC_WAR[7] = 60
_ANNUN_WR = 1
_ANC_WAR[0] = 1
_ANC_WAR[1] = 2
_ANC_WAR[2] = 3
_ANC_WAR[3] = 15
_ANC_WAR[4] = 40
_ANC_WAR[5] = 50
_ANC_WAR[6] = 60
_ANC_WAR[7] = 75
_ANNUN_WR = 0
_ANC_WAR[0] = 0
_ANC_WAR[1] = 0
_ANC_WAR[2] = 0
_ANC_WAR[3] = 0
_ANC_WAR[4] = 0
_ANC_WAR[5] = 0
_ANC_WAR[6] = 0
_ANC_WAR[7] = 0
Description
If the user program had detected a system fault and set _ANC_WB [10] to ON, the states of _
ANNUN_WR and _ANN_WAR [0..7] will be shown as left after the scan has been finished.
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 left.
As the number 10 has turned on (has occurred) in the previous scan, though the number 10 h
as lower priority than the numbers 1, 2 and 3, it will be the lower element of _ANCWAR [n]. T
he _ANC_WB [75] is not indicated as it is turned on and the warning that occurred before has
written to the _ANC_WARIn1.
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 left.
The No. 10 warning has been released the content of _ANC_WAR [0] will be cleared and the c
ontents of _ANC_WAR [1..7] will shift into the lower elements. The content of _AN7_WAR [7] will
has been cleared by the shifting and the content of _AN7_WB [75] will be written to _ANC_WA
R[7].
If all warnings indicated on the _ANC_WB [n] are released during operation, the ANNUN_WR an
d _ANC_WAR [n] will be shown as left.
5-32
Chapter 5. Power Supply / CPU
5.7 Memory Configuration
The CPU module includes two types of memory that are available by the user. One is program memory, which is used to store
the user programs written to implement a system by the user. The other is data memory, which stores data during operation.
1) Program memory configuration
The table given below shows the contents to be stored and the storage capacity of program memory.
Item
Memory Capacity
Overall program memory area
132 kbyte
Parameter area
• Basic parameter area
• High speed link parameter area
• interrupt setting information area
7.8 kbyte
Program area
• Scan program area
• Task program area
• User defined function/function block area
• Standard library area
• Variable initialization information area
• Protective variable specification information area
124.2 kbyte
„ Data memory configuration
Item
Memory Capacity
Overall data memory area
44 kbyte
System area
• I/O information table
• Force I/O table
1 kbyte
System flag area
2 kbyte
Input image area (%IX)
128 byte
Output image area (%QX)
128 byte
Direct variable area (%M)
10 kbyte
Symbolic variable area
30 kbyte
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Chapter 5. Power Supply / CPU
3) Purpose
(1) System area
It used to save the self-producing data of the CPU module for the system management and GMWIN system control
data.
(2) System flag area
It used to save the user flags and system flags. The user operates it by flag names.
(3) Input image area
It used to save input data read from input modules. Overall size is %IX0.0.0~%IX0.7.63. Only %QX0.0.0~%QX0.3.63
can be used as a real input domain but the other unused domain can be used as convenience, especially remote
output data for communication can be saved here as convenience.
(4) Output image area
It used to save operation results that are automatically output through the output device. Overall data size
is %QX0.0.0~%QX1.7.63. In GM7U, only %QX0.0.0~%QX0.3.63 can be used as a real input domain but the other
unused domain can be used as convenience, especially remote output data for communication can be saved here as
convenience.
(5) Direct variable area
The user can use this area to access direct memory data, using the variable names such as %MX0, %MB0,
and %MW0, %MD0, which was defined in advance by the system. Memory size is defined when the user makes
program. Refers to “system definitions” for the variable area available to use according to the setting.
(6) Symbolic variable area
It used to save the variables that when the user creates a program or when the user defines a global variables, is
automatically allocated its memory. The variables used in program blocks are located in the ‘PB instance memory’ of
the related program, and the memory used in the function block is located in the ‘FB instance memory.’
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Chapter 5. Power Supply / CPU
5.8 I/O No. Allocation Method
I/O no. allocation gives an address to each module in order to read data from input modules and output data to output
modules.
(1) Fixed 64 points are allocated to each module for I/O area, and the special and communication modules don’t allocate I/O
area. (The rests are available to use as internal relay.)
(2) The I/O allocation method is as shown below.
Base unit
Expansion module
Special module
Expansion module
(20~60 points)
(10 points)
(AD Combination)
(10 points)
Input: %IX0.0.0 ~ %IX0.0.35
%IX0.3.0 ~ %IX0.3.5
%IX0.1.0 ~ %IX0.1.5
Output: %QX0.0.0 ~ %QX0.0.23 %QX0.1.0 ~ %QX0.1.3
%QX0.3.0 ~%QX0.3.3
5.9 Built-in/external Communication Setting Switch
5.9.1 Structure
You can see dipswitches as shown below when you open I/O terminal block cover.
BUILT-IN CNET
Terminal block cover
OFF
ON
ROM MODE
5-35
Chapter 5. Power Supply / CPU
5.9.2 Usage
Dip switch position
Description
Switch for communication setting
A switch for Built-in RS-232C communication setting
ON
OFF
(Use no. 4,7,5 pin of 9-pin communication connector.)
ROM MODE
Switch for O/S downloading
OFF
ON
A switch for GM7U operating system downloading
ROM MODE
REMARK
1) The lower ROM mode switch is for the GM7U operating system downloading.
2) Its ON status causes malfunction of the system, so make sure to turn it off for the normal operation.
The dip switch for the built-in/external communication setting is placed deep within to prevent an accidental operation. Use a
small driver to operate it. (Be careful to not touch the ROM Mode switch.)
Driver
Dip switch
Terminal block cover
5-36
Chapter 5. Power Supply / CPU
5.10 External Memory Module
The GM7U series supply an external memory module for the user to save programs safely or download programs on the
system. It can be used in the event that a program is damaged.
5.10.1 Structure
Installation connector
5.10.2 Usage
1) Saving the user’s program on the external memory module.
(1) Turn the power of the base unit off.
(2) Install the memory module.
- When only basic unit is used: Connect to the expansion connector of the basic unit.
- When expansion unit is used: Connect to the expansion connector of the last connected expansion unit.
(3) Turn the power of the main unit On, and stop the PLC operation mode.
(4) Connect GMWIN and PLC.
(5) Select Online – Flash memory – Read Type to confirm the flash memory size and installation of the memory
module.
5-37
Chapter 5. Power Supply / CPU
(6) Choose Online – Flash memory – Write program in the menu, and the following message box will be displayed.
(7) Select OK.
(8) Turn the power of the base unit off after writing program.
(9) Remove the external memory module.
Through the above steps a user can save a program into the external memory module.
2) Run the PLC with a program of external memory module
(1) Turn the power of the base unit off.
(2) Install the memory module.
- When only base unit is used, connect to the expansion connector of the base unit.
- When expansion unit is used, connect to the expansion connector of the last connected expansion unit.
(3) Turn the power of the main unit On, and set the PLC operation mode Run.
- GM7U automatically reads the program from the memory module.
- If there is an upload program, it reads it as well.
- PWR LED, RUN LED, ERR LED are On during the program reading.
Using the above steps, the user can operate the PLC with a program stored in the external memory module. ( If a system
memory module is installed, the PLC operates by the program/parameter of the module when the power is On.
REMARK
1) Do not operate the PLC with the external memory module is always installed.
2) Be careful with the PLC operation mode when the power of the main unit is On.
5-38
Chapter 5. Power Supply / CPU
5.11 RTC Option Module
GM7U series provides RTC (Real Time Clock) function for GM7U series (G7E-RTCA).
The RTC module will send the RTC data to main unit per every scan. By the super capacitor back up, the RTC module keeps
operating while the power is off or 20m seconds momentary power off. It can be used for time-scheduling control or recording
an error occurrence time. The RTC data is updated into system operation status flag per every scan.
5.11.1 Specifications
(1) RTC data
Item
Year
Data
Upper 2 digit of year data
Lower 2 digit of year data
Month
1 ~ 12
Date
1 ~ 31
Hour
0 ~ 23 (24 hour)
Minute
0 ~ 59
Second
0 ~ 59
Day
0 ~ 6 (Monday:0 ~ Sunday:6)
Century
Indicate upper 2 digit of year data
(2) Accuracy
Max. ±2.2 sec / 1 day (At 25 °C)
(3) RTC data back-up time
200 hours (at 25 °C)
(4) Read/Write of RTC data
Select the menu ‘Online – PLC Information’ win GNWIN software.
REMARK
1) The RTC module is sold with no initial RTC data setting. Be sure to input the RTC data when use a RTC
module first time.
2) The RTC module may show abnormal operation when an improper RTC data is written.
Example) 14(Month) 32(Date) 25(Hour)
In this case, an error will be cleared with new RTC data.
3) The system flag _RTC_ERR of _CNF_WAR will turn On when a RTC data error occurred. _RTC_ERR flag
will turn Off automatically when the error is cleared.
5-39
Chapter 5. Power Supply / CPU
5.11.2 Structure
Connector
5.11.3 Usage
(1) Turn the power of the base unit Off.
(2) Install the G7E-RTCA module.
- When use the base unit only: insert the RTC module into the expansion connector of the base.
RTC module
- When use the base unit and expansion unit: insert the RTC module into the expansion connector of the expansion module.
RTC module
5-40
Chapter 5. Power Supply / CPU
5.11.4 Read RTC data
Example) 1998. 12. 22. 19:37:46, Tuesday
Keyword
Type
Name
Description
Data
_RTC_TOD
TOD
Present
time
Present time data
_RTC_WEEK
UINT
Present day
Day data
*(0: Monday, 1:Thuesday, 2: Wednesday, 3: 1
Thursday, 4: Friday, 5: Saturday, 6:Sunday)
_INT_DATE
DATE
Present
date
Present date data
(January 1, 1984 ~ December 31, 2083)
_RTC_ERR
BOOL
RTC Error
Indicates ‘1’ when and an RTC data error
TOD#19:37:46
D#1998-12-22
0
detected
_RTC_TIME[n]
* n : 0 to 7
BCD
Present
time
BCD data of present time of RTC
_RTC _TIME [0] : year, _RTC _TIME [1] : month,
_RTC _TIME [2] : day, _RTC _TIME [3] : hour,
_RTC _TIME [4] : minute, _RTC _TIME [5] : second,
_RTC _TIME [6] : day of the week, _RTC _TIME [7] :
century
Day of the week : 0 : Mon., 1: Tue., 2: Wed., 3:Thur.,
4:Fri.,
5: Sat., 6:Sun.
Example Program)
A program example to run a motor from 10 A.M to 5 P.M.
5-41
_RTC _TIME[0]: 16#98
_RTC _TIME[1]: 16#12
_RTC _TIME[2]: 16#22
_RTC _TIME[3]: 16#19
_RTC _TIME[4]: 16#37
_RTC _TIME[5]: 16#46
_RTC _TIME[6]: 16#1
_RTC _TIME[7]: 16#19
Chapter 5. Power Supply / CPU
5.11.5 Write RTC data
1) Using GMWIN
There are two ways to write new RTC data to the CPU.
- Select Menu-Online-PLC Information-System Info.
- If you want to setup or edit present time, select Set… - Date/Time Set.
- Setup Date and Time in Date-Time Set dialog box.
- For detailed information, refer the GMWIN user’s manual.
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Chapter 5. Power Supply / CPU
2) Using F/B (RTC_SET)
By executing a F/B(RTC_SET), user can replace the current RTC data with the preset data stored in a specified variable. The
following is an example program.
Example) The preset RTC data: 1999. 1. 17. 11:53:24, Sunday
When the ‘TIME_PRESET’ bit is switched on, the new data in ‘SET_TIME’ will be moved to ‘_RTC_TIME’.
* SET_TIME variable setting
z F/B Error code
The following table shows error codes appear at the STAT output.
Error code
Description
00
No error
01
RTC Module is not found
02
* Insert the RTC module into the expansion connector
A improper RTC data is written. Ex) 14(Month) 32(Date) 25(Hour)
* Please write a correct RTC data
5-43
Chapter 6. Input and Output Specifications
Chapter 6. Input and Output Specifications
6.1 Input / Output Specifications
Digital input that offers to GM7U series are made to use both of electric current sink and electric current source.
To keep use coil load as an output module, maximum opening and shutting frequency is 1 second on and 1 second off.
The following diagram shows maximum life relay for relay output.
×(
Frequency
100
10,000)
50
30
20
10
AC 125V r/load
DC 30V r/load
AC 250V r/load
0.5
1
2
3
5
10
Opening/shutting of electric current
6-1
100(A)
Chapter 6. Input and Output Specifications
6.2 Digital Input Specifications
6.2.1 Main unit
1) Specifications
Model
Main unit
20-point
30-point
40-point
60-point
12 points
Photo coupler
18 points
24 points
36 points
Insulation method
Rated input voltage
DC 24V
Rated input current
7 mA
Operating voltage range
Max. simultaneous input
points
On voltage / On current
DC20.4 ~ 28.8V (ripple: less than 5%)
DC19V or higher / 5.7 mA or higher
Off voltage / Off current
DC6V or lower / 1.8 mA or lower
Input impedance
Approx.3.3 kΩ
Specification
Number of input points
Response
time
100% simultaneously On
Off → On
0,1,2,5,10,20,50,100,200,500,1000ms (Default : 10ms)
On → Off
0,1,2,5,10,20,50,100,200,500,1000ms (Default : 10ms)
Common terminal
12 points / COM
Operating indicator
LED turns on at ON state of input
18 points / COM
12 points / COM
2) Circuit diagram
Input: IX0.0.0 ~ IX0.0.1
R
R C
COM
Internal
circuit
입력번호 IX0.0.0 ~ IX0.0.1
Input: IX0.0.2 ~
R
R
COM
Internal
circuit
6-2
18 points / COM
Chapter 6. Input and Output Specifications
3) Input wiring
Main unit’s wiring method is as follows. DC input specifications offered by GM7U is to be used for both electric current sink
and electric current source.
(1) 20 points main unit
DC12/24V
(2) 30 points main unit
DC12/24V
6-3
Chapter 6. Input and Output Specifications
(3) 40 points main unit
DC12/24V
DC12/24V
(4) 60 points main unit
.
DC24V
6-4
DC24V
Chapter 6. Input and Output Specifications
4) Example of external devices
To connect with external device of DC output type into DC input module, wire depending on the type of the external device
as shown.
Voltage output type
PNP current output type
NPN current output type
NPN open collector output type
Contact points
External device
Input
Relay
IN
7mA
Sensor
COM
Power for
sensor
+
IN
Output
7mA
0V
COM +
Same power for sensor
and input
+
Constant
] current
Output
IN
7mA
0V
+
Power for
sensor
+
COM +
Power for
sensor
Output
IN
7mA
0V
COM -
+
COM +
Output
IN
0V
Power for
sensor
6-5
Chapter 6. Input and Output Specifications
6.2.2 Expansion module
1) Specifications
Expansion Module
Model
Specification
G7E-DR10A
G7E-DC08A
G7E-DR20A
G7E-DR08A
6 points
8 points
12 points
4 point
Number of input points
Insulation method
Photo coupler
Rated input voltage
DC 24V
Rated input current
7 mA
Operating voltage range
DC 20.4 ~ 28.8V (ripple: less than 5%)
Max. Simultaneous input points
100% simultaneously On
On voltage / On current
DC19V or higher/ 5.7 mA or higher
Off voltage / Off current
DC6V or lower / 1.8 mA or lower
Input impedance
Approx. 3.3 kΩ
Response time
Off → On
0,1,2,5,10,20,50,100,200,500,1000ms
(Default : 10ms)
On → Off
0,1,2,5,10,20,50,100,200,500,1000ms
(Default : 10ms)
Common terminal
6 points / com
Operating indicator
4 points / com
12 points / com
LED turns on at ON state of input
2) Circuit diagram
It’s the same with the one for the main unit.
3) Input wiring
DC24V
DC24V
6-6
4 points / com
Chapter 6. Input and Output Specifications
6.3
Digital Output Specifications
6.3.1 Main unit (Relay output)
1) Specifications
(1) Standard type
Model
Specifications
Output point
Main Unit
G7M-DR20U(/DC),
G7M-DRT20U(N)(/DC)
G7M-DR30U(/DC),
G7M-DRT30U(N)(/DC)
G7M-DR40U(/DC),
G7M-DRT40U(N)(/DC)
G7M-DR60U(/DC),
G7M-DRT60U(N)(/DC)
8 points, 4 points
12 points, 8 points
16 points, 12 points
24 points, 20 points
Insulation method
Relay insulation
Rated load voltage/current
DC24V / 2A (r/load), AC220V / 2A (COS Ψ = 1)/1 point , 5A / 1COM
Min. load Voltage/current
DC5V / 1mA
Max. load voltage/current
AC250V, DC110V
Off leakage current
0.1mA (AC220V, 60Hz)
Max. On/off frequency
1,200 times/hr
Surge absorber
None
Mechanical
More than 20,000,000
Rated on/off voltage/current load 100,000 or more
Life
Electrical
AC200V / 1.5A, AC240V / 1A (COSΨ = 0.7) 100,000 or more
AC200V / 1A, AC240V / 0.5A (COSΨ = 0.35) 100,000 or more
DC24V / 1A, DC100V / 0.1A (L / R = 7ms) 100,000 or more
Response
Off → On
10 ms or lower
time
On → Off
12 ms or lower
Operation indicator
LED is on at on status of output
2) Circuit diagram
L
Internal
circuit
Relay
L
COM
6-7
Chapter 6. Input and Output Specifications
3) Output wiring
(1) 20 points main unit
DC5V
DC24V AC110/220V
DC5V
DC24V
(2) 30 points main unit
6-8
AC110/220V
Chapter 6. Input and Output Specifications
(3) 40 points main unit
DC5V
DC24V
AC110/220V
DC24V
(4) 60 points main unit
DC5V DC24V
AC110/220V
6-9
DC24V
DC24V
DC24V
Chapter 6. Input and Output Specifications
6.3.2 Main unit (NPN TR output)
1) Specifications
Model
Main Unit
Specifications
G7M-DRT20U(N)(/DC)
G7M-DT20U(N)(/DC)
G7M-DRT30U(N)(/DC)
G7M-DT30U(N)(/DC)
Output point
4 points ( 8 points)
4 points (12 points)
Insulation method
Photo coupler insulation
Rated load voltage
DC12/24V
Operation load voltage
DC10.2 ~ 26.4V
Max. load current
0.5A/point (but, QX0.0.0, QX0.0.1 : 0.1A)
Surge absorber
Zener diode
Off leakage current
Less than 0.1mA
Voltage drop when on
Less than DC 0.3 V (0.1A)
Inrush current
Less than 4A, 10ms
Response
Off → On
0.2 ms or lower
time
On → Off
0.2 ms or lower
Operation indicator
G7M-DRT40U(N)(/DC)
G7M-DT40U(N)(/DC)
4 points (16 points)
G7M-DRT60U(N)(/DC)
G7M-DT60U(N)(/DC)
4 points (24 points)
LED is on at on status of output
QX0.0.0 , QX0.0.1
24V
Internal
TR
circuit
R2
R
QX0.0.2 , QX0.0.3
24V
P/C
Internal
TR1
Circuit
R2
R
3
REMARK
1) 4 points of QX0.0.0~QX0.0.3 are for positioning function in G7M-DRT(DT)20/30/40/60U(N)(/DC). They also can be used
for general TR output.
2) Do not use for AC load, or they can be destroyed.
6-10
Chapter 6. Input and Output Specifications
2) Output wiring
(1) 20 points main unit
DC12/24V
DC12/24V
(2) 30 points main unit
DC12/24V
6-11
DC12/24V
DC12/24V
Chapter 6. Input and Output Specifications
(3) 40 points main unit
DC12/24V
DC12/24V
DC12/24V
DC12/24V
(4) 60 points main unit
DC12/24V
DC12/24V
6-12
DC12/24V
DC12/24V
DC12/24V
DC12/24V
Chapter 6. Input and Output Specifications
6.3.3 Main unit (PNP TR output)
1) Specifications
Model
Specifications
Output point
Main Unit
G7M-DT20U(P)(/DC)
G7M-DT30U(P)(/DC)
G7M-DT40U(P)(/DC)
G7M-DT60U(P)(/DC)
8 points
12 points
16 points
24 points
Insulation method
Photo coupler insulation
Rated load voltage
DC12/24V
Operation load voltage
DC10.2 ~ 26.4V
Max. load current
0.5A/point (but, QX0.0.0, QX0.0.1 : 0.1A)
Surge absorber
Zener diode
Off leakage current
Less than 0.1mA
Voltage drop when on
Less than DC 0.3 V (0.1A)
Inrush current
Less than 4A, 10ms
Response
Off → On
0.2 ms or lower
time
On → Off
0.2 ms or lower
Operation indicator
LED is on at on status of output
QX0.0.0 , QX0.0.1
QX0.0.2 , QX0.0.3
REMARK
1) 4 points of QX0.0.0~QX0.0.3 are for positioning function in G7M-DT20/30/40/60U(P)(/DC). They also can be used for
general TR output.
2) Do not use for AC load, or they can be destroyed.
6-13
Chapter 6. Input and Output Specifications
2) Output wiring
(1) 20 points main unit
DC12/24V
DC12/24V
(2) 30 points main unit
DC12/24V
6-14
DC12/24V
DC12/24V
Chapter 6. Input and Output Specifications
(3) 40 points main unit
DC12/24V
DC12/24V
DC12/24V
DC12/24V
(4) 60 points main unit
DC12/24V
DC12/24V
6-15
DC12/24V
DC12/24V
DC12/24V
DC12/24V
Chapter 6. Input and Output Specifications
6.3.4 Expansion module (Relay output)
1) Specifications
Expansion Module
Model
Specifications
G7E-DR08A
Output point
G7E-DR10A
G7E-DR20A
4 points
G7E-RY08A
8 points
16 points
Insulation method
Relay insulation
Rated load voltage/current
DC24V / 2A (Resistive load), AC220V / 2A (COS Ψ = 1) / 1 point 5A / 1COM
Min. load voltage/current
DC5V / 1mA
Max. load voltage/current
AC250V, DC110V
Off leakage current
0.1mA (AC220V, 60Hz)
Max. on/off frequency
1,200 times/hr
Surge absorber
None
Mechanical
More than 20,000,000
Rated on/off voltage/current load 100,000 or more
Service life
Electrical
AC200V / 1.5A, AC240V / 1A (COSΨ = 0.7) 100,000 or more
AC200V / 1A, AC240V / 0.5A (COSΨ = 0.35) 100,000 or more
DC24V / 1A, DC100V / 0.1A (L / R = 7ms) 100,000 or more
Response time
Off → On
On → Off
Common
Operation indicator
10 ms or lower
12 ms or lower
1 point/COM, 2 points/COM
LED is on at on status of output
2) Circuit diagram
It’s the same with the output circuit of the main unit.
3) Output wiring
…
L
DC5V DC24V
L
L
…
L
AC110/220V
DC5V/24V
6-16
G7E-RY16A
L
AC110/220V
Chapter 6. Input and Output Specifications
6.3.5 Expansion module (TR output)
1) Specifications
Digital I/O module
Model
Specifications
G7E-TR10A
Output point
10 points
Insulation method
Photo coupler insulation
Rated load voltage/current
DC12V//24V
Operating load voltage range
DC10.2 ~ 26.4V
Max. load current
0.5A/1 point, 4A/1COM
Off leakage current
0.1mA or lower
Max. inrush current
4A/10ms or lower
Max. voltage drop when on
DC 1.5V or lower
Surge absorber
Clamp diode
Response time
Off → On
2 ms or lower
On → Off
2 ms or lower
Common
10 points/COM
Operation indicator
LED is on at on status of output
DC12/24V
REMARK
1) Refer to 7.2 ‘Special Functions’ for the special modules
6-17
Chapter 7. Usage of Various Functions
Chapter 7.
Usage of Various Functions
7.1 Built-in Functions
7.1.1 High speed counter function
This chapter describes the specification, handling, and programming of built-in high speed counter of GM7U. The built-in high
speed counter of GM7U (hereafter called HSC) has the following features;
Function
Counter format
Counter mode
Additional
function
Preset function
Latch counter
Comparison output
RPM function
Description
• Linear counter: Up/Down counter.
Counting range is from -2,147,483,648 to 2,147,483,647
• Ring counter: Counter value rotates from 0 to (set value-1)
4 counter functions as followings
• 1-phase operation mode
• 1-phase pulse + direction mode: Up / down is selected by direction pulse
• 2-phase CW/CCW mode: Up / down is selected by CW or CCW pulse input
• 2-phase multiplication mode: Up / down is automatically selected by the phase
difference between A-phase and B.(multiplied by 4)
Change current value to preset value.
Latches current value.
When current value is equal to comparison value, turns on the output contact points or
executes interrupt program
Calculate the RPM(Rotates Per Minute) of input pulse
1) Performance Specifications
Items
Points
Input types
Counting ranges
Max. counting speed
1-phase
1-phase Pulse +
direction input
Up / Down
2-phase
selection
CW/CCW mode
2-phase
multiplication mode
Additional function
Specifications
1 phase: 4 points, 2 Phase: 2 points
A-Phase, B-Phase, Preset input
from -2,147,483,648 to 2,147,483,647(Binary 32 bits)
1-phase 100kHz/ 2-phase 50kHz ( Ch0, Ch1)
1-phase 20kHz/ 2-phase 10kHz ( Ch2, Ch3)
Up counter
A-Phase: Input pulse, B-Phase: Direction pulse
A-Phase: Up counting pulse,
B-Phase: Down counting pulse
Auto-select by phase difference of A-phase and B
Ring counter, Latch counter, Preset, Comparison output, RPM function
2) Input specification
Items
Specifications
Items
Specifications
Rated input
24VDC (7mA)
Rated input
24VDC (7mA)
On voltage
20.4 ~ 28.8VDC
On voltage
20.4 ~ 28.8VDC
Off voltage
6VDC or lower
A / B phase
Preset input
Off voltage
6VDC or lower
7-1
On delay time
200 ㎲ or lower
Off delay time
200 ㎲ or lower
Chapter 7. Usage of Various Functions
3) Names of wiring terminals
Counter input
Preset input
① ② ③④ ⑤ ⑥ ⑦ ⑧
⑨
BUILT_IN CNET
ON
OFF
ROM MODE
I00
I02 I04 I06 I08
I01 I03 I05 I07
No.
Terminal
I16 COM0
COM1
I15 I17
2
Names
24G 24V
Usage
No.
1Phase
2Phase
1Phase
2Phase
①
IX0.0.0
Ch0 Input
Ch0 A Phase Input
Counter input terminal
A Phase Input terminal
②
IX0.0.1
Ch1 Input
Ch0 B Phase Input
Counter input terminal
B Phase Input terminal
③
IX0.0.2
Ch2 Input
Ch2 A Phase Input
Counter input terminal
A Phase Input terminal
④
IX0.0.3
Ch3 Input
Ch2 B Phase Input
Counter input terminal
B Phase Input terminal
⑤
IX0.0.4
Ch0 Preset 24V
Ch0 Preset 24V
Preset input terminal
Preset input terminal
⑥
IX0.0.5
Ch1 Preset 24V
-
Preset input terminal
-
⑦
IX0.0.6
Ch2 Preset 24V
Ch2 Preset 24V
Preset input terminal
Preset input terminal
⑧
IX0.0.7
Ch3 Preset 24V
-
Preset input terminal
-
⑨
COM0
Input Common
Input common terminal
7-2
Chapter 7. Usage of Various Functions
4) External interface circuit
I/O
Internal circuit
Terminal
No.
3.3 kΩ
Input
3.3 kΩ
Ch0
Input
pulse
Ch0 A
Phase
Input
On
20.4~28.8V
Off
6V or lower
I01
Ch1
Input
pulse
Ch0 B
Phase
Input
On
20.4~28.8V
Off
6V or lower
I02
Ch2
Input
pulse
Ch2 A
Phase
Input
On
20.4~28.8V
Off
6V or lower
Ch3
Input
pulse
Ch2 B
Phase
Input
On
20.4~28.8V
Off
6V or lower
3.3 kΩ
COM0
Input
3.3 kΩ
Ch0
Preset
input
I05
Ch1
Preset
input
-
I06
Ch2
Preset
input
Ch2
Preset
input
Ch3
Preset
input
-
I007
3.3 kΩ
Common
Ch0
Preset
input
I04
3.3 kΩ
Input
warranted
voltage
2Phase
I03
3.3 kΩ
Operation
1Phase
I00
3.3 kΩ
Signal name
COM0
On
20.4~28.8V
Off
6V or lower
On
20.4~28.8V
Off
6V or lower
On
20.4~28.8V
Off
6V or lower
On
20.4~28.8V
Off
6V or lower
Common
5) Wiring instructions
A high speed pulse input is sensitive to the external noise and should be handled with special care. When wiring the built-in
high speed counter of GM7U, take the following precautions against wiring noise.
(1) Be sure to use shielded twisted pair 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.
7-3
Chapter 7. Usage of Various Functions
6) Wiring example
(1) Voltage output pulse generator
24V
Pulse
Generator
Pulse Generator
CHSC
A
B
COM
24VG
(2) Open collector output pulse generator
24V
CHSC
COM
PulsePulse
Generator
Generator
A
B
24VG
7-4
Chapter 7. Usage of Various Functions
7) Function block (HSCST)
Function block
Description
REQ: Execute the HSC function block
Input
Output
Ch: Set the HSC channel (0~3)
SV: Set Value (32 bit)
Setting range (-2,147,483,648 ~ 2,147,483,647)
DONE: Turns on after the F/B is executed with no error
Stat: Indicates the operation status of F/B
CV: Saving area of the current value
OUT: On when the current value is over than preset value
Off when the current value is less than preset vlaue
CY: On when ‘Carry’ occurs
BORR: On when ‘Borrow’ occurs
■ HSCST S SV CV
(1) Functions
• When input condition turns on, corresponding high speed counter is enabled.
• When input condition turns off, high speed counter stop counting and turns output point off . The current value is retained.
• The high speed counter can counts from -2,147,483,648 to 2,147,483,647(binary 32 bits)
• When current value is greater than set value, output point F17*(* is channel number) turns on and it turns off when
current value is less than set value.
• If current value is greater than 2,147,483,647, carry flag F18* turns on and and it turns off when input condition turns off.
If HSC designated as ring counter, carry flag is set when current value reaches set value.
• If current value is smaller than -2,147,483,648, borrow flag F19* turns on and and turns off when input condition turns off
If designated as ring counter, if current value is 0, borrow flag is set at next pulse’s rising edge and current value goes ‘set
value –1’(in down counter mode)
(2) Error code
Code
Error
Corrective actions
When Ch0 is set as 2-Phase, Ch 1 can’t be used and Ch3 can’t be
H 10
Mode setting error
H 11
Ring counter setting error
Adjust the range of ring counter within 2 ~ 2,147,483,647.
H 12
SV2 setting error
Set SV2 greater than SV1 if zone comparison set is selected.
H 13
Ring counter and SV2 setting error
used if Ch2 is set to 2-Phase.
Adjust the range of ring counter within 2 ~ 2,147,483,647 Set SV2
greater than SV1if zone comparison set is selected
Ex.) When the counter setting value of CH2 is -123, the error code H11 is saved in STAT.
7-5
Chapter 7. Usage of Various Functions
(3) Program example
When the input condition %MX000 turns On, the CH 0 is enabled following the set mode.
When the present value becomes 8,333,777, %Q0.0.0 turns On.
The present values are saved in Current_Value.
REMARK
- For the additional settings, refer to the section Chapter 8. High Speed Counter ‘Parameter
settings’.
8) High speed counter parameter settings
(1) Format setting
(a) Linear counter
• If HSC is designate as Linear counter, it can counts from -2,147,483,648 to 2,147,483,647.
• When the counter value reaches 2,147,483,647, CY output is set for the next pulse input, and the counter stops.
• When the counter value reaches -2,147,483,648, BORR output is set for the next pulse input, and the counter stops.
7-6
Chapter 7. Usage of Various Functions
• CY (Carry) and BORR (borrow) function blocks can be reset by preset operation and HSC can re-starts its operation.
Carry occurs
2,147,483,647
Current value
0
Decreasing
Increasing
-2,147,483,648
Borrow occurs
2,147,483,647
CY output
(b) Ring counter
• If HSC is designate as Ring counter, it can counts from 0 to set value.
• The carry flag turns On when the current value of high speed counter reaches set value during up counting and current
value is changed to 0.
• The borrow flag turns on when the current value of high speed counter is reaches 0 during down counting and current
value is changed to ‘set value –1’.
• When set value is out of range(2 ~ 2,147,483,647), Ring counter setting error(h’11) occurs and HSC operates as linear
counter.
• When current value is changed to out of range(2 ~ 2,147,483,647) by preset operation, Ring counter setting error(h’11)
occurs and HSC operates as linear counter.
• The ring counter setting error can be corrected by re-start of instruction(HSCST) only.
Carry occurs
Current value
0
Decreasing
Borrow occurs
Increasing
7-7
Chapter 7. Usage of Various Functions
(2) Mode setting
(a) 1-phase operation mode
- Current value increases by 1 at the rising edge of input pulse.
A-phase input pulse
Current value
1
2
3
4
5
(b) 1-phase pulse + direction mode
- Current value increases by 1 at the rising edge of A-Phase pulse when B-phase is ‘low’ state.
- Current value decreases by 1 at the rising edge of A-Phase pulse when B-phase is ‘High’ state.
A-phase input pulse
Counter value
High
Low
B-phase input pulse
10
11
10
9
8
(c) 2-phase CW/CCW mode
- Current value increases by 1 at the rising edge of A-Phase pulse when B-phase is ‘low’ state.
- Current value increases by 1 at the rising edge of B-Phase pulse when A-phase is ‘low’ state.
A-phase input pulse
B-phase input pulse
Counter value
10
11
7-8
12
11
10
Chapter 7. Usage of Various Functions
(d) 2-phase multiplication mode (MUL4)
- Up or Down is set automatically by the phase difference between A and B phase.
• Up counter
- At the rising edge of A-Phase pulse when B-phase is ‘low’.
- At the falling edge of A-Phase pulse when B-phase is ‘high’.
- At the rising edge of B-Phase pulse when A-phase is ‘high’.
- At the falling edge of B-Phase pulse when A-phase is ‘low’.
• Down counter
- At the rising edge of A-Phase pulse when B-phase is ‘high’.
- At the falling edge of A-Phase pulse when B-phase is ‘low’.
- At the rising edge of B-Phase pulse when A-phase is ‘low’.
- At the falling edge of B-Phase pulse when A-phase is ‘high’.
A-phase input pulse
B-phase input pulse
Current value
10 11
12 13 14 15 16 17 18
17 16 15 14 13
(3) Preset setting
(a) Internal Preset
- Set internal preset area and preset value.
- Current value of high speed counter is replaced with preset value at the rising edge of internal preset device.
(b) External Preset
- Set external preset area and preset value.
- External devices are fixed as following
Ch0: IX0.0.4, Ch1: IX0.0.5, Ch2: IX0.0.6, Ch3: IX0.0.7
- Current value of high speed counter is replaced with preset value at the rising edge of external preset device.
7-9
Chapter 7. Usage of Various Functions
(4) Latch Counter setting
With Latch Counter, the count values can be always latched.
-
Convenient to save the count value when the power went Off.
-
Only by Preset, the current value can be cleared or changed.
Current value
- When power supply is Off.
- When is ‘Stop’ or ‘Pause’
- When input condition of
‘HSCST’ is Off
0
Time
Latches CV
Latches CV
(5) Comparison Output setting
(a) Comparison set
- When current value of HSC is equal to SV1, corresponding output point turns on.
- Only QX0.0.0 ~ QX0.0.7are available for comparison output point.
Input pulse
Output Contact
Counter value
255
256
257
7-10
258
259
Chapter 7. Usage of Various Functions
(b) Zone Comparison Set
- When current value of HSC is equal or more than SV1 and equal or less than SV2. corresponding output point turns on.
- Only QX0.0.0 ~ QX0.0.7 are available.
- If the set value of SV2 is less than SV1, SV2 setting error(h’ 12) occurs and zone comparison set becomes disabled.
Input pulse
Output point
Current value
999
1000
2000
(c) Comparison Task
- When current value of HSC is identical with SV1, the HSC task program is executed.
- Define Task at the Execution control and write a program.
7-11
2001
Chapter 7. Usage of Various Functions
a)
Program example
-
%QX0.0.0 turns On when the High Speed Link task occurs.
(6) RPM setting
-
Select ‘RPM Enable’, and input the set value.
-
The RPM output displays the RPM value using the counter value’s difference at every refresh cycle.
-
The RPM is expressed as:
RPM =
(Current Value - Last Value)× 60,000
Pulses per rotate× refresh cycle[ms]
- The refresh cycle is inputted as 10ms unit.
- The RPM saving areas are fixed for each channel. (Ch0: MD2105, Ch1: MD2115, Ch2: MD2125, Ch3: MD2135)
7-12
Chapter 7. Usage of Various Functions
(a) Program example
- Channel 0, Refresh cycle: 1000ms (Set value 100), Pulses per rotate: 60
Input pulse
Current value
D0, D1
Time
1000
2000
ⓐ 500
1000ms
2001
ⓑ 1000
2000ms
4000
ⓒ 2000
3000ms
ⓐ Previous value = 500 (Assumption), Current value = 1000
RPM = {(1000 –500) ± 60,000} / {60 ± 1000} = 500
ⓑ Previous value = 1000, Current value = 2000
RPM = {(2000 –1000) ± 60,000} / {60 ± 1000} = 1000
ⓒ Previous value = 2000, Current value = 4000
RPM = {(4000 –2000) ± 60,000} / {60 ± 1000} = 2000
9) Programming example
(1) Parameter setting
• Channel: Ch0
• Counter format: Ring counter ( 0 ~ 100,000)
• Counter mode: 2-phase multiplication mode
- IX0.0.0: A-phase pulse input, IX0.0.1: B-phase pulse input
• Preset: change the current value to ‘0’ when the value of %MX100is ‘1’
- Preset type: internal preset (%MX100)
- Preset value: 0
• Last counter setting
- None
• Comparison output: Turn %QX0.0.3 On when the value is in the range of SV1(10,000) ≤ Counter value ≤
SV2(20,000)
- Output mode: Zone comparison set
- SV1: 10,000, SV2: 20,000,
- Output contact: %QX0.0.3
• RPM setting: Saves RPM value at %MD2105 at every second
- Refresh cycle: 100 (*10ms)
- Pulses per rotate: 60
7-13
Chapter 7. Usage of Various Functions
(2) Programming
• When %MX0.0.0 turns on, HSC starts its operation
• If the current value is equal or more than 1,000,000, the output %QX0.0.0 is On.
• The current value is saved in CURRENT_VALUE (Double Word).
• %QX0.0.3 turns On if the current value is equal or more than 10,000 and less or equal than 20,000
• RPM renews at MD2105 at every second.
7-14
Chapter 7. Usage of Various Functions
REMARK
The contact point which is designated as HSC input can’t be used for pulse catch or external interrupt.
Duplicated designation may cause faults.
7-15
Chapter 7. Usage of Various Functions
7.1.2. Pulse Catch
The input contacts (IX0.0.0 ~ IX0.0.7) are embedded in GM7U series’ main unit. Using this contact point, short pulse signals
like 10 ㎲ can be taken which can not be executed by general digital input.
1) Usage
When narrow width of pulse signal is input, a trouble occurs which can not be detected by general digital input, so the
operation does not perform as user's intention. But in this case through pulse catch function even narrow interval of pulse
signal as 10 ㎲ can be detected.
2) Minimum input pulse width
• IX0.0.0 ~ IX0.0.1: 10 ㎲
• IX0.0.2 ~ IX0.0.7: 50 ㎲
3) Operation
10 ㎲
input signal
input image data
scan 1
Step
scan 2
scan 3
Description
Scan1
CPU senses input when pulse signal, min. 10 ㎲, is input, then saves the status.
Scan2
Turn On the input image data area.
Scan3
Turn Off the input imaged data area.
4) Using method
(1) Click the basic parameter on the project window of GMWIN
(2) Select no. to use for pulse catch input in the basic parameter window.
For details about GMWIN, refers to the corresponding manuals.
7-16
Chapter 7. Usage of Various Functions
REMARK
1) Only 8 points (%IX0.0.0 ~ %IX0.0.7) can be used for pulse catch input.
2) Pulse catch input contacts operate as general digital input if they are not designated as Pulse Catch Input.
2) Do not designate HSC input points as pulse catch input.
7.1.3 Input Filter
External input of GM7U selects input On/Off delay time from the range of 0-1000ms of GMWIN. Reliable system will be
established by controlling the input filter time following the environment.
1) Usage
Input signal status affects to the reliability of the system where noise occurs frequently or pulse width of input signal affects
as a crucial factor. In this case the user sets up the proper input on/off delay time, then the trouble by miss operation of input
signal may be prevented because the signal which is shorter than set up value is not adopted.
7-17
Chapter 7. Usage of Various Functions
2) Operation
Input on/off delay time (filter time)
Input signal
Input image data
time
Input signal
Input image data
Narrower width pulse than input correction no. is not considered as input signal
3) Using method
(1) Select ‘Parameter’ window in GMWIN.
(2) Set the filter value in Input Filter Time.
(3) For main unit, the input filter time can be set as a unit of 7 points, but for expansion unit it can be set at a time.
(4) Input filter time is set as default value of 10ms as one of 0,1,2,5,10,20,50,100,200,500,1000ms.
(5) The set on/off delay time for input is applied for all inputs in use.
7-18
Chapter 7. Usage of Various Functions
7.1.4 PID control
1) Introduction
This chapter will provide information about the built-in PID (Proportional Integral Derivative) function of GM7U main unit.
The GM7U series does not have separated PID module like GM 3and GM4 series, and the PID function is integrated
into the main unit.
The PID control means a control action in order to keep the object at a set value (SV). It compares the SV with a sensor
measured value (PV: Present Value) and when a difference between them (E: the deviation) is detected, the controller
output the manipulate value (MV) to the actuator to eliminate the difference. The PID control consists of three control
actions that are proportional (P), integral (I), and derivative (D).
Manual MV
Set Value
Present Value
MV
SV
PID
calculation
Manipulation
value
D/A
Automated MV
converting
module
Control
object
PV
A/D converting
module
Sensor
The characteristics of the PID function of GM7U is as following;
• the PID function is integrated into the CPU module. Therefore, all PID control action can be performed with
instruction (PID7,PID7CAL) without any separated PID control module.
• P operation, PI operation, PID operation and On/Off operation can be selected easily.
• PWM(Pulse Width Modulation) output is available.
• The manual output (the user-defined forced output) is available.
• By proper parameter setting, it can keep stable operation regardless of external disturbance.
• The operation scan time (the interval that PID controller gets a sampling data from actuator) is changeable for
optimizing to the system characteristics.
• SV Ramp and Delta MV function are available.
7-19
Chapter 7. Usage of Various Functions
2) Specification
(1) Control operation
(a) Proportional operation (P operation)
(a) P action means a control action that obtain a manipulate value which is proportional to the deviation (E : the
difference between SV and PV)
(b) The deviation (E) is obtained by multiplying a reference value to the actual difference between SV and PV. It
prevents the deviation from a sudden change or alteration caused by external disturbance. The formula of
deviation is as following;
MV = K P × E
(c) E happens, MV by P operation is like Fig.7.1
: Deviation
: Manipulating value
Deviation(E)
Manipulate value (MV)
Time
Fig 7.1 MV by P operation
(d) If the Kp is too large, the PV reaches to the SV swiftly, but it may causes a bad effect like oscillations.
(e) 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. 7.2.
(f) The manipulation value (MV) varies from 0 to 4,000. User can define the maximum value of MV (MV_MAX)
and minimum value (MV_MIN) within the range 0 ~ 4,000.
(g) When an offset remains after the system is stabilized, the PV can be reached to the SV by adding a certain
value. This value is called as bias value, and user can define the bias value
: Kp is too large
PV
Oscillation
: Kp is too small
SV
Offset
Time
Fig. 7.2 The relation between Proportional constant (Kp) and present value (PV)
7-20
Chapter 7. Usage of Various Functions
(b) Integral operation (I operation)
① With integral operation, the manipulate value (MV) is increased or decreased continuously in accordance time in
order to eliminate the deviation between the SV and PV. When the deviation is very small, the proportional
operation can not produce a proper manipulate value and an offset remains between PV and SV. The integral
operation can eliminate the offset value even the deviation is very small.
The period of the time from when the deviation has occurred in I action to when the MV of I action become that of
P action is called Integration time and represented as Ti.
② Integral action when a constant deviation has occurred is shown as the following Fig. 7.3.
Deviation
E
Time
MV of P action + I action
MV of l action
MV
Kp*E
Ti
MV of P action
Time
Fig. 7.3 The integral action with constant deviation
③ The expression of I action is as following;
MV =
Kp
Edt
Ti ∫
As shown in the expression, Integral action can be made stronger or weaker by adjusting integration time (Ti) in
I action. That is, the more the integration time (the longer the integration time) as shown in Fig. 7.4, the lesser the
quantity added to or subtracted from the MV and the longer the time needed for the PV to reach the SV.
As shown in Fig. 7.5, when the integration time given is short the PV will approach the SV in short time since the
quantity added or subtracted become increased. But, If the integration time is too short then oscillations occur,
therefore, the proper P and I value is requested.
④ Integral action is 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.
7-21
Chapter 7. Usage of Various Functions
Fig. 2.5 The system response when a long integration time given
Fig. 7.4 The system response when a long integration time given
Fig. 2.6 The system response when a short integration time given
Fig. 7.5 The system response when a short integration time given
(c) Derivative operation (D action)
① When a deviation occurs due to alteration of SV or external disturbances, D action restrains the changes of the
deviation by producing MV which is proportioned with the change velocity (a velocity whose deviation changes at
every constant interval) in order to eliminate the deviation.
② D action gives quick response to control action and has an effect to reduce swiftly the deviation by applying a large
control action (in the direction that the deviation will be eliminated) at the earlier time that the deviation occurs.
③ D action can prevent the large changes of control object due to external conditions.
④ 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 Td.
7-22
Chapter 7. Usage of Various Functions
⑤ The D action when a constant deviation occurred is shown as Fig. 7.6
Manipulation
Manipulation
quantity
P Pinaction
quantity
in
P action
Td
Fig. 7.6 Derivative action with a constant deviation
⑥ The expression of D action is as following;
MV = Kp × Td
dE
dt
⑦ Derivative action is used only in PID action in which P and I actions combine with D action.
(d) 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. 7.7.
Fig. 7.7 PID action with a constant deviation
7-23
Chapter 7. Usage of Various Functions
(e) Integral windup
All devices to be controlled, 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 the I control action is used, the deviation term is integrated continuously. It makes the output of I control action
very large, especially when the response characteristic of system is slow.
This situation that the output of actuator is saturated, is called as ‘windup’. It takes a long time that the actuator returns to
normal operating state after the windup was occurred.
The Fig. 7.8 shows the PV and MV of PI control system when the windup occurs. As shown as the Fig. 7.8, the actuator
is saturated because of the large initial deviation. The integral term increase until the PV reaches to the SV (deviation =
0), and then start to decrease while the PV is larger 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 miss-operation of devices can cause windup of actuator.
There are several methods to avoid the windup of actuator. The most popular methods are adding another feedback
system to actuator, using the model of actuator and stop integrating when actuator is saturated.
P
.
V
S
V
10
Time
M
V
Integral
Ter
m
Fig. 7.8 Example of integral windup
7-24
Time
Chapter 7. Usage of Various Functions
(2) Realization of PID control on the PLC
In this chapter, it will described that how to get the digitized formula of the P, I, and D terms.
(a) P control
The digitized formula of P control is as following;
P (n) = K P ( SV − PV )
Kp: proportional gain constant, SV: set value, PV: present value
(b) I control
The continuous formula of I control is as following;
I (t ) =
KP
Ti
t
∫ E (s)ds
0
Kp: proportional gain constant
Ti: integral time
E(s): deviation value
By derivation about t, we can obtain;
dI K P
=
E
dt
Ti
where, e = (SV – PV): deviation value
The digitized formula is as following;
I (n + 1) − I (n) K P
=
E ( n)
h
Ti
where, h: sampling period
K h
I (n + 1) = I (n) + P E (n)
Ti
(c) D control
The continuous formula of derivative term is as following;
TD dD (n)
dy
+ D(n) = − K P Td
dt
N dt
N: high frequency noise depression ratio
y: the object to be controlled (PV)
7-25
Chapter 7. Usage of Various Functions
3) Function block
For the PID operation of GM7U, following 2 instructions are included in the GMWIN software.
No.
Name
Description
1
PID7CAL
Perform the PID operation
2
PID7AT
Perform the auto tuning operation
REMARK
1)
Array is not supported for GM7U PID function block.
2)
For details, refer to the GMWIN user’s manual.
(1) The function block for PID operation (PID7CAL)
Function block
Description
Input
Output
EN: enables PID7CAL function block (Level operation)
LOOP: sets execution loop (0~7)
DONE: On when the execution is finished without an error. Off when an
error occurred or there is not execution request
SV: outputs current SV (set value) (range: 0~4000)
MV: outputs MV (manipulation value) ( range: 0 ~ 4000 )
STAT: outputs error code
a) Usage
• When the condition of the execution is On, PID operation is executed following the set values of the parameter.
(The PID operation does not operate at the edge, it operates while the execution condition is On.)
• LOOP No. (LOOP) designates the PID operation LOOP no. (0~7)
• Stat disignates the area where the PID Operation loop’s status is saved.
b) Program example
• When the input codition %IX0.0.0 turns On, the PID
operation starts following the parameters.
• The satus during the PID operation is saved
in %MB100, and the PID control output value (MV) is
saved in %MW2.
• For SV Ramp function, the changing SV is save
in %MW0.
7-26
Chapter 7. Usage of Various Functions
(2) Auto tuning function block (PID7AT)
Function block
Description
Input
Output
EN: enables PID7CAL function block (Level operation)
LOOP: sets execution loop (0~7)
DONE : Turn on whenever 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 Displays the error code
MV: The manipulated value of current loop on which the auto tuning
operation is performed.
P: The proportional gain constant obtained by auto tuning operation.
I: The integral time constant obtained by auto tuning operation.
D: the derivative time constant obtained by auto tuning operation.
a) Usage
• When the condition of the execution is On, PID auto tuning operation executes and calculates P,I,D constant.
• LOOP No. (LOOP) designates the LOOP no. that is registered at the PID auto tuning parameter. (0~7)
• Stat disignates the area where the PID auto tuning loop’s status is saved.
b) Program example
• When the input condition %IX0.0.0 turns On, the auto
tuning starts its operation following the parameter 0.
• During the auto tuning, DONE state keeps On, and when
it finished END state turns On.
• When an error occurs the STAT is ouputted at %MB100.
• MV is saved in %MW10.
• The P,I,D values are saved in %MW11,%MW12,%MW13
respectively.
7-27
Chapter 7. Usage of Various Functions
4) parameter setting and explanation
a) PID parameter settings
(1) Scan time (%MW4800)
Scan time is the period of reading data (sampling), and also 10 times scaled up. The range of sampling time is
0.1 ~ 10 seconds, and actual input range is 0 ~ 100. Generally, Scan time of Digital PID control should be less
than 1/10 of time constant of system response for better performance. Time constant is the time taken the
system’s step response reaches to the 63% of steady state.
(2) Operation mode (%MW4801)
Select automatic or manual operating mode
(3) Manual operate range (%MW4802)
When manual operation is designates , manual operation value designates. (input range: 0 ~ 4000)
(4) Output limit value (%MW4803, %MW4804)
Designate minimum and maximum values of available manipulate value. (range: 0 ~ 4000)
(5) Proportional gain (%MW4805)
Indicates the proportional gain. It uses10 times scaled up value. (range: 1 ~ 10000)
7-28
Chapter 7. Usage of Various Functions
(6) Derivative time and integral time (%MW4806,%MW4807)
I_TIME and D_TIME are 10 times scaled up. The range of actual input is 0 ~ 20000.
(7) Mode command set
In GM7U, only the following 7 operation modes are available. Other operation modes, such as PD or I, are not
permitted.
No.
EN_P
EN_I
EN_D
1
1 (enable)
0 (disable)
0 (disable)
2
1 (enable)
1 (enable)
0 (disable)
3
1 (enable)
1 (enable)
1 (enable)
4
1 (enable)
0 (disable)
0 (disable)
5
1 (enable)
1 (enable)
0 (disable)
6
1 (enable)
1 (enable)
1 (enable)
7
0 (disable)
0 (disable)
0 (disable)
PWM output
Operation
P operation
0 (disable)
PI operation
PID operation
P operation/PWM output
1 (enable)
PI operation/PWM output
PID operation/PWM output
0 (disable)
On/Off operation
• If PWM output is selected, the calculated value is outputted with PWM.
(8) Set PWM
PWM (Pulse Width Modulation) is a output method which changes on-off duty of output pulses by calculated
manipulation value. The figure below shows an example of PWM output. Using PWM output, PID control system
can be constructed easily without D/A conversion module and power regulator. The output can be designated
when PWM is selected, but only main unit’s contacts can be used for PWM output. (The expansion module’s
output cannot be used.)
Ex.) Output range limit: 0~4000, operation scan time: 1s, PWM output contact: QX0.0.0
MV = 2000
0.5s
0.5s
MV = 1000
0.25s
0.75s
On
QX0.0.0
Time
(9) SV Ramp
If a large amount of SV changes during PID operation, The deviation(E) changes rapidly. Then manipulation
value(MV) is changed rapidly also. This can cause damage on load or actuator. To prevent this situation, SV can
be changed step by step by parameter setting. Setting range is 1~4000(Default value is 1). Setting value
represents the number of time which taken from starting set value to last set value.
For example, if the operation scan time is set to 5 (0.5 sec), SV Ramp is 500, and SV changed from 1000 to
2000 during operation, it increases by 2 at every scan and reach 2000 after 500 scan time.
7-29
Chapter 7. Usage of Various Functions
SV Ramp = 1
Changed SV
SV Ramp is designates
SV Ramp * Scan time
Current SV
Time
(10) Delta MV
This is useful to limit maximum change of manipulation value. For example, ifΔMV is set to 500, the MV value
in the operation scan does not change more than 500. The value should be set with proper value because the
speed could be reduced. Setting range is 0 ~ 4000 and default value is 4000.
(11) Bias (%MW4810)
The Bias data is used for the compensation of offset in the proportional control. The range of input is 0 ~ 4000.
Be cautious that The actual range of Bias is –2000 ~ 2000. namely, 0~2000 represents 0 ~ +2000 and 2001 ~
4000 represents -1 ~ -2000.
Example) If offset (SV-PV) is 100 → Bias should be 100.
If offset (SV-PV) is -100 → Bias should be 2100.
(12) SV(Target) and PV(Current)
SV (setting value: the designated value) and PV (process value: present value) of GM7U PID operation have
the range 0 ~ 4000. The range is set with the consideration of the resolution of A/D and D/A module of GM7U
series (12bits) and offset value.
(13) Forward and reverse action
PID control has two kinds of action, forward action and reverse action.
- Forward action makes PV reach SV by outputting MV when PV is less than SV, the heating system is an
example of the forward action.
- Reverse action makes PV reach SV by outputting MV when PV is more than SV, the air cooling systems is an
example of the reverse action.
A diagram in which forward and reverse actions are drawn using MV, PV and SV is shown as below.
Reverse action
Forward action
Forward and reverse action with MV, PV and SV
7-30
Chapter 7. Usage of Various Functions
PV
SV
Temperature
Temperature
PV
SV
Time
Reverse action (for cooling)
Time
Forward action (for heating)
Examples of process control by forward and reverse actions
(14) PID Algorithm
In GM7U, two type of PID algorithm is available, The velocity form(Speed) and positioning form.
Velocity form(Speed) operates incremental manners. Namely, It calculates the change(∆ n) required from
previous manipulate value(MVn-1), But positioning form calculates an absolute manipulate value(MVn) every
sampling steps. Generally, The velocity form is suit for the system which’s load change is slow like temperature
control system, and positioning form is useful for system which’s load change is fast.
b)
PID Auto Tuning Parameter settings
① Scan time (%MW4700)
Scan Time is the period of reading data (sampling), and 10 times scaled up for more precious operation.
The range of sampling time is 0.1 ~ 10 seconds, and actual input range is 0 ~ 100.
7-31
Chapter 7. Usage of Various Functions
② SV(set value) / PV (present value)
SV (set value: the designated value) and PV (process value: present value) of GM7U PID operation have the
range 0 ~ 4000. The range is set with the consideration of the resolution of A/D and D/A module of GM7U
series (12 bits) and offset value. When setting the SV or PV, please be careful convert the analog value of
control object (temperature, velocity, etc.) to digital value that are the output of A/D convert module.
ⓐ When using sensor and A/D conversion module
Assume that PID control is used for temperature control with Pt100 (operation range: -200 °C ~ 600 °C), and
the goal value is 100 °C. The equivalent digital output of A/D module (current input range: 4 ~ 20mA) is 1500
if the A/D module outputs 0 (4mA) with -200 °C, and 4000(20mA) with 600 °C. Therefore, the input of SV
should be 1500, not 100.
ⓑ When using sensor and RTD module(G7F-RD2A)
Assume that PID control is used for temperature control with Pt100 (operation range: -200 °C ~ 600 °C), and
the goal value is 100 °C. The digital output of RTD module is calculated as below.
DigitalOutput =
Temp. × 10 + 2000
2
Therefore, SV should be 1500,
③ Tuning method
The GM7U perform auto-tuning operation in two methods. One is relay response method and the
other is process reaction curve method.
ⓐ Relay response method.
• PID parameters are obtained by On/Off operation during 1 cycle of PV variation.
• PID parameters are obtained by amplitude and period of oscillation
• The On/Off operation will be occur at the SV value.
MV
Period
SV
Amplitude
7-32
Chapter 7. Usage of Various Functions
ⓑ Process reaction curve method(PRC method).
• PID parameters are obtained by step response of process.
• It is useful fo r time 1st order time delay system expressed as following
e − Ls
K
Ts + 1
• Obtained parameters may not accurate if the process can’t approximated to 1st order system, In this
case, use relay response method.
Time delay(L)
4000
MV
80% of SV
63% of SV
Time constant(T)
ⓒ PWM Tuning
PWM (Pulse Width Modulation) is a output method which changes on-off duty of output pulses by
calculated manipulation value. The figure below shows an example of PWM output. Using PWM output,
PID control system can be constructed easily without D/A conversion module and power regulator. The
output can be designated when PWM is selected, but only main unit’s contacts can be used for PWM
output. (The expansion module’s cannot be used.)
5) Program example
(1) System configuration
G7F-
G7F-DA2I
GM7U
RD2A
RS-232C
(PV: temperature)
GMWIN
V4.1 above
(MV: 4~20mA)
Electric Oven
Heater
TPR
7-33
Chapter 7. Usage of Various Functions
(2) In case of using PID function only
Value:
When PWM is designated, this window is activated
and enables to input PMW contact
a)
PID operation explanation (without A/T function)
• Measure current temperature (-200~600°C) by RTD module then digital conversion value(0 ~ 4000).
• PID8 instruction will calculate manipulate value (MV: 0 ~ 4000) based on PID parameter settings (P_GAIN,
I_TIME, D_TIME, etc.) and PV from RTD module. Then, the calculated MV is output to the channel 0 of D/A
module.
• D/A module will convert the MV to analog signal and output to the actuator (power converter).
b)
Parameter settings
• Scan Time: 0.5 s (input ‘5’)
• Operation Mode: 0 (operation mode is set to ‘Auto’)
• Output Limit Value: Max: 4000, Min: 0
7-34
Chapter 7. Usage of Various Functions
• SV setting (G7E-RD2A): 1300(60°C ),1350(70°C ),1400(80°C ),1500(100°C)
• Current value setting: %MW4104 (Digital value of RTD module Ch 0, expansion module #2)
• BIAS setting: 0 (If only P control is used, input proper value other 0)
• Mode Command Set: select the related items Derivative, Integral, Proportional (select PWM when it is needed)
• PWM contact: When it is activated, input proper values.
• SV Ramp: 500 (when SV converted‘500*0.5 sec = 25 sec’)
• ΔMV : 4000 (delta MV function is not used)
• PID Algorithm: Velocity
c)
RTD module setting
• Channel setting: channel 0
• RTD type setting : Pt100
• Digital conversion data registration area: %MW4104
d)
D/A module setting
• Channel setting: channel 0
• Output range setting: DC 4 ~ 20 mA
• D/A conversion data registration area: %MW4100
7-35
Chapter 7. Usage of Various Functions
e)
Program
• When the input condition %MX0 turns on, PID operation executes at no.0 loop.
• PID execution status registrate %MB100 and the output value of control result registrate %MW4100 (output to
channel 0 of D/A conversion module).
• When the input condition turns off, it outputs 0 to the %MW4100 (channel 0 of D/A conversion module).
The manipulated value is outputted to
%MW4100
When %MX000 turns On,
PID operation is executed.
When %MX000 turns Off, 0 is outputted at %MW4100
(Ch0 of DA conversion module)
7-36
Chapter 7. Usage of Various Functions
(3) In case of using combined function of PID operation and auto tuning
(a) PID operation explanation (with A/T function)
• Measure current temperature by RTD module then digital conversion value(0 ~ 4000) is stored.
• PID7AT instruction will calculate manipulate value (MV : 0 ~ 4000) based on the SV and PV from RTD module
and output the value in range of 0~4000 to the D/A conversion module.
• The END bit of auto tuning status device will be 1 when the auto tuning is completed, and the calculate P, I, D
constants are saved respectively in the designated value. These values become the P, I, D control constant.
Program to execute the PID operation when the END bit becomes 1.
• D/A conversion modules convert the manipulate value to analog signal (4~20mA) and input it to the actuator.
(b) PID Auto Tuning Parameter
• Target value (for G7F-RD2A)
- 1300(60℃),1350(70℃),1400(80℃),1500(100℃)
• Scan Time: 0.5 sec(input ‘5’)
• Current value: %MW4104 (conversion value of the RTD module’s channel 0)
• Ripple Type: Relay Method
(c) Auto tuning parameters
• Scan Time: 0.5 sec (input ‘5’)
• Operation Mode: 0 (Auto)
• Output Limit Value: Max: 4000, Min: 0
• Man OP range: 0 (Operation mode is set to ‘Auto’)
7-37
Chapter 7. Usage of Various Functions
• SV(Target) (for G7F-RD2A)
- 1300(60℃),1350(70℃),1400(80℃),1500(100℃)
• PV(Current) conversion value of the RTD module’s channel 0 (Expansion module #2’s channel 0: %MW4104)
• Set Proportional Gain, Derivational Time, Integral Time
• BIAS: 0 (input proper value to use P control only)
• Mode Command Set: select the related items Derivative, Integral, Proportional
(select PWM when it is needed)
• PWM Contact: set the contact when the PWM output is selected
• SV Ramp: 500 (when SV converted‘500*0.5 sec = 25 sec’)
• ΔMV : 4000 (delta MV function is not used)
• PID Algorithm: Velocity
Value:
7-38
Chapter 7. Usage of Various Functions
(e) RTD module setting
• Follow the same way when the PID function is only used.
(f) D/A module setting
• Follow the same way when the PID function is only used.
(g) Program
• When the input condition %MX0 turns on, PID auto tuning operation is executed following the registered auto
tuning parameter at 0 loop.
• Auto tuning status is registered in %MB100, and the output value of control result is registered in %MW4100
(channel 0 of D/A conversion module)
• When auto tuning is completed, END output becomes 1 and the calculated P,I,D values are saved
in %MW4805, %MW4807, %MW4806 respectively.
• When END output is On, PID operation is executed following the registered PID parameter at 0 loop.
• PID operation status is registered in %MB200, and the output value is registered in %MW4100 (channel 0 of D/A
conversion module)
• When %MX0 contact turns Off, 0 is outputted at %MW4100 (channel 0 of D/A conversion module)
When the auto tuning is finished as a result of the execution of
the PID7AT command, the PID operation is executed following
the values of %MW4105 (P), %MW4107 (I), %MW4106(D).
7-39
Chapter 7. Usage of Various Functions
6) Error code list
(1) PID7AT
Error
Code
Description
H03
H04
Auto tuning parameter setting
error
Auto tuning direction setting
error
Scan time setting range error
SV setting range error
H05
PV setting range error
H06
PRC auto tuning execution error
H07
LOOP duplication error
H08
LOOP number error
H01
H02
Countermeasure
Set the auto tuning parameters within the range.
Set the direction forward or reverse.
Set scan time in available setting range (1~100).
Set SV in available setting range (0~4000).
Set PV setting address in available range (%MW0~%MW5119) or
check whether PV is out of range (0~4000).
PV is bigger than 80% of SV(or less than 120% of SV in reverse
operation) at the starting point of auto tuning.
Do not execute the auto tuning using the parameters used in other
FB.
Set the loop number correctly (0~7).
(2) PID7CAL
Error
Code
Description
Countermeasure
Set the mode command P(+PWM), PI(+PWM) or PID(+PWM) only.
H01
Mode command setting error
H03
Scan time setting range error
Set scan time to available setting range (1~100).
H04
Manual operation range error
Set manual operation value to available setting range.
H05
Output limit value error(Min.)
Set minimum output limit value to available setting.
H06
Output limit value error(Max.)
Set maximum output limit value to available setting.
H07
Max./Min. output setting error
Set the Min. value less than the Max. value.
H08
P gain setting error
Set P gain period to available setting range.
H09
I time setting error
Set I time period to available setting range.
H0A
D time setting error
Set D time period to available setting range.
H0B
Bias setting error
H0C
PV setting range error
Set Bias to available setting range.
Set P gain period to available setting range (%MW0~%MW5119), or
check whether PV is in the range of 0~4000.
H0D
SV setting range error
Set SV to available setting range.
H0E
SV Ramp setting error
Set SV Ramp to available setting range.
H0F
Delta MV setting error
Set Delta MV to available setting range.
H10
PID algorithm setting error
Check PID algorithm setting.
H11
Operation mode setting error
Available operation mode is 0 or 1.
Do not set I, D, ID or PD.
7-40
Chapter 7. Usage of Various Functions
Error
Code
Description
Countermeasure
H12
Auto tuning direction parameter
Select forward or reverse operation.
setting error
H13
LOOP duplication error
H14
LOOP number error
Do not execute the auto tuning using the parameters used in other
FB.
Set the loop number correctly (0~7).
7-41
Chapter 7. Usage of Various Functions
7.2 Special Modules
The special module and allocated data registers are as follow.
Item
Data
Register
Combination module
Expansion
D/A
Conversion
module
G7F-DA2I
G7F-DA2V
CH0
A/D value
CH0
D/A value
G7F-ADHA
G7F-ADHB
CH0
A/D value
CH0
A/D value
CH1
A/D value
CH1
A/D value
-
CH1
A/D value
CH1
D/A value
CH0
D/A value
CH0
D/A value
CH0
D/A value
CH2
A/D value
CH2
D/A value
%MW4103
-
CH1
D/A value
-
CH3
A/D value
CH3
D/A value
%MW4104
CH0
A/D value
CH0
A/D value
CH0
A/D value
CH0
D/A value
CH1
A/D value
CH1
A/D value
-
CH1
A/D value
CH1
D/A value
CH0
D/A value
CH0
D/A value
CH0
D/A value
CH2
A/D value
CH2
D/A value
%MW4107
-
CH1
D/A value
-
CH3
A/D value
CH3
D/A value
%MW4108
CH0
A/D value
CH0
A/D value
CH0
A/D value
CH0
D/A value
CH1
A/D value
CH1
A/D value
-
CH1
A/D value
CH1
D/A value
CH0
D/A value
CH0
D/A value
CH0
D/A value
CH2
A/D value
CH2
D/A value
-
CH1
D/A value
-
CH3
A/D value
CH3
D/A value
%MW4100
%MW4101
%MW4102
%MW4105
%MW4106
%MW4109
%MW4110
Analog
module
#1
Analog
module
#2
Analog
module
#3
%MW4111
G7F-ADHC
A/D
Conversion
module
G7F-AD2A
G7F-AD2B
CH0
A/D value
CH0
A/D value
CH0
A/D value
Analog
timer
RTD input
module
G7F-AT2A
G7F-RD2A
CH0
A/T value
(%MW4160)
CH1
A/T value
(%MW4161)
CH2
A/T value
(%MW4162)
CH3
A/T value
(%MW4163)
CH0
A/T value
(%MW4164)
CH1
A/T value
(%MW4165)
CH2
A/T value
(%MW4166)
CH3
A/T value
(%MW4167)
CH0
A/T value
(%MW4168)
CH1
A/T value
(%MW4169)
CH2
A/T value
(%MW4170)
CH3
A/T value
(%MW4171)
CH0
Temperature
value
CH1
Temperature
value
CH2
Temperature
value
CH3
Temperature
value
CH0
Temperature
value
CH1
Temperature
value
CH2
Temperature
value
CH3
Temperature
value
CH0
Temperature
value
CH1
Temperature
value
CH2
Temperature
value
CH3
Temperature
value
RTD input module stores the temperature value and the digital conversion value of temperature in a range of 0 to 4000.
Expansion
Digital conversion value
Temperature value
Ch 0
Ch 1
Ch 2
Ch 3
Ch 0
Ch 1
Ch 2
Ch 3
#1
%MW4100
%MW4101
%MW4102
%MW4103
%MW4120
%MW4121
%MW4122
%MW4123
#2
%MW4104
%MW4105
%MW4106
%MW4007
%MW4124
%MW4125
%MW4126
%MW4127
#3
%MW4108
%MW4109
%MW4110
%MW4011
%MW4128
%MW4129
%MW4130
%MW4131
REMARK
1) Offset/gain value can’t be changed, it is fixed.
2) Analog inputting is set the current since this is manufactured.
3) Max. of 3 expansion modules can be used.
7-42
Chapter 7. Usage of Various Functions
7.2.1 A/D·D/A Combination module
1) Performance specification
The performance specifications of the analog mixture module are following.
Specifications
Item
G7F-ADHA
G7F-ADHB
Voltage DC 0∼10V C(input resistance more than 1 ㏁)
Input range
Current
DC 0~1V (input resistance
more than 1 ㏁)
DC 0∼20 ㎃ (input resistance 250Ω)
DC 4∼20 ㎃ (input resistance 250Ω)
Classified by GMWIN parameter settings
-
12 bits ( 0 ~ 4000 )
Digital output
Analog Input
G7F-ADHC
1.Set by the jumper pin for 1. Set by the dipswitch for
V/I selection on the upper V/I selection on left side of
part of product
product
Voltage/Current selection (Up: voltage, Down: Current) (Up: voltage, Down: Current
Fixed as DC 0~1V
2. Voltage/current selected by program
3. When current input is used, short the V and I terminal.
No. of channel
Absolute max.
input
Analog output
Output range
DC +12V
Current
DC +24 mA
Voltage
DC 0∼10V (External resistance 2 ㏀∼1 ㏁)
Current
DC 0∼20 ㎃ (External resistance 510Ω)
DC 4∼20 ㎃ (External resistance 510Ω)
Classified by GMWIN parameter settings
No. of channel
1 channel / 1 module
Common
2 channel / 1 module
Voltage
DC +12V
Current
Voltage
DC +24 mA
DC 0∼10V: 2.5 ㎷ (1/4000)
DC 0∼20 mA: 5 ㎂ (1/4000 )
DC 4∼20 mA: 6.25 ㎂ (1/3200 )
Current
1 channel / 1 module
0.25 ㎷ (1/4000)
±0.5% (Full Scale)
Max. conversion
speed
No. of installation module
Isolation
Connect terminal
Internal current
consumption
Weight
Fixed as voltage output
Separated from terminal
Accuracy
External power
supply
-
12 bits ( 0 ~ 4000 )
Voltage/current selection
Max. resolution
1 channel / 1 module
Voltage
Digital Input
Absolute max.
output
2 channels / 1 module
A/D:1 ㎳/CH+Scan time
D/A:10ms/CH+Scan time
1 ㎳/CH +Scan time
Max.3
Photo coupler insulation between I/O terminals and PLC power supply
(No isolation between channels)
2 of 9-point terminal
2 of 8-point terminal
2 of 7-point terminal
20 ㎃
20 ㎃
20 ㎃
Voltage
DC 21.6 ∼ 26.4V
Current
80 ㎃
95 ㎃
100 ㎃
240g
180g
180g
7-43
Chapter 7. Usage of Various Functions
2) Names of parts and functions
Explain about names of parts and functions
(1) G7F-ADHA
④
⑤
⑦
⑥
①
③
No.
Name
①
RUN LED
②
Functions
Indicates the operating status the G7F-ADHA
Voltage input
②
CH0 (INPUT)
V0 I0 COM0
Current input
CH0 (INPUT)
V0 I0 COM0
Analog input terminal
• When current input is used, short the V and I terminal.
Input
Select
Voltage
Current
CH0 CH1
③
Jumper pin for
analog input
Right is CH.1selecting
Left is CH. 0 selecting
Connect upper part
with jumper pin
Voltage output
④
Analog output
terminal
V+
V- I+
OUTPUT
Connect lower part
with jumper pin
Current output
I-
V+
V- I+
OUTPUT
I-
• Only one type of output (current or voltage) is available on a module
⑤
External power
supply terminal
Supplies DC 24V
⑥
Extension cable
A cable to connect analog combination module
⑦
Expansion cable
connector
A connector to connect expansion cable
7-44
Chapter 7. Usage of Various Functions
(2) G7F-ADHB
④
①
V0+ I0+ V1+ I1+
V0- I0- V1- I1OUTPUT CH0
CH1
⑥
G7F-ADHB
⑦
PROGRAMMABLE
LOGIC
CONTROLLER
PWR
Input
INPUT
CH1
CH0
V0 COM0 I1
24G I0 V1 COM1
24V
⑤
No.
Name
①
RUN LED
①
Functions
Indicates the operating status the G7F-ADHB
Voltage input
②
③
CH0 (INPUT)
V0 I0 COM0
CH0 (INPUT)Current input
V0 I0 COM0
Analog input terminal
• When current input is used, short the V and I terminal.
Input Select
Ch0
Ch1
③
Dip switch for inalog
input
Right : current input
Left : voltage input
Voltage output
Current output
④
Analog output
terminal
⑤
External power supply
terminal
⑥
Extension cable
A cable to connect analog combination module
⑦
Expansion cable
connector
A connector to connect expansion cable
V+
V- I+
Ch 0
I-
Supplies DC 24V
7-45
V+
V- I+
Ch 0
I-
Chapter 7. Usage of Various Functions
(3) G7F-ADHC
④
①
24V 24G
③
I+
Input
I-
)
CH0(Output
⑥
⑤
CH0(Input)
·
V0
·
COM
②
No.
Name
①
RUN LED
Functions
Indicates the operating status the G7F-ADHC
Voltage input
②
CH0 (INPUT)
V0
COM
Analog input terminal
Voltage output
③
Analog output
terminal
I1+ I1CH0(Ouput)
④
External power supply
terminal
⑤
Extension cable
A cable to connect analog combination module
⑥
Expansion cable
connector
A connector to connect expansion cable
Supplies DC 24V DC24V
7-46
Chapter 7. Usage of Various Functions
3) Parameter setting
Unavailable for G7F-ADHA
For G7F-ADHA, G7F-ADHB
• Scaling function
This function convert automatically range when the inout/output range is not matched.
In case that input/output is current , this function is useful that external equapment’ range is not matched each other.
(GM7U series converts range automatically as following : 0 ~ 20mA ⇔ 4 ~ 20mA)
4000
4000
800
0
0
0㎃
20 ㎃
-1000
Resolution: 20 ㎃/4000 = 5 ㎂
4㎃
20 ㎃
Resolution: 20 ㎃/3200 = 6.25 ㎂
7-47
Chapter 7. Usage of Various Functions
Conversion method is as below.
Scaling conversion value (A/D conversion = [(data of 0 ~ 20mA) − 800] × 4000]
3200
Example) 8mA input in the range of 0 ~ 20 ㎃
- Before the scaling conversion : 8 ㎃ / 5 ㎂ = 1600
- After the scaling conversion: (1600 –800) x 1.25 = 1000
Scaling conversion value (D/A conversion) = [(data of 0 ~ 20mA) × 3200] + 800
4000
Example) Output 1000 in the range of 0 ~ 20 ㎃
- Current output value before the scaling conversion : 1000 x 5 ㎂ = 5 ㎃
- Current output value after the scaling conversion: (1000 x 0.8) + 800 = 1600
1600 x 5 ㎂ = 8 ㎃
4) Wiring
(1) Caution for wiring
• Make sure that external input signal of the mixture module of AC and analog I/O is not affected by induction noise or
occurs from the AC through using another cable.
• Wire is adopted with consideration about peripheral temperature and electric current allowance. For wire, thicker than
AWG22 (0.3 ㎟) one is recommended.
• If wire is put near to high temperature radiated device or contacted with oil for a long time, it may cause of electric
leakage so that it gets broken or miss-operation during wiring.
• Be sure to connect with care of polarity while connecting to external 24V DC power supply.
• In case of wiring with high voltage line or generation line, it makes induction failure so then it may cause of missoperation and out of order.
(2) Wiring example
a) Analog input
Voltage input
+
Input
-
Terminal
+
V0
I0
*1
Current input
Terminal
Input
V1
I1
-
COM0
*1
7-48
COM1
Chapter 7. Usage of Various Functions
b) Analog output
Voltage output
V+
2K~1 ㏁
V−
*1
GND
Current output
Less than
I+
510Ω
I−
*1
GND
* 1: Make sure to use two-core twisted shield wire.
* G7F-ADHA has only 1 analog output channel.
* Analog ouput cannot be used for voltage and current simultaneously.
5) I/O converstion characteristics
(1) Analog input characteristics (For G7F-ADHA,ADHB)
a) Voltage input
2004
Digital output
Digital output
4000
2003
2002
2001
2000
5V
Analog input voltage
10V
5.0025V
0
0V
5.000V
2000
Input voltage
A/D conversion characteristics (voltage input)
In voltage input, digital amount 0 is output by 0V input and 4,000 is output by 10V input. Therefore input 2.5mV equals to
digital amount 1, but value less than 2.5mV can’t be converted.
7-49
Chapter 7. Usage of Various Functions
b) Current input
2004
0
0㎃
10 ㎃
2002
2001
2000
10.000 ㎃
2000
2003
20 ㎃
Analog input current
10.005 ㎃
Digital output value
Digital output value
4000
Input Current
Current input 0mA becomes output 0, 10mA does 2000 and 20mA does 4000. therefore input 5 ㎂ equals to digital
amount 1, but value less tan 5 ㎂ can’t be converted. So abandon it.
(2) Analog output characteristics (For G7F-ADHA,ADHB)
a) Voltage output
Analog output voltage
Analog output voltage
10V
5V
5.0025V 2.5 ㎷
5V
2000 2001 2002 2003 2004 2005
0V
0V
0
2000
Digital input
4000
Digital input value
D/A conversion characteristic (Current output)
Input of digital amount 0 outputs analog amount 0V, 4000 does 10V.Digital input 1 equals to 2.5mV of analog amount.
7-50
Chapter 7. Usage of Various Functions
b) Current output
Analog output current
Analog output current
20 ㎃
10 ㎃
5㎂
10.005 ㎃
10.000 ㎃
2000 2001 2002 2003 2004 2005
0㎃
0V
0
2000
Digital input
4000
Digital input value
D/A conversion characteristic (Current output)
In current output, digital amount 0 exchanges to 0mA, and 4,000 does 20mA.
Analog amount of digital input 1 equals to 5 ㎂.
6) Program example
(1) Distinction program of A/D conversion value
a) Program explanation
- When digital value of channel 0 is less than 2000, %QX0.0.0 is On
- when digital value of channel 0 is more than 3000, P091 is on, %QX0.0.1 is On
- When digital value of channel 0 is more or same than 2000 or lesser than 3000, %QX0.0.2 is On
b) System configuration
Main unit
G7F-ADHB G7E-DR20A
7-51
Chapter 7. Usage of Various Functions
c) Program
7-52
Chapter 7. Usage of Various Functions
(2) Program which controls speed of inverter by analog output voltage of 5 steps
a) Program explanation
-.When %QX0.0.0 turns On, 2000 (5V) is output.
-. When %QX0.0.1 turns On, 2400 (6V) is output.
-.When %QX0.0.2 turns On, 2800 (7V) is output.
-.When %QX0.0.3 turns On, 3200 (8V) is output.
-.When %QX0.0.4 turns On, 3600 (9V) is output.
b) System configuration
Main unit
G7F-ADHB G7E-DR20A
c) Program
7-53
Chapter 7. Usage of Various Functions
7.2.2 A/D Conversion module
1) Performance specifications
The performance specifications of the analog input module are following.
Item
Specifications
Analog
Voltage
DC 0∼10V (input resistance 1 ㏁ )
Current
DC 4∼20 ㎃ (input resistance 250Ω)
DC 0∼20 ㎃ (input resistance 250Ω)
Classified by GMWIN parameter settings
input
Voltage/Current
Selection
Digital output
Maximum
resolution
DC 0∼10V
- Setting by input terminal
(When current input is used, short the V and I terminal.)
- Input range is classified by GMWIN parameter settings
12 bits ( 0∼4000)
2.5 ㎷ (1/4000)
DC 0∼20 ㎃
5 ㎂ (1/4000)
DC 4∼20 ㎃
6.25 ㎂ (1/3200)
Overall accuracy
Max. conversion speed
Max. absolute input
Number of analog input point
No. of installation module
Isolation
Connect terminal
Internal current
+5V
consumption
Voltage
External power
Current
supply
consumption
Weight
±0.5% (Full Scale)
1 ㎳/CH + scan time
Voltage: ±15V, Current: ±25 ㎃
4 channels/ 1 module
Max. 3
Photo coupler insulation between I/O terminals and PLC power supply
(No isolation between channels)
2 points/16 points terminal
100mA
DC 21.6 ~ 26.4V
100 ㎃
300g
7-54
Chapter 7. Usage of Various Functions
2) Names of parts and functions
The Names of parts and functions of the analog input module are following.
(1) G7F-AD2A
④
①
24V 24G
Input
⑥
Input
Select
⑤
CH3
CH2
CH1
CH0
CH0
V0
CH1
COM0
I0
V1
I1
·
③
No.
Name
①
RUN LED
CH2
COM1
·
I2
V3
·
COM3
I3
②
Functions
Indicates the operating status of G7F-AD2A
Voltage input
②
CH3
V2 COM2
CH0
V0
I0
Current input
·
CH0
V0 COM0
·
I0
Analog input terminal
• When current input is used, short the V and I terminal.
Voltage input
Input
Select
③
Jumper pin for analog
input
Current input
CH3
CH2
CH1
CHO
CH3
CH2
CH1
CHO
Connect left parts
by jumper pins
④
External power supply
terminal
⑤
Extension cable
A cable to connect analog input module
⑥
Extension cable
connector
A connector to connect expansion cable
Supplies DC 24V
7-55
CH3
CH2
CH1
CHO
Connect right parts
by jumper pins
Chapter 7. Usage of Various Functions
(2) G7F-AD2B
②
③
V2
24G
Input
①
COM2
I3
I2
V3
COM3
CH2
CH3
INPUT
⑦
G7F-AD2B
⑤
⑥
PROGRAMMABLE
LOGIC
CONTROLLER
PWR
INPUT
V0
CH1
CH0
COM0
I1
●
I0
V1
COM1
●
③
②
No.
Name
①
RUN LED
Functions
Indicates the operating status of G7F-AD2B
Voltage input
②
CH0
V0
I0
Current input
·
CH0
V0 COM0
·
I0
Analog input terminal
• When current input is used, short the V and I terminal.
Input Select
Ch0
Ch1
③
Ch2
Jumper pin for analog
input
Right for current
Left for voltage
④
External power supply
terminal
⑤
Extension cable
A cable to connect analog input module
⑥
Extension cable
connector
A connector to connect expansion cable
Supplies DC 24V
7-56
Ch3
Chapter 7. Usage of Various Functions
3) Parameter setting
(1) Scaling function
The scaling function is the same that of A/D, D/A combination module.
4) Wiring
(1) Caution for wiring
• Make sure that external input signal of the mixture module of AC and analog I/O is not affected by induction noise or
occurs from the AC through using another cable.
• Wire is adopted with consideration about peripheral temperature and electric current allowance. For wire, thicker
than AWG22 (0.3 ㎟) one is recommended.
• If wire is put near to high temp. radiated device or contacted with oil for a long time, it may cause of electric leakage
so that it gets broken or miss-operation during wiring.
• Be sure to connect with care of polarity while connecting to external 24V DC power supply.
• In case of wiring with high voltage line or generation line, it makes induction failure so then it may cause of missoperation and out of order.
7-57
Chapter 7. Usage of Various Functions
(2) Wiring
Voltage
+
Analog
Input
V0
I0
-
*1
Current
Terminal
COM0
Analog
Input
Terminal
+
V1
-
COM1
I1
*1
*1: Be sure to use two-core twisted shield wire.
5) Analog/Digital conversion characteristics
(1) Analog input characteristics
a) Voltage input
2003
2002
2001
2000
5.000V
2000
2004
0
0V
5V
10V
5.0025V
Digital Output Value
Digital Output Value
4000
Voltage Input
Analog Input Voltage
A/D Conversion Characteristics (Voltage Input)
In voltage input, digital amount 0 is output by 0V input and 4,000 is output by 10V input. Therefore input 2.5mV equals
to digital amount 1, but value less than 2.5mV can’t be converted.
b) Current input
2004
0
0㎃
2002
2001
2000
10.000 ㎃
2000
2003
10 ㎃
10.005 ㎃
Digital Output Value
Digital Output Value
4000
20 ㎃
Current Input
Analog Input Current
A/D Conversion Characteristics (Current Input 0∼20 ㎃)
Current input 0mA becomes output 0, 10mA does 2000 and 20mA does 4000. therefore input 5 ㎂ equals to digital
amount 1, but value less tan 5 ㎂ can’t be converted. So abandon it.
7-58
Chapter 7. Usage of Various Functions
6) Program example
Distinction program of A/D conversion value (Analog input range: 4∼20 ㎃)
a) Program explanation
- When digital value of channel 0 is the same or more than 2000 and the same or less than 3000, %QX0.0.0 is On
-When digital value of channel 1 is the same or more than 2000 and the same or less than 3000, %QX0.0.1 is On
- When digital value of channel 2 is the same or more than 2000 and the same or less than 3000, %QX0.0.2 is On
- When digital value of channel 3 is the same or more than 2000 and the same or less than 3000, %QX0.0.3 is On
b) System configuration
(a)
Analog parameter settings
• Channel “0”, “1”: voltage input (0∼10VDC)
• Channel “2”, “3”: current input (DC 4∼20 ㎃)
7-59
Chapter 7. Usage of Various Functions
(b) System configuration
Main unit A/D conversion module Expansion module
(c) Program
7-60
Chapter 7. Usage of Various Functions
7.2.3 D/A Conversion module
1) Performance specifications
The performance specifications of the analog output module are following.
Specifications
Item
G7F-DA2I
G7F-DA2V
DC 0∼20 ㎃ (Load resistance 510Ω)
Output Range
DC 4∼20 ㎃ (Load resistance 510Ω)
DC 0∼10V (Load resistance 2 ㏀∼1 ㏁)
Classified by GMWIN parameter settings
Digital input
12 bits ( 0 ~ 4000 )
No. of channel
Max. absolute output
4 channels/1 module
DC +24 ㎃
DC 12V
Maximum
DC 0∼20 ㎃ : 5 ㎂
resolution
DC 4∼20 ㎃ : 6.25 ㎂ (1/3200 )
Accuracy
±0.5% (Full Scale)
(1/4000 )
2.5 ㎷ (1/4000)
1 ㎳/all Ch + Scan time
Max. conversion speed 500us/all Ch + Scan time
No. of installation module Max. 3
Photo coupler insulation between I/O terminals and PLC power supply
Isolation
(No isolation between channels)
Connect terminal
Internal current
consumption
16 points terminal
2 of 8 points terminal
20 ㎃
15 ㎃
Voltage DC 21.6 ∼ 26.4V
External power Current
consump 80 ㎃
supply
tion
Weight
90 ㎃
280g
160g
7-61
Chapter 7. Usage of Various Functions
2) Names of parts and functions
The Names of parts and functions of the analog input module are following.
③
③
①
①
24V 24G
Input
G7F-DA2I
PROGRAMMABLE
LOGIC
CONTROLLER
24V
24V
④
⑤
G7F-DA2V
PROGRAMMABLE
LOGIC
CONTROLLER
CH0 CH1 CH2 CH3
I+
24G
I+
I-
I+
I-
PWR
I+
I-
I-
④
·
V0+ V1+ V2+ V3+
V0- V1- V2- V3-
②
②
G7F – DA2I
No.
Name
①
RUN LED
G7F – DA2V
Functions
Indicates the operating status of G7F-DA2I, G7F-DA2V
②
Analog output terminal Analog current/voltage output terminal
③
External power supply
terminal
⑥
Extension cable
Cable to connect analog output module
⑦
Extension cable
connector
A connector to connect expansion cable
Supplies DC 24V
7-62
⑤
Chapter 7. Usage of Various Functions
3) Parameter setting
- Data clear when changed to ST
1) Set PLC ST mode for each channel
2) Data clear when changed to PLC STOP mode (output value 0)
7-63
Chapter 7. Usage of Various Functions
4) Scaling function (for G7F-DA2I)
Scaling is the function that changes the offset and gain value for an easy operation.
4000
4000
800
0
0
20 ㎃
0㎃
4㎃
Resolution: 20 ㎃/4000 = 5 ㎂
20 ㎃
Resolution: 20 ㎃/3200 = 6.25 ㎂
• Changing method is as below.
Scaling conversion value =
(Digital input value × 3200)
+ 800
4000
Example) Digital value 1000 input in a range of 0 ~ 20 ㎃
• Before the scaling conversion (current range 0 ~ 20mA):
(Digital input value × 20) 1000 × 20
=
= 5mA
4000
4000
• After the scaling conversion (current range 4 ~ 20mA):
(Digital input value × 3200)
1000 × 3200
+ 800 =
+ 800 = 1600 × 5μA = 8mA
4000
4000
5) Wiring
(1) Caution for wiring
• Make sure that external input signal of the mixture module of AC and analog I/O is not affected by induction noise or
occurs from the AC through using another cable.
• Wire is adopted with consideration about peripheral temperature and electric current allowance. For wire, thicker than
AWG22 (0.3 ㎟) one is recommended.
• If wire is put near to high temperature radiated device or contacted with oil for a long time, it may cause of electric
leakage so that it gets broken or miss-operation during wiring.
• Be sure to connect with care of polarity while connecting to external 24V DC power supply.
• In case of wiring with high voltage line or generation line, it makes induction failure so then it may cause of missoperation and out of order.
7-64
Chapter 7. Usage of Various Functions
(2) Wiring
a) G7F-DA2I
b) G7F-DA2V
CH0
I+
CH0
V+
Less than 510Ω
I−
2 ㏀∼1 ㏁
V−
*1
GND
*1
CH3
I+
CH3
V+
Less than 510Ω
I−
GND
2 ㏀∼1 ㏁
V−
*1
GND
*1
GND
*1: Be sure to use two-core twisted shield wire.
REMARK
z
The common grounding with other devices is not permitted when D/A conversion module is used as current
output type.
CH 0
Device
5
6
D/A
Conversion
CH 3
D/A
Conversion
11
12
+15V
AGND
-15V
DC/DC
Converter
DC +24V
DC 0V
1
2
7-65
Chapter 7. Usage of Various Functions
6) Digital/Analog conversion characteristics
(1) G7F-DA2I
a) 0~20mA output
Analog output current
Analog output current
20 ㎃
10 ㎃
0㎃
0V
0
2000
Digital input value
10.005 ㎃
5㎂
10.000 ㎃
2000 2001 2002 2003
2004
2005
Digital input
4000
D/A conversion characteristics (Current output)
Digital amount 0 outputs analog amount 0mA, 4000 does 20mA.Digital input 1 equals to 5 ㎂ of analog amount.
b) 4~20mA output
Analog output voltage
Analog output voltage
20mA
12mA
12.006
6.25 ㎂
12.000
2000 2001 2002 2003
4mA
0
2000
Digital input value
2004 2005
Digital input
4000
D/A conversion characteristics (Current output)
Digital amount 0 outputs analog amount 4mA, 4000 does 20mA.Digital input 1 equals to 6.25 ㎂ of analog amount.
(2) G7F-DA2V
Analog output voltage
Analog output voltage
10V
5V
5.0050
2.5 ㎷
5.0025
2000 2001 2002 2003
0V
0
2000
Digital input value
2004 2005
Digital input
4000
D/A conversion characteristics (Current output)
Digital amount 0 outputs analog amount 0V, 4000 does 10V. Digital input 1 equals to 2.5mV of analog amount.
7-66
Chapter 7. Usage of Various Functions
.
7) Program example
(1) Program which controls speed of inverter by analog output current (or voltage) of 5 steps (0 ~ 20mA /0~10V)
a) Program explanation (0 channel of the expansion module no.1)
- When %QX0.0.0 is On, 2000(10 ㎃/5V) is output.
- When %QX0.0.1 is On, 2400(12 ㎃/6V) is output.
- When %QX0.0.2 is On, 2800(14 ㎃/7V) is output.
- When %QX0.0.3 is On, 3200(16 ㎃/8V) is output.
- When %QX0.0.4 is On, 3600(18 ㎃/9V) is output.
b) System configuration
Main unit Analog output module Digital expansion module
c) Program
7-67
Chapter 7. Usage of Various Functions
7.2.4 Analog timer
1) Performance specification
The performance specifications of the analog timer module are following.
Item
Specifications
Number of channels
4
Output value range
8 bits (Digital output range: 0 ∼ 200)
Setting type
Setting by variable resistance
Accuracy of timer
±2.0% (Accuracy about max. value)
50 ㎃
Internal current
consumption
Weight
200g
A/T conversion
value data register
Analog module #1
Analog module #2
Analog module #3
%MW4160~%MW4163
%MW4164~%MW4167
%MW4168~%MW4171
2) Names of parts and functions
②
③
④
①
No.
①
Name
RUN LED
Function
Indicate the operating status of G7F-AT2A.
On: normal operation
Off: DC 5V power off
②
③
④
Channel
Setting up the length of timer through variable resistance to every channel
Extension cable A cable to connect analog timer module
Extension cable
connector
A connector to connect expansion cable
7-68
Chapter 7. Usage of Various Functions
3) Program example
(1) Program
Program which controls on-delay time of output contact point within 0 to 200 ms by analog timer module. Timer T000
starts to count and turns on %QX0.0.0 when it reaches the value of %MD100.
(2) System configuration
Main unit
Analog timer module
(3) Program
7-69
Chapter 7. Usage of Various Functions
7.2.5 RTD input module
1) Performance specification
The performance specifications of the RTD input module are following.
Item
Connectable RTD
Temperature input
range
Digital output
Burn out detection
Accuracy
Maximum conversion
speed
Specifications
Pt 100 (JIS C1640-1989, DIN 43760-1980)
JPt100 (KS C1603-1991, JIS C1604-1981)
Pt 100: -200 ~ 600℃ (18.48 to 313.59Ω)
JPt100: -200 ~ 600℃ (17.14 to 317.28Ω)
Digital conversion value: 0 ~ 4,000
Detected temperature value: -2000~6000(one digit after point X 10)
Three wires at every channel has detection function respectively
±0.5% [Full Scale]
40 scan / all channel
Temperature input point 4 channel / 1 module
Max. 3 modules
No. of module
installation
Photo-coupler insulation between the input terminal and the PLC power
supply (non-insulation between channels)
Insulation
Connection terminal
block
2 of 8 points terminal
Current consumption
25 ㎃
External power Voltage
supply
Current
Weight
DC 21.6 ∼ 26.4V
70 ㎃
240g
2) Names of parts and functions
③
②
24V A
b
B
A
b
24G B
Input
CH2
CH3
G7F-RD2A
④
PROGRAMMABLE
LOGIC
CONTROLLER
①
⑤
No.
Name
①
RUN LED
②
RTD input
terminal
③
④
External power
④
②
7-70
Indicates the operating status of G7FRD2A.
Terminal which connects Pt100 or JPt100
Supply external voltage DC 24V
input terminal
Extension cable
PWR
CH0
CH1
A
b
A
b
B
B
·
·
Function
Extension cable
connector
This cable is used to connect while RTD
input module is used.
The connector connects extension cable
when extended module is used.
Chapter 7. Usage of Various Functions
3) Parameter settings
Select scale for digital value
4) Special data register
Detected
Digital conversion
Temperature value
value
0
%MW4120
%MW4100
1
%MW4121
%MW4101
2
%MW4122
%MW4102
3
%MW4123
%MW4103
0
%MW4124
%MW4104
1
%MW4125
%MW4105
2
%MW4126
%MW4106
3
%MW4127
%MW4107
0
%MW4128
%MW4108
1
%MW4129
%MW4109
2
%MW4130
%MW4110
3
%MW4131
%MW4111
Ch.
Remark
Analog module #1
Analog module #2
Analog module #3
7-71
Chapter 7. Usage of Various Functions
5) Error codes (%MW4140 ∼ %MW4151)
Error codes are saved in order from %MW4140.
Error code
Description
Corrective action
0
16(10h)
17(11h)
Normal run status
A disconnection detected
B disconnection detected
18(12h)
b disconnection detected,
Fix the b disconnection between RTD input module and RTD. Or,
A and B disconnection
Fix the A and B disconnection.
detected simultaneously.
19(13h)
Temperature outside the Correctly specify the type of the RTD, or use the temperature within
range
the range (-200.0°C ~ 600.0°C)
⎯
Fix the A disconnection between RTD input module and RTD.
Fix the A disconnection between RTD input module and RTD
6) Temperature conversion characteristics
The RTD input module, as shown below, linearlizes the non-linear characteristic resistance input of the RTD.
7-72
Chapter 7. Usage of Various Functions
7) Digital conversion value
The RTD input module, as shown below, outputs digital converted value of detected temperature value.
(Range 0 ~ 4000)
Digital conversion value
4000
-2000
6000
0
Digital Conversion value = (Detected Temp. value+2000)/2
Example) Assume that Detected temperature value(D4980) is 2345, then real temperature = 234.5℃, and Digital
conversion value(D4770) is (2345+2000)/2 = 2172.
8) Burn-out detection function
The RTD input module has the function of burn-out detection on the Pt100, JPt100 or cable.
• As shown below, if disconnection occurs in the RTD or cable then a voltage outside the measurable range voltage is
inputted by the internal burn-out detection circuit and burn-out detection error code is generated.
• The RTD input module can detect disconnection for each channel. But, burn-out detection is possible only in the
channels enabled.
• If disconnection is detected in two or more wires, first, disconnection error code is generated by ‘b’ and then
disconnection error code is generated by ‘A’ or ‘b’ sequentially. If disconnection is detected simultaneously in ‘A’ and
‘B’, only disconnection error code is generated by ‘b’.
Connection
Method
2-wire
Connection Example
- In 4-wire type, only all wires marked '2'
connected to the terminal block A are all
detected as disconnection then the A
disconnection error can be detected.
burn-out detection area
type
3-wire
burn-out
Remark
detection
type
7-73
Chapter 7. Usage of Various Functions
4-wire
burn-out
detection
type
*1 : Pt
*2: Shield wire
No wiring
9) Wiring
(1) Caution for wiring
• Make sure that external input signal of the mixture module of AC and analog I/O is not affected by induction noise or occurs
from the AC through using another cable.
• Wire is adopted with consideration about peripheral temperature and electric current allowance. Thicker than Max. size of
wire AWG22 (0.3 ㎟) is better.
• If wire is put near to high temp. radiated device or contacted with oil for a long time, it may cause of electric leakage so that it
gets broken or miss-operation during wiring.
• Be sure to connect with care of polarity while connecting to external 24V DC power supply.
• In case of wiring with high voltage line or generation line, it makes induction failure so then it may cause of miss-operation
and out of order.
(2) Wiring example
• Number of method of connection between Pt and RTD input module are three, that is, 2-wired type, 3-wired type and 4-w
wired type.
• The resistance of the wires used to connect Pt to RTD input module should be 10 Ω or less per wire.
The same wire (in thickness, length, and kind, etc.) should be used for each channel.
Connection
Method
2-wired type
Connection Example
Wire Conditions
ℵ wire resistance≤ 10Ω
ℑ wire resistance≤ 10Ω
ℜ wire resistance≤ 10Ω
The difference between the resistance values
of the wires ① and ② : 1Ω or less
3-wired type
The difference between the resistance values
of the wires ② and ③ : 1Ω or less
The difference between the resistance values
of the wires ③ and ① : 1Ω or less
7-74
Chapter 7. Usage of Various Functions
4-wired type
Method of Connection between Pt and RTD Input Module
*1: RTD (Pt100 or JPt1000)
*:2: Shielded wire - The shields of the RTD and shields of wire should be connected to the FG of the RTD input module.
REMARK
The difference between the resistance values of the wires used should be 1 Ω or less, or the accuracy shown
in 1) Performance specification could not be satisfied.
10) Program example
(1) A program for output of detected temperature value as a BCD value
a) Program explanation
The present A/D conversion value of the detected temperature value which is detected from the temperature-measuring
resistor Pt 100 is displayed on the BCD digital display by use of channel 0 of the temperature-measuring resistor input
module. The lamp turns on when the detected temperature value is a negative number and turns off when it is a positive
number
b) System configuration and parameter setting
COM0
RTD input module
Input condition
(%IX0.0.0)
Detected temperature
BCD segment
( %QX0.0.0~%QX0.0.7)
7-75
Turns on when temperature
value is negative (%QX0.0.8)
Chapter 7. Usage of Various Functions
c) Program
7-76
Chapter 7. Usage of Various Functions
7.3
Positioning Function
The DRT/DT type of GM7U series support 2 axes of positioning function. The purpose of positioning function is to transfer the
moving objects by setting speed from the current position and stop them on the setting position correctly. And it also control the
position of high precision by positioning pulse string signal as it is connected to various servo running devices or stepping motor
control running devices.
Pulse
M
Direction
Driver
Motor
K7M-DRT/DTxxU
7.3.1 Specification
1) Performance specifications
Items
Specification
No. of control axis
2 axes
Control method
PTP(Point-To-Point), Speed control
Control unit
Pulse
20 data per each axis (Operation step No. : 1 ∼ 20)
Positioning data
Positioning method
Address range
Acceleration/
Deceleration method
Backlash compensation
Deceleration time : 0 ∼10,000 ㎳(unit of 1ms)
0 ~ 1,000 Pulse
5 ∼ 100,000pps
Speed limit
Speed
End, Keep, Continuous operation
Single, Repeated operation
High speed
Speed setting range: 5 ∼ 100,000pps
Low speed
Speed setting range: 5 ∼ 100,000pps
Dwell time
origin
Method
Speed
Speed setting range : 5 ∼ 100,000pps(unit of pulse)
Operation pattern : Trapezoidal method
Acceleration time : 0 ∼10,000 ㎳(unit of 1ms)
5 ∼ 100,000pps
Operation method
JOG
,
Bias speed
Operation mode
Return to
-2,147,483,648 ∼ 2,147,483,647
Max. 100kpps
Speed
Positioning
Absolute / Incremental method
Setting range : 0∼10,000 ㎳
1
Origin detection when approximate origin turns off
2
Origin detection after deceleration when approximate origin turns on.
3
Origin detection by approximate origin
High speed
Speed setting range: 5 ∼ 100,000pps
Low speed
Speed setting range: 5 ∼ 100,000pps
PWM Output
Period setting range: 1 ∼ 20,000 ㎳
Duty setting range: 0 ∼ 100%
7-77
Chapter 7. Usage of Various Functions
2) Output specification (QX0.0.0, QX0.0.1, QX0.0.2, QX0.0.3)
Rated load
voltage
DC 12/24V
Signal Name
Positioning
(CW / CCW)
Load voltage range
Max. load current
100 ㎃
DC 10.2∼26.4V
Forward direction
Max. voltage drop during On
DC 0.3 V or less
Reverse direction
QX0.0.0 ~.1
QX0.0.2 ~.3
3) Names of wiring terminal
AC220V
FG
P40
COM0
P41
COM1
P42
P
COM2
P44
Stepping motor
COM3
P43
⑤ ①⑤ ② ⑤ ③④ ⑥
Motor driver
Direction pulse
COM
Pulse output
No.
Terminal No.
Name
Usage
①
QX0.0.0
Pulse output (Ch0)
Pulse output terminal
②
QX0.0.1
Pulse output (Ch1)
Pulse output terminal
③
QX0.0.2
Direction output (Ch0)
Direction output terminal
④
QX0.0.3
Direction output (Ch1)
Direction output terminal
⑤
COM0,COM1,COM2
Common
Pulse output common terminal
⑥
P
24V
External 24V supply terminal
REMARK
Positioning function is sensitive to the external noise and should be handled with special care.
1) Be sure to use shielded twisted pair 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
7-78
Chapter 7. Usage of Various Functions
4) Internal circuit and wiring example
P - Power supply (DC 12/24V)
QX0.0.0 – Pulse output (Ch0)
R
COM0 – Output common 0
QX0.0.1– Pulse output (Ch1)
R
Internal
COM1 – Output common 1
circuit
QX0.0.2 – Direction output (Ch0)
R
QX0.0.3 – Direction output (Ch1)
R
COM2 – Output common 2
Motor driver
For Ch0
(24V)
P
QX0.0.0
R
Pulse output (Ch0)
R
COM0 Output common 0
QX0.0.1 Pulse output (Ch1)
R
R
Internal
circuit
COM1
QX0.0.2
Direction output (Ch0)
QX0.0.3
Direction pulse(Ch1)
R
Motor driver
For Ch1
(24V)
R
R
R
COM2
-
+
DC 24V
7-79
Chapter 7. Usage of Various Functions
7.3.2 Positioning function
1) Positioning function
Positioning Control includes position control, speed control.
(1) Position control
Positioning control from start address (present stopped position) to goal address (transfer amount) for the assigned axis
A) Control by Absolute method (Absolute coordinate)
ⓐ Positioning control from start address to goal address (the address assigned by positioning data).
ⓑ Positioning control is carried out based on the address assigned (origin address) by return to origin.
ⓒ Transfer direction shall be determined by start address and goal address.
• Start address < Goal address : forward direction positioning
• Start address > Goal address : reverse direction positioning
Example] When Start address is 1000 and goal address is 8000, this will be forward direction and transfer amount
shall be 7000 (7000=8000-1000).
0
1000
8000
Transfer amount :7000
Start address
Goal address
• Parameter setting
Items of positioning data
Step No.
Coordinate
Operation method
Goal address
Speed (pps)
Dwell time (㎳)
Setting
1
Absolute
Single
8,000
5,000
100
B) Control by Incremental method (Relative coordinate)
ⓐ Positioning control as much as the goal transfer amount from start address.
ⓑ Transfer direction shall be determined by the sign of transfer amount.
• When transfer direction is (+) or no sign : forward direction (address increase) positioning
• When transfer direction is (-) : reverse direction (address decrease) positioning
Start Address
Normal
Reverse
Transfer direction when transfer amount (-)
Transfer direction when transfer amount (+)
Example) When start address is 5000 and goal address is -7000, this will be reverse direction and positioning will be at
the point of 2000
-2000
0
5000
Reverse positioning control (transfer amount-7000)
Goal address
Start address
• Parameter setting
Items of positioning data
Step No.
Setting
1
Coordinate
Incremental
Operation mode
Operation method
Goal address
Speed(pps)
Dwell time(㎳)
End
Single
-7,000
5,000
100
7-80
Chapter 7. Usage of Various Functions
(2) Speed Control (Uniform Speed Operation)
• This controls the speed by the setting speed until deceleration stop command(POSCTR) is entered after execution by
POSVEL command..
• The speed can be changed by the speed override instruction(POSSOR)
• Speed control contains 2 types of start method : Forward direction start and Reverse direction start.
- Forward direction : when position address is positive number (+) (“0” included)
- Reverse direction : when position address is negative number (-)
Forward direction
Set second operand of POSVEL instruction to 0
Reverse direction
Set second operand of POSVEL instruction to 1
• Timing diagram
Speed
Setting speed
Dwell time
Time
On
Speed control command
(POSVEL)
On
Deceleration stop command
(POSCTR)
REMARK
Please refer to the section ‘POSVEL’ for details.
(3) Synchronization control
• After the execution of POSSYNC, the HSC input pulse speed is synchronized by the designated synchronization
scale.
• Scale can be changed during the execution.
• Setting range: 0 ~ 100%
Scale
=
Positioning speed
HSC input speed
7-81
Chapter 7. Usage of Various Functions
• Execution timing
Example) Execute POSSYNC function block by 50% of speed
Speed
HSC input speed
35 KHz
20 KHz
Output speed
Time
POSSYNC
(HSCST)
HSC Function
On
On
2) Operation pattern
• Operation pattern describes various configuration for how to operate the positioning data using several operation step no
and how to determine the speed of position data.
• Operation mode types are as follows
Operation mode
Remark
End
One operation step is executed with one start command
Keep
When one operation step has over, executes next operation step without additional start command
Continuous
When one operation step has over, executes next operation step without Deceleration.
• Operation methods are as follows.
Operation method
Remark
Single
When one operation step is over, executes next operation step No. automatically
Repeat
When one operation step is over, executes assigned step No. repeatedly
• Step No. can be assigned within 1 ~ 20
Items of parameter
Step No.
Coordinate
Setting
1 ~ 20
Absolute
Incremental
Operation
mode
End
Keep
Continuous
7-82
Operation
method
Address
Speed(pps)
Single
Repeat
-2.147,483,648
~
2,147,483,647
5
~
100,000
Dwell time
(㎳)
0
~
10,000
Chapter 7. Usage of Various Functions
3) Operation mode
(1) End operation
A) With one time start command (rising edge of POSIST command), the positioning to the goal position is executed and
the positioning shall be completed at the same time as the dwell time proceeds.
B) This operation mode can be used as last positioning data of pattern operation.
C) Operation direction shall be determined by position address.
D) Operation action is trapezoid type operation that has acceleration, constant, deceleration section according to the
setting speed and position data.
Speed
Dwell time
Time
On
Start command
(POSIST)
[Example] End operation
Speed
Operation
step no.: 1
Operation
step no.: 3
Operation
step no.: 2
Operation
step no.: 4
Time
On
Start command
• Parameter setting
No. of program
Step
start command
No.
Operation
Operation
mode
method
1
1
Absolute
End
Single
2
2
Absolute
End
3
3
Absolute
4
4
Absolute
Coordinate
(pps)
Dwell time
(㎳)
10,000
50,000
0
Single
20,000
20,000
0
End
Single
30,000
50,000
0
End
Single
40,000
20,000
0
7-83
Goal address
Speed
Chapter 7. Usage of Various Functions
(2) Keep operation
A) With one time Start command (POSIST), the positioning to the goal position of operation step is executed and the
positioning shall be completed at the same time as dwell time proceeds and without additional start command, the
positioning of operation step for (current operation step no. +1) shall be done.
B) Keep operation mode is available to execute several operation step in order.
C) Operation direction shall be determined by position address.
[ Example ] Keep operation
Speed
Operation step 1
Operation step 2
Operation step 1
Operation step 2
On
Start command
(POSIST)
Dwell time
Dwell time
• Parameter setting
No. of program
Step
start command
No.
1
1
Absolute
Single
2
Absolute
3
4
2
(pps)
Dwell time
(㎳)
10,000
50,000
10
Single
20,000
20,000
10
Absolute
Single
30,000
50,000
0
Absolute
Single
40,000
20,000
0
Coordinate
Operation
method
7-84
Goal address
Speed
Time
Chapter 7. Usage of Various Functions
(3) Continuous Operation
A) With one time Start command (rising edge of POSIST command), the positioning for operation step set by continuous
operation mode is executed to the goal position without stop and the positioning shall be completed at the same time
as dwell time proceeds.
B) If you want to operate with the position and speed of next step before the operation step that is active currently
reaches the goal position, the operation by Next Move continuous operation command is available.
C) With Next Move continuous operation command, the operation in the acceleration, constant speed, deceleration
section of Continuous operation is available.
D) Operation direction shall be determined by position address and should be same direction. If operation direction is not
same, error occurs(Refer to 7.3.5 error flags)
[ Example ] Continuous operation
Speed
Operation step 2
Dwell time
Time
Operation step1
On
Start command
(POSIST)
• Parameter setting
No. of program
Step
start command
No.
1
1
2
Operation
Operation
mode
method
Absolute
Continuous
Single
Absolute
End
Single
Coordinate
7-85
(pps)
Dwell time
(㎳)
10,000
50,000
10
20,000
20,000
10
Goal address
Speed
Chapter 7. Usage of Various Functions
4) Operation method
(1) Repeat operation
A) With one time start command, the positioning to the goal position is executed and the positioning shall be completed at
the same time as the dwell time proceeds.
B) The operation type of Repeat operation mode is same as that of Single operation but the different thing is to determine
next operation by operation step no. assigned by repeat step no. change command after positioning completion of
Repeat operation mode.
C) Operation direction shall be determined by position address.
[Example] Repeat pattern
Speed
Operation step 1
Operation step 1
Operation step 2
Operation step 2
Time
On
Start command
(POSIST)
• Parameter setting
No. of program
Step
start command
No.
Operation
Operation
mode
method
1,3
1
Incremental
End
Single
2,4
2
Incremental
End
3
Absolute
4
Absolute
Coordinate
(pps)
Dwell time
(㎳)
10,000
50,000
0
Repeat 1
20,000
20,000
0
End
Single
30,000
50,000
0
End
Single
40,000
20,000
0
→ In this case, Operation step 3, 4 does not start.
7-86
Goal address
Speed
Chapter 7. Usage of Various Functions
5) Positioning start
(1) Direct start (POSDST)
• This is used to operate directly by setting the axis, goal position address, operation speed without parameter setting.
• Refer to the section ‘POSDSST’ for details.
(2) Indirect start (POSIST)
• This is used to operate by setting the operation step no. by parameter.
• Refer to the section POSIST for details.
(3) Speed control start (POSVEL)
• This is used to operate directly by setting the axis, direction, operation speed without parameter setting.
• The speed can be changed by the speed override instruction(POSSOR)
• Refer to the section POSVEL for details.
6) Positioning stop
(1) Deceleration stop (POSCTR)
• If encounters deceleration stop command during operation, it stop operation after deceleration.
• In case of deceleration stop by deceleration stop command in acceleration or constant speed section, starts to operate
current operation step again by Start command and operation step
• In case of deceleration stop by deceleration stop command in deceleration speed section, starts to operate ‘current
operation step+1’ again by Start command and operation step
• Refer to the section POSCTR for details.
(2) Emergency stop (POSCTR)
• If encounters emergency stop command during operation, it stops operation without deceleration.
• When emergency stop has occurs, emergency stop error and output disable flag are set.
• Error and output disable flag should be reset by error reset command of POSCTR for re-start operation
• Refer to the section POSCTR for details.
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Chapter 7. Usage of Various Functions
7) Return to origin (POSORG : Rising edge ↑)
• Return to Origin (homing) is carried out to confirm the origin of the machine when applying the power.
• In case of Return to Origin, it is required to set Return to Origin parameter for each axis.
• If the origin position is determined by origin return, the origin detection signal is not recognized during positioning operation.
(1) Origin return method
• Method by approximate origin (approach DOG)
- Origin return processing method by approximate origin (approach DOG) has 3 kinds of method as follows.
(A) Origin detection when approximate origin turns off
(B) Origin detection after deceleration when approximate origin turns on
(C) Origin detection by approximate origin
• The items that effects to the origin return from parameter are as follows.
(A) Origin return speed (high speed, low speed)
(B) Origin return dwell time
(2) Origin Detection when Approximate origin turns off
This is the method using the approximate origin and origin signal and the action by origin return command(POSORG) is as
follows.
(A) It accelerates to the setting origin return direction and acts by origin return high speed.
(B) In this case, if approximate origin as external input is entered, it decelerates and acts by origin return low speed.
(C) If origin signal as external input is entered after the approximate origin signal has changed from ”On” to “Off”, it stops.
Speed
Origin return high speed
Deceleration when approximate return “ON”
Origin return low speed
Time
Transfer amount after approximate origin “ON”
While the approximate origin “ON”,
the origin will not be determined by
the origin signal.
Approximate origin signal
Origin signal
1 rotation of SERVO motor (PG1 rotation)
Origin return
command
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Chapter 7. Usage of Various Functions
(3) Origin Detection after Deceleration when Approximate origin turns on
This is the method using the approximate origin and origin signal and the action by origin return command is as follows.
(A) It accelerates to the setting origin return direction and acts by origin return high speed.
(B) In this case, if approximate origin as external input is entered, it decelerates and acts by origin return low speed.
(C) If encounters the origin signal as external input signal while the origin return low speed is active, the origin shall be
determined and it stops.
Speed
Deceleration when approximate return “ON”
Origin return high speed
Origin return low speed
Time
Transfer amount after approximate origin “ON”
Approximate
origin signal
When origin return speed decelerates
by approximate origin, the origin will
not be determined by the origin signal.
Origin signal
1 rotation of SERVO motor (PG1 rotation)
Origin return
command
(4) Origin Detection by approximate origin
This is the method using the approximate origin signal only.
Normal rotation
Direction conversion at the rising edge of approximate origin signal
Origin return high speed
Direction conversion at the falling edge of approximate origin signal
Origin return low speed
Time
Origin determination
Reverse rotation
External input high limit
Origin return
command
Origin determined
state
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Chapter 7. Usage of Various Functions
8) JOG Operation (POSJOG : Level input)
(1) JOG operation
• Carries out the positioning control by Jog command(POSJOG).
• Carries out the monitoring when the positioning acts by JOG command and the position address is changed.
• This is used when acting without origin determination.
(2) Acceleration/Deceleration Processing and Jog speed
(A) The acceleration/deceleration processing is controlled based on the setting time of JOG acceleration/ deceleration
time from parameter setting.
• Jog high speed operation : operation pattern with acceleration/deceleration
Speed
Time
• Jog low speed operation : operation pattern without acceleration/deceleration
Speed
Time
(B) If speed operand of POSJOG command as device not constant, JOG speed can be changed from low speed to high
speed or high speed to low speed during operation
(C) If Jog speed is set out of the setting range, error will occur and the operation does not work.
Setting range
Jog high speed operation
5∼100,000 pps
Jog low speed operation
5∼100,000 pps
(Setting unit :1pps)
9) Speed Override Command(POSSOR : Rising edge ↑))
• This is used to change the operation speed from operation data of step no. in operation of each axis
• This command is used only in Acceleration and Constant speed section from operation pattern.
• Setting range is 5 ~ 100,000
• This command can be used in position control and speed control.
Remark
If POSSOR is executed in deceleration section, error code H44 will occur and continues operation
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Chapter 7. Usage of Various Functions
10) External Input Stroke High / Low Limit
• External input stroke limit includes External input high limit signal and External input low limit signal.
• This is used to stop the positioning function promptly before reaching Stroke limit/Stroke End of the Driver by installing the
stroke limit inside Stroke limit/Stroke end of the Driver.
• If it deviates the high limit, Error H53 will occur and if it deviates the low limit, Error H54 will occur.
• External input stroke limit can be set in GMWIN parameter
• High/Low limit input contact point is fixed to P0,P1 for ch0 and P2,P3 for ch1.
High
Stopper
Low
The range available to positioning
Transfer direction
Stopper
Transfer direction
Start
Start
Immediate stop when
Detecting the high limit
Immediate stop when
Detecting the low limit
Limit switch
Limit switch
GM7U
Driver
• If positioning module stops out of the range available to control, the positioning operation does not work.
If it stops by external input stroke limit detection, move within the range of positioning module available to control by
manual operation (Jog operation).
• As external input stroke high/low limit error is detected by the edge of positioning module, it is available to release the
output prohibit out of stroke range and carry out manual operation.
• The flags related with external input stroke limit are as followings.
- %IX0.0.0 (Ch0) Off : External input stroke Low limit has not detected, On : External input stroke Low limit has detected
- %IX0.0.1 (Ch0) Off : External input stroke High limit has not detected, On : External input stroke High limit has detected
- %IX0.0.2 (Ch1) Off : External input stroke Low limit has not detected, On : External input stroke Low limit has detected
- %IX0.0.3 (Ch1) Off : External input stroke High limit has not detected, On : External input stroke High limit has detected
REMARK
If external input stroke High/Low limit signal is occur during origin return, it stops operation immediately,
Then, changes direction and continues origin return operation.
11) M Code (After mode)
This is the mode that sets M Code Set bit when the M Code Enable bit is On after completing the positioning.
To operate the next step, the M Code Set bit must be reset.
• Special relays are as follow.
Area
Description
Remark
0 bit of %MW4319
M Code Enable Bit (Ch0)
Set M Code when it is On
1 bit of %MW4319
M Code Set Bit (Ch0)
Set when the positioning is completed
0 bit of %MW4519
M Code Enable Bit (Ch1)
Set M Code when it is On
1 bit of %MW4519
M Code Set Bit (Ch1)
Set when the positioning is completed
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Chapter 7. Usage of Various Functions
• Timing chart
1) Without M Code output
Go-on operation
End operation
Indirect operation
Completion flag
Current step
Step M
Step N
2) With M Code output
Go-on operation
End operation
Indirect start
Completion flag
Current step
Step M
Step N
%MW4319.0
%MW4319.1
Reset in the program
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Reset in the program
Chapter 7. Usage of Various Functions
12) Error and Output Prohibition
• Error includes Light failure error and Heavy failure error.
• If light failure error occurs, the positioning operation will continue and only error will occur.
• In case of heavy failure error, if the error is not cleared, it is not available to carry out the positioning operation. And if the
heavy failure error occurs during operation, the operation will stop.
• If external high/low limit, external emergency stop during the positioning operation are detected during the positioning
operation, it stops promptly and becomes the pulse output prohibition status. Thus it is required to release the pulse
output prohibition by Error reset command (POSCTR)
• For further information, please refer to Error code list .
7.3.3 Positioning parameter and operation data
1) Positioning parameter
• Positioning parameter setting
• Parameter should be assigned for each axis
Basic parameter
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Chapter 7. Usage of Various Functions
(1) Basic parameter
(A) Acceleration/Deceleration time
• This is applied at the starting/ending point of positioning operation, return to origin high speed, and JOG high speed
operation
• The setting range is 0 ∼ 10,000 (unit: 1ms) for each axis.
• When set to zero, operates constant speed.
① Acceleration time : the time required to reach from speed “0”(stop state) to the speed limit which is set by
parameter. In case of using BIAS, it is the time required to reach from the bias speed to the speed limit which is
set by parameter.
② Deceleration time : the time required to reach from the speed limit set by parameter to the speed “0”(stop state).
In case of using BIAS, it is the time required to reach from the speed limit set by parameter to the setting bias
speed.
Speed limit
Speed
Setting speed
Actual
deceleration time
Actual acceleration time
Time
Deceleration
time
Acceleration
time
7-94
- Speed limit : max. speed available
to set for positioning operation at
the parameter of GMWIN.
- Setting speed : speed value of
operation data that position data
operates actually.
- Actual acceleration time : the time
required to reach from speed
“0”(stop state) to the speed value
which is set by operation data.
- Actual deceleration time : the time
required to reach from the speed
value set by operation data to
speed
Chapter 7. Usage of Various Functions
(B) Backlash Compensation Amount
• The tolerance that the machine does not work by the wear when the rotation direction changes in case that a gear,
screw etc is combined to run at the motor axle, is called as ‘Backlash”.
Therefore, when you change the rotation direction, it is required to add the backlash compensation amount to the
positioning amount for output.
• The setting range is 0 ∼ 1,000(unit: Pulse) at each axis.
• If the position moved 1m to the right and again 1m to the left, it is not possible to reach the original position by
backlash. At this time, it is required to add backlash compensation amount.
Gear
1m movement right side (normal)
Direction change
1m movement left side (reverse)
Backlash
Transfer amount including Backlash compensation amount
Backlash
(C) Bias Speed
• As the stepping motor has unstable torque near zero speed, the start speed shall be set in the beginning of operation
in command to smooth the rotation of motor and reduce the positioning time. The speed to be set at this time is called
“Bias Speed”.
• The setting range is 5∼10,000(unit: 1pps) at each axis.
• Bias speed shall be used for the main axis of
① positioning operation by setting command,
② origin return operation,
③ JOG operation.
Speed
Speed limit
Bias speed
setting action
Positioning speed
Origin return speed
JOG Speed
Interpolation operation
speed
Bias speed not-setting
action
Bias speed
Time
Acceleration
time
Deceleration
time
(D) Speed Limit
• max. Speed available to set for positioning operation.
• The setting range is 5~100,000 (unit : 1pps).
• The operation speed of positioning operation, origin return speed and Jog operation speed is influenced by speed
limit and if they are set as higher value than speed limit, error will occur.
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Chapter 7. Usage of Various Functions
(2) Origin return parameter
(A) Origin return method
• For the details, please refer to ‘7) Return to Origin’ in chapter 7.3.2
(B) DOG, origin signal
Ch 0
Ch 1
DOG
IX0.0.5
IX0.0.7
Origin
IX0.0.4
IX0.0.6
(C) Origin return speed
• The speed when returning to the origin by origin return command : high speed and low speed
• When setting the origin return speed, it should be “speed limit ≥ origin return high speed ≥ origin return low
speed ≥ bias speed”.
① Origin return high speed
• The speed that acts to the constant speed section via acceleration section by origin return command.
• Origin return-high speed setting range : 5 ∼ 100,000(unit: 1pps)
② Origin return-Low speed
• The speed that acts to the constant speed section via deceleration section by origin return command.
• Origin return-low speed setting range : 5 ∼ 100,000(unit: 1pps)
REMARK
When setting the origin return speed, it is recommended to set the origin return-low speed as low speed as
possible. If setting the low speed as “too fast”, it may cause the incorrect origin signal detection.
(D) Dwell Time
• This is the time needed to maintain the precise stop accuracy of SERVO motor when using the SERVO motor for
positioning.
• Practically, Dwell time is the time needed to remove the residual pulse of deviation counter after completion of
positioning and especially Dwell time when returning to the origin is called as “origin return dwell time”.
• Setting range of Origin return dwell time : 0 ∼ 10,000(unit: 1 ㎳)
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Chapter 7. Usage of Various Functions
(3) JOG speed
(A) JOG High Speed
• JOG high speed operation has operation pattern as acceleration, constant speed, deceleration section. Therefore,
acceleration section and deceleration section is controlled by JOG acceleration/deceleration time.
• JOG high speed setting range : 5 ∼ 100,000(unit: 1pps)
(notices when setting the high speed : Bias speed ≤ Jog high speed ≤ Speed limit)
(B) JOG Low Speed
• JOG low speed operation has only constant speed operation pattern.
• JOG low speed setting range : 5∼ 100,000 (unit: 1pps)
2) Positioning parameter
Here describes Positioning parameter
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Chapter 7. Usage of Various Functions
(1) Step No.
• The setting range of positioning data as serial no. is 1 ∼ 20.
REMARK
If step No. set to 0, operating step increase to next step automatically when current operation step finished
(2) Coordinate
• The coordinate of position data includes Absolute and Incremental
(A) Absolute Coordinate (Control by Absolute method)
① This carries out the positioning control from the current position to the goal position (the goal position assigned by
positioning data).
② Positioning control is carried out based on the assigned position of origin return or POSPRS command
(origin address).
③ Transfer direction shall be determined by the current position and goal position.
- Start position < Goal position : forward direction positioning
- Start position > Goal position : reverse direction positioning
(B) Relative Coordinate (Control by Incremental method)
① This carries out the positioning control as much as goal transfer amount from the current position.
② Transfer direction shall be determined by the sign of transfer amount.
- When transfer direction is (+) or no sign : normal direction positioning (position increase direction)
- When transfer direction is ( - ) : reverse direction positioning (position decrease direction)
Current position
Reverse
Normal
Transfer direction when transfer amount is (+)
Transfer direction when transfer amount is (-)
(3) Operation Mode (End / Keep / Continuous)
• Operation Mode is divided into following three kinds.
• For the details, please refer to ‘3) Operation mode’ in chapter 7.3.2
Control method
Operation mode
End
Position control
Keep
Continuous
(4) Operation Method (Single/Repeat)
• Select operation method : Single operation or Repeat operation.
• For the details, please refer to ‘4) Operation method’ in chapter 7.3.2.
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Chapter 7. Usage of Various Functions
Control method
Position control
Operation method
Single
Repeat
(5) Positioning Address
• This is the area to set the transfer amount of position data as “positioning address”.
• The setting range is –2,147,483,648 ∼ 2,147,483,647(setting unit: Pulse).
• The change of position address value is available when assigned by D area
(6) Speed
• Operation speed can be assigned for each operation step No.
• Setting range of operation speed : 5 ~ 100,000( Setting unit: 1pps )
• The change of speed value is available when assigned by D area
(7) Dwell Time
• This is the waiting time before carrying out the next positioning operation after completing one positioning operation.
• Setting range is 0 ∼ 10,000 (setting unit : 1 ㎳).
• Especially, in case of using SERVO motor, this is the data to set the waiting time by the stable stop state as positioning
module is in the stop state but actual SERVO motor does not reach to the goal position or in transition state.
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Chapter 7. Usage of Various Functions
7.3.4 Instructions
1) Positioning Indirect start (POSIST)
Function block
Description
Input
Output
REQ: Executes POSIST function block
CH: Sets the channel (0 ~ 1)
PT_NO: Sets the start pattern no. (0 ~ 20)
DONE: Turns On after the function block is executed without error, and
turns Off if an error occurs or there is no execution command.
STAT: Displays error status
(1) Functions
• When input condition turns on, corresponding positioning control starts from assigned step No.
• Positioning operation is edge triggered.
(2) Example program
• When input condition(%MX000) turns on, Ch.0 starts positioning from Step no.1
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Chapter 7. Usage of Various Functions
2) JOG Operation (POSJOG)
Function block
Description
Input
Output
REQ: Executes POJOG function block
CH: Sets the channel (0 ~ 1)
DIR: Direction ( 0 : Forward, 1: Backward)
VEL: Velocity (0 : Low speed,1: High speed)
DONE: Turns On after the function block is executed without error, and
turns Off if an error occurs or there is no execution command.
STAT: Displays error status
(1) Functions
• When input condition turns on, corresponding Ch. Starts JOG operation.
• If input condition turns off, corresponding Ch stops JOG operation.
• The speed can be changed during operation but the direction can’t be changed.
(2) Example program
• When input condition (%MX000) turns on, Ch.1 starts JOG operation by designated direction (M0001) and speed (M0002)
• When input condition(%MX000) turns off, Ch.1 stops JOG operation.
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Chapter 7. Usage of Various Functions
3) Positioning Control Instruction (POSCTR)
Function block
Description
Input
Output
REQ: Executes POSCTR function block
CH: Sets the channel (0 ~ 1)
CONT: Sets Control command
(0: Deceleration stop 1:Emergency stop 2: Error reset)
DONE: Turns On after the function block is executed without error, and
turns Off if an error occurs or there is no execution command.
STAT: Displays error status
(1) Functions
• Operates designated control operation at the rising edge of input condition.
- Deceleration stop : Stops positioning after deceleration
- Emergency stop : Stops positioning immediately without deceleration
- Error Reset : Resets occurred error and output prohibition signal.
(2) Example program
• When input condition (%MX000) turns on, Ch.1 stops positioning after deceleration.
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Chapter 7. Usage of Various Functions
4) Current position preset (POSPRS)
Function block
Description
Input
Output
REQ: Executes POSPRS function block
CH: Sets the channel (0 ~ 1)
PV_VAL: Sets reset value
(-2,147,483,648 ~ 2,147,483,647)
DONE: Turns On after the function block is executed without error, and
turns Off if an error occurs or there is no execution command.
STAT: Displays error status
(1) Functions
• Current address is changed to preset value at the rising edge of input condition.
(2) Example program
• When input condition (%MX000) turns on, Address of Ch.0 is changed to 100,000.
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Chapter 7. Usage of Various Functions
5) PWM output (PWM)
- Pulse Width Modulation output
Function block
Description
Input
Output
REQ: Executes PWM function block
CH: Sets the channel (0 ~ 1)
FREQ : Sets PWM output period (1 ~ 20,000ms)
DUTY : Sets Off Duty (0 ~ 100%)
DONE: Turns On after the function block is executed without error, and
turns Off if an error occurs or there is no execution command.
STAT: Displays error status
(1) Functions
• When input condition turns on, the period pulse is outputted which is set at FREG.
• Duty ratio of pulses is assigned by the set value at DUTY
• When input condition turns off, PWM operation stops
(2) Example program
• When input condition(%MX000) turns on, output pulse is as below.
Positioning Ch 1
(QX0.0.0)
450ms
Input condition
(%MX000)
500ms
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50ms
Chapter 7. Usage of Various Functions
6) Speed control operation (POSVEL)
Function block
Description
Input
Output
REQ: Executes POSVEL function block
CH: Sets the channel (0 ~ 1)
DIR : Sets operation direction (0:Forward, 1:Reverse)
VEL : Velocity (5 ~ 100,000 pps)
DONE: Turns On after the function block is executed without error, and
turns Off if an error occurs or there is no execution command.
STAT: Displays error status
(1) Functions
• When input condition turns on (rising edge), corresponding Ch. starts speed control by designated direction and speed.
(2) Example program
• When input condition (%MX000) turns on, Ch. 0 starts speed control from the rising edge to the designated direction with
100kpps.
• Speed can be changed by POSSOR instruction.
• Operation stops after deceleration by POSCTR instruction.
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Chapter 7. Usage of Various Functions
7) Speed override (POSSOR)
Function block
Description
Input
Output
REQ: Executes POSSOR function block
CH: Sets the channel (0 ~ 1)
VEL: Velocity (5 ~ 100,000 pps)
DONE: Turns On after the function block is executed without error, and
turns Off if an error occurs or there is no execution command.
STAT: Displays error status
(1) Functions
• When input condition turns on (rising edge), Operation speed of corresponding Ch. changed to designated speed.
• This instruction is valid to current operating channel only
• Speed changing within deceleration section is not available.
(2) Example program
• When input condition (%MX000) turns on, operation speed of Ch. 0 is changed to 100kpps.
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Chapter 7. Usage of Various Functions
8) Positioning direct start (POSDST)
Function block
Description
Input
Output
REQ : Execute POSDST function block
CH: Sets the channel (0 ~ 1)
METH : Absolute/Incremental coordinate designation
(0:Absolute, 1:Incremental)
ADDR : Positioning address
(-2,147,483,648 ~ 2,147,483,647)
VEL : Velocity ( 0 ~ 100,000)
DONE: Turns On after the function block is executed without error, and
turns Off if an error occurs or there is no execution command.
STAT: Displays error status
(1) Functions
• When input condition turns on (rising edge), corresponding Ch. starts positioning by designated coordinate, address and speed
(2) Example program
• When input condition (%MX000) turns on, Ch. 0 outputs 100,000 pulses by designated coordinate, forward direction
and speed of 100 kpps.
• Acceleration/deceleration time is applied by corresponding parameter.
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Chapter 7. Usage of Various Functions
9) Return to origin (POSORG)
Function block
Description
Input
Output
REQ : Execute POSORG function block
CH: Sets the channel (0 ~ 1)
HSC_CH: Sets POSORG input channel (0~3)
SCALE: Sets the scale (0 ~ 100%)
DONE: Turns On after the function block is executed without error, and
turns Off if an error occurs or there is no execution command.
STAT: Displays error status
(1) Functions
• When input condition turns on, corresponding origin return operation starts (Rising edge trigger)
• After operation, current address is preset to designated origin address.
(2) Example program
• When input condition(%MX000) turns on, Ch. 0 operates return to origin function to the DIR (designated direction).
• After return to origin operation, the position address becomes 0 (ADDR designated value).
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Chapter 7. Usage of Various Functions
10) Synchronization control (POSSYNC)
Function block
Description
Input
Output
REQ : Execute POSSYNC function block
CH: Sets the channel (0 ~ 1)
HSC_CH: Sets POSSYNC input channel (0~3)
SCALE: Sets the scale (0 ~ 100%)
DONE: Turns On after the function block is executed without error, and
turns Off if an error occurs or there is no execution command.
STAT: Displays error status
(1) Functions
• When input condition turns on, the designated channel at the rising edge executes the synchronization control by specified scale.
(2) Example program
• When the input condition (%MX000) turns on, Ch. 0 operates synchronization control by 30% of HSC Ch. 0’s speed.
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Chapter 7. Usage of Various Functions
7.3.5 Flag list and error codes
1) Flag list
Key word
Type
Function
Description
_P0_STEP_NUM
UINT
Current step number
Ch0 current step number
%SW817
_P0_ERR_CODE
UINT
Error code
Ch0 error code
%SW816
_P0_CUR_ADDR
UDINT
Current address
Ch0 current address
%SD409
_P0_CUR_VEL
UDINT
Current velocity
Ch0 current velocity
%SD410
_P0_BIT_STAT
UDINT
Bit status key word
Ch0 bit status key word
%SD411
_P0_RUNNING
BOOL
Operating flag
Operation status of Ch0 (0: stop, 1:Busy)
Bit 0
_P0_ERR
BOOL
Error status
Error status of Ch0 (0: normal, 1: error)
Bit 1
_P0_DONE
BOOL
End of positioning
_P0_ORG_FIX
BOOL
End of Origin return
_P0_L_LIMIT
BOOL
Low limit detection
Indicates stroke low limit detection of Ch0
Bit 4
_P0_H_LIMIT
BOOL
High limit detection
Indicates stroke high limit detection of Ch0
Bit 5
_P0_E_STOP
BOOL
Emergency stop status
_PO_BAN
BOOL
Output prohibition
_P0_DIR
BOOL
Direction
_P0_ACCEL
BOOL
Acceleration
Accelerating Ch0
Bit 9
_P0_UNIFORM
BOOL
Constant speed
Constant speed operation of Ch0
Bit 10
_P0_DECEL
BOOL
Deceleration
Decelerating Ch0
Bit 11
_P0_DWELL
BOOL
Dwelling
Dwelling Ch0
Bit 12
_P0_POS_RUN
BOOL
Position control
Position control operation of Ch0
Bit 16
_P0_SPD_RUN
BOOL
Speed control
Speed control operation of Ch0
Bit 17
_P0_ORG_RUN
BOOL
Return to origin
Return to origin operation of Ch0
Bit 18
_P0_JOGL_RUN
BOOL
JOG low speed
JOG low speed operation of Ch0
Bit 19
_P0_JOGH_RUN
BOOL
JOG high speed
JOG high speed operation of Ch0
Bit 20
_P0_PWM_RUN
BOOL
PWM operation
PWM output operation of Ch0
Bit 21
Indicates end of operation for Ch0 (0:
operating, 1: End) *1Scan On
Indicates end of origin return operation of
Ch0(0:operating, 1: End)
Indicates emergency stop status Ch0 (0:
enable, 1: Disable)
Output prohibition of Ch0 (0: enable, 1:
disable)
Operation direction of Ch0 (0: Forward, 1:
Backward)
7-110
S flag map
Bit 2
Bit 3
Bit 6
Bit 7
Bit 8
Chapter 7. Usage of Various Functions
Key word
Type
Function
Description
_P1_STEP_NUM
UINT
Current step number
Ch1 current step number
%SW825
_P1_ERR_CODE
UINT
Error code
Ch1 error code
%SW824
_P1_CUR_ADDR
UDINT
Current address
Ch1 current address
%SD413
_P1_CUR_VEL
UDINT
Current velocity
Ch1 current velocity
%SD414
_P1_BIT_STAT
UDINT
Bit status key word
Ch1 bit status key word
%SD415
_P1_RUNNING
BOOL
Operating flag
Operation status of Ch1 (0: stop, 1:Busy)
Bit 0
_P1_ERR
BOOL
Error status
Error status of Ch1 (0: normal, 1: error)
Bit 1
_P1_DONE
BOOL
End of positioning
_P1_ORG_FIX
BOOL
End of Origin return
_P1_L_LIMIT
BOOL
Low limit detection
Indicates stroke low limit detection of Ch1
Bit 4
_P1_H_LIMIT
BOOL
High limit detection
Indicates stroke high limit detection of Ch1
Bit 5
_P1_E_STOP
BOOL
Emergency stop status
_P1_BAN
BOOL
Output prohibition
_P1_DIR
BOOL
Direction
_P1_ACCEL
BOOL
Acceleration
Accelerating Ch1
Bit 9
_P1_UNIFORM
BOOL
Constant speed
Constant speed operation of Ch1
Bit 10
_P1_DECEL
BOOL
Deceleration
Decelerating Ch1
Bit 11
_P1_DWELL
BOOL
Dwelling
Dwelling Ch1
Bit 12
_P1_POS_RUN
BOOL
Position control
Position control operation of Ch1
Bit 16
_P1_SPD_RUN
BOOL
Speed control
Speed control operation of Ch1
Bit 17
_P1_ORG_RUN
BOOL
Return to origin
Return to origin operation of Ch1
Bit 18
_P1_JOGL_RUN
BOOL
JOG low speed
JOG low speed operation of Ch1
Bit 19
_P1_JOGH_RUN
BOOL
JOG high speed
JOG high speed operation of Ch1
Bit 20
_P1_PWM_RUN
BOOL
PWM operation
PWM output operation of Ch1
Bit 21
Indicates end of operation for Ch1 (0:
operating, 1: End) *1Scan On
Indicates end of origin return operation of
Ch1(0:operating, 1: End)
Indicates emergency stop status Ch1(0:
enable, 1: Disable)
Output prohibition of Ch1(0: enable, 1:
disable)
Operation direction of Ch1(0: Forward, 1:
Backward)
7-111
S flag map
Bit 2
Bit 3
Bit 6
Bit 7
Bit 8
Chapter 7. Usage of Various Functions
2) Error code
Error
code
H10
H11
Condition
Acceleration time of basic parameter is out of
range
Deceleration time of basic parameter is out of
range
Operation
Corrective action
Stop
Set Acceleration time within 0~10,000 range
Stop
Set Deceleration time within 0~10,000 range
H12
Speed limit of basic parameter is out of range
Stop
Set speed limit within 5~ 100,000 range.
H13
Bias speed of basic parameter is out of range
Stop
Set bias speed within 5 ~ 100,000 range.
H14
Backlash compensation of basic parameter is
out of range
Stop
Set backlash compensation within 0~ 1,000 range
H15
JOG high speed of parameter is out of range
Stop
Set JOG high speed within bias speed ~ speed limit
H16
JOG low speed of parameter is out of range
Stop
Set JOG high speed within 5 ~ JOG high speed
H17
H18
H19
H20
H21
H30
H31
H32
H33
H34
H35
H36
H37
H38
H39
Origin return high speed of parameter is out of
range
Origin return low speed of parameter is out of
range
Dwell time of parameter is out of range
Operation speed of positioning parameter is
out of range
Dwell time of pulse out parameter is out of
range
POSIST command can’t be executed during
operation
POSIST command can’t be executed when
output is prohibited
POSIST command can’t be executed when
origin is not determined
Stop
Set Origin return high speed within bias speed ~ speed
limit
Set Origin return low speed within bias speed ~ Origin
return high speed
Stop
Set Dwell time within 0 ~ 10000.
Stop
Set Operation speed within bias speed ~ speed limit
Stop
Set Dwell time of pulse out parameter within 0 ~ 10000
Stop
Operating
Stop
Stop
Step No. of POSIST command can’t be over
20
POSDST command can’t be executed during
operation
POSDST command can’t be executed when
output is prohibited
Operating
POSDST command can’t be executed when
origin is not determined
Stop
Operation speed of POSDST command is out
of range
POSVEL command can’t be executed during
operation
POSVEL command can’t be executed when
output is prohibited
Stop
Stop
Stop
Operating
Stop
7-112
Check if positioning operation is executing when POSIST
signal occur.
Check if output is prohibited when POSIST signal occur.
Output can be enabled by POSCTR command.
Check if origin is not designated when POSIST signal
occur.
Origin can be designated by POSORG or POSPRS
command.
Set step No. within 0~20
Check if positioning operation is executing when POSDST
signal occur.
Check if output is prohibited when POSDST signal occur.
Output can be enabled by POSCTR command.
Check if origin is not designated when POSDST signal
occur.
Origin can be designated by POSORG or POSPRS
command.
Set Operation speed within 5 ~ speed limit
Check if positioning operation is executing when POSVEL
signal occur.
Check if output is prohibited when POSVEL signal occur.
Output can be enabled by POSCTR command.
Chapter 7. Usage of Various Functions
Error
code
H3A
H3B
H3C
H3D
H3E
H3F
Condition
Operation
Operation speed of POSVEL command is out
of range
POSJOG command can’t be executed during
operation
POSJOG command can’t be executed when
output is prohibited
Operating
Direction can’t be changed in JOG operation
Operating
PWM command can’t be executed during
operation
PWM command can’t be executed when
output is prohibited
Stop
Stop
Operating
Stop
Corrective action
Set Operation speed within 5 ~ speed limit
Check if positioning operation is executing when POSJOG
signal occur.
Check if output is prohibited when POSJOG signal occur.
Output can be enabled by POSCTR command.
Change direction after JOG operation end.
Check if positioning operation is executing when PWM
signal occur.
Check if output is prohibited when PWM signal occur.
Output can be enabled by POSCTR command.
H40
PWM period of PWM command is out of range
Stop
Set period within 1 ~ 20,000
H41
Off duty of PWM command is out of range
Stop
Set duty within 0 ~ 100
Stop
Check if positioning operation is not executing when
POSSOR signal occur.
H42
H43
H45
H46
H47
H48
H49
H50
H51
H52
H53
POSSOR command is available during
operating only
Speed override value of POSSOR command is
out of range
POSORG command can’t be executed during
operation
POSORG command can’t be executed when
output is prohibited
POSCTR setting error
Deceleration stop command is available during
operating only
POSORG command can’t be executed when
JOG operating
POSPRS command can’t be executed during
operation
Direction can’t be changed in continuous
operation
Emergency stop error
Stroke high limit error
H54
Stroke low limit error
H55
The position of High/Low limit detection Sensor
has been changed.
Operating
Operating
Stop
Stop
Operating
Operating
Set override value within 5 ~ speed limit
Check if positioning operation is executing when
POSORG signal occur.
Check if output is prohibited when POSORG signal occur.
Output can be enabled by POSCTR command.
Check control command is within 0~3
Check if positioning operation is not executing when
deceleration stop command occur
Check if JOG operation is executing when deceleration
stop command occur
Check if positioning operation is executing when POSPRS
signal occur
Stop
Set operation mode as end or keep mode
Stop
Remove the causes of emergency stop and clear error by
POSCTR command
Stop
Get rid of the external upper limit signal range by
POSJOG command and then carry out POSCTR
command and clear the error. Output prohibit shall be
released by POSCTR command as output prohibit
release option
Stop
Get rid of the external lower limit signal range by POSJOG
command and then carry out RST command and clear the
error. Output prohibit shall be released by POSCTR
command as output prohibit release option.
Stop
Install the upper limit detection sensor in the direction that
the current position increases and the lower limit detection
sensor in the direction that the current position decreases
7-113
Chapter 7. Usage of Various Functions
7.3.6 Wiring with servo and stepping motor drive (Open Collector)
1) Wiring with stepping motor drive (DC 5V)
Ch0
Ch1
Pulse
P40
P41
CW-
COM0 COM1
Direction
P42
Common
*2
P43
COM2 COM2
P
P
Origin
P04
P06
DOG
P05
P07
Low limit
P00
P02
High Limit
P01
P03
Emergency stop
Input Point
Input +24V
*3
Stepping Motor Driver
Signal name
Common
*4
Max : 2m
G7M-D(R)T**U(N)
Common
COM0(Input)
CW+
CCWCCW+
DC5V
*1
TIMING
COM
DC24V
< NPN Type >
Ch0
Ch1
Pulse
P40
P41
Direction
Common
P42
COM2 COM2
Origin
P04
P06
DOG
P05
P07
Low limit
P00
P02
High Limit
P01
P03
Emergency stop
Input Point
Common
*2
P43
0V
0V
CW+
COM0 COM1
0V
Input
*3
Stepping Motor Driver
Signal name
Common
*4
Max : 2m
G7M-D(R)T**U(P)
COM0(Input)
CWCCW+
CCW-
DC5V
*1
TIMING
COM
DC24V
< PNP Type >
2) Wiring with stepping motor drive (DC 24V)
Signal name
Pulse
Common
Direction
Common
Stepping Motor Driver
Ch0
Ch1
P40
P41
P42
COM2 COM2
Origin
P04
P06
DOG
P05
P07
Low limit
P00
P02
High Limit
P01
P03
Common
*2
P43
P
*3 Emergency stop
CW2K, 1/2W
COM0 COM1
P
Input +24V
*4
Max : 2m
G7M-D(R)T**U(N)
DC24V
CCWCCW+
2K,1/2W
*1
TIMING
COM
Input Point
COM0(Input)
CW+
DC24V
< NPN Type >
7-114
Chapter 7. Usage of Various Functions
Stepping Motor Driver
Signal name
Ch0
Ch1
Pulse
P40
P41
Common
Direction
Common
P42
*2
P43
COM2 COM2
0V
0V
Origin
P04
P06
DOG
P05
P07
Low limit
P00
P02
High Limit
P01
P03
Common
CW+
2K, 1/2W
COM0 COM1
Input 0V
*3 Emergency stop
*4
Max : 2m
G7M-D(R)T**U(P)
DC24V
CWCCW+
CCW-
2K,1/2W
*1
TIMING
COM
Input Point
COM0(Input)
DC24V
< PNP Type >
REMARK
1 ) In case of VEXTA RK series, TIMMING output turns on when a motor rotates at every 7.2 degree.
For exact ‘return to origin’, we suggest you to configure ‘AND’ operation using TIMMING output and DOG
sensor. It may be different to each system features to return to origin by the DOG sensor without TIMMING
output signal (The rated input for the origin of GM7U is DC 24V.)
2) Using DC 24V, wire a proper resistor to driver in series.
3) Input points for origin, approximate origin point, and upper/lower limit signal are fixed but, if they’re not used you
able to use them general input point. You can use emergency stop with the command(POSCTR)
4) Positioning phase of GM7U is as follow: Set the input mode of a step mode driver to 1 phase input mode
because motor operation mode is determined by rotating direction input.
7-115
Chapter 7. Usage of Various Functions
3) Wiring with servo motor drive (MR-J2/J2S-□A)
HC-MF HA-FF
Series motor
NF
MR-J2S- A
MC
TE11
L1
Power
3Phase 200VAC
U
U
V
V
W
L2
L3
L11
L21
CTE2
D
W
E
PE
EMG
PE
P
G7M-D(R)T**U(N)
B1
B2
24VDC
OPP of Servo ON signal
Cutoff by alarm signal
CN1A
Max: 2m
SM
electronic brake
detector
CN2
Signal
Pulse
Common
Direction
Common
Input +24V
Ch0
Ch1
P40
P41
*3
COM0 COM1
P42
P43
PP
3
SG
10
NP
2
OPC
11
COM
9
COM2 COM2
P
P
*1
*2
Origin
P04
P06
DOG
OP
14
P05
P07
LG
1
Low Limit
P00
P02
SD
Plate
High Limit
P01
P03
Emergency
Input point
Common
COM0(Input)
DC24V
Outer emergency stop
Servo : ON
Reset
PID
Torque Limit
Forward direction position limit
*3 Reverse direction position Limit
*3
RA1
failure
zero speed detection
in torque limit
RA2
RA3
Analog torque limit
+10V/max. current
Within 2m
12
CN3
TxD
2
RxD
SD
1
LG
GND
11
5
LG
GND
LG
RS
15
LG
CS
CN1E
EMG
15
SON
5
RES
14
PC
8
4
GND
TL
9
3
RS
LSP
16
14
CS
LSN
17
13
DR
SG
10
Plate
ER
SG
20
VDD
3
COM
13
ALM
18
ZSP
19
TLC
6
P15R
11
TLA
12
DR
LG
1
SD
Plate
< NPN Type >
7-116
RD
ER
Monitor output
A
A
Within 2m
10k
10k
Max 10mA
Personal
computer
Chapter 7. Usage of Various Functions
HC-MF HA-FF
Series motor
NF
MR-J2S- A
MC
TE11
L1
Power
3Phase 200VAC
U
U
V
V
W
L2
L3
L11
L21
CTE2
D
PE
EMG
PE
P
B1
B2
24VDC
electronic brake
OPP of Servo ON signal
Cutoff by alarm signal
CN1A
Max: 2m
G7M-D(R)T**U(P)
SM
W
E
detector
CN2
Signal
Pulse
Common
Direction
Ch1
P40
P41
Input 0V
*3
PG
1.2K, 1/2W
COM0 COM1
P42
Common
*2
Ch0
P43
1.2K, 1/2W
COM2 COM2
0V
DC24V
0V
*1
13
PP
3
NG
NP
12
2
OPC
11
COM
9
OP
14
Origin
P04
P06
DOG
P05
P07
LG
1
Low Limit
P00
P02
SD
Plate
High Limit
P01
P03
Emergency
Input point
Common
COM0(Input)
DC24V
Outer emergency stop
Servo : ON
Reset
PID
Torque Limit
Forward direction position limit
*3 Reverse direction position Limit
*3
RA1
failure
zero speed detection
in torque limit
RA2
RA3
Analog torque limit
+10V/max. current
CN3
TxD
RD
RxD
SD
1
LG
GND
11
5
LG
GND
LG
RS
15
LG
CS
CN1E
EMG
15
SON
5
RES
14
PC
8
4
GND
TL
9
3
RS
LSP
16
14
CS
LSN
17
13
DR
SG
10
Plate
ER
DR
SG
20
VDD
3
COM
13
ALM
18
ZSP
19
TLC
6
P15R
11
TLA
Within 2m
12
2
ER
Monitor output
A
A
10k
Max 10mA
10k
Within 2m
12
LG
1
SD
Plate
< PNP Type >
REMARK
1) The rated input for the origin of GM7U is DC 24V.
2) Input points for origin, approximate origin point, and upper/lower limit signal are fixed but, if they’re not used you
able to use them general input point. You can use emergency stop with the command(POSCTR)
3) Positioning phase of GM7U is as follow: Set the input mode of a step mode driver to 1 phase input mode is
determined by rotating direction input.
7-117
Personal
computer
Chapter 7. Usage of Various Functions
4) Wiring with servo motor drive (FDA-5000 AC Servo Driver)
G7M-D(R)T**U(N)
*4
Max 2m
FDA-5000
Signal name
Ch0
Ch1
Pulse
P40
P41
Common
COM0 COM1
Direction
P42
Common
COM2 COM2
Input +24V
Origin
DOG
*2
High Limit
Emergency Stop
Common
10
PFIN
11
PPFIN
12
PRIN
9
PPRIN
5
30
PZO+
21
RDY
P07
22
INPOS
P00
P02
47
0 SPEED
P01
P03
48
BRAKE
Input point
20
ALARM
45
A_CODE0
19
A_CODE1
44
A_CODE2
24
25
GND24
18
SVONEN
38
CLR
15
CCWLIM
40
CWLIM
39
ESTOP
38
ALMRST
41
P/P1
14
TLIM
49
+24VIN
1.5K,1/2W
P43
P
P
P04
P06
P05
Low Limit
*3
COM0(Input)
24G
P24V
1.5K,1/2W
*1
P24V
24G
PZO-
GND24
< NPN Type >
G7M-D(R)T**U(P)
*4
Max 2m
FDA-5000
Signal name
Ch0
Ch1
Pulse
P40
P41
Common
COM0 COM1
Direction
P42
Common
COM2 COM2
*3
1.5K,1/2W
P43
Input 0V
0V
0V
Origin
P04
P06
P24V
24G
1.5K,1/2W
*1
11
PPFIN
10
PFIN
9
PPRIN
12
PRIN
5
30
PZO+
21
RDY
PZO-
DOG
P05
P07
22
INPOS
Low Limit
P00
P02
47
0 SPEED
P01
P03
48
BRAKE
20
ALARM
45
A_CODE0
19
A_CODE1
44
A_CODE2
24
25
GND24
18
SVONEN
38
CLR
15
CCWLIM
40
CWLIM
39
ESTOP
38
ALMRST
41
P/P1
14
TLIM
49
+24VIN
High Limit
Emergency Stop
Common
Input point
COM0(Input)
P24V
24G
< PNP Type >
7-118
GND24
Chapter 7. Usage of Various Functions
Remark
1) The rated input for the origin of GM7U is DC 24V. Line driver output, wire a DC SSR and return to origin by DOG
signal or using a origin sensor of original signal.
2) Input points for origin, approximate origin point, and upper/lower limit signal are fixed but, if they’re not used you
able to use them general input point. You can use emergency stop with the command (POSCTR)
3) Using DC 24V, wire a proper resistor(1.5K, 1/2W) to driver in series.
4) Positioning phase of GM7U is as follow: Set the input mode of a step mode driver to 1 phase input mode
because motor operation mode is determined by rotating direction input.
7-119
Chapter 8. Communication Functions
Chapter 8. Communication Functions
8.1
Dedicated Protocol Communication
8.1.1 Introduction
GM7U’s built-in Cnet communication is a function to execute a dedicated communication only with a GM7U main unit. That is, it doesn’t
need a separate Cnet I/F module to facilitate the user-intended communication system by utilizing reading or writing of any area in CPU,
and monitoring function. Without additional expanses, the user can use the basic functions like read/write internal device area and
register/execute monitoring with GM7U main unit.
GM7U main unit serves as follows:
• Individual/continuous reading of device
• Individual/continuous writing of device
• Reading CPU status
• Monitor devices registration
• Executing monitoring
• 1:1 connection (link between GM7Us) system configuration (GM7U main unit: RS-232C)
REMARK
GM7U built-in communication function supports Cnet communication without any separate Cnet I/F module. It must
be used under the following instructions.
1) Channel 0 of GM7U main unit supports 1:1 communication only. For 1:N system having master-slave Format, use RS- 485
communication in channel 1 or GM7U main unit with G7L-CUEC module connected. G7L-CUEC module supports RS422/485 protocol.
2) RS-232C communication cable for GM7U main unit is different from RS-232C cable for GMWIN in pin
arrangement and from the cable for Cnet I/F module, too. The cable can’t be used without any treatment. For the
detailed wiring method, refer to 8.1.2.
3) Basic items like baud rate type and station no. can be set in GMWIN.
8-1
Chapter 8. Communication Functions
8.1.2 System configuration method
According to the method of connection, the system using GM7U built-in communication can be composed.
1) Connecting system configuration (link between GM7Us)
(1) 1:1 connection with general PC
a) Communication program made by C or BASIC computer language on the user’s computer, or utility program like FAM or CIMON
can be used.
GM7U main unit
RS-232C I/F
b) Wiring method
TXD1, RXD1 are for loader communication and TXD2, RXD2 are for Cnet I/F.
To use channel 1, connect 485+ and 485- of RS-485 terminal.
8-2
Chapter 8. Communication Functions
(2) 1:1 connection with a monitoring device like XGT Panel
XGT Panel (LSIS)
GM7U main unit
RS-485 I/F
RS-232C I/F
(a) Wiring
The wiring diagram using RS-232C I/F is as follow.
The wiring diagram using RS-485 I/F is as follow.
8-3
Chapter 8. Communication Functions
(3) 1:1 connection with LSIS’
GM7U main unit
GM7U main unit
RS-485 I/F
RS-232C I/F
The wiring diagram using RS-232C I/F is as follow.
The wiring diagram using RS-485 I/F is as follow.
8-4
Chapter 8. Communication Functions
8.1.3
Frame structure
1) Base format
(1) Request frame
- External communication device → GM7U main unit
- Max. 256 Bytes
ENQ
161
160
Structured data area
EOT
BCC
Command type
Command
Station
Frame Check
Header
Tale
(2) ACK Response frame
- GM7U main unit → external communication device, when receiving data normally
- Max. 256 Byte
ACK
161
Structured data area or null
code
160
ETX
BCC
Command type
Command
Station
Frame Check
Header
Tale
(3) NAK Response frame
- GM7U main unit → external communication device when receiving data abnormally
- Max. 256 Byte
NAK
161
160
Error code (ASCII 4Byte)
ETX
BCC
Command type
Command
Station
Frame Check
Header
Tale
8-5
Chapter 8. Communication Functions
• Control code
- The control codes used are as follow. Be familiar with the following control codes, because they are important for communication.
Codes
Hex value
Name
Contents
ENQ
H05
Enquire
Request frame initial code
ACK
H06
Acknowledge
ACK response frame initial code
NAK
H15
Not Acknowledge
NAK response frame initial code
EOT
H04
End of Text
Request frame ending ASCII code
ETX
H03
End Text
Response frame ending ASCII code
• The numerical data of all frames are ASCII codes equal to hexadecimal value, if there’s no clear statement.
The terms in hexadecimal are as follows.
- Station No.
- When the main command is R(r) or W (w) and the command type is numerical (means a data type)
- All of the terms indicating size of all data in the formatted data area.
- Monitoring registration and command registration number of execution commands.
- All contents of data
REMARK
If it is hexadecimal, H is attached in front of the number of frames like H01, H12345, H34, H12, and H89AB
1) Sequence of command frame
(1) Sequence of command request frame
ENQ Station no. Command
Formatted data
EOT
BCC
(PLC ACK response)
ACK
Station Command
no.
Data or Null
ETX
BCC
NAK
Station Command
no.
Data or Null
ETX
BCC
(PLC NAK response)
8-6
Chapter 8. Communication Functions
8.1.4
Command list
Classification
Main command
Item
Reading
device
Writing
device
Command
Description
Command type
Code
ASCII code
Code
ASCII code
Individual
r(R)
H72
(H52)
SS
5353
Continuous
r(R)
H72
(H52)
SB
5342
Individual w(W)
H77
(H57)
SS
5353
Continuous w(W)
H77
(H57)
SB
5342
Writes data to Byte and Word type in block unit.
(Continuous reading Bit is unavailable)
H73
(H53)
ST
5354
Reads flag list like PLC operation status and error information.
CPU
Status reading
r(R)
Reads data from device of Bit, Byte, Word type.
Reads device Word in block unit.
(Continuous reading Bit is unavailable)
Writes data to device of Bit, Byte and Word type.
Command
Item
Main command
Register No.
Description
Code
ASCII code
Register no.
ASCII code
Monitoring
variable register
x(X)
H78
(H58)
H00~H09
3030 ~ 3039
Register device to monitor.
Execution of
monitoring
y(Y)
H79
(H59)
H00~H09
3030 ~ 3039
Execute registered device to monitor.
REMARK
- GM7U main unit identifies capitals or small letters for main commands, but not for the others.
8-7
Chapter 8. Communication Functions
8.1.5 Data type
It’s possible to read and write device in built-in communication. When device is used, be aware of data type.
1) Data type of device
The dedicated built-in communication can only read/write direct variables.
(1)
Data type of direct variables
• Available types of device: M (internal memory), Q(output), I(input)
• When direct variable is used, attach ‘%’(25H) in front of the characters.
Data type
Characters
Examples
Bit
X(58H)
%MX0, %QX0.0.0, %IX0.0.0
Byte
B(42H)
%MB10, %QB0.0.0, %IB0.0.0
Word
W(57H)
%MW10, %QW0.0.0, %IW0.0.0
Double Word
D(44H)
%MD10, %QD0.0.0, %ID0.0.0
REMARK
- Reading/writing of symbolic variable is not available in dedicated communication.
- Memory address 100 in ‘%MB100’ is a decimal value.
- Long word is not available.
8-8
Chapter 8. Communication Functions
8.1.6 Command Execution
1) Individual reading of direct variable (R(r)SS)
(1) Introduction
- This is a function that reads PLC device specified in accord with memory data type. Separate device memory can be read
up to 16 at a time.
(2) PC request format
Format
name
Header
Station
No.
Command
Command
type
Number
of blocks
Device
length
Device name
Tail
Frame
check
Frame
ENQ
H10
R(r)
SS
H01
H06
%MW100
EOT
BCC
ASCII
value
H05
H3130
H52(72)
H5353
H3031
H3036
H254D57313030
H04
...
1 block (setting can be repeated up to max. 16 blocks)
Item
Description
Station No.
HEX value is displayed as ASCII 2 bytes in station.
The example above shows H10 that is the case when the station no. 16 of GM7U is requested
data.
Number of
blocks
This specifies how much of the blocks composed of "[device length][device name]" are in this
request format. This can be set up to 16. Therefore, the value of [Number of blocks] must be set
between H01 (ASCII value: 3031)-H10 (ASCII value: 3030).
Device length
This indicates the number of device name's characters, which is allowable up to 16 characters.
This value is one of ASCII converted from HEX type,
- If the device name is %MW0, it has 4 characters to be H04.
- If the device name is %QW0.0.0, it has 8 characters to be H08.
Device name
Address to be actually read is entered. This must be ASCII value within 16 characters, and in this
name, digits, upper/lower case, '%' only is allowable to be entered.
When command is lowercase(r), only one lower byte of the value resulted by adding 1 Byte each
Frame check
(BCC)
to ASCII values from ENQ to EOT is converted into ASCII and added to BCC.
Example) BCC of the above frame is obtained as below:
H05+H32+H30+H72+H53+H53+H30+H31+H30+H36+H25+H4D+H57+H31+H30+H30+H04
=H03A4
Therefore, BCC value A4 becomes H4134 (ASCII).
REMARK
1) ‘H’ of example frame represents HEX value, and is unnecessary during preparing real frame.
2) The device type for each block should be identical; otherwise an error will be occurred.
8-9
Chapter 8. Communication Functions
(3)
GM7U basic unit response format (ACK response)
Format name
Header
Station
No.
Command
Command
type
Number
of blocks
Device
length
Frame
ACK
H20
R(r)
SS
H01
H02
HA9F3
ETX
ASCII value
H06
H3230
H52(72)
H5353
H3031
H3032
H41394633
H04
Device name
Tail
...
Frame
check
BCC
1 block (max. 16 blocks possible)
Item
Description
Station No.
HEX value is displayed as ASCII 2 bytes in station.
The example above shows H10 that is the case when the station no. 16 of GM7U is requested
data.
Number of data means byte number of HEX type, and is converted into ASCII. This number is
determined according to data type (X,B,W,D) included in device name of computer request
Number of
Format.
• Number of data in accordance with its data type is as follows:
Data type
Available variable
data
Data
Frame check
(BCC)
Number of data
BOOL(X)
%MX,%QX,%IX
1
Byte(B)
%MB,%QB,%IB
1
Word(W)
%MW,%QW,%IW
2
Double Word(D)
%MD,%QD,%ID
4
In data area, there are the values of HEX data converted to ASCII code saved.
When the command is lowercase(r), only one lower byte of the value resulted by adding 1 Byte
each to the ASCII values from ACK to ETX is converted into ASCII and added to BCC, and then
sent.
• The number of data and an example of using data
- The number of data is H04 (ASCII code value: H3034) means that there is HEX data of 4 bytes in data. Hex data of 4 bytes is
converted into ASCII code in data.
If number of data is H04 and the data is H12345678, ASCII code converted value of this is "31 32 33 34 35 36 37 38," and this
contents is entered in data area. Name directly, highest value is entered first, lowest value last.
REMARK
- If data type is BOOL, data read is indicated by bytes. Namely, if bit value is 0, it indicated by H00 (ASCII: 30 30), and if 1, by
H01 (ASCII: 30 31).
8-10
Chapter 8. Communication Functions
(4) GM7U main unit response format (NAK response)
(5)
Format name
Header
Frame (Ex.)
ACSII value
NAK
H15
Station
No.
H20
H3230
Command
Command type
R(r)
H52(72)
SS
H5353
Error code
(Hex 2 Byte)
H1132
H31313332
Tail
Frame check
ETX
H03
BCC
Item
Description
Error code
Hex and 2 bytes (ASCII code, 4 bytes) indicate error type. For the details, see 8.1.8 Error codes.
Frame check
(BCC)
When command is lowercase(r), only one lower byte of the value resulted by adding 1 byte each
to the ASCII values from NAK to ETX is converted into ASCII and added to BCC.
Example
GM7U main unit
• This example assumes when 1 WORD from %MW20, and 1 WORD from %QW0.0.1 address of station No.1 are read.
H1234 is entered in %MW20, and data of H5678 is entered in %QW0.0.1.
① Computer request format (PC → GM7U main unit)
Format
Station
Command
Header
Command
name
No.
type
Frame
ACSII
value
ENQ
H05
H01
H3031
r
H72
Number
Variable
Device
of
Format name
Format name Tail
length
length
blocks
SS
H02
H5353
H3032
H05
H3035
%MW20
H08
%QW0.0.1
H25515730
H254D573230 H3038
2E302E31
EOT
Frame
check
BCC
H04
② For ACK response after execution of command (PC ← GM7U main unit)
Format
Station
Command
Header
Command
name
No.
type
Frame
ACSII
value
Number
Variable
of
length
blocks
Format
name
Device
length
Format
name
Tail
Frame
check
BCC
ACK
H01
r
SS
H02
H02
H1234
H02
H5678
ETX
H06
H3031
H72
H5353
H3032
H3032
H31323334
H3032
H35363738
H03
③ For NAK response after execution of command (PC ← GM7U main unit)
Format name
Command
Command type
Error code
Tail
Frame check
Frame
Header Station No.
NAK
H01
r
SS
Error code (2)
ETX
BCC
ACSII value
H15
H3031
H72
H5353
Error code (4)
H03
※ Frame check BCC is automatically operated.
8-11
Chapter 8. Communication Functions
2) Continuous reading (R(r)SB) of device
(1) Introduction
This is a function that reads the PLC device memory directly specified in accord with memory data type. With this, data is
read from specified address as much as specified continuously.
(2) PC request format
Format
name
Header
Station
No.
Command
Command
Device
type
length
Number of data
Device
(Max. 128 bytes)
Tail
Frame
ENQ
H10
R(r)
SB
H06
%MW100
H05
EOT
ASCII
value
H05
H3130
H52(72)
H5342
H3036
H254D57313030
H3035
H04
Item
Station No.
Device length
Frame
check
BCC
Description
HEX value is displayed as ASCII 2 bytes in station.
The example above shows H10 that is the case when the station no. 16 of GM7U is requested
data.
This indicates the number of device name's characters, which is allowable up to 16 characters.
This value is one of ASCII converted from HEX type,
- If the device name is %MW0, it has 4 characters to be H04.
- If the device name is %QW0.0.0, it has 8 characters to be H08.
Device name
Address to be actually read is entered. This must be ASCII value within 16 characters, and in this
name, digits, upper/lower case, '%' only is allowable to be entered.
No. of data
Specifies the no. of data to read continuously from the specified address. The example above
reads 5 words serially from %MW100. Up to 120 data is available for continuous reading.
Frame check
(BCC)
When the command is lowercase(r), only one lower byte of the value resulted by adding 1 Byte
each to the ASCII values from ENQ to EOT is converted into ASCII and added to BCC, and then
sent.
(3) GM7U main unit response format (ACK response)
Station
Format name
Header
Frame (Ex.)
ACK
H10
ASCII value
H06
H3130
No.
Command
Number
Number
type
of blocks
of data
R(r)
SB
H01
H52(72)
H5342
H3031
Command
8-12
Data
Tail
H02
H1122
EOT
H3134
H31313232
H03
Frame
check
BCC
Chapter 8. Communication Functions
Item
Station No.
Description
HEX value is displayed as ASCII 2 bytes in station.
The example above shows H10 that is the case when the station no. 16 of GM7U is requested
data.
The number of data means the byte to respond. It is converted into ASCII. This number is
determined by multiplying the data number of the computer request format by the data size (in the
table below) according to the memory type (B, W, D) included in the variable name of computer
request format.
Number of
data
Data
Frame check
(BCC)
Data type
Available device
Data size (byte)
Byte(B)
%MB,%QB,%IB
1
Word(W)
%MW,%QW,%IW
2
Double Word(D)
%MD,%QD,%ID
4
The HEX data in respond data area converted to ASCII code are saved.
When the command is lowercase(r), only one lower byte of the value resulted by adding 1 Byte
each to the ASCII values from ACK to ETX is converted into ASCII and added to BCC, and then
sent.
Example 1)
When memory type included in variable name of computer request Format is W(Word), and data number of computer request
Format is 03, data number of PLC ACK response after execution of command is indicated by H06(2*03 = 06 bytes)Byte and
ASCII code value 3036 is entered in data area.
Example 2)
In just above example, when data contents of 3 words are 1234, 5678, and 9ABC in order, actual ASCII code converted values
are 31323334 35363738 39414243, and the contents are entered in data area.
8-13
Chapter 8. Communication Functions
(3) GM7U main unit response format (NAK response)
Format name
Header
Frame (Ex.)
NAK
ASCII value
H15
Station
Command
Command type
H10
r
SB
H3130
H72
H5342
No.
Error code
Tail
Frame check
H1132
ETX
BCC
H31313332
H03
(Hex 2 Byte)
Item
Description
Error code
Hex and 2 bytes (ASCII code, 4 bytes) indicate error type. For the details, see 8.1.8 Error codes.
Frame check
(BCC)
When the command is lowercase(r), only one lower byte of the value resulted by adding 1 Byte
each to the ASCII values from NAK to ETX is converted into ASCII and added to BCC, and then
sent.
(3) Example
• This example assumes that 2 Double words from %MD0 of station no.10 is read.
(In this case, H12345678 is in %MD0 and H9ABCDEF0 is in %MD1)
① PC request format (PC → GM7U main unit)
Format name Header Station No.
Command
Command
type
Data
Number of
Variable name
length
data
Tail
Frame
check
BCC
Frame (Ex.)
ENQ
H0A
r
SB
H04
%MD0
H02
EOT
ASCII value
H05
H3041
H72
H5342
H3034
H254D4430
H3032
H04
② For ACK response after execution of command (PC ← GM7U main unit)
Format name
Header Station No.
Command
Command
Number of data
type
Data
Tail
Frame
check
BCC
Frame (Ex.)
ACK
H0A
r
SB
H08
12345678 9ABCDEF0
ETX
ASCII value
H06
H3041
H72
H5342
H3038
H31323334353637383
941424344454630
H03
③ For NAK response after execution of command (PC ← GM7U main unit)
Format name Header Station No.
Command
Command type
Error code
Tail
BCC
BCC
Frame (Ex.)
NAK
H0A
r
SB
Error code (2)
ETX
ASCII value
H15
H3041
H72
H5342
Error code (4)
H03
8-14
Chapter 8. Communication Functions
3) Individual writing of the direct variable (W(w)SS)
(1) Introduction
This is a function that writes the PLC device memory directly in accordance with the memory data type.
(2)
PC request format
Station
Format name
Header
Frame
ENQ
H10
ASCII value
H05
H313
0
No.
Comman
Number
Device
Device
d type
of blocks
Length
Name
R(r)
SS
H01
H06
%MW100
H00E2
EOT
H52(72)
H5353
H3031
H3036
H254D57
313030
H3030
4532
H04
Command
Data
...
Tail
Frame
check
BCC
1 block (setting can be repeated up to max. 16 blocks)
Item
Description
Number of
blocks
This specifies how much of the blocks composed of "[device length][device name]" are in this request
format. This can be set up to 16. Therefore, the value of [Number of blocks] must be set between H01
(ASCII value: 3031)-H10 (ASCII value: 3030).
Device length
This indicates the number of device name's characters, which is allowable up to 16 characters. This
value is one of ASCII converted from HEX type,
- If the device name is %MW0, it has 4 characters to be H04.
- If the device name is %QW0.0.0, it has 8 characters to be H08.
Device name
Address to be actually read is entered. This must be ASCII value within 16 characters, and in this
name, digits, upper/lower case, '%' only is allowable to be entered.
If the value to be written in the %MW100 area is HEX A, the data format must be H000A. If the value
to be written in %MW100 area is HEX A, the data format must be H000A. In the data area, the ASCII
Data
value converted from HEX data is entered.
Frame check
(BCC)
When the command is lowercase(r), only one lower byte of the value resulted by adding 1 Byte each
to the ASCII values from ENQ to EOT is converted into ASCII and added to BCC, and then sent.
• Example
-
If the type of data to be written is double word, the data is H12345678, the ASCII code converted value of this
is “3132333435363738, and this content must be entered in the data area. The most significant value must be
sent first and the least significant value last.
REMARK
1) Device data types of each block must be identical.
2) If data type is BOOL, the data to be written is indicated by HEX 1 bye. Namely, if the bit value is 0, it must be indicate by H00
(3030), and if 1, by H01 (3031)
3) GM7U main unit response format (ACK response)
8-15
Chapter 8. Communication Functions
(3) GM7U main unit response format (ACK response)
Tail
Frame check
W(w)
Command
type
SS
ETX
BCC
H57(77)
H5353
H03
Format name
Header
Station No.
Command
Frame (Ex.)
ACK
H20
ASCII value
H06
H3230
Item
Description
BCC
When the command is lowercase(r), only one lower byte of the value resulted by adding 1 Byte
each to the ASCII values from ACK to ETX is converted into ASCII and added to BCC, and then
sent.
(4) GM7U main unit response format (NAK response)
Format name
Header
Station
No.
Command
Command
type
Error code
(Hex 2 bytes)
Tail
Frame check
Frame (Ex.)
NAK
H20
W(w)
SS
H4252
ETX
BCC
ASCII value
H15
H3230
H57(77)
H5353
H34323532
H03
Item
Frame check
(BCC)
Description
When the command is lowercase(r), only one lower byte of the value resulted by adding 1 Byte
each to the ASCII values from NAK to ETX is converted into ASCII and added to BCC, and then
sent.
Error code
Hex and 2 bytes (ASCII code, 4 bytes) indicate error type. For the details, see 8.1.8 Error codes.
(5) Example
This example assumes that “HFF” is written in %MW230 of station no.1 and the BCC value is checked.
① PC request format (PC → GM7U main unit)
Format name Header
Station
Command
No.
Comm
and
type
No. of
blocks
Device
length
Device name
Data
Tail
Frame
check
H06
%MW230
H00FF
EOT
BCC
Frame (Ex.)
ENQ
H01
w
SS
H01
ASCII value
H05
H3031
H77
H5353
H3031
H3036 H254D57323330 H30304646
H04
② For ACK response after execution of command (PC ← GM7U main unit)
Format name
Header
Station No.
Command
Command type
Tail
Frame check
Frame (Ex.)
ACK
H01
w
SS
ETX
BCC
ASCII value
H06
H3031
H77
H5353
H03
③ For NAK response after execution of command (PC ← GM7U main unit)
Format name Header
Station
No.
Command
Command type
Error code
Tail
Frame check
BCC
Frame (Ex.)
NAK
H01
w
SS
Error (2)
ETX
ASCII value
H15
H3031
H77
H5353
Error (4)
H03
8-16
Chapter 8. Communication Functions
4) Continuous writing of the direct variable (W(w)SB)
(1)
Introduction
This is a function that directly specifies the PLC device memory and continuously writes data from the specified address
for as long as specified.
(2)
Request format
Header
Command
Command
type
Device
length
Device
name
No. of data
Frame
(Ex.)
Station
No.
ENQ
H10
W(w)
SB
H06
%MD1
00
H01
ASCII
value
H05
H3130
H57(77)
H5342
H3036
H254D
44
313030
H3031
Format
name
Data
Tail
H111
12222
H313
13131
32323
232
EO
T
Frame
check
BCC
H04
Item
Description
Number of
blocks
This specifies how much of the blocks composed of "[device length][device name]" are in this request
format. This can be set up to 16. Therefore, the value of [Number of blocks] must be set between H01
(ASCII value: 3031)-H10 (ASCII value: 3030).
Device length
This indicates the number of device name's characters, which is allowable up to 16 characters. This
value is one of ASCII converted from HEX type,
- If the device name is %MW0, it has 4 characters to be H04.
- If the device name is %QW0.0.0, it has 8 characters to be H08.
Device name
Address to be actually read is entered. This must be ASCII value within 16 characters, and in this
name, digits, upper/lower case, '%' only is allowable to be entered.
No. of data
Specifies the no. of data to read continuously from the specified address. The example above writes 1
double word serially from %MW100. Up to 120 data is available for continuous writing.
Frame check
(BCC)
When the command is lowercase(r), only one lower byte of the value resulted by adding 1 byte each
to the ASCII values from ENQ to EOT is converted into ASCII and added to BCC, and then sent.
(3)
GM7U main unit response format (ACK response)
Format name
Header
Station
No.
Command
Command type
Tail
Frame check
Frame (Ex.)
ACK
H10
W(w)
SB
ETX
BCC
ASCII value
H06
H3130
H57(77)
H5342
H03
Item
Description
BCC
When the command is lowercase(r), only one lower byte of the value resulted by adding 1 Byte
each to the ASCII values from ACK to ETX is converted into ASCII and added to BCC, and then
sent.
8-17
Chapter 8. Communication Functions
(4)
GM7U main unit response format (NAK response)
Format name
Header
Station
No.
Command
Command
type
Error code
(HEX 2 byte)
Tail
Frame check
Frame (Ex.)
ENQ
H10
W(w)
SB
H1132
EOT
BCC
ASCII value
H05
H3130
H57(77)
H5342
H31313332
H03
Item
Frame check
(BCC)
Description
When the command is lowercase(r), only one lower byte of the value resulted by adding 1 Byte
each to the ASCII values from NAK to ETX is converted into ASCII and added to BCC, and then
sent.
Error code
Hex and 2 bytes (ASCII code, 4 bytes) indicate error type. For the details, see 8.1.8 Error codes.
(5) Example
This example assumes that HAA15056 is written in %QD0.0.0 at station no.1
① PC request format (PC → GM7U main unit)
Format
Header
Station
name
No.
Frame
ENQ H01
(Ex.)
ASCII
H05 H3031
value
Command
Command
type
Variable
length
Variable
name
No. of
data
Data
Tail
Frame
check
%QD0.0.0
H01
HAA15056F
EOT
BCC
H41413135
30353646
H04
w
SB
H08
H77
H5342
H3038
H254442302
H3031
E302E30
② For ACK response after execution of command (PC ← GM7U main unit)
Format name
Header
Station No. Command
Frame (Ex.)
ACK
H01
ASCII value
H06
H3031
Command type
Tail
Frame check
W
SB
ETX
BCC
H77
H5342
H03
③ For NAK response after execution of command (PC ← GM7U main unit)
Format name
Header
Station No. Command Command type
Frame (Ex.)
NAK
01
W
ASCII value
H15
H3031
H77
8-18
Error code
Tail
Frame check
SB
Error code (2)
ETX
BCC
H5342
Error code (4)
H03
Chapter 8. Communication Functions
5) Registering variable for monitoring (X##)
(1)
Introduction
Variables separately registered up to 10 (from 0 to 10) in combination with actual variable reading command, and carries
out the registered one through monitor command after registering.
(2)
PC request fromat
Format
name
Header
Station
No.
Command
Register
no.
Registration format
Tail
Frame (Ex.)
ENQ
H10
X(x)
H09
See register format
EOT
ASCII value
H05
H3130
H58(78)
H3039
[※]
H04
Frame
check
BCC
Item
Description
BCC
When the command is lowercase(r), only one lower byte of the value resulted by adding 1 Byte
each to the ASCII values from ENQ to EOT is converted into ASCII and added to BCC, and then
sent.
Register no.
Up to 10 can be registered (0 to 9, H00-H09). If a registered no. is registered again, only the one
currently being executed is registered.
Register
format
This is used to before EOT in command; individual reading of direct variable and continuous
reading format.
[※]: Only one of following can be selected for register format.
① Individual reading of the direct device
RSS
Number of blocks (2 Byte)
Device length (2 Byte)
...
Device name (16 Byte)
1 block (max. 16 blocks)
② Continuous reading of the direct device
RSB
(3)
Device length (2 Byte)
Device name (16 Byte)
Number of data
GM7U main unit response format (ACK response)
Format name
Header
Station No.
Command
Registration No.
Tail
Frame check
Frame (Ex.)
ACK
H10
X(x)
H09
ETX
BCC
ASCII value
H06
H3130
H58(78)
H3039
H03
Item
BCC
Description
When the command is lowercase(r), only one lower byte of the value resulted by adding 1 Byte each
to the ASCII values from NAK to ETX is converted into ASCII and added to BCC, and then sent.
8-19
Chapter 8. Communication Functions
(4)
GM7U main unit response format (NAK response)
Station
Format name
Header
Frame (Ex.)
ACK
H10
ASCII value
H06
H3130
No.
Registration
Error code
No.
(Hex 2Byte)
X(x)
H09
H58(78)
H3039
Command
Item
BCC
Tail
Frame check
H1132
ETX
BCC
H31313332
H03
Description
When the command is lowercase(r), only one lower byte of the value resulted by adding 1 Byte each
to the ASCII values from NAK to ETX is converted into ASCII and added to BCC, and then sent.
Error code
(5)
Hex and 2 bytes (ASCII code, 4 bytes) indicate error type. For the details, see 8.1.8 Error codes.
Example
This example assumes that the direct variable %MW0 of station no.1 is registered for monitoring.
① PC request format (PC → GM7U main unit)
Station
Format name
Header
Frame (Ex.)
ENQ
H01
x
ASCII value
H05
H3031
H78
No.
Command
Registration format
Registra
No. of Device
tion No. Command blocks length
H01
RSS
H01
H3031 H525353 H3031
H04
Device
name
Tail
Frame
check
%MW0
EOT
BCC
H3034 H41534446
H04
② For ACK response after execution of command (PC ← GM7U main unit)
Format name Header
Station
Command
no.
Registration no.
Tail
Frame check
BCC
Frame (Ex.)
ACK
H01
x
H01
ETX
ASCII value
H06
H3031
H78
H3031
H03
③ For NAK response after execution of command (PC ← GM7U main unit)
Format name Header Station Command
Registration no.
Error code
Tail
Frame check
BCC
Frame (Ex.)
NAK
H01
x
H01
Error code (2)
ETX
ASCII value
H15
H3031
H78
H3031
Error code (4)
H03
8-20
Chapter 8. Communication Functions
6) Monitoring execution (Y##)
(1)
Introduction
This is a function that carries out the reading of the variable registered by monitor register. This also specifies a
registered number and carries out reading of the variable registered by the number.
(2)
PC request format
Format name
Frame (Ex.)
Header
ENQ
Station No.
H10
Command
Y(y)
Registration No.
H09
Tail
EOT
ASCII value
H05
H3130
H59(79)
H3039
H03
Item
Description
Register No.
Register No. uses the same number registered during monitor register for monitor execution. It is
possible to set from 00-09(H00-H09).
When the command is lower case(y), only one lower byte of the value resulted by adding 1 byte
each to the ASCII values from ENQ to EOT is converted into ASCII, and then added to BCC.
BCC
(3)
Frame check
BCC
GM7U main unit response format (ACK response)
① In case that the register format of register no. is the Individual reading of device
Format
name
Frame
ASCII
value
Header
Station
ACK
No.
H10
H06
H3130
Registration
Number
Number
Y(y)
No.
H09
of Blocks
H01
H59(79)
H3039
H3031
Command
of data
H04
Data
Tail
H9183AABB
ETX
H3034
H3931383341414242
H03
Frame
check
BCC
② In case that the register format of register no. is the continuous reading of device
Format
name
Frame
ASCII
value
Header
Station
ACK
No.
H10
H06
H3130
Registration
Number of
Y(y)
No.
H09
H59(79)
H3039
Command
8-21
data
H04
Data
Tail
H9183AABB
ETX
H3034
H3931383341414242
H03
Frame
check
BCC
Chapter 8. Communication Functions
(4)
GM7U main unit response format (NAK response)
Station
Format name
Header
Frame
NAK
No.
H10
ASCII value
H15
H3130
Command
Registration No.
Y(y)
H59(79)
Error code
Tail
Frame check
H09
(Hex 2Byte)
H1132
ETX
BCC
H3039
H31313332
H03
Item
Description
When the command is lowercase(r), only one lower byte of the value resulted by adding 1 Byte
BCC
each to the ASCII values from NAK to ETX is converted into ASCII and added to BCC, and then
sent.
Error code
(5)
Hex and 2 bytes (ASCII code, 4 bytes) indicate error type. For the details, see 8.1.8 Error codes.
Example
This example assumes that registered device no. 1 at station no. 1 is read, and the BCC value is checked. It is also
assumed that the device %MW0 is registered and the number of blocks is 1.
① PC request format (PC → GM7U main unit)
Station
Format name
Header
Frame (Ex.)
ENQ
ASCII value
H05 H3031
No.
H01
Command
Registration No.
Tail
Frame check
Y
H01
EOT
BCC
H79
H3031
H04
② For ACK response after execution of command (PC → GM7U main unit)
Format name Header
Station
No.
H01
Frame
ACK
ASCII
value
H06 H3031
Command
Registration Number of Number of
No.
Blocks
data
y
H01
H01
H04
H79
H3031
H3031
Data
Tail
Frame check
H23422339
ETX
BCC
H3034 H3233343232333339 H03
③ For NAK response after execution of command (PC → GM7U main unit)
Station
Format name
Header
Frame (Ex.)
NAK
ASCII value
H15 H3031
No.
H01
Command
Registration No.
Error code
Tail
Frame check
y
H01
Error code (2)
ETX
BCC
H79
H3031
Error code(4)
H03
8-22
Chapter 8. Communication Functions
7) Reading PLC Status (RST)
(1)
Introduction
This is a function that reads flag list including operating status of PLC and error information.
(2)
(3)
PC request format
Format name
Frame (Ex.)
Header
ENQ
Station No.
H0A
Command
R(r)
Command type
ST
Tail
EOT
ASCII value
H05
H3041
H52(72)
H5354
H04
Frame check
BCC
Item
Description
BCC
When command is lowercase(r), only one lower byte of the value resulted by adding 1 Byte each
to ASCII values from ENQ to EOT is converted into ASCII and added to BCC.
GM7U main unit response format (ACK response)
Format name
Header
Frame (Ex.)
ACK
ASCII value
H06
Station
No.
H0A
H304
1
Tail
Frame check
ST
PLC status data
(Hex 20 Byte)
Status data format
ETX
BCC
H5354
[※]
H03
Command
Command type
R(r)
H52(72)
Item
Description
BCC
When the command is lowercase(r), only one lower byte of the value resulted by adding 1 Byte
each to ASCII values from ACK to ETX is converted into ASCII, and then added to BCC, and sent.
PLC status data: data format is 20 bytes in HEX format and converted into ASCII code. Its
contents are constituted as the table below after converting the ASCII code into HEX code.
※ Status data format
PLC status
data
Data type
UINT
Flag name
PC_DEVICE_IDENTIFIER;
Status data order
H00(L) ~ H01(H)
Byte
Logical;
H02(Offset)
Byte
Physical;
H03
Byte
_CPU_TYPE;
H04
Byte
_VER_NUM;
H05
Word
_SYS_STATE;
H06(L) ~ H07(H)
Byte
_PADT_CNF;
H08
Byte
_Domain_ST;
H09
Word
_CNF_ER;
H0A(L) ~ H0B(H)
Word
_CNF_WR;
H0C(L) ~ H0D(H)
Word
Reserved
H0E(L) ~ H0F(H)
Word
Reserved
H10(L) ~ H11(H)
Word
Reserved
H12(L) ~ H13(H)
REMARK
1) For the details of each flag, refer to GM7U User's Manual "Appendix 2, list of flag".
2) PC_DEVICE_IDENTIFIER, Logical, and Physical are dedicated to be used only for system, so it should not be processed.
8-23
Chapter 8. Communication Functions
(4)
GM7U main unit response format (NAK response)
Format name
Header
Frame (Ex.)
NAK
Station
No.
H0A
ASCII value
15
3041
Tail
Frame check
ST
Error code
(Hex 2 Byte)
H1132
ETX
BCC
5354
31313332
03
Command
Command type
R(r)
5272
Item
Description
Frame check
(BCC)
When the command is lowercase(r), only one lower byte of the value resulted by adding 1 Byte each
Error code
(5)
to the ASCII values from NAK to ETX is converted into ASCII and added to BCC, and then sent.
Hex and 2 bytes (ASCII code, 4 bytes) indicate error type. For the details, see 8.1.8 Error codes.
Example
This example supposes that the status of GM7U Main unit of station no. 1 is read.
① Computer request Format (PC → GM7U Main Unit)
Format name
Header
Station
No.
Command
Command type
Tail
Frame check
Frame (Example)
ENQ
H01
R(r)
ST
EOT
BCC
ASCII value
H05
H3031
H52(72)
H5354
H04
② For ACK response after execution of command (PC ← GM7U Main Unit)
Format name
Header
Station
No.
Command
Command type
Status data
Tail
Frame check
Frame (Example)
ACK
H01
R(r)
ST
See status
data format
ETX
BCC
ASCII value
H06
H3031
H52(72)
H5354
H03
③ For NAK response after execution of command (PC ← GM7U Main Unit)
Format name
Header
Station
No.
Command
Command type
Error code
Tail
Frame check
Frame (Example)
NAK
H01
R(r)
ST
Error code (2)
ETX
BCC
ASCII value
H15
H3031
H52(72)
H5354
Error code (4)
H03
8-24
Chapter 8. Communication Functions
8.1.7 1:1, 1:N Built-in communications between LSIS products
1) Introduction
1:1 built-in communication between GM7U's is that which constitutes a built-in communication system with the method of
1(master): 1(slave). Setting Base parameter and communication parameter in GMWIN can easily constitute this system.
Communication protocol currently applied is the same with Cnet I/F used for GLOFA. Main functions are following.
• It can organize input (I), output (Q), and internal memory (M) area into 64 data access blocks by WORD unit, and set a
communication time-out limit for each block.
• Up to 32 stations can be connected. (When using built-in RS-485 (Ch. 1), G7L-CUEC)
• It can reestablish flag in relation with error codes and slave PLC operating mode according to parameter setting.
• It can reset flag related with error codes and sending/receiving error frequency of each parameter.
• It monitors communication status, using monitoring function of GMWIN.
GM7U Main unit
(Master: Station 1)
GM7U Main unit
(Slave: Station no. 31)
G7E-DR10A
1:1 dedicated protocol communication between GM7U’s (using RS-232C)
• This communication cabling map is the same for (3) 1:1 connecting with other GM7U in 8.1.2 "System configuration method
using built-in communication."
GM7U main unit
(Master: Station 0)
GM7U main unit
(Slave: Station 1)
GM7U main
(Slave: Station 31)
1:N dedicated protocol communication between GM7U’s (using RS-485C)
8-25
Chapter 8. Communication Functions
2) Parameter setting
(1) Communication Parameter Setting
• Open a new project file from GMWIN
- GM7U must be selected for PLC type.
• After selecting communication parameter from GMWIN the following window pops up.
a) When uses Ch.0: Built-in RS-232C or External Cnet I/F module
8-26
Chapter 8. Communication Functions
b) When uses Ch.1: Built-in RS-485
8-27
Chapter 8. Communication Functions
• Set according to the following table
Item
Descriptions
Station No.
Sets one of station from 0 to 31.
Baud rate
Sets one of 1200, 2400, 4800, 9600, 19200, 38400, 57600 bps
Data bit
Sets one of 7 or 8 Bits
Parity bit
Sets one of none, Even, Odd
Stop bit
Sets one of 1 or 2 Bit(s)
• RS232C null modem or RS422/485: can be selected as a communication channel when
communication is processed by built-in functions of GM7U Main unit or Cnet I/F module (G7LCUEC).
• RS232C dedicated modem: can be selected when communication is processed by Cnet I/F
Communication
channel
module (G7L-CUEC).
• RS232C dial-up modem: can be selected when common modem communication calling the
opponent station is processed by Cnet I/F module (G7L-CUEC).
* Notes: RS232C dedicated modem and RS232C dial-up modem communication can be processed only
by
Cnet I/F module (G7L-CUEC) support RS-232C, not Cnet I/F module (G7L-CUEC) supporting RS422/485.
• It’s an interval waiting after sending request frame from GM7U before receiving a response.
Timeout
Master Mode
in
• Default value is 500ms.
• Setting must be done in consideration of maximum interval of sending and receiving cycle of a
master PLC.
• If the time out is less than the maximum interval of the s/r cycle, error can occur.
Dedicated
Master/Slave
GM7U can read from and write on Slave GM7U.
Read status of
Can be select especially when you read Slave GM7U for monitoring, but not for the other
slave PLC
purposes, lest it may cause decreasing communication speed.
(2) Setting registration list
• Click 'master' from 'exclusive use' in 'protocol and sending mode' then 'List' button will be activated.
Select Master
8-28
Chapter 8. Communication Functions
• Click the ‘List…’ button to open the registration list window.
a) Total 64 data blocks can be assigned. But it's not possible to set a register number.
b) Sending and receiving data size can be set up to 60 Words. There is no period for sending and receiving.
c) Set device area
- Sending: reading device area I/Q/M, saving device area: Q/M
- Receiving: reading device area I/Q/M, saving device area: Q/M
• Designate station no., size, mode, area in following windows.
8-29
Chapter 8. Communication Functions
a) Station no.: set the number of the slave or opponent station.
b) Mode: click 'send' for writing data on the slave station, or 'receive' for reading from it.
c) Size: data size for reading and writing of the master station can be specified up to 60 words.
d) Area:
Send mode
It is in the master station to
From Area
temporarily save the data to
be written.
To Area
Receiving mode
It is in the slave station for the
data to be read.
Indication
- When selecting %MW0, click '%MW'
and enter '0' in the blank next to it.
- When selecting %QW0.1.0, click
It is in the master station to
'%QW' and enter '0.1.0' in the blank
It is in the slave station to write
temporarily save the data to be next to it.
the data.
read.
3) Setting communication enable
To process 1:1 built-in communication between GM7U's, after setting communication parameter and constituting program, the user
must access the master GM7U through GMWIN, click 'connect(C)' of ‘online (O)' in menu bar, and set 'Communication Enable(L)’
of ‘Online (O)’ in the same menu bar.
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Chapter 8. Communication Functions
4)
Flag related with operating status
(1) Sending/receiving error count for each station (total 32 stations)
- Flag name: _MRS_ERR_CNT[n] (n = 0 ~ 31)
- Data type: array byte
- Description: each station can renew number of errors.
Namely, the number of s/r errors of the station no. 1 is renewed at _MRS_ERR_CNT [0], and the number of the station no.
31, at _MRS_ERR_CNT [31].
(2) Sending/receiving error description of each station (total 32 stations)
- Flag name: _MRS_ERR[n] (n = 0 ~ 31)
- Data type: array byte
- Description:
Error code 1: time overrun error for the responding time of sending/receiving
Error code 2: NAK time error
(3) Slave PLC mode and error description of each station (total 32 stations)
- Flag name: _SRS_STATE[n] (n = 0 ~ 31)
- Data type: array byte
- Description: 0 Bit: error status of the slave PLC (1: error, 0: normal)
1-3 Bit: Reserved
4-7 Bit: operating mode of the slave PLC
4 Bit: STOP
5 Bit: RUN
6 Bit: PAUSE
7 Bit: DEBUG
(4) Status flag of the master PLC
- Flag name: _MRS_STATE [n] (n=0-31)
- Data type: array byte
- Contents:
-2 Bit: overextending M area when setting communication parameter
(5) Max/min/current sending/receiving cycle of set parameter
- Flag name:
- (Time Type) _MRS_SCAN_MAX
- (Time Type) _MRS_SCAN_MIN
- (Time Type) _MRS_SCAN_CUR
- Contents: the interval between after sending and before receiving
8-31
Chapter 8. Communication Functions
5) Example
GM7U
(Master: Station 0)
GM7U
(Slave: Station 31)
G7E-DR10A
1:1 dedicated protocol communication cable between GM7Us
The following example uses the above diagram to explain the operation of GM7U main unit.
-The data of the master GM7U main unit uses ADD function to increase %MW0 area, and write the data to the slave station of
theGM7U main unit. The written data in the output contact is read by the master station of GM7U, and is written to the output
contact of the expansion digital I/O module, G7E-DR10A.
.
(1) MASTER station’s parameter settings and program
• Station No: Select 1 (0 ~ 31 available)
• Baud rate: Select 19200
(1200, 2400, 4800, 9600, 19200, 38400, 57600)
• Parity bit: None (None, Even, Odd available)
• Data bit: Select 8 (7, 8 available)
• Stop bit: Select 1 (1,2 available)
• Communication channel:
Select RS-232C Null Modem or RS-422/485
• Timeout in master mode: Select 500ms
(10 ~ 2000ms available)
• Protocol and mode: Select Dedicated Master
(Master/Slave)
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Chapter 8. Communication Functions
• After setting, the following window will be displayed.
• Select ‘0’ to set the master station’s sending parameter.
- After parameter settings, click ‘OK’.
Station No.
Size
Mode
From area
To area
31
1
Send
%MW0
%Q0.0.0
8-33
Chapter 8. Communication Functions
Slave station’s area
(Station No.31)
-
When the item 0 is registered, the following window is show up.
8-34
Chapter 8. Communication Functions
-
Select ‘1’, and register as below.
Slave station’s area
(Station No.31)
Slave station’s area
(Station No.1)
- After parameter settings, click ‘OK’.
Station No.
Size
Mode
From area
To area
31
1
Receive
%QW0.O.O
%Q0.1.0
- Check the item 0 and 1 are registered in the Entry list, and Close the window.
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Chapter 8. Communication Functions
• Select ‘OK’ in the communication parameter window to complete the parameter settings.
• Program description
- Increase the value of %MW000 at the rising edge at every second.
- Communication is executed following the parameter settings.
(2)
Slave station’s parameter settings
• Station No: Select 31 (0 ~ 31 available)
• Baud rate: Select 19200
(1200, 2400, 4800, 9600, 19200, 38400, 57600)
• Parity bit: None (None, Even, Odd available)
• Data bit: Select 8 (7, 8 available)
• Stop bit: Select 1 (1,2 available)
• Communication channel:
Select RS-232C Null Modem or RS-422/485
• Timeout in master mode: Select 500ms
(10 ~ 2000ms available)
• Protocol and mode: Select Dedicated Slave
(Master/Slave)
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Chapter 8. Communication Functions
8.1.8
Error codes
Error code
Error type
H0001
Error condition and causes
Treatment
PLC system error
Interface with PLC is impossible.
Turn Off/On the power
H0011
Data error
Check if other letters than capitals/small letters,
Errors occurred when exchanging ASCII data to
numbers, and (‘%’,’_’,’.’) in device and data,
numbers.
correct and execute again
H0021
Command error
Set a wrong device memory that is to use
commands other than w(W), r(R), x(X), y(Y), s(S)
Check the commands
H0031
Command type error
Wrong command type that is to use characters
like wSS, wSB using other letters from “SS” or “SB”
Check the command type
H1132
Device memory error
A memory device other than m(M),q(Q),I(I) is set.
Check the device type
H1232
Data size error
The number of data is 0 or longer than 128 Correct data length
bytes.
(If the data type is byte, the number of data
must be from 1~128)
H2432
Data type error
When characters other than x(X), b(B),w(W),d(D)
are used.
Check the data type and execute again.
When b(B), d(D) are used.
Ex) Use commands like %db or %dd.
H7132
Device request
Format error
When omit %
When omit ‘.’ at QX command
H2232
When the assigned area is exceed
Ex 1) %QX0.0.64 Æ exceed assigned area
%MB0.0.8 Æ exceed assigned area
Ex 2) The address is not in decimal value such Correct the size within the assigned area and
Exceeded area error
execute again.
as %MX00A, %MB00A
Ex 3) When the M area size is set as 2 K bytes
in GMWIN, but exceeds over 2 K bytes
like %MB400.
H0190
Monitor execution
error
Exceeding limit of register No.
Correct the monitor register no. not to go over
than 9 and reset
H0290
Monitor register error Exceeding limit of register No.
Correct the monitor register no. not to go over
than 9 and reset
Check the data type and execute again
H6001
Syntax error
When use commands that aren’t supported. Ex1) - Be familiar with the manual
When use device like %MX100, %QX0.0.0 in RSB
- Check if the system stopped
command
- Reset
H6010
Syntax error
OVER-RUN, FRAME error
Be familiar with the manual
Confirm the setting of the RS-232C
communication ports. Turn the power off and on
to restart.
H6020
Syntax error
TIME_OUT error
H6030
Syntax error
Syntax error in commands
Check if each sends frame has ENQ, EOT.
H6040
Syntax error
When a FRAME text exceeds over 256 bytes
Correct the send frame not to go over 256 bytes.
H6050
Syntax error
BCC error
Check if BCC is right.
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Chapter 8. Communication Functions
8.1.9 LS inverter-dedicated protocol
1) Introduction
LS inverter dedicated protocol enables to build a 1:N (inverter as slave) system using LS-BUS (ASCII) protocol. This system can be built
easily with communication parameter settings in GMWIN. Up to 31 inverters can be used for each channel (channel 0, channel 1).
2) System configurations
(1) Configuration using channel 0
GM7U
G7L-CUEC
LS INVERTER
(2) Configuration using channel 1
GM7U
LS INVERTER
8-38
Chapter 8. Communication Functions
3) Parameter settings
(1) Communication parameter settings
• Select ‘Parameter’ -> ‘Communication Parameter’ in GMWIN, and select channel 0 or channel 1.
Selecting Channel 0
Selecting Channel 1
• After selecting, the figure below will be displayed. (Left for Channel 0, right for Channel 1)
Selecting Channel 0
Selecting Channel 1
• Set Station No. (PLC station), Baud rate, Parity bit, Data bit, and Stop bit.
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Chapter 8. Communication Functions
(2) Entry List settings
• Select ‘Dedicated’ -> ‘LG Inverter’ -> ‘List…’, and then the following window will be displayed.
• Select the items, and then the following window will be displayed..
• Station No. is for slave inverter station’s number. Stations No. 0 to 31 is available.
• Select ‘Send’ to write data to an inverter.
• Select ‘Receive’ to read data from inverter.
• Size is the data size to send and receive, and 1 to 8 words are available.
• PLC area and LG INVERTER area can be set in Area.
• M, I, Q areas (unit: word) can be used for PLC area.
• Input the inverter’s address in the LG INVERTER Area. H0000 to Hffff is available.
• Download the communication parameter after settings.
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Chapter 8. Communication Functions
8.2
User Defined Protocol Communication
8.2.1 Introduction
User Defined Protocol Communication allows users who do communication between GM7U main unit and other kind of device
to define the other company’s protocol at GM7U PLC. There’re a number of kinds of protocols made by many companies, that
it’s difficult to have all protocols in it. So if a user defines a protocol that can be applied to his/her purpose, GM7U main unit
executes the communication with the other kind of device through the defined protocol.
For this, protocol frame must be defined in GMWIN. And exact knowledge about the contents of the protocol defined by the
user is vital in making the communication possible. GMWIN can download a user defined protocol frame into GM7U main unit
and it is saved. it is not erased by power’s off/on. For using user-defined mode, he/she should program with instruction
controlling sending of PLC as well as edit frames. This section explains User Defined Protocol Communication setting & usage.
8.2.2 Parameter setting
1) Setting Communications Parameter
(1) Open a new project file from GMWIN and select GM7U as PLC type
(2) After setting communication parameter at GMWIN. Double click it to activate this window.
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Chapter 8. Communication Functions
(3) Set according to the following table.
Item
Station No.
Baud Rate
Data Bit
Parity Bit
Stop Bit
Communication
Channel
Timeout in Master
Mode
User Define Master
/ Slave
Setting range
Station no. from 0 to 31.
1200, 2400, 4800, 9600, 19200, 38400, 57600 bps
7 or 8 bits
0, Even or Odd
1 or 2 bit(s)
z RS-232C Null Modem or RS-422/485: It’s a communication channel for the communication,
using GM7U base unit’s built-in communication and Cnet I/F module (G7L-CUEC).
z RS232C Modem (Dedicated Line): It’s to be selected for the communication, using a dedicated
modem with Cnet I/F module (G7L-CUEB).
z RS232C Dial Up Modem: It’s to be selected for the general communication connecting through
the telephone line by dial up modem and Cnet I/F module (G7L-CUEB).
Remark) Using Cnet I/F module (G7L-CUEB) supporting RS232C, RS232C dedicated
or dial-up modem communication can be done, but not through Cnet I/F module (G7LCUEC) supporting RS422/485.
z It’s the time waiting a responding frame since the master GM7U base unit sends a request
frame.
z The default value is 500ms.
z It must be set in consideration of the max. periodical time for sending/receiving of the master
PLC.
z If it’s set smaller than the max. send / receive periodical time, it may cause communication
error.
If it is set as the master, it’s the subject in the communication system. If it’s set as the slave,
it only responds to the request frame of the master.
2) Frame setting
(1) Click “List” button to activate the following window.
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Chapter 8. Communication Functions
(2) Select one of 0∼15 in frame list to open the following window.
① Frame specification
• Header
- Used in [Header] type.
- Possible characters, as headers are 1 alphabet letter, 1 numeric number, or control characters as below.
Available Control Code
SOH(H01)
STX(H02)
ETX(H03)
EOT(H04)
ENQ(H05)
ACK(H06)
BS(H08)
NUL(H00)
HT(H09)
LF(H0A)
VT(H0B)
FF(H0C)
CR(H0D)
SO(H0E)
S1(H0F)
DLE(H10)
CAN(H18)
DEL(H7F)
DC1(H11)
EM(H19)
DC3(H13)
ESC(H1B)
DC4(H14)
FS(H1C)
NAK(H15)
GS(H1D)
SYN(H16)
RS(H1E)
ETB(H17)
US(H1F)
DC2(H12)
SUB(H1A)
Example 1)
[NUL], [ENQ], [1], [A]: Possible
Example 2) NUL, ENQ, [12], [ABC]: impossible
- It is allowed to be only 3 consecutive characters.
Example 3)
[ENQ][STX][NUL]: Possible
Example 4)
[A][NUL][ENQ][STX]: impossible
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BEL(H07)
Chapter 8. Communication Functions
• Send / Receive
- Not defined: It is the initial value that doesn’t declare a frame format.
- Send: It is that declares send frame.
- Receive: It is that declares receive frame.
- When Frame 0 window is activated, Tx/Rx term is set as “Not defined,” and all the segments are not in
activation.
• Segment (1-8): Enter segment by segment to separate fixed sending data area (CONSTANT) and device
area (Array).
Item
Contents
To set a segment type, there’re NONE (not defined), CONST (fixed data
area), ARRAY (Device area). CONST declares commands and fixed data that
are used for communication frame and ARRAY is used to input and save the
data needed for interactive communication. ARRAY type must be always set
by byte.
Ex.1) %MB0, %QB0.0.0
(← ○)
Ex.2) %MX0, %MW0, %MD0, %QX0.0.0, %QW0.0.0(← ×)
This field is to declare commands and fixed data that will be used in communication
frame and constant data to be declared by inputting. ASCII input must be done
within 10 characters and hex within 20 characters. If the number exceeds the limit,
set the next segment as the same type and continue to input there.
Ex. 1) 10RSB06%MW10006
If the segment is declared as ARRAY type, although word type data is declared in
CONST type, the related area is to be set by byte.
Ex2) As a dedicated protocol communication, 10RSB06%MW10006 is a frame to
execute reading 6 word data from %MW100 at the slave station no. 16. At the
moment, ARRAY must be set in 6 words that is 12 bytes, as the area to save the
data that is read.
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Chapter 8. Communication Functions
Item
Contents
It is a radio button to select the input type of commands. There’re 2 kinds as hex or
ASCII value.
Ex1) ASCII : 1 0 R S B 0 6 % M W 1 0 0
Ex2) Hex : 31 30 52 53 42 30 36 25 57 44 31 30 30
If ARRAY (variable data area) is set, it asks whether it would convert data to ASCII
to send (at send frame), or convert to hexadecimal to receive (at receive frame).
If ARRAY is set, the size of area is to be set by byte. The unit is a byte.
• Tail
- Used in [Tail] type.
- Possible characters as headers are 1 alphabet letter, 1 numeric number, or control characters as below
Available Control Code
NUL(H00)
SOH(H01)
STX(H02)
ETX(H03)
EOT(H04)
ENQ(H05)
ACK(H06)
BEL(H07)
BS(H08)
HT(H09)
LF(H0A)
VT(H0B)
FF(H0C)
CR(H0D)
SO(H0E)
S1(H0F)
DLE(H10)
DC1(H11)
DC2(H12)
DC3(H13)
DC4(H14)
NAK(H15)
SYN(H16)
ETB(H17)
SUB(H1A)
ESC(H1B)
FS(H1C)
GS(H1D)
RS(H1E)
US(H1F)
CAN(H18)
EM(H19)
DEL(H7F)
Example 1) [1], [2], [A], [a], [NUL], [EOT]: possible
Example 2) 1, [12], A, [AB], [ABC], NUL, EOT: impossible
- It is allowed to be only 3 consecutive characters.
Example 3) [ENQ][STX][NUL] : possible
Example 4) [A][NUL][ENQ][STX] : impossible
- It’s possible to use BCC that can detect errors. BCC must be set as [BCC] to be used. To set BCC contents,
click “BCC Setting” button on the right side.
Example 5)
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Chapter 8. Communication Functions
• BCC setting: set BCC when it is needed.
Item
Contents
Data Type
ASCII adds 2 bytes BCC value in ASCII type to frame. Hex adds 1 byte BCC value in Hex type to
frame. For the detailed setting BCC, refer to 8.1.6 “Execution of Commands”.
Default
Check Rule
LRC/CRC
It is that sum all the data from 2nd data to the data before the data marked as [BCC] and input the
result to the [BCC] area
Set as LRC/CRC check which is provided in modbus protocol.
For ASC communication set LRC, for HEX communication set CRC.
SUM 1
BCC method uses sum like defaults, but the user can set the BCC area.
SUM 2
BCC method is the same with SUM 1, but it’s used when the user masks any value to the last BCC
value.
XOR 1
BCC method is OR (Exclusive OR).
XOR 2
BCC method is the same with XOR 1, but it’s used when the user masks any value to the last BCC
value.
MUL 1
BCC method is MULTIPLY that is, multiplication.
MUL 2
BCC method is the same with MUL 1, but it’s used when the user masks any value to the last BCC
value.
H signifies header, S is for segment, and T is for tail.
Range
Ex1) When header is set as [ENQ][STX], tail is set as [EOT][ETX], and the range of setting
BCC is to be from [STX] to [ETX], then set as H [1]~T [1].
It is to set whether not to take complement number or to take the complement number of 1 or 2 at
Complement
[BCC] value. If mask setting is done after taking a complement number, the user can set any value to
do masking.
Sets any value and method of masking.
Mask
Ex1) When masking by XOR method, using a value, HFF : ^FF
Ex2) When masking by OR method, using a value, HFF : |FF
Ex3) When masking by AND method, using a value, HFF : &FF
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Chapter 8. Communication Functions
• Frame size
- ASCII communication: max. 128 bytes
- Hex communication: max. 256 bytes
• Flag (_RCV [n]: n is a frame list no.)
- It is a flag to indicate whether a user-defined frame is received in the order set by the user.
- It is a BOOL type and ARRAY type in the size of 16.
- If the received frame is matched with the declared frame in frame list number 3, _RCV [3] starts blinking.
(0 → 1 → 0)
- Channel 0 : _RCV[n] (n: frame list number)
- Channel 1 : _RCV1_422[n] (n: frame list number)
• When frame receiving is done, GM7U main unit check if there’s any match between the received frame and the
declared frame in frame list. If there is, let the Link relay L(n) flag blink and save the received data in the assigned
area.
Example) When frame is set as below, the result of calculation is as follow.
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Chapter 8. Communication Functions
(1) Default setting
The last transmitting frame
The kinds of
The value of sum check
Input segment
ASCII Input
BCC Type setting
ASCII Type
Hex Type
31 + 32 + 33 + 34 + 04 = CE
05 31 32 33 34 04 43 45
05 31 32 33 34 04 CE
12 + 34 + 04 = 4A
05 12 34 04 34 41
05 12 34 04 4A
Hex Input
(2) SUM 1, XOR 1 or MUL 1 setting.
① SUM 1
The last transmitting frame
The kinds of
segment input
The value of sum check
BCC Type setting
ASCII Type
Hex Type
ASCII Input
05 + 31 + 32 + 33 + 34 + 04 = D3
05 31 32 33 34 04 44 33
05 31 32 33 34 04 D3
Hex Input
05 + 12 + 34 + 04 = 4F
05 12 34 04 34 46
05 12 34 04 4F
② XOR 1
The last transmitting frame
The kinds of
segment input
The value of sum check
BCC Type setting
ASCII Type
Hex Type
ASCII Input
05 ^ 31 ^ 32 ^ 33 ^ 34 ^ 04 = 05
05 31 32 33 34 04 30 35
05 31 32 33 34 04 05
Hex Input
05 ^ 12 ^ 34 ^ 04 = 27
05 12 34 04 32 37
05 12 34 04 27
③ MUL 1
The last transmitting frame
The kinds of
segment input
The value of sum check
BCC Type setting
ASCII Type
Hex Type
ASCII Input
05 * 31 * 32 * 33 * 34 * 04 = 60
05 31 32 33 34 04 36 30
05 31 32 33 34 04 60
Hex Input
05 * 12 * 34 * 04 = 20
05 12 34 04 32 30
05 12 34 04 20
④ LRC and CRC check BCC in the same error check method which is provided in the modbus protocol. CRC is used in
the HEX communication, and LRC is used in the ASC communication. However, LRC is only used when the number
of data is an even number in the check range.
⑤ Complement setting : Complement calculation as below
Example> 1’s and 2’s complements of D3
1
1
0
1
0
0
1
1
= D3
0
0
1
0
1
1
0
0
= 2C (Complements of 1)
0
0
1
0
1
1
0
1
= 2D (Complements of 2)
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Chapter 8. Communication Functions
⑥ For SUM2,XOR2,MUL2, mask the above SUM check value (1 byte) and get the SUM Check value.
Example> Masking D3 as FF
8.2.3
1
1
0
1
0
0
1
1
= D3
1
1
1
1
1
1
1
1
= FF
1
1
0
1
0
0
1
1
= D3 (AND Masking)
1
1
1
1
1
1
1
1
= FF (OR Masking)
0
0
1
0
1
1
0
0
= 2C (Exclusive OR Masking)
Function block
1) User defined function block (SND_MSG)
Function block
Description
Input
Output
REQ: Execute function block at rising edge (0 → 1)
CH: Set communication channel (0 ~ 1)
FL_ID: Frame list field number to send. (0 ~ 15)
NDR: When ends without error, this is set to 1 and keeps till the next request for
function block.
ERR: When an error occurs, this is set to 1 and keeps till the next request for
function block.
STATUS: When an error occurs, output error code.
(1) Function
• When the execution condition is on, the communication starts with protocol at parameter which is designated early.
• ‘CH’ is a communication channel, and ‘FL_ID’ designates a frame list number which is registered in the user defined
communication parameter.
(2) Program example
• When input condition (%MX000) is on, channel 1 starts communication with protocol at user defined parameter number 3.
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Chapter 8. Communication Functions
• The communication status is saved in the COM_STAT value, and its type is USINT.
• NDR: When transfer is completed normally, this bit turns on during 1 scan.
• ERR: When communication error occurs, ,this bit turns on.
(3) Error code
Code
Error type
Description
06
Slave Device Busy
It’s sending or waiting to receive
09
Parameter Error
Communication parameter setting error, Link enable setting error
10
Frame Type Error
Frame does not setting or frame does not ‘sending’
8.2.4 Example
1) System configuration
GM7U main unit
(Slave: Station No. 1)
GM7U main unit
(Master: Station no. 0)
1:1 dedicated protocol communication cable between LSIS’
• This example assumes that there’s a communication between LSIS’ products by the user-defined protocol. The system configuration
is as follows and the cable is the same with the one of 1:1 dedicated protocol communication.
• The data in M area of the master station is sent to the slave station and the slave station saves received data in M area, output as
direct variable, and sends the data back to the master. This process repeats between the master and the slave.
2) Setting master station and program
① Set for master station no.0
② Create a new project file and make a new program for the master station.
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Chapter 8. Communication Functions
③ Select ‘Communication Parameters’ in GMWIN parameters.
• After communication method and channel setting, select ‘Master’ at User defined in Protocol and mode.
• Set the parameters according to the following table.
Station
no.
0
Baud
rate
9600
Data
bit
8
Parity
bit
None
Communication Method
Stop
Communication channel
bit
1
RS-232C null modem or RS-422/485
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Protocol and Mode
User defined
Master
Chapter 8. Communication Functions
• Select ‘Frame 0’ to define the Tx frame
Item
Header
Tx/Rx
Segment 1
Segment 2
Tailer
Setting value
[ENQ]
Receive
Type: CONST, Field: SND_FRAME
Type: ARRAY, Field: %MB000
[EOT][BCC]
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Chapter 8. Communication Functions
• “[BCC]” is set in tail after setting. Click ‘BCC Setting’ to activate the BCC setting window. Set as follows and click “OK” to close.
Item
Type
Check rule
Setting value
ASCII
Default
• Click ‘OK’, and then the following Frame List window is displayed.
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Chapter 8. Communication Functions
• Click Frame List 1 and set as below.
Item
Setting value
Header
[STX]
Tx/Rx
Receive
Segment 1
Type: CONST, Field: RCV_FRAME, ASCII Input
Segment 2
Type: ARRAY, Field: %MB10, Size: 4 Byte
Tailer
[ETX]
• After the frame setting, click ‘OK’, and then the frame will be registered as below.
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Chapter 8. Communication Functions
(4) Click ‘OK’ to exit communication parameter setting and click “OK” to complete setting.
(5) Setup a program like the following figure and download it to the slave station of GM7U. For detailed program setting and
downloading information, refer to the GMWIN manual.
• Insert ‘Communication Library’ (COMM.8FB) at Library window before using the function blocks.
Library files
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Chapter 8. Communication Functions
• It sends Frame 0 by operating the function block every 200m.
• Frame 0 sends 4-byte value from %MBO of the master station.
• Frame 1 is saved in %MB10 (refer to frame setting of Frame 1), and the saved %MB10 value is reversed and outputted
at %QB0.0.0. The output value of %QB0.0.0 is saved again in %MB0.
• When 8 LED of the master are on, then 8 LED of the slave are off, and vice versa.
• ‘Enable Link’ must be set for master and slave.
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Chapter 8. Communication Functions
3) Setting slave station and program
(1) Create a new project file and new program.
(2) Set for slave station no.1
(3) Create a new project file and make a new program for the slave station.
• Click the list after set the communication method and communication channel.
• Set the parameters according to the following table, and click ‘OK’.
Station
No.
Baud
Rate
1
9600
Communication Method
Stop
Data Bit
Parity Bit
Bit
8
None
1
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Protocol and Mode
Communication Channel
User Defined
RS-232C null modem or
RS-422/485
Slave
Chapter 8. Communication Functions
• Click ‘Frame 0’.
Item
Setting value
Header
[ENQ]
Tx/Rx
Receive
Segment 1
Type: CONST, Field: RCV_FRAME, ASCII Input
Segment 2
Type: ARRAY, Field: %MB0, Size: 4 Byte
Tailer
[EOT][BCC]
(4) “[BCC]” is set in tail after setting, click “BCC Setting” to activate BCC setting window, set as follows and click “OK” to close.
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Chapter 8. Communication Functions
• Click ‘OK’ to see the Frame List.
.
(5) Click Frame List 1 to activate the Frame 1 window and set as follows.
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Chapter 8. Communication Functions
Item
Setting value
Header
[STX]
Tx/Rx
Send
Segment 1
Type: CONST, Field: SND_FRAME, ASCII Input
Segment 2
Type: ARRAY, Field: %MB10, Size: 4 Byte
Tailer
[ETX]
* Set BCC following the master station.
(6) Click ‘OK’ after frame setting, and then the frame is registered as below.
(7) Set up a program like the following figure and download it to the slave station GM7U. For details on program setting and
downloading, refer to the GMWIN manual.
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Chapter 8. Communication Functions
• When Frame 0 is received, it saves the value in %MB0 (refer to frame setting of Frame 1) and outputs the value to %QB0.0.0.
The ouputted value of %QB0.0.0 is saved again in %MB10. If the execution is completed without errors, Frame 1 is sent from
function block. Frame 1 sends 4-byte data saved in %MB10.
• If Frame 0 which is receiving frame is not received, this program is not executed.
• ‘Enable Link’ must be set for master and slave.
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Chapter 8. Communication Function
8.3
Modbus Protocol Communication
8.3.1 Introduction
GM7U built-in communication supports Modbus, the Modicon product’s communication protocol. It supports ASCII mode, using
ASCII (American Standard Code for Information Interchange) data and RTU (Remote Terminal Unit) mode using Hex data.
Function code used in Modbus is supported by function block and especially function code 01, 02, 03, 04, 05, 06, 15, and 16. Refer
to "Modicon Modbus Protocol Reference Guide"(http://www.modicon.com/techpubs/toc7.html).
8.3.2 Basic specifications
1) ASCII mode
(1) It communicates, using ASCII data.
(2) Each frame uses ': (colon: H3A)', for header, CRLF (Carriage Return-Line Feed: H0D H0A), for tail.
(3) It allows Max. 1 second interval between characters.
(4) It checks errors, using LRC.
(5) Frame structure (ASCII data)
Item
Header
Address
Function code
Data
LRC
Size
1 byte
2 bytes
2 bytes
n bytes
2 bytes
Tail
(CR LF)
2 bytes
2) RTU mode
(1) It communicates, using hex data.
(2) There's no header and tail. It starts with address and finishes frame with CRC.
(3) It has at least 3.5 character times between two frames.
(4) It ignores the current frame when 1.5 character times elapse between characters.
(5) It checks errors, using 16 bit CRC.
(6) Frame structure (hex data).
Item
Address
Function code
Data
CRC
Size
1 byte
1 bytes
n bytes
2 bytes
REMARK
1) The size constituting 1 letter is 1 character. So 1 character is 8 bits that is 1 byte.
2) 1 character time means the time lapsed for sending 1 character.
Ex) 1 character time calculation at 1200 bps
1200 bps means that it takes 1 sec to send 1200 bits. To send 1 bit, 1 sec/1200 bits = 0.83 ms. Therefore 1
character time is 0.83ms * 8 bits = 6.64ms.
3) 584, 984 A/B/X executes frame division, using intervals of more than 1 sec without LRC in processing internally.
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Chapter 8. Communication Function
3) Address area
(1) Setting range is available from 1 to 247, but GM7U supports from 0 to 31.
(2) Address 0 is used for broadcast address. Broadcast address is all slave devices recognize and respond to
like the self-address, which can't be supported by GM7U.
4) Function code area
(1) GM7U supports only 01, 02, 03, 04, 05, 06, 15, and 16 among Modicon products' function codes.
(2) If the response format is confirm+(ACK), it uses the same function code.
(3) If the response format is confirm- (NCK), it returns as it sets the 8th bit of function code as 1.
Ex) If function code is 03, (write only function code part here because only function codes are different.)
[Request]
0000 0011 (16#03)
[Confirm+]
0000 0011 (16#03)
[Confirm-]
1000 0011 (16#83)
It returns as it sets the 8th bit of
function code of request frame.
5) Data area
(1) It sends data, using ASCII data (ASCII mode) or hex (RTU mode).
(2) Data is changed according to each function code.
(3) Response frame uses data area as response data or error code.
6) LRC check/CRC check area
(1) LRC (Longitudinal Redundancy Check): It works in ASCII mode. It takes 2 complement from sum of frame
except header or tail to change into ASCII code,
(2) CRC (Cyclical Redundancy Check): It works in RTU mode. It uses 2-byte CRC check rules.
REMARK
1) All numerical data can use hexadecimal, decimal, and binary type. If we convert decimal 7 and 10 into each type:
Hexadecimal: 16#07, 16#0A
Decimal: 7, 10
Binary: 2#0111, 2#1010
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Chapter 8. Communication Function
7) Function code types and memory mapping
Code
Function code name
Modicon PLC
Data address
GLOFA-mapping
Remark
01
Read Coil Status
0XXXX(bit-output)
%MX0~%MX9999
Read bits
02
Read Input Status
1XXXX(bit-input)
%MX0~%MX9999
Read bits
03
Read Holding Registers
4XXXX(word-output)
%MW0~%MW9999
Read words
04
Read Input Registers
3XXXX(word-input)
%MW0~%MW9999
Read words
05
Force Single Coil
0XXXX(bit-output)
%MX0~%MX9999
Write bit
06
Preset Single Register
4XXXX(word-output)
%MW0~%MW9999
Write word
15
Force Multiple Coils
0XXXX(bit-output)
%MX0~%MX9999
Write bits
16
Preset Multiple Registers
4XXXX(word-output)
%MW0~%MW9999
Write words
8) Modbus addressing rules
GM7U main unit starts its address from 0 and matches with 1 of Modicon products' data address. So GM7U's
address, n matches n+1 of Modicon products' address. Also, GM7U main unit has continuous M area without
any division of output contact points (0XXXX), input contact points (1XXXX), output registers (4XXXX), input
registers (3XXXX). This means that the output contact point 1 (0001) of Modicon products is marked as
communication address 0 and the input contact point 1 (0001) of Modicon products is marked as communication
address 0 in GM7U.
Output contact points (0XXXX), Input contact points (1XXXX), Output registers (4XXXX), Input registers (3XXXX)
Highest data of data address dividing output contact point, input contact point,
output register, and input contact register in Modicon products.
9) The size of the data in use
As for data size, GM7U main unit supports 128 bytes in ASCII mode and 256 bytes in RTU mode. The maximum size of
the Modicon products is different from each other kind. So refer to "Modicon Modbus Protocol Reference Guide."
REMARK
1) GM7U main unit doesn't have any division between input and output area like Modicon PLC, when it
supports Modbus protocol communication. It uses only M area. So the user must be caution to in set input
and output area in M area for Modbus protocol communication.
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Chapter 8. Communication Function
10) Wiring
GM7U
main unit
5
4
3
2
1
Male Type
Quantum (9PIN)
Connecting no. and direction
Pin no.
Pin no.
Signal
1
1
CD
2
2
RXD
3
3
TXD
4
4
DTR
5
5
SG
6
6
DSR
7
7
RTS
8
8
CTS
9
9
9
8
7
6
For channel 2, use RS-485 connector.
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Chapter 8. Communication Function
8.3.3 Parameter setting
1) Setting communication parameter
(1) Open a new project file at GMWIN.
z
z
GM7U should be selected in PLC types.
Open a new project file for each of the master and the slave.
(2) Select a communication parameter at GMWIN and click to open the following window.
Set as 7 bit
for ASCII mode
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Chapter 8. Communication Function
Item
Station No.
Baud rate
Data bit
Parity bit
Stop bit
Communication
channel
Timeout in master
mode
Modbus Master/
Slave
Transmission mode
Settings
Set a number between 1 to 31 (Don’t assign no. 0 as broadcasting station lest it may be a cause
for mistaken operation)
Set one from 1200, 2400, 4800, 9600, 19200, 38400, or 57600 bps.
Set 7 or 8.
ASCII mode: Set as 7 bits.
RTU mode: Set as 8 bits.
Set as one of None, Even, or Odd.
Set 1 or 2 bit(s).
When parity bit is set: Set as 1 bit.
When parity bit isn’t set: Set as 2 bits.
z RS-232C Null Modem or RS-422/485: It’s a communication channel for the communication,
using GM7U main unit’s built-in communication and Cnet I/F module (G7L-CUEC).
z RS232C Modem (Dedicated Line): It’s to be selected for the communication, using an
dedicated modem with Cnet I/F module (G7L-CUEB).
z RS232C Dial Up Modem: It’s to be selected for the general communication connecting
through the telephone line by dial up modem and Cnet I/F module (G7L-CUEB).
Footnote) Using Cnet I/F module (G7L-CUEB) supporting RS232C, RS232C dedicated or dial-up
modem communication can be done, but not through Cnet I/F module (G7L-CUEC)
supporting RS422/485.
z It’s the time waiting a responding frame since the master GM7U main unit sends a request
frame.
z The default value is 500ms.
z It must be set in consideration of the max. periodical time for sending/receiving of the
master PLC.
z If it’s set smaller than the max. send/receive periodical time, it may cause communication
error.
If it is set as the master, it’s the subject in the communication system. If it’s set as the slave, it only
responds to the request frame of the master.
Select ASCII mode or RTU mode.
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Chapter 8. Communication Function
8.3.4 Function block
1) MOD0102
Function block
Description
REQ: Execute function block when it’s 1(rising edge)
CH : Set communication channel (0 ~ 1)
SLV_STNO: Input the number of the slave station
FUNC: Input the function code. It supports function code 01 and 02
SLV_ADDR: The address to read from the slave station
NUMH: The data size to read from the slave station
Input
RD_DATA: A variable name to save the data that is read (The number of array is
to be declared as same as or bigger than data size.).
NDR: If it ends without error, output 1 and keep the value till the call for the next
function block.
Output
ERR: If an error occurs, output 1 and keep the value till the call for the next
function block.
STATUS: When an error occurs, output an error code.
(1) Function
This is a function block that can execute either function code 01 or 02 for reading bits in Modbus protocol
communication. Function code 01 reads Coil Status data and function 02 reads Input Status data.
(2) Error
It outputs error codes to output STATUS. Refer to “Error codes” for the detailed.
(3) Example of the program
z It’s supposed that GM7U main unit is the master and it reads Coil Status of the station no. 17, a Modicon
product.
z The master reads status of the Coil 00020 ~ 00056 of the slave station no. 17. The Coil of the slave station is
supposed to be as follows and the data that are read is saved in any array variable RD_DBD of the 40 sized
BOOL type.
Coil
Status
Hex
Coil
Status
Hex
59
58
X
X
57
56
55
54
X
1
1
0
1
39
38
0
0
2
53
52
51
50
1
1
0
0
B
37
36
35
34
1
0
0
1
49
48
47
46
0
0
1
1
0
33
32
31
30
1
0
1
0
6
45
44
43
42
1
0
1
0
E
29
28
27
26
1
1
1
1
B
C
41
40
1
1
21
20
0
1
B
25
24
23
22
0
0
1
1
D
<Data status of the Modicon product’s Coil 00020-00059>
z The status of Coil 57, 58, 59 is redundancy.
z Data is sent starting from the low bit by byte unit. If the deficient bit of a byte is filled with 0. An example of
sending the above data is as follows.
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Chapter 8. Communication Function
Ex1) CD 6B B2 0E 1B
Function block input
Input value
REQ
CH
SLV_STNO
FUNC
Enter the input condition to operate
16#0 or 0
Set channel 0
16#11 or 17
Slave station
16#01 or 1
Enter ‘1’ when the Coil status is being read
SLV_ADDR
16#13 or 19
The start address to read from slave station
- Read the no. 19 to read starting from the Coil 00020 in accordance
with the previous no. 8) “Modbus addressing rules.” And the
highest data of the data address doesn’t need to be input.
Because it’s automatically processed by the input value of the
input FUNC of the function block.
NUM
16#25 or 37
The total data size to read
- Example is to be read 00020 ~ 00056, of which the total data size
is 37. Input 16#25 or 37.
z Results
RD_DB0[0]
Value to
save
1
RD_DB0[10]
Value to
save
0
RD_DB0[20]
Value to
save
1
RD_DB0[30]
Value to
save
0
RD_DB0[1]
0
RD_DB0[11]
1
RD_DB0[21]
1
RD_DB0[31]
0
RD_DB0[2]
1
RD_DB0[12]
0
RD_DB0[22]
0
RD_DB0[32]
1
RD_DB0[3]
1
RD_DB0[13]
1
RD_DB0[23]
1
RD_DB0[33]
1
RD_DB0[4]
0
RD_DB0[14]
1
RD_DB0[24]
0
RD_DB0[34]
0
RD_DB0[5]
0
RD_DB0[15]
0
RD_DB0[25]
1
RD_DB0[35]
1
RD_DB0[6]
1
RD_DB0[16]
0
RD_DB0[26]
1
RD_DB0[36]
1
RD_DB0[7]
1
RD_DB0[17]
1
RD_DB0[27]
1
RD_DB0[37]
X
RD_DB0[8]
1
RD_DB0[18]
0
RD_DB0[28]
0
RD_DB0[38]
X
RD_DB0[9]
1
RD_DB0[19]
0
RD_DB0[29]
0
RD_DB0[39]
X
Variable
Variable
Variable
Variable
z The variable to which saves the previously read data must be array type. The size of array type must be the
same or bigger than the data size to read. If it’s smaller, the error code is marked in STATUS.
z The previously read data is saved from the array variable, RD_DB0[0].
z The remnant part of an array variable is redundancy, after the variable is filled with the previously read data.
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Chapter 8. Communication Function
z It assumes that GM7U main unit is the master and it reads Input Status of the station no. 17, a Modicon product.
z The master reads status of the Input 10197 ~ 10218 of the slave station no. 17. The Input of the slave station is
supposed to be as follows and the data that are previously read is saved in any array variable RD_DB1 of the
24-sized BOOL type.
Input
10220
10219
10218
10217
10216
10215
10214
10213
10212
10211
10210
10209
Status
X
X
1
1
0
1
0
1
1
1
0
1
Hex
Input
Status
10208
10207
10206
10205
10204
10203
10202
10201
10200
10199
10198
10197
1
0
1
1
1
0
1
0
1
1
0
0
3
Hex
5
B
D
A
C
z Input coil 10219, 10220 are redundancy.
z Data is sent starting from the low bit by byte unit. If the deficient bit of a byte is filled with 0. An example of
sending the above data is as follows.
Ex1) AC DB 35
Function block input
Input value
REQ
CH
SLV_STNO
FUNC
Enter the input condition to operate
16#1 or 1
Set channel 1
16#11 or 17
Slave station
16#02 or 2
Enter ‘2’ when the Coil status is being read
SLV_ADDR
16#C4 or 196
The start address to read from slave station
- Read the no. 196 to read starting from the Coil 10197 in
accordance with the previous no. 8) “Modbus addressing rules.”
And the highest data of the data address doesn’t need to be
input. Because it’s automatically processed by the input value
of the input FUNC of the function block.
NUM
16#16 or 22
The total data size to read
- Example is to be read 10197 ~ 10218, of which the total data
size is 22. Input 16#16 or 22.
z Results
RD_DB1[0]
Value to
save
0
RD_DB1[6]
Value to
save
0
RD_DB1[12]
Value to
save
1
RD_DB1[18]
Value to
save
1
RD_DB1[1]
0
RD_DB1[7]
1
RD_DB1[13]
0
RD_DB1[19]
0
RD_DB1[2]
1
RD_DB1[8]
1
RD_DB1[14]
1
RD_DB1[20]
1
RD_DB1[3]
1
RD_DB1[9]
1
RD_DB1[15]
1
RD_DB1[21]
1
RD_DB1[4]
0
RD_DB1[10]
0
RD_DB1[16]
1
RD_DB1[22]
X
RD_DB1[5]
1
RD_DB1[11]
1
RD_DB1[17]
0
RD_DB1[23]
X
Variable
Variable
8-70
Variable
Variable
Chapter 8. Communication Function
z The variable which saves the read data must be array type. The size of array type must be the same or bigger
than the size of the data of read. If it’s smaller, the error code is marked in STATUS.
z The previously read data is saved from the array variable, RD_DB1[0].
z The remnant part of an array variable is redundancy, after the variable is filled with the previously read data.
2) MOD0304
Function block
Description
Input
REQ: Execute function block when it’s 1(rising edge)
CH : Set communication channel (0 ~ 1)
SLV_STNO: Input the number of the slave station
FUNC: Input the function code. It supports function code 03 and 04
SLV_ADDR: The address to read from the slave station
NUM: The data size to read from the slave station
RD_DATA: A variable name to save the data that is read (The number of array is
to be declared as same as or bigger than data size.).
NDR: If it ends without error, output 1 and keep the value till the call for the next
function block.
Output
ERR: If an error occurs, output 1 and keep the value till the call for the next
function block.
STATUS: When an error occurs, output an error code.
(1) Function
This is a function block that can execute either function code 03 or 04 for reading words in Modbus protocol
communication. Function code 03 reads Holding Registers and function 04 reads Input Registers.
(2) Error
It outputs error codes to output STATUS. Refer to “Error codes” for the detailed.
(3) Example of the program
z It assumes that GM7U main unit is the master and it reads the station no. 17 of a Modicon product.
z The master reads the Holding Registers 40108 ~ 40110 of the slave station no. 17. The status of the Holding
Registers of the slave station is supposed to be as follows and the previously read data are saved in any array
variable RD_DWO of the 40-sized WORD type.
Holding Registers
40110
40109
40108
Register status
16#0064
16#0000
16#022B
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Chapter 8. Communication Function
z Data is sent starting from the high byte by byte unit. An example of sending the above data is as follows.
Ex1) 02 2B 00 00 00 64
Function block input
Input value
REQ
CH
SLV_STNO
FUNC
Enter the input condition to operate
16#0 or 0
Set channel (0, 1)
16#11 or 17
Slave station
16#03 or 3
Enter ‘3’ when the output register is being read
The start address to read from slave station
- Read the no. 107 to read starting from the output register 40108 in
accordance with the previous no. 8) “Modbus addressing rules.” And
16#6B or 107
the highest data of the data address doesn’t need to be input.
Because it’s automatically processed by the input value of the input
FUNC of the function block.
The total data size to read
16#03 or 3
- Example is to be read 40108 ~ 40110, of which the total data size is 3.
Input 16#03 or 3.
SLV_ADDR
NUM
z Result
Variable
Value to save
RD_DW0 [0]
16#002B or 555
RD_DW0 [1]
16#0000 or 0
RD_DW0 [2]
16#0064 or 100
RD_DW0 [3]
X
z The variable to which saves the previously read data must be array type. The size of array type must be the
same or bigger than the size of the data of read. If it’s smaller, the error code is marked in STATUS.
z The previously read data is saved from the array variable, RD_DW0 [0].
z The remnant part of an array variable is redundancy, after the variable is filled with the previously read data.
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Chapter 8. Communication Function
z It’s supposed that GM7U main unit is the master and it reads output coil data of the station no. 17, a
Modicon product.
z The master reads status of the input registers 30009 of the slave station no. 17. The input coil of the slave
station is supposed to be as follows and the data that are read is saved in any array variable RD_DW1 of the
2-sized WORD type.
Input Register
Register status
30009
16#000A
z Data is sent starting from the low bit by byte unit. An example of sending the above data is as follows.
Ex1) 00 0A
Function block input
Input value
REQ
CH
SLV_STNO
FUNC
Enter the input condition to operate
16#1 or 1
Set channel (0, 1)
16#11 or 17
Slave station
16#04 or 4
Enter ‘4’ when the output register is being read
The start address to read from slave station
- Read the no. 8 to read starting from the output register 30009 in
accordance with the previous no. 8) “Modbus addressing rules.” And
16#08 or 8
the highest data of the data address doesn’t need to be input.
Because it’s automatically processed by the input value of the input
FUNC of the function block.
The total data size to read
16#01 or 1
- Example is to be read 30009, of which the total data size is 1. 1 is
16#0001 in hex, so input 16#01.
SLV_ADDR
NUM
z
Results
Variable
Value to save
RD_DW1 [0]
16#000A or 10
RD_DW1 [1]
X
z The variable to which saves the previously read data must be array type. The size of array type must be the
same or bigger than the size of the data of read. If it’s smaller, the error code is marked in STATUS.
z The previously read data is saved from the array variable, RD_DW1[0].
z The remnant part of an array variable is redundancy, after the variable is filled with the previously read data.
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Chapter 8. Communication Function
3) MOD0506
Function block
Description
Input
REQ: Execute function block when it’s 1(rising edge)
CH : Set communication channel (0 ~ 1)
SLV_ADDR: Input the number of the slave station
FUNC: Input the function code. It supports function code 05 and 06
ADDR: The starting address to read from the slave station
DATA (J): A variable name to save the data to write.
NDR: If it ends without error, output 1 and keep the value till the call for the next
function block.
Output ERR: If an error occurs, output 1 and keep the value till the call for the next
function block.
STATUS: When an error occurs, output an error code.
(1) Function
This is a function block that can execute either function code 05 or 06 for writing 1 bit (function code 05) and
writing 1 word (function code 06) in Modbus protocol communication. Function code 05 does 1 bit data writing
on the Output Coil. If the Input NUMH is set as 255 (or HFF), it writes 1 on the output coil. If the Input NUMH is
set as 0 (or 16#00), it writes 0 on the output coil. And function 06 writes 1 word data on the Output Holding
Register.
(2) Error
It outputs error codes to output STATUS. Refer to “Error codes” for the detailed.
(3) An example of the program
z It assumes that GM7U main unit is the master and it writes 1 bit data on the Coil of the station no. 17, a
Modicon product.
z The master writes 1 on the Coil 00173 of the slave station no. 17, a Modicon product.
Function block input
Input value
REQ
CH
SLV_ADDR
FUNC
Enter the input condition to operate
16#0 or 0
Set channel (0, 1)
16#11 or 17
Slave station
16#05 or 5
Enter ‘5’ as writes 1 bit on the Coil.
Low byte of the starting addresses to write on the slave station.
Write on the no. 172 to write on, starting from the output coil 00173 in
accordance with the previous no. 8) “Modbus addressing rules.” And the
16#AC or 172
highest data of the data address doesn’t need to be input. Because it’s
automatically processed by the input value of the input FUNC of the
function block.
ADDR
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Chapter 8. Communication Function
z
Result: The Coil 00173 turns ON. (In case of GM7U main unit, 1 is saved on the related M area.)
Coil
Status
00173
1
z
It assumes that GM7U main unit is the master and it writes on 1 word at Holding Register of the station no.
17, a Modicon product.
z
An example of writing 3 on Holding Register 4002 of the station no. 17.
Function block input
Input value
REQ
CH
SLV_ADDR
FUNC
Enter the input condition to operate
16#1 or 1
Set channel (0, 1)
16#11 or 17
Slave station
16#06 or 6
Enter ‘6’ as writes 1 word on the Holding Register.
Set the starting address to write on the slave station
- Write on no. 1 to write on, starting from the Holding Register
40002 in accordance with the previous no. 8) “Modbus
16#0001 or 1
addressing rules.” And the highest data of the data address
doesn’t need to be input. Because it’s automatically processed by
the input value of the input FUNC of the function block.
Set the number of data to write on the slave station..
16#03 or 3
- As the example writes 3, of which hex is 16#0003. So input
16#03 for NUM
ADDR
NUM
z
Result: The Holding Register 40002 is saved on 16#0003. (In case of GM7U main unit, 16#0003 is saved on
a related M area.)
Holding Register
Register status
40002
16#0003
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Chapter 8. Communication Function
4) MOD1516
Function block
Description
Input
REQ: Execute function block when it’s 1(rising edge)
CH : Set communication channel (0 ~ 1)
SLV_ADDR: Input the number of the slave station
FUNC: Input the function code. It supports function code 15 and 16
ADDR: The starting address to read from the slave station
NUM: The data size to read from the slave station
WD_DATA: A variable name to save the data to be written.
NDR: If it ends without error, output 1 and keep the value till the call for the next
function block.
Output ERR: If an error occurs, output 1 and keep the value till the call for the next
function block.
STATUS: When an error occurs, output an error code.
(1) Function
This is a function block that can execute either function code 15 or 16 for writing 1 bit (function code 15) and
writing 1 word (function code 16) in Modbus protocol communication. Function code 15 does 1 bit by 1 bit data
writing on each Coil in a sequence Coils. And Function 16 does 1 word by 1 word data writing on sequence of the
Holding Registers.
(2) Error
It outputs error codes to output STATUS. Refer to “Error codes” for the detailed.
(3) Example of the program
z It’s supposed that GM7U main unit is the master and it writes bits continually on the output coil of the
station no. 17, a Modicon product.
z The master writes continual 10 bits, 01110011011 on the Coils 00020 of the slave station no. 17 1 bit
by 1 bit. The data that is to be written are saved in any array variable WR_DB0 of the 2 sized BYTE
type.
Variable
Value to save
WR_DB0 [0]
2#11001101 or 16#CD
WR_DB0 [1]
2#10000001 or 16#81
z The size of BYTE_CNT is the same as when the data to be written are converted by byte. The above
data are 10 by 1 bit. They can’t be filled by 1 byte. So they must be filled from the low bit, using 2 bytes.
And 0 fills the remnant 6 bits. Therefore the size of BYTE_CNT is 2.
z f it is supposed that data of 1000 0001 1100 1101 are saved in the array variable, WR_DB0, the data are
sent as 10 bits (01 1100 1101) at the bottom plus 6 bit of 0 at the top. For the size of the data is set as 10
bits to send and they are sent by bytes, the deficient 6 bits are filled with 0.
z Data is sent starting from the low bit by byte unit. An example of sending the above data is as follows.
8-76
Chapter 8. Communication Function
Ex1) CD 01
Input value
Function block input
REQ
CH
SLV_ADDR
FUNC
Enter the input condition to operate
16#0 or 0
Set channel (0, 1)
16#11 or 17
Slave station
16#0F or 15
Enter ‘15’ as bits are continually written on the output coils.
Set the starting address to write on the slave station
- Write on no. 19, starting from Holding Register 00020 in
accordance with the previous no. 8) “Modbus addressing rules.”
16#13 or 19
The highest data of the data address doesn’t need to be input.,
because it’s automatically processed by the input value in the
input FUNC of the function block.
Set the number of data to write on the slave station..
16#0A or 10
- Example is to be read from 00020, of which the total data size is
10. Input 16#0A.
ADDR
NUM
Result
From the 2 bytes (16 bits) sent, only the low 10 bits are valid as set for its size.
z
Coil
Status
00029
00028
00027
00026
00025
00024
00023
00022
00021
00020
0
1
1
1
0
0
1
1
0
1
z
It’s supposed that GM7U main unit is the master and it writes word data continually on the Holding
Registers of the station no. 17, a Modicon product.
z
The master writes 000A and 0102 on the Holding Registers 40002 of the slave station no. 17. The data
that is to be written are saved in any array variable WR_DB1 of the 4 sized BYTE type.
Variable
Value to save
WR_DB1 [0]
2#00001010 or 16#0A
WR_DB1 [1]
2#00000000 or 16#00
WR_DB1 [2]
2#00000010 or 16#02
WR_DB1 [3]
2#00000001 or 16#01
z
z
The size of BYTE_CNT is the same as when the data to be written are converted by byte. The
above data are 2 words that need 4 bytes. Therefore the size of BYTE_CNT is 4.
Data is sent starting from the low word by byte unit. An example of sending the above data is as
follows.
8-77
Chapter 8. Communication Function
Ex1) 00 0A 01 02
Function block input
REQ
CH
SLV_ADDR
FUNC
Input value
Enter the input condition to operate
16#1 or 1
Set channel (0, 1)
16#11 or 17
Slave station
16#10 or 16
Enter ‘16’ as bits are continually written on the Holding Register.
ADDR
16#01 or 1
NUM
16#02 or 2
z
Set the starting address to write on the slave station
- Write on no. 1 to write on, starting from the Holding Register
40002 in accordance with the previous no. 8) “Modbus
addressing rules.” And the highest data of the data address
doesn’t need to be input. Because it’s automatically processed
by the input value of the input FUNC of the function block.
Set the number of data to write on the slave station..
- As the example writes 2, of which hex is 16#0002. Input
16#02 for NUM.
Result
Holding Registers
Registers status
40003
40002
16#0102
16#000A
5) Error codes
CODE
Error type
Meaning
01
Illegal Function
Error in inputting function code in function block.
02
Illegal Address
03
Illegal Data Value
04
Slave Device Failure
05
Acknowledge
Error of exceeding the area limit of reading/writing on the slave station.
Error when the data value to be read from or write on the slave station isn’t
allowed.
Error status of the slave station.
It’s a responding code of the slave station for the master station to prevent the
master stations time-out error, when request command processing takes
time. The master station marks an error code and waits for a certain time
without making any second request.
06
Slave Device Busy
Error when request command processing takes too much time. The master
should request again.
07
Time Out
Error when exceeds the time limit of the communication parameter as it
communicates.
08
Number Error
Errors when data is 0 or more than 256 bytes, when the data size is bigger
than the array size, or when Number and BYTE_CNT are different from each
other.
09
Parameter Error
Error of setting parameters (mode, master/ slave)
10
Station Error
Error when the station number of itself and the station number set by the
input parameter of the function block is the same.
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Chapter 8. Communication Function
8.3.5 Example
According to the settings for the device supporting Modbus protocol, setting of GM7U basic unit is changed, but this example
explains Modbus protocol communication among GM7U units.
The slave station program: This outputs the received data saved in M area through the output coil.
The master station program: It saves 16#FF (or 255) at %MW0 (It is coincided with %MX0 ~ MX15 or %MB0 ~ %MB1) in
function block MOD0506 (function code 06), then reads %MX0 through MOD0102 (function code 01), and again saves 0
at %MX0 ~ %MX9 using function block MOD1516 (function code 15), then reads %MW0 through Mod0304.
The cable used in this example is same with that used for the dedicated protocol communication between GM7U’s.
1) Slave station setting and a program
(1) Open a new project file and a new program for the slave station.
(2) Select communication parameter in GMWIN parameter and the following window opens.
-
Set parameters as the following table.
Station
No.
Baud
Rate
Data
Bit
17
38400
7
Communication Method
Parity
Stop
Communication Channel
Bit
Bit
RS-232C Null Modem or
Even
1
RS-422/485
8-79
Protocol and Mode
Transmission
Modbus
Mode
Slave
ASCII
Chapter 8. Communication Function
(3) Set up a program like the following figure and download to the slave station GM7U. For the detailed program
setting and downloading, refer to GMWIN manual.
-
The program of the slave is to output the data at M area to the output contact coil.
2) Setting s and the program for the master station
(1) Create a new project file and a new program for the master station.
(2) Select 'Communication Parameter' in GMWIN, and following window will appear.
8-80
Chapter 8. Communication Function
Set parameters as the following table.
-
Communication Method
Station
No.
Baud
Rate
Data
Bit
Parity
Bit
Stop
Bit
Communication Channel
1
38400
7
Even
1
RS-232C Null Modem
or RS-422/485
(3) Program
8-81
Protocol and
Mode
Transmission
Modbus
Mode
Master
ASCII
Chapter 8. Communication Function
(4) Program description
z
z
z
z
It saves 16#FF (or 255) at %MW0 (It is coincided with %MX0 ~ %MX15 or %MB0 ~ %MB1) in function block
MOD0506 (function code 06). It then reads %MX0 through MOD0102 (function code 01), and again saves 0
at %MX0 ~ %MX9 using function block MOD1516 (function code 15), and then reads %MW0 through Mod0304.
8 LEDs of output contact points operate on/off continually.
The above figure is the monitored scene of the program operation. Therefore the values appeared in _RD_DB,
_RD_DW, array variables are not the initial ones, but the resulted value after executing reading.
Variables like instance name NDR, Instance name ERR, Instance name STATUS are automatically generated
when an instance variable of function block is declared.
_1ON flag is a flag that is on for 1 scan.
Previous function blocks’ NDR output is the input condition for REQ of each function block.
The size of _BYTE_CNT must be the same when it is converted into bytes.
An error occurs when the size of array variable is smaller than the data to be read or to be written.
z
Table of variables
z
z
z
z
Variable
Variable type
Initial value
Variable
Variable type
Initial value
_SLV_ADDR
USINT
17(16#11)
_NH0102
USINT
0(16#00)
_FUNC0102
USINT
1(16#01)
_NH0304
USINT
0(16#00)
_FUNC0304
USINT
3(16#03)
_NH0506
USINT
0(16#00)
_FUNC0506
USINT
6(16#06)
_NH1516
USINT
0(16#00)
_FUNC1516
USINT
15(16#0F)
_NL0102
USINT
1(16#01)
_AH0102
USINT
0(16#00)
_NL0304
USINT
255(16#FF)
_AH0304
USINT
0(16#00)
_NL0506
USINT
255(16#FF)
_AH0506
USINT
0(16#00)
_NL1516
USINT
10(16#0A)
_AH1516
USINT
0(16#00)
_RD_DB
BOOL-typed ARRAY [40]
{0,0,…,0}
_AL0102
USINT
0(16#00)
_RD_DW
WORD-typed ARRAY [4]
{0,0,0,0}
_AL0304
USINT
0(16#00)
_WR_DBW
BYTE-typed ARRAY [4]
{0,0,0,0}
_AL0506
USINT
0(16#00)
_BYTE_CNT
USINT
2(16#02)
_AL1516
USINT
0(16#00)
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Chapter 8. Communication Functions
8.4
No Protocol Communication
8.4.1 Introduction
No Protocol Communication is useful when communication between GM7U main unit and other kind of devices with user
defined protocol is impossible. User defined protocol is very convenient when there are enough interval between frames or a
kind of frame is less than 16. But, when the kind of frame is greater than 16 or frames are continued without interval, user
defined protocol is not available. When the frames are more than 16, they can’t be registered in parameter area; therefore
GM7U can’t transfer these frames.
Sending frame no.0
Receiving frame no.1
:
Sending frame no.15
Also, if there are no intervals between frames, GM7U can’t find end of frame.
To overcome these defects of user defined protocol, GM7U provide ‘No Protocol Communication ’.
In the No Protocol Communication, frames are designated by commands, not by parameter setting. So maximum of 128
frames can be designated when using this communication mode. This section explains No Protocol Communication setting
& usage.
1) Sending data
• Command: DSND
• Sends stored data in designated device at the rising edge of input condition.
• Data and the number of character must be stored in designated device before they are sent.
2) Receiving data
• Command: DRCV
• Saves received data to pre-defined receiving devices when designated ending condition is occurs.
• The ending condition can be designated by following two methods.
- By received number of character.
- By designated last byte. It is useful when there is no interval between received frames.
No Protocol Communication supports HEX communication. In ASCII communication, h31323334 is saved in the received device
when the received device is h1234. To send data ABCD, save h41424344 in the send device and use the DRCV function block.
To convert the HEX value to ASCII value, use ASC function block, for ASCII to HEX, use HEX function block. This chapter describes
about No Protocol Communication.
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Chapter 8. Communication Functions
8.4.2 Parameter setting
1) Communication parameter setting
(1) Open a new project file from GMWIN and select ‘GM7U’ for PLC type.
(2) Select ‘Communication Parameter’ in GMWIN.
z
Set the communication methods and channel (Refer to the section ‘Dedicated Communication’)
z
Select ‘No protocol’, and then parameter setting is finished.
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Chapter 8. Communication Functions
8.4.3 Function block
1) No protocol receiving function block (DRCV)
Function block
Description
Input
REQ: Execute function block at the rising edge
CH: Set communication channel (0 ~ 1)
RCV_FORM: Set receiving method
- When the high byte is H00: receive the frame that the size is
designated in the low byte
- When the high byte is H01: receive the same data that is designated in
the low byte.
Output
RCV_DATA : A variable name saving the data receive
(the no. of array should be equal or more than the data size)
NDR: When it ends without error, this is set to 1 and remains 1 until the next
request for function block.
ERR: When an error occurs, this is set to 1 and remains 1 until the next request
for the function block.
STATUS : When an error occurs, this displays an error code
RCV_BYTE: The number of the received byte
(1) Function
• For No Protocol Communication, the received data is saved in RCV_DATA array under the condition that they are received
following the RCV_FORM. The length of the received data is saved in RCV_BYTE, and it is only executed when the input
condition is On.
• NDR is On when the low byte is receiving the same length of frame as it is specified, when the high byte of RCV_FORM is h00.
That is, if h000A is designated, NDR is On when 10 bytes of frame is received.
NDR is On when the low byte is receiving the same length of frame as it is specified, when the high byte of RCV_FORM is h01.
That is, if h0104 is designated, it searches H04 in the received frame and receives the data from the start point to H04, and then
NDR is On.
• The communication status is saved in ‘SS’ .
(2) Program example
• When the execution condition %MX0 is on, when the
format of RCV_FORM frame (ETX(h03) is received,
they are saved in _RCV_DA following the received
order.
• When NDR is on, the total bytes of the received
frames are saved in RCV_BYTE.
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Chapter 8. Communication Functions
2) No protocol sending function block (DSND)
Function block
Description
Input
Output
REQ: Execute function block at the rising edge
CH: Set communication channel (0 ~ 1)
BYTE_CNT: The byte no. of data to send
SND_DATA: A variable name saving the data to send
(the no. of array should be equal or more than the data size)
NDR: When it ends without error, this is set to 1 and remains 1 until the next
request for function block.
ERR: When an error occurs, this is set to 1 and remains 1 until the next request
for the function block.
STATUS : When an error occurs, this displays an error code
(1) Function
• When the execution condition turns On, the data is sent as many as they are designated as BYTE_CNT.
• The communication status is saved in STATUS
• When sending is completed, NDR is On for 1 scan, but if there is an error ERR Bit remains On for 1 scan.
• Error codes are saved in STATUS when errors occurred.
(2) Example program
• When the execution condition %MX000 is on, the saved data in _SND_DT is sent by 8 bytes via communication channel o.
3) Error codes
Code
Error
Description
06
Parameter Error
Communication parameter setting error
08
Slave Device Busy
Slave device is busy
09
Frame Type Error
The number of sending byte is set over 255
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Chapter 8. Communication Functions
8.4.4 Example
No Protocol Communication is useful to send or receive the unfixed data. This example assumes that an electrical weighing machine
sends unfixed data. GM7U can communicate with it using No Protocol Communication.
GM7U Main unit
Electrical weighing machine
For No Protocol Communication, one of following end condition is designated. One is the size of the received data, and the other is the
the received data setting that is the some with pre-defined data.
This example assumes that the received data’s tail is EOT. If there is no tail in the received data, all of the received data must be
registered first in the DRCV function block.
Assume that the received data from a barcode is as follow.
“ENQ (1Byte) + Station No.(1Byte’) + Weighing data(1~10 Words) + EOT(1Byte)”
When the above frame is received, the receiving condition format is set as h0104, and the moment when EOT is received the received
framed is saved into the designated device. It checks the station and the data size and decides whether to use the received data. After
that, it sends the data using the DSND function block when it is needed to respond.
Assume that the sending data format is as follow.
“ACK (1Byte) + Station No.(1Byte’) + OK(2Bytes) + EOT(1Byte)”
In this example describes when the data range (1~10 word) is 1 word.
1) Communication parameter setting
• Open a new project file from GMWIN, and select ‘GM7U’ for the PLC type.
• Designate baud rate, data bit, parity bit, stop bit, and protocol in ‘Communication method’.
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Chapter 8. Communication Functions
2) Program
• The data to be sent is saved in _SND_DT: “ACK + 0 + OK + ETX”
• When h04 (EOT) is received via CH 1, the weight data is saved in _RCV_DT by the DRCV function block.
• DSND sends 5 bytes that is saved in _SND_DT by _SND_DT function block.
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Chapter 8. Communication Functions
8.5
Remote Connection and Communication I/F Module
8.5.1 Remote connection
GM7U series can connect to other PLC by built-in Cnet interface or communication I/F modules.
1) Remote connection by built-in Cnet I/F
Remote connection by built-in Cnet I/F is available by dedicated communication protocol only.
If GMWIN and Master station is connected physically, it can connect to each slave station using remote connection
function.
GMWIN
Local connection
Master station
Ch.0 Slave, station #1
G7L-CUEC
Ch.1 Slave, station #2
G7L-CUEC
RS-485 I/F
RS-422/485 I/F
Ch0, Slave station#2
Ch0, Slave station#31
Ch.1 Slave, station #31
Ch.0 RS-422/485 multi-drop system
Using G7L-CUEC
Ch.1, RS-485 multi-drop system
Using built-in Cnet
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Chapter 8. Communication Functions
• Open a new project file from GMWIN
• After selecting Menu-Project-Option, click ‘Connection Option’
• Click ‘Remote 1’ in Depth of Connection
-. Type: select GLOFA Cnet.
-. Base: select ‘0’.
-. Station No.: input slave station number to connect
• The remote connection is completed by clicking ‘OK’, and then the message, ‘Remote 1/GM7U/Local Run’, will be displayed.
• Remote connection is available by dedicated protocol only, and when the master station is connected by local communication.
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Chapter 8. Communication Functions
2) Remote connection by modem
Remote connection by modem is available by G7L-CUEB I/F module.
In this time, TM/TC switch of G7L-CUEB module must be set to ‘On’.
G7L-CUEB
Modem
G7L-CUEB
Modem
• Dedicated modem and dial-up modem are both available, and connection options of GMWIN are as below.
Select Dial-up Modem or Dedicated Modem in Method of Connection, and enter BPS and phone number (Dial-up Modem).
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Chapter 8. Communication Functions
3) Remote step 1 and step 2 connection by Fnet I/F module
G7L-FUEA
G7L-FUEA
• Remote connection by Fnet interface is available by setting connection options in GMWIN.
- Select ‘Remote 1’ for Depth of Connection and ‘GLOFA Fnet/Rnet’ for Network Type.
- Select 0 for Base Number and Slot, and enter the Fnet module’s station number.
- Connecting to GM6, GM4, GM3 via Fnet is also available, and please refer to the Fnet user’s manual for more information.
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Chapter 8. Communication Functions
8.5.2
Communication I/F module
GM7U series support various kinds of communication I/F module.
In this time, Built-In Cnet in main unit must be set to ‘Off’ as below and only one communication module can be extended
ON
BUILT_IN CNET
OFF
ROM MODE
Must be off
1) Usage of G7L-CUEB
Using G7L-CUEB, GM7Ucan connect to other PLC by dedicated modem or dial-up modem
TM/TC Switch
• Set TM/TC switch to ‘On’ when uses remote connection function
• Set TM/TC switch to ‘Off’ when uses data communication function
• Data communication and remote connection function are not allowed simultaneously
• Data communication mode supports every communication protocol but In remote connection function supports dedicated
protocol only.
2) Usage of G7L-CUEC
Channel 0 can be used as RS-422/485 I/F by using G7L-CUEC I/F module.
Operating method is same as built-in Cnet interface and wiring is as below.
Master
Slave
Slave
Wiring Example : RS-422 I/F
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Chapter 8. Communication Functions
Master
Slave
Slave
Wiring Example : RS-485 I/F
3) Usage of G7L-FUEA/RUEA
G7L-FUEA and G7L-RUEA are Field Bus Interface module of LSIS and they support High speed link communication
service by parameter setting. But communication by command(Read, Write) are not available
Station number setting switch
• After selecting communication parameter from GMWIN, select Master in FIELDBUS as below.
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Chapter 8. Communication Functions
• Click ‘List’, and open the High Speed Link Edit window.
• Designate self-station No. and set link items after selecting Entry List
• For the details, refer to the Fnet user’s manual.
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Chapter 8. Communication Functions
4) Usage of G7L-PBEA/DBEA
G7L-PBEA is a communication module for Pnet I/F, and G7L-DBEA is for DeviceNet I/F. Both modules provide
slave function only.
• After selecting Communication Parameters, select ‘Slave’ for FIELDBUS.
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Chapter 8. Communication Functions
• Click ‘List’, and open Entry list.
• Click the item 0, and set the Receive area and Transmit area.
• For Pnet, maximum sending/receiving data size is 244 byte.
• For Devicenet, maximum size of sending data is 30 bytes, and receiving data is 32 bytes.
• For details, refer to the Pnet/Devicenet user’s manuals.
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Chapter 9. Installation and Wiring
Chapter 9. Installation and Wiring
9.1
Installation
9.1.1 Installation environment
This unit has high reliability regardless of its installation environment, but be sure to check the following for system reliability.
1) Environment requirements
Avoid installing this unit in locations which are subjected or exposed to:
(1) Water leakage and dust.
(2) Continuous shocks or vibrations.
(3) Direct sunlight.
(4) Dew condensation due to rapid temperature change.
(5) Higher or lower temperatures outside the range of 0 to 55℃
(6) Relative humidity 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 equipment be 50mm or more.
(5) Be sure to be grounded to locations that have good ambient noise immunity.
3) Heat protection design of control box
(1) When installing the PLC in a closed control box, be sure to design heat protection of control box with consideration of the
heat generated by the PLC itself and other devices.
(2) It is recommended that filters or closed heat exchangers be used.
(3) The following shows the procedure for calculating the PLC system power consumption.
9-1
Chapter 9. Installation and Wiring
4) Power consumption block diagram of PLC systems
Main Unit
I5V
5VDC line
power
Expansion
module
Input
supply
part
AC power
Supply
CPU part
I24V
24VDC line
External
24VDC
power
Supply
output part
(transistor)
input part
Output Current.
(IOUT)×Vdrop
special
module
Input Current
(IIN)×Vdrop
Output
Current
(IOUT) Load
Input
Current
(IOUT)
Output part
Input part
(Transistor)
Output Current.
(IOUT)×Vdrop
Output
Current
(IOUT)
Input Current
(IIN)×Vdrop
Load
Input
Current
(IOUT)
5) Power consumption of each part
(1) Power consumption of a power supply part
Approximately 65% of the power supply module current is converted into power 35% of that 65% dissipated as heat,
i.e., 3.5/6.5 of the output power is actually used.
• Wpw = 3.5 / 6.5 {(I5V x 5) + (I24V x 24)} (W)
where, l5v: 5VDC circuit current consumption of each part
l24v: 24VDC circuit average current consumption of output part (with points simultaneously switched ON).
Not for 24VDC power supplied from external or power supply part that has no 24VDC output.
(2) Total 5VDC power consumption
The total power consumption of all modules is the power of the 5VDC output circuit of the power supply part.
• W5V = I5V × 5 (W)
(3) Average DC24V power consumption (with points simultaneously switched ON)
The total power consumption of all modules is the average power of the DC24V output circuit of the power supply part.
• W24V = I24V × 24 (W)
(4) Average power consumption by voltage drop of output part (with points simultaneously switched ON)
• Wout = Iout × Vdrop × output points × the rate of points switched on simultaneously (W)
Iout : output current (actual operating current) (A)
Vdrop : voltage dropped across each output load (V)
(5) Average power consumption of input parts (with points simultaneously ON)
• Win = lin ×E × input points × the rate of points switched on simultaneously (W)
Iin : input current (effective value for AC) (A)
E : input voltage (actual operating voltage) (V)
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Chapter 9. Installation and Wiring
(6) Power consumption of the special module
• WS = I5V X 5 + I24V X 24 (W)
(7) The sum of the above values is the power consumption of the entire PLC system.
• W = WPW + W5V + W24V + Wout + Win + Ws (W)
(8) 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 : Control panel inside surface area [m2]
U : if the control panel temperature is controlled by a fan, etc
if control panel air is not circulated
9.1.2
6
4
Handling instructions
• Do not drop off, and make sure that strong shock should not be applied.
• Do not unload the PCB from its case. It can cause faults.
• During wiring, be sure to check any foreign matter like wire scraps should not enter into the upper side of the PLC. If any
foreign matter has entered into it, always eliminate it.
1) Main unit or Expansion Module handling instructions
The followings explains instructions for handling or installing the Base unit or Expansion Module.
(1) I/O specifications re-check
Re-check the input voltage for the input part. 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
AWG24(0.18 ㎟) or more.
(3) Environment
When wiring the I/O part, if it locates near a device generating an cause short circuit, destruction or malfunction.
(4) Polarity
Before applying the power to part that has polarities, be sure to check its polarities.
(5) Terminal block
Check its fixing. During drilling or wiring, do not allow any wire scraps to enter the PLC. It can cause malfunction and fault.
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Chapter 9. Installation and Wiring
(6) Wiring
• Wiring I/O wires with high voltage cable or power supply line can cause malfunction or disorder.
• Be sure that any wire does not pass across during input LED(I/O status will not be clearly identified).
• If an inductive load has been connected to output part, connect parallel surge killer or diode to a load. Connect the cathode of
diode to the ‘+’ part of the power supply.
Inductive load
OUT
Output part
Surge Killer
COM
Inductive load
OUT
+
Output part
Diode
-
COM
(7) Be cautious that strong shock does not applied to the I/O part.
(8) Do not separate the PCB from its case.
2) Mounting instructions
The following explains instructions for mounting the PLC onto the control panel.
(1) Allow sufficient distance from upper part of the Unit for easy module replacement and ventilation.
(2) Make sure that GM7U is installed in figure below for most effective heat radiation.
K7M-DR30U
(3) Do not mount the base board together with a large-sized electromagnetic contact or no-fuse breaker, which produces vibration,
on the same panel. Mount them on different panels, or keep the unit or module away from such a vibration source
9-4
Chapter 9. Installation and Wiring
(4) Mount the wire duct as it is needed.
If the clearances are less than those in Fig below, follow the instructions shown below
• If the wire duct is mounted on the upper part of the PLC, make the wiring duct clearance 50 ㎜ or less for good
ventilation. Also, allow the distance enough to press the hook in the upper part from the upper part of the PLC.
• If the wire duct is mounted on the lower part of the PLC, make optic or coaxial cables contact it and consider the
minimum diameter of the cable.
(5) To protect the PLC from radiating noise or heat, allow 100 ㎜ or more clearances between it and parts. Left or right
clearance and clearance from other device in the left or right side should be 100 ㎜ or more.
80mm or more
80mm or more
High voltage
device
Other
device
100mm or more
Heat generating device
(6) GM7U has hooks for DIN rail (width 3.5 mm) in the base unit and expansion modules.
DIN rail
K7M-DR30U
9-5
Chapter 9. Installation and Wiring
9.1.3 Connection of expansion module
The following explains the Connection of expansion modules to the main unit.
(1) Open the connector cover of the main unit.
(2) Insert the connector of the expansion module to the connector of the base unit.
④
②
③
①: Main unit
②: Connector cover
①
③: expansion module
④: expansion cable
(3) Close the connector cover of the main unit.
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Chapter 9. Installation and Wiring
9.2 Wiring
The followings explains the wiring instructions for use of the system.
9.2.1 Power supply wiring
(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)
GM7U
AC100-240V
FG
main unit
Constant-voltage transformer
(3) Connect a power supply hat has less noise (if there are lots of noise, use insulated transformer).
(4) When wiring, separate the PLC power supply from those for I/O and power device as shown below.
Main power
PLC power
AC220V
T1
PLC
I/O power
T2
Main circuit
※ T1,T2 : constant voltage transformer
I/O device
Main circuit device
(5) To minimize voltage drop, use the thickest (max. 2 ㎟) wires possible
(6) Do not bundle the 100 VAC and 24VDC cables with main-circuit (high voltage, large current) wires or the I/O signal wires.
If possible, provide more than 80 ㎜ distance between the cables and wires.
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Chapter 9. Installation and Wiring
(7) As a measure against very large surge(e.g. due to lightening),connect a surge absorber as shown below.
PLC
E1
E2
Surge absorber for lightening
(8) Use a insulating transformer or noise filter for protection against noise.
(9) Twist every input power supply wires as closely as possible. Do not allow the transformer or noise filter across the duct.
REMARK
1) Ground the surge absorber(E1) and the PLC(E2) separately from each other.
2) Select a surge absorber making allowances for power voltage rises.
9.2.2
Input and output devices wiring
(1) Applicable size of wire to the terminal block connector is 0.18 to 2 ㎟. However, it is recommended to use wire of 0.5 ㎟ for
convenience.
(2) Separate the input and output lines.
(3) I/O signal wires must be at least 80 ㎜ away from high voltage and large current circuit wires.
(4) When the I/O signal wires cannot be separated from the main circuit wires and power wires, ground on the PLC side with batchshielded cables. Under some conditions it may be preferable to ground on the other side.
PLC
Shielded cable
Input
RA
DC
(5) If wiring has been done with of piping, ground the piping.
(6) Separate the 24VDC I/O cables from the 110VAC and 220VAC cables.
(7) If wiring over 200m or longer distance, trouble can be caused by leakage currents due to line capacity.
Refer to the section ’11.4 Troubleshooting Examples.’
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Chapter 9. Installation and Wiring
9.2.3
Grounding
(1) This PLC has sufficient protection against noise, so it can be used 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 possible. Class 3 grounding should be used (grounding resistance 80Ωor less).
(3) When independent grounding is impossible, use the joint grounding method as shown in the figure below (B).
PLC
Other device
PLC
Other device
Class 3 grounding
PLC
Other device
Class 3 grounding
(A)Independent grounding : Best
(B) Joint grounding : Good
(C) Joint grounding : Not allowed
(4) Use 2 ㎟(14AWG) or thicker grounding wire. Grounding point should be as near as possible to the PLC to minimize the
distance of grounding cable.
9.2.4
Cable specifications for wiring
The specifications for wiring is as follows:
Cable Specifications (㎟)
Kinds of external connection
Minimum
Maximum
Digital Input
0.18 (AWG24)
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)
• Be sure to use solderless terminal for power supply and I/O wiring.
• Be sure to use M3 type as terminal screw.
• Make sure that terminal screw is connected by 6∼9 ㎏·㎝ torque..
• Be sure to use fork shaped terminal screw as shown below.
cable solderless terminal (fork shaped)
less than 6.2mm
9-9
Chapter 10. Maintenance
Chapter 10.
Maintenance
Be sure to perform daily and periodic maintenance and inspection in order to maintain the PLC in the best conditions.
10.1
Maintenance and Inspection
The I/O module mainly consist of semiconductor devices and its service life is semi-permanent. However, periodic inspection is
requested for ambient environment may cause damage to the devices. When inspecting one or two times per six months, check
the following items.
Check Items
Judgment
Countermeasure
Temperature
0 ~ + 55°C
Humidity
5 ~ 95%RH
Vibration
No vibration
Use vibration resisting rubber or the vibration prevention
method.
Play of modules
No play allowed
Securely enrage the hook.
Connecting conditions of
terminal screws
No loose allowed
Retighten terminal screws.
Change rate of input voltage
− 15% to 10%
Hold it with the allowable range.
Spare parts
Check the number of
Spare parts and their
Store conditions
Cover the shortage and improve the conditions
Ambient
environment
10.2
Adjust the operating temperature and humidity with the
defined range.
Daily Inspection
The following table shows the inspection and items which are to be checked daily.
Check Items
Check Points
Judgement
Connecting conditions check for loose mounting screws
of terminal block or
Check the distance between solderless
extension cable
terminals
LED
status
Screws should not be loose
Countermeasure
Retighten
Screws
Proper clearance should be provided Correct
PWR LED
Check that the LED is ON
ON(OFF indicates an error)
See chapter 11
Run LED
Check that the LED is ON during Run
ON (flickering indicates an error)
See chapter 11
ERR LED
Check that the LED is OFF during Run
OFF(ON indicates an error)
See chapter 11
Input LED
Check that the LEO turns ON and OFF
Output LED
Check that the LEO turns ON and OFF
10-1
ON when input is ON,
OFF when input is off
ON when output is ON,
OFF when output is off
See chapter 11
See chapter 11
Chapter 10. Maintenance
10.3
Periodic Inspection
Check the following items once or twice every six months, and perform the needed corrective actions.
Check Items
Connecting
conditions
PLC
Conditions
Ambient
Environment
Ambient
temperature
Ambient Humidity
Checking Methods
Judgment
-. Measure with thermometer
and hygrometer
-. measure corrosive gas
0 ~ 55 °C
5 ~ 95%RH
Countermeasure
Adjust to general standard
(Internal environmental standard
of control section)
Looseness,
Ingress
dust or foreign
material
Loose terminal
screws
Distance between
terminals
The module should be move
the unit
There should be no
corrosive gases
The module should be
mounted securely.
Visual check
No dust or foreign material
Re-tighten screws
Screws should not be loose
Retighten
Visual check
Proper clearance
Correct
Loose connectors
Visual check
Connectors should not be Retighten connector mounting
loose.
Screws
Measure voltage between
input terminals
*85 ~ 264V AC
*10.2 ~ 28.8V DC
Change supply power
No melting disconnection
If fuse melting disconnection,
change the fuse periodically
because a surge current can
cause heat
Ambience
Line voltage check
Fuse
Visual check
10-2
Retighten screws
Chapter 11. Troubleshooting
Chapter 11. Troubleshooting
The following explains contents, diagnosis and corrective actions for various errors that can occur during system operation.
11.1 Basic Procedures of Troubleshooting
System reliability not only depends on reliable equipment but also on short downtimes in the event of faults. The
short discovery and corrective action is needed for speedy operation of system. The following shows the basic i
nstructions for troubleshooting.
1) Visual checks
Check the following points.
• Machine operating condition (in stop and operating status)
• Power On/Off
• Status of I/O devices
• Condition of wiring (I/O wires, extension and communications cables)
• Display states of various indicators (such as POWER LED, RUN LED, ERR. LED and I/O LED).
After checking them, connect peripheral devices 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.
• Switch to the STOP, and then turn the power on and off.
3) Narrow down the possible causes of the trouble, i.e.:
• Inside or outside of the PLC?
• I/O module or another module?
• PLC program?
11.2 Troubleshooting
This section explains the procedure for determining the cause of troubles as well as the errors and corrective actions.
Is the power LED turned OFF?
Flowchart used when the POWER LED is turned OFF
Is the ERR LED flickering?
Flowchart used when the ERR LED is flickering
Are the RUN LED turned OFF?
Flowchart used when the RUN turned OFF.
I/O module doesn’t operate pro
perly
Flowchart used when the output load of the output module
doesn’t turn on.
Program cannot be written
Flowchart used when a program can’t be written to the PLC
11-1
Chapter 11. Troubleshooting
11.2.1 Flowchart for when the “POWER” LED turned off
The following flowchart explains corrective action procedure used when the power is supplied or the power LED turns off
during operation.
Power LED is turned OFF
Supply the power.
Is the power supply operating?
No
Yes
No
No
Is the voltage within the rated
Is the fuse blown?
No
Does the power LED turn on?
Yes
Yes
Replace the fuse.
No
No
Is the power supply cable
connected?
Yes
See the power supply be within
AC 110-240 V.
power?
Yes
Does the power LED turn on?
Yes
Does the power LED turn on?
No
Connect the power cable correctly.
Yes
No
Yes
Does the power LED turn on?
Yes
Over current protection device
activated?
1) Eliminate the excess current
2) Switch the input power OFF then
ON
No
Write down the troubleshooting qu
estionnaire
and contact the near
est service center
No
Does the power LED turn on?
Yes
Complete
11-2
Chapter 11. Troubleshooting
11.2.2 Flowchart for when the “ERROR” LED is flashing
The following flowchart explains corrective action procedure use when the power is supplied starts or the ERR LED is
flickering during operation.
ERR LED goes flashing.
Check the error code, with connected
GMWIN.
Yes
CNF WAR error?
See App-2 “System Warning
Flag” and remove the cause of
the error.
No
Yes
Is ERR Led still
flashing?
No
Write down the
Troubleshooting questionnaires and
contact the nearest service center.
Complete
REMARK
Though CNF WAR appears, PLC system doesn’t stop but corrective action is needed promptly. If not, it may
cause the system failure.
11-3
Chapter 11. Troubleshooting
11.2.3 Flowchart for when the “RUN” LED is turned off
The following flowchart explains corrective action procedure to treat the lights-out of RUN LED when the power is supplied,
operation starts or operation is in the process.
RUN LED is off.
Turn the power unit off and on.
No
Is RUN LED off?
Yes
Contact the nearest service center.
11-4
Complete
Chapter 11. Troubleshooting
11.2.4 Flowchart for when the I/O devices does not operate normally
The following flowchart explains corrective action procedure used when the I/O module doesn’t operate normally.
When the I/O module doesn’t work normally.
Is the indicator LED of
the SOL1 on?
NO
Yes
Measure the voltage of power
supply in SOL1
Correct wiring.
Replace the connector of the
Check the status of SOLI
terminal board
by GMWIN
Is the
NO
voltage of power supply for load
applied?
NO
NO
NO
Is the
terminal connector
connector appropriate?
Is the output
wiring correct?
YES
Is it normal condition?
YES
YES
YES
Separate the external wiring than check the
condition of output module.
YES
Is it normal condition?
Continue
No
Check the status of SOLI
Replace the Unit
11-5
Chapter 11. Troubleshooting
Continue
No
Are the indicator LED of the
switch 1 and 2 on?
YES
Check the status of the
switch 1and 2
Check the status of the
switch 1and 2
Is input wiring correct?
Is input wiring correct?
Is the
terminal screw tighten
securely?
YES
NO
NO
YES
NO
YES
Separate the external wiring, and then
check the status of input by I/O forced.
YES
Is the condition
of the terminal board connector
appropriate?
Is input wiring correct?
NO
Correct wiring
NO
Retighten
the
terminal screw
Replace the terminal
board connector
Correct the wiring
NO
YES
Unit replacement is
needed
Check the status of the
switch 1and 2
Check from the beginning
11-6
Unit replacement is
needed
Chapter 11. Troubleshooting
11.2.5 Flowchart for when unable to write a program to the CPU
The following flowchart shows the corrective action procedure used when a program cannot be written to the PLC
module.
Program cannot be written to the PC CPU
Is the mode-setting switch set the re
mote STOP?
No
Switch to the remote STOP mode
and execute the program write.
YES
Is ERR. LED blinking?
YES
NO
Complete
11-7
After reading error code by using peripheral
device, correct the contents.
Chapter 11. Troubleshooting
11.3 Troubleshooting Questionnaire
When problems occur during the operation of the GM7U series, please write down this
questionnaires and contact the service center via telephone or fax.
y For errors relating to special or communication modules, use the questionnaire included in the
user’s manual of the unit.
1. Telephone & FAX No
Tell)
FAX)
2. Using equipment model:
3. Details of using equipment
CPU model:
OS version No.(
),
Serial No.(
)
GMWIN version No. used to compile programs: (
)
4. General description of the device or system used as the control object:
5. The kind of the base unit:
− Operation by the mode setting switch (
− Operation by the GMWIN or communications (
− External memory module operation
(
),
),
),
6. Is the ERR. 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 article 7:
10. Other tried corrective actions:
11. Characteristics of the error
y Repetitive( ): Periodic( ), Related to a particular sequence(
y Sometimes(
): General error interval:
12. Detailed Description of error contents:
13. Configuration diagram for the applied system:
11-8
), Related to environment(
)
Chapter 11. Troubleshooting
11.4 Troubleshooting Examples
Possible troubles with various circuits and their corrective actions are explained.
11.4.1 Input circuit troubles and corrective actions
The followings describe possible troubles with input circuits, as well as corrective actions.
Cause
Condition
Input signal
Corrective Actions
Leakage current of external device
y Connect an appropriate register and capacity,
(Such as a drive by non-contact switch)
which will make the voltage lower across the
doesn’t turn off.
AC input
C
terminals of the input module.
Leakage current
AC input
R
C
~
External device
R
~
Input signal
doesn’t turn off.
Leakage current of external device
y CR values are determined by the leakage current
(Drive by a limit switch with neon lamp)
value.
(Neon lamp
AC input
C
may be still on)
− Recommended value C : 0.1 ~ 0.47 ㎌
Leakage current
R: 47 ~ 120 Ω (1/2W)
R
Input signal
doesn’t turn off.
Or make up another independent display circuit.
~
External device
Leakage current due to line capacity of
y Locate the power supply on the external device
wiring cable.
side as shown below.
AC input
AC input
Leakage current
~
External device
External device
~
Input signal
Leakage current of external device
y Connect an appropriate register, which will make
doesn’t turn off.
(Drive by switch with LED indicator)
the voltage higher than the OFF voltage across the
DC input
input module terminal and common terminal.
DC input
Leakage current
R
R
External device
Input signal
doesn’t turn off.
y Sneak current due to the use of two
y Use only one power supply.
different power supplies.
y Connect a sneak current prevention diode.
DC input
E1
E2
DC input
E1
L
L
E
y E1 > E2, sneaked.
11-9
Chapter 11. Troubleshooting
11.4.2 Output circuit troubles and corrective actions
The following describes possible troubles with input circuits, as well as their corrective actions.
Condition
Cause
Corrective Action
When the output is
yLoad is half-wave rectified inside (in some cases, it is true
y Connect registers of tens to hundreds KΩ across the
off,
of a solenoid)
load in parallel.
excessive
voltage is applied to
yWhen the polarity of the power supply is as shown in ①,
the load.
C is charged. When the polarity is as shown in ②, the
R
voltage charged in C plus the line voltage are applied
across D. Max. voltage is approx. 2√2.
D
C
D
C
~
R
~
R
Load
Load
z
*) If a resistor is used in this way, it does not pose a
problem to the output element. But it may make the
performance of the diode (D), which is built in the load,
drop to cause problems.
The load doesn’t
y Leakage current by surge absorbing circuit, which is
y Connect C and R across the load, which are of registers
turn off.
connected to output element in parallel.
of tens KΩ. When the wiring distance from the output
module to the load is long, there may be a leakage current
Output
due to the line capacity.
Load
C
C
R
~
Leakage current
R
R
Load
Load
When the load is C-
y Leakage current by surge absorbing circuit, which is
y Drive the relay using a contact and drive the C-R type
R type timer, time
connected to output element in parallel.
timer using the since contact.
constant fluctuates.
y Use other timer than the C−R contact some timers have
Output
half-ware rectified internal circuits therefore, be cautious.
Load
C
R
T
~
Leakage current
Timer
X
Output
The load does not
y Sneak current due to the use of two different power
y Use only one power supply.
turn off.
supplies.
y Connect a sneak current prevention diode.
~
Output
Output
Load
Load
E1
E
E1<E2, sneaks. E1 is off (E2 is on), sneaks.
E
E
If the load is the relay, etc, connect a counter-electromotive
voltage absorbing code as shown by the dot line.
11-10
Chapter 11. Troubleshooting
Output circuit troubles and corrective actions (continued).
Condition
Cause
Corrective actions
The load off y Over current at off state [The large solenoid current y Insert a small L/R magnetic contact and drive the load
response time fluidic load (L/R is large) such as is directly driven with using the same contact.
is long.
the transistor output.
Output
Output
Off current
Load
E
Load
y The off response time can be delayed by one or
more second as some loads make the current flow
across the diode at the off time of the transistor
output.
Output
transistor
destroyed.
y To suppress the surge current make the dark current
Surge current of the white lamp
of 1/3 to 1/5 rated current flow.
is
Output
Output
R
E1
E
Sink type transistor output
A surge current of 10 times or more when turned on.
Output
R
E
Source type transistor output
11-11
Chapter 11. Troubleshooting
11.5 Error Code List
Error
Cause
Corrective action
ERR. LED
Operation
Flickering
status
cycle
Diagnosis
time
Restart
mode
2
OS ROM error
Contact the A/S center if it continuously
Defect
occurs when the power is re-applied.
0.4 sec.
When power
−
is applied.
3
OS RAM error
Contact the A/S center if it continuously
Defect
occurs when the power is re-applied.
0.4 sec.
When power
−
is applied.
4
IC (RTC) error
Contact the A/S center if it continuously
Defect
occurs when the power is re-applied.
0.4 sec.
When power
−
is applied.
5
Fault processor
Contact the A/S center if it continuously
Defect
occurs when the power is re-applied.
0.4 sec.
When power
−
is applied.
6
Program memory fault
Contact the A/S center if it continuously
Defect
occurs when the power is re-applied.
0.4 sec.
When power
−
is applied.
7
Data memory fault
Contact the A/S center if it continuously
Defect
occurs when the power is re-applied.
0.4 sec.
When power
−
is applied.
10
Watch dog error due
to RE-apply the powe
r
Re-apply the power
−
During run
22
Memory module
program fault
Correct the memory module program and
STOP
re-operate the system.
0.4 sec.
Change into
the
RUN Cold
mode
Reset
Cold
23
An normal program
Re-load the program and start it.
STOP
0.4 sec.
Change into
the
RUN Cold
mode
30
Inconsistency between
the specified modules
by parameters and the
loaded modules
Module type inconsistency error
Refer to the flags (_IO_TYER, IO_TYER_N,
STOP
IO_TYER [n]) and correct the in corrective
slot, and restart the system.
0.4 sec.
Change into
the
RUN Cold
mode
Module dismounting or
additional mounting
during run
Module mounting/ dismounting error
Refer to the flags (_IO_DEER,
_IO_DEER_N, _IO_DEER [n]) and correct STOP
the in corrective slot, and restart the
system.
0.4 sec.
When scan
Cold
completes
Fuse disconnection
during run
Fuse disconnection error
Refer to the flags (_FUSE_ER,
FUSE_ER_N, FUSE_ER [n]) and correct STOP
the in corrective slot, and restart the
system.
0.4 sec.
When scan
Cold
completes
Abnormal I/D module
data access during run
I/O module read/write error
Refer to the flags (_SP_IFER, _IP_IFER_N, STOP
_IP_IFER [n]) and restart the system.
0.4 sec.
When scan
completes
During
Cold
execution of
program
31
32
33
11-12
Chapter 11. Troubleshooting
Error
Cause
Corrective action
Operation
status
ERR LED
Flickerin
g cycle
Diagnosis
time
Restart
mode
0.4 sec.
When power
is applied.
When scan
completes
Cold
During
execution of
program
0.4 sec.
During
execution of Cold
program
STOP
0.4 sec.
During
execution of Cold
program
External device fatal
error.
Refer to the external device fatal error. Flag
(ANNUN_ER, _ANC_ERR [n]) and correct
STOP
the fault devices and then restart the
system.
0.4 sec.
When scan
Cold
completes
60
The ‘E_STOP’ function
has been executed.
Correct the program so that the error
elements that invoked the ‘E_STOP’
STOP
function can be eliminated in the program
and restart the system (cold restart).
−
During
execution of −
program
100
Communications
module configuration
error
If the number of computer 4
communications module is included, then STOP
adjust the maximum number with in 8.
0.4 sec.
When power
Cold
is applied.
101
Special/
Communications
module initialization
failure
Adjust the number of high-speed
STOP
communications modules loaded.
0.4 sec.
When power
Cold
is applied.
2 sec.
When power
is applied.
Cold
When scan
completes
2 sec.
When power
is applied.
−
When scan
completes
34
Abnormal special link
module data access
during run
Special/link module interface error
Refer to the flags (_SP_IFER, _IP_IFER_N, STOP
_IP_IFER [n]) and restart the system.
40
During run, Scan time
over than the scan
delay time specified by
parameters
Check the scan delay time specified by
parameters and correct the parameters or STOP
the program, and then restart the program.
41
Unreadable instructions
in the user program.
Re-load the program and restart it.
50
500
501
Data memory backup
error
RTC data error
If the batter has no error.
RUN
If the battery has no error, reset the time
RUN
using the SMWIN.
11-13
Appendix 1. System Definitions
Appendix 1. System Definitions
1) Option
(1) Connection Option
You should set the communication port (COM1∼4) to communicate with PLC.
- Select the Project-Option-Connection Option in menu.
- Default Connection is RS-232C interface.
For details, refer to the GMWIN manual.
App1-1
Appendix 1. System Definitions
(2) Set Folder
You can set directories for the files to be created in GMWIN.
- Standard library: Libraries for GMWIN are located in this directory, and User Defined Libraries also do.
- Source file: In Source File Directory, GMWIN saves source program files of program, function, function block and etc.
- Output file: Object files are saved in this directory, which are created when source file is
compiled.
-Temporary file: GMWIN saves temporary file in this directory during the execution. For detailed descriptions
refers to GMWIN manual.
For details, refer to the GMWIN manual.
App1-2
Appendix 1. System Definitions
(3) Monitor/Debug Option
To set the whole options for monitoring,
- Monitor display type: displays monitor variables.
- SFC monitor: Automatically scrolls following the monitoring position.
- Debug option: When you debug LD, you can select the Point or Line in Debug option menu.
If you select Point option, the debugging for the program is executed by one point. If you select Line option, the
debugging for the program is executed by one line.
App1-3
Appendix 1. System Definitions
(4) Make Option
• Select Project-Option-Make Option in the menu.
• Select compile type
- If Preserve Retain is selected the retain variables are saved when the PLC restarts with warm mode.
• Clear M area at stop
- Clears the specified %M area in Stop mode.
App1-4
Appendix 1. System Definitions
2) Basic Parameter
The basic parameters are necessary for the operation of the PLC and used to allocate memory, set the restart mode and
watchdog timer duration, etc
(1) Configuration(PLC) Name
• It is a representative name for the PLC system. It is used to designate this PLC system when a network system is
configured 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 parameter is used to set the restart mode in the PLC system.
When the system re-starts, one of the ‘cold restart’ or ‘warm restart’ is selected in compliance with the parameter setting.
(4) Resource(CPU) properties
• Resource Name is the name that each CPU module configuring the PLC has. When configuring a network system the
name is used to designate each CPU module that is used the system.
• Only one CPU module can be mounted in the GM7U series, therefore, only the resource 0 is valid.
App1-5
Appendix 1. System Definitions
(5) WatchDog timer duration
• This parameter is used to set the maximum allowable execution time of a user program in order to supervisor its normal
or abnormal operation.
• Only one CPU module can be mounted in the GM7U series, therefore, scan watch dog is valid to only the resource 0.
(6) Input Setting
• It’s used to select contact point that will be used for setting input filter or as input pulse catch.
3) Communication parameter
This is a communication parameter to set regular sending/receiving stations, data and cycles to send and receive repeatedly.
(For the detail information about Communication parameter, refer to 7.1.7 “Communication parameter setting”)
(1) Station No.: 0 to 31
(2) Baud Rate: 1200,2400,4800,9600,19200,38400,57600bps.
(3) Data bit: 7 or 8 bits
(4) Parity bit: None, Even, odd
App1-6
Appendix 1. System Definitions
(5) Stop bit: 1 or 2 bit(s)
(6) Communication channel
• RS-232C Null Modem or RS-422/485: Select this channel to communicate through GM7U base unit or Cnet I/F
module (G7L-CUEC).
• RS-232C modem(Dedicated Line): Select this channel to communicate through Cnet I/F module (G7L-CUEB).
• RS-232C dial-up modem: Select this channel to communicate dial-up modem for modem communication, using Cnet
I/F module (G7L-CUEB)
REMARK
RS-232C modem(Dedicated Line) and RS232C dial up modem communication can be executed under
RS-232C I/F module(G7L-CUEB)
(7) Master/slave: Select master to be major in the communications system.
(8) Time out
• The value of default is 500ms.
• Set the maximum cycle time for sending and receiving of the master PLC.
• It may cause of communication error that lower setting value than maximum cycle time for sending and receiving.
(9) Reading slave PLC status.
• Select to read GM7U base unit status as slave designated. But do not choose this except for the monitoring of the
slave status. It may cause to drop down the communication speed.
4) Special parameters
App1-7
Appendix 1. System Definitions
5) PID parameters
(1) PID Auto Tuning Parameter
(2) PID Parameter
App1-8
Appendix 1. System Definitions
6) Position Parameter
App1-9
Appendix 1. System Definitions
7) High Speed Counter Parameter
App1-10
Appendix 2. Flag Lists
Appendix 2. Flag Lists
1) User flag lists
Keyword
Type
Write
_LER
BOOL
Enable
_ERR
BOOL
Enable
_T20MS *
_T100MS *
_T200MS *
_T1S *
_T2S *
_T10S *
_T20S *
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
−
−
−
−
−
−
−
Name
Operation error
latch flag
Operation error
latch flag
20 ms Clock
100 ms Clock
200 ms Clock
1s Clock
2s Clock
10s Clock
20s clock
_T60S *
BOOL
−
60s Clock
_ON *
_OFF *
_1ON *
_1OFF *
BOOL
BOOL
BOOL
BOOL
−
−
−
−
Always On
Always Off
First scan On
First scan Off
_STOG *
BOOL
−
Scan Toggle
_INT_DONE
BOOL
Enable
_INT_DATE
_RTC_TOD
DATE
TOD
−
−
Initialization
Program
Complete
RTC present date
RTC present time
_RTC_WEEK
UNIT
−
RTC present day
Description
Operation error latch flag by the program block(BP). Error
indication occurred while executing a program block
Operation error flag by the operation function (FN) or function
block(FB). It is newly changed whenever an operation is executed.
These clock signals are used in the user programs, toggles on/off
every half cycle. The clock signal can be delayed or distorted in
accordance with program execution time as the signal toggles
after scan has been finished, therefore, it is recommended that
clock of enough longer than scan time be used. Clock signals
starts from Off when the initialization program or scan program
starts
• Example: _T100MS clock
50 ms
50 ms
Usable in user programs.
Usable in user programs.
Turn On only during the first scan after the operation has started.
Turn Off only during the first scan after the operation has started.
Toggles On/Off at every scan while a user program is being
executed. (On at the first scan)
If this flag is set to on in the initialization program in an user
program, the initialization program stop its operation and the scan
program will starts.
Date Data of standard format (Reference date – Jan. 1, 1984)
Time Data( Reference time – 00:00:00)
Day data (0: Monday, 1:Thuesday, 2: Wednesday, 3: Thursday, 4:
Friday, 5: Saturday, 6:Sunday)
REMARK
1) Flags with the mark ‘*’ are initialized when the initialization program starts, and after its execution has been competed the
flags will change in accordance with the restart mode set.
2) RTC related flags could be used if only the optional module for RTC is installed.
App2-1
Appendix 2. Flag Lists
2) System error flag lists
Keyword
Type
Bit No.
Represent-ative
keyword
_CNF_ER
WORD
_IO _DEER
BOOL
Bit 2
_IO _RWER
BOOL
Bit 4
_SP _IFER
BOOL
Bit 5
_ANNUN_ER
BOOL
Bit 6
−
−
Bit 7
_WD_ER
BOOL
Bit 8
_CODE_ER
BOOL
Bit 9
_STACK_ER
BOOL
Bit 10
_P_BCK_ER
BOOL
Bit 11
Name
Description
System error
(fatal error)
This flag handles the following operation stop error flags in
batch.
Module
loading/unload
ing error
I/O module
read/write
error
Special/communications
module
interface error
External
device fatal
fault detection
error
−
Scan watch
dog error
Program code
error
Stack overflow
error
This representative flag indicates that module configuration of
each slot has been changed during operation. (Refer to
_IO_DEER_N and _IO_DEER[n])
This representative flag indicates that a I/O module does
normally executes read/write. (Refer to _IP_RWER_N and
_IP_IFER[n])
This representative flag indicates that special or communications
module has failed in initialization or normal interface is
impossible due to module malfunction. (Refer to _IP_IFER_N
and _IP_IFER[n])
Program error
This representative flag indicates that an external device has
fatal error. The error code has been written to _ANC_ERR[n].
−
This flag indicates that the scan time of a program has overrun
the scan watchdog time specified by the parameter.
This flag indicates that an unreadable instruction has been met
while executing an user program.
This flag indicates that the stack is used out of its
capacity(Overflow)
This flag indicates that program execution is impossible due to
destroyed memory or program error.
App2-2
Appendix 2. Flag Lists
3) System warning flag lists
Keyword
Type
_CNF _WAR
WORD
_RTC_ERR
BOOL
Bit 0
_D_BCK_ER
BOOL
Bit 1
_AB_SD_ER
BOOL
Bit No.
Representative
keyword
Bit 3
_TASK_ERR
BOOL
Bit 4
_BAT_ERR
BOOL
Bit 5
_ANNUN_WR
BOOL
Bit 6
−
−
Bit 7
_HSPMT1_ER
BOOL
Bit 8
Name
System
warning
RTC data
error
Description
This flag treats the below warning flags relating to continuous
operation in batch.
This flag indicates that RTC DATA error.
Data backup
error
This flag indicates
Abnormal
shutdown
This flag indicates that the program had been stopped during
restore from power failure due to causes such as power off,
and then cold restart has been executed and the
continuous operation which retains the data is impossible.
Usable in the initialization program. Automatically reset when
the initialization program has finished. (The same things given
above will be applied when the program has been stopped by
the ‘ESTOP’ function)
Task collision
This flag indicates that task collision has occurred as
(plus cycle
execution request for a same task had been repeatedly
and external
invoked. (Refer to the flag _TC_BMAP[n] and _TC_CNT[n])
tasks)
This flag detects and indicates that the voltage of the battery,
Battery fault
which is used to backup user programs and data memory, is
lower than the defined value.
External
This representative flag indicates that the user program has
device
detected an ordinary fault of external devices and has written
warning
it to the flag _ANC_WB [n].
detection
−
−
Communica- This representative flag detects error of each Communication
tion
parameter when the Communication has been enabled and
Parameter 1 indicates that Communication cannot be executed. It will be
error
reset when the Communication is disabled.
App2-3
Appendix 2. Flag Lists
4) Detailed system error and warning flag lists
Keyword
_IO_RWER_N
Type
UINT
Data
setting
range
Name
Description
0 to 15
The number 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 lowest slot
No. of the detected slot numbers.
_ANC_ERR[n]
UINT
n: 0 to 7
_ANC_WAR[n]
UINT
n: 0 to 7
_ANC_WB[n]
BIT
n: 0 to
127
_TC_BMAP[n]
BIT
n: 0 to 7
_TC_CNT[n]
UINT
n: 0 to 7
_BAT_ER_TM*
DATE
&
TIME
⎯
_AC_F_CNT
UINT
0 to
65535
_AC_F_TM[n]*
DATE
&
TIME
n: 0 to
15
This flag detects fatal error of external devices and its content
is written to this flag. A number that identifies error type will be
written to each of the sixteen locations. (The number 0 is not
allowed)
If the user program indicates a warning on the flag
External device
_ANC_WB[n], the bit locations are sequentially written to
ordinary error
_ANC_WAR[n] from
_ANC_WAR[0] complying with their occurrence sequence.
External device
The user program detects ordinary error of external device
ordinary error bit and the errors are indicated on a bit map. (The number 0 is
map
not allowed)
The flag detects that task collision has occurred because,
while a task was being executed or ready for execution, an
Task collision bit
execution
map
request has occurred for the same task, indicates the errors
on a bit map.
This flag detects task collision occurrence time for each task
Task collision
when executing a user program, indicates the task collision
counter
occurrence time.
The first detection date and time of battery voltage drop are
Batter voltage drop
written to this flag. It will be reset if the battery voltage has
time
been restored.
Momentary power
The accumulated momentary power failure occurrence times
failure occurrence
during operation in the RUN mode is written to this flag.
count
External device
fatal error
Momentary power
failure history
_ERR_HIS[n]*
n: 0 to
15
Error history
_MODE_HIS[n]*
n: 0 to
15
Operation mode
change history
The times of the latest sixteen momentary power failures are
written.
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)
The times, operation modes and restart modes of the latest
sixteen operation mode changes are written to this flag
• Change time: DATE & TIME (8 bytes)
• Operation mode: UINT (2 bytes)
• Restart: UINT (2 bytes)
* Marked flags can be used while the RTC option module is in use.
App2-4
Appendix 2. Flag Lists
5) System operation status information flag lists
Keyword
Type
Data
setting
range
_CPU_TYPE
UNIT
0 to 16
_VER_NUM
UNIT
-
_MEM_TYPE
UNIT
1 to 5
Representative
keyword
Bit 0
Name
Description
GM1: 0, GM2: 1, (GM3: 2, GM4: 3)
(FSM: 5,6)
System type
O/S version
No.
Memory
module type
PLC mode and
operation
status
Local control
System O/S version No.
Type of program memory module (0: Unloading state, type: 0 to
5)
System operation mode and operation state information
Operation mode change is possible only by mode change switch
or GMWIIN
Bit 1
Bit 2
Bit 3
Bit 4
STOP
RUN
CPU module operation state
PAUSE
DEBUG
Operation
Bit 5
mode change Operation mode change by mode change switch
factor
Operation
Bit 6
mode change Operation mode change by GMWIN
factor
Operation
_SYS_STATE
WORD
Bit 7
mode change Operation mode change by remote GMWIN
factor
Operation
Bit 8
mode change Operation mode change by communications
factor
STOP
by Operation in the RUN mode is stopped by STOP function after the
Bit 9
STOP function scan has finished
Bit 10
Force input
Input junction force On/Off is being executed.
Bit 11
Force output
Output junction force On/Off is being executed
STOP by
Operation in the RUN mode is directly stopped by ESTOP
Bit 12
ESTOP
function.
function
Bit 13
During
Bit 14
External monitoring is being executed for programs or variables
monitoring
Remote mode
Bit 15
Operation in the remote mode
ON
Repre- GMWIN
sentative connection
Connection state between CPU module and GMWIN
keyword state
Local GMWIN
Local GMWIN connection state
Bit 0
connection
_GMWIN_CNF
BYTE
Remote
Bit 1
GMWIN
Remote GMWIN connection state
connection
Remote
Bit 2
communicatio Remote communications connection state
ns connection
* Marked flags can be used while the RTC option module is in use.
App2-5
Appendix 2. Flag Lists
System operation status information flag lists (continued)
Keyword
_RST_TY
Type
BYTE
Data setting
range
Representative
keyword
Bit 0
Bit 1
Bit 2
_INIT_RUN
BOOL
-
_SCAN_MAX
UNIT
-
_SCAN_MIN
UNIT
-
_SCAN_CUR
UNIT
-
_RTC_TIME[n]*
BCD
N: 0 to 7
_SYS_ERR
UNIT
Error code
Name
Description
Restart mode
information
Cold restart
Warm restart
Hot restart
During
initialization
Maximum
scan
time
(ms)
Minimum
scan
time
(ms)
Present scan
time (ms)
Restart type of program which is being executed in present.
(History)
Present time
Error type
See the Section 4.5.1
An initialization program written by the user is being executed
Maximum scan time is written during operation.
Minimum scan time is written during operation.
Present scan time is continuously updated during operation.
BCD data of present time of RTC
(Example: 96-01-12-00-00-00-XX)
_RTC _TIME[0]: year, _RTC _TIME[1]: month, _RTC _TIME[2]:
day,
_RTC _TIME[3]: hour, _RTC _TIME[4]: minute, _RTC _TIME[5]:
second,
_RTC _TIME[6]: day of the week, _RTC _TIME[7]: unused
Day of the week: 0: Mon., 1: Tue., 2: Wed., 3:Thur., 4:Fri., 5:
Sat., 6:Sun.
See the Section 12.5 Error Code List
* Marked flags can be used while the RTC option module is in use.
6) System configuration status information Flag
(1) User program status information
Keyword
Type
Data setting
range
Representative
keyword
Bit 0
_DOMAN_ST
BYTE
Bit 2
Name
Description
System S/W
GM1: 0, GM2: 1, (GM3: 2, GM4: 3, GM%: 4)
configuration
(FSM: 5,6), Twofold: 16
information
Basic parameter
Checks and indicates Basic parameter error
error
Program error
-
-
Bit 4
Communication
parameter error
App2-6
Checks and indicates Program error
Checks and indicates High speed link parameter error
Appendix 2. Flag Lists
(2) Operation mode change switch status information
Keyword
_KEY_STATE
Type
BYTE
Data Setting
range
Representative
keyword
Name
Description
Mode setting switch
position
Indicates the state mode setting switch of CPU module
Bit 0
KEY_STOP
Bit 1
KEY_RUN
Bit 2
KEY_PAUSE/REM
OTE
App2-7
Indicates that the mode setting switch is in the STOP
state.
Indicates that the mode setting switch is in the RUN
state.
Indicates that the mode setting switch is in the
PAUSE/REMOTE state.
Appendix 3. Function / Function Block Lists
Appendix 3. Function / Function Block Lists
1) Function lists
Name
ABS (int)
ADD (int)
AND (word)
DIV (int)
DIV (dint)
EQ (int)
LIMIT (int)
MAX (int)
MOVE
MUL (dint)
MUL (int)
ROL
BCD_TO_DINT
BCD_TO_INT
BCD_TO_SINT
BYTE_TO_SINT
DATE_TO_STRING
DINT_TO_INT
DINT_TO_BCD
DT_TO_DATE
DT_TO_TOD
DT_TO_STRING
DWORD_TO_WORD
INT_TO_DINT
INT_TO_BCD
NUM_TO_STRING
(int)
SINT_TO_BCD
STRING_TO_INT
CONCAT
DELETE
EQ (str)
FIND
INSERT
LEFT
LEN
LIMIT (str)
MAX (str)
MID
REPLACE
RIGHT
ADD_TIME (time)
DIV_TIME (i1=time)
Absolute value operation
Addition
Logical multiplication
Division
Division
Equality’ comparison
To output upper and lower limits
To output the maximum input value
To cop data
Multiplication
Multiplication
To rotate left
Conversion of BCD type into DINT
Conversion of BCD type into INT type
Conversion of BCD type into SINT type
Conversion of BYTE type into SINT type
Conversion of DATE type into string
Conversion of DINT pe into INT type
Conversion of DINT type into BCD type
Conversion of DT type into DATE type
Conversion of DT type into TOD type
Conversion of DT type into string
Conversion of DWORD type into WORD
Conversion of INT type into DlNT type
Conversion of INT type into BCD type
36
24
16
24
24
20
24
24
8
24
24
20
12
12
12
8
32
48
12
16
16
36
8
12
12
Size of
library
(Byte) ∗2
848
1076
136
264
160
108
314
156
4
12
620
100
Conversion of number into string
24
580
15.9
Conversion of SlNT type into BCD type
Conversion of string info NT type
To concatenate strings
To delete string
‘Equality’ comparison
To find a string
To insert a string
To obtain the left part of a string
To obtain the length of a string
To output upper or lower limits
To output the maximum input value
To obtain the middle part of a string
To replace a string with another
To obtain the hr part of a scan
Time addition
Time division
12
12
48
40
32
24
48
36
12
60
52
40
52
36
20
20
76
1264
172
172
948
220
160
100
40
794
1076
188
288
164
148
152
5.9
28.9
5.9
6.9
8.3
7.9
8.9
6.4
4.5
8.9
8.4
7.1
7.9
6.9
5.6
6.9
Size of PB
(Byte) ∗1
Function
App3-1
Processing speed
(μs) ∗3
GM7U
2.0
1.5
1.0
2.5
3.3
1.3
4.8
5.9
0.5
3.3
2.5
3.7
8.5
6.9
5.3
0.5
20.8
2.2
8.8
1.1
1.4
21.0
0.5
0.7
7.2
Appendix 3. Function / Function Block Lists
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: of IL programs (2 input variables, 10 strings)
2) The above shows the function lists when programs are written with IL (instruction List) language.
If programs are written with LD (Ladder diagram), the following differences occur.
(1) 16 bytes will be added to the size of the PB.
(2) In non-execution, 0.4 will be added to the processing speed. In execution, 0.8 sec will be added.
2) Function block lists
Name
CTU
Function
Addition counter
Size of PB
(Byte)∗2
Processing speed (μs)
*4
Size of library
Size
of
Size (Byte)∗3 memo∗ 3
Instance
GM7U
24
92
6
3.8
CTUD
Addition/subtraction
counter
32
168
6
4.4
F_TRIG
Descending edge
detection
16
28
1
2.6
RS
Preference reset table
20
44
2
3.2
TON
ON delay timer
20
182
20
4.8
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 friction many times
∗ 3: The size of the program memory which a program occupies whenever it uses the function block once
2) The occupied memory size and processing speed of IL programs are same as LD programs.
App3-2
Appendix 4. External Dimensions
Appendix 4. External Dimensions (unit: mm)
1) Base unit
95
105 115
Items
A
B
G7M-DR/DRT/DT20U
135
145
G7M-DR/DRT/DT30U
135
145
G7M-DR/DRT/DT40U
165
175
G7M-DR/DRT/DT60U
215
225
A
B
73
2) Extension modules
(1) Standard type
95 105 115
95
5
73
App4-1
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