GLOFA GM6 Series

User’s Manual

LG Programmable Logic Controller

GLOFA GM6 Series

LG Industrial Systems

◎

CONTENTS ◎

Chapter 1. GENERAL

1.1 Guide to User’s Manual………………………………………………………………… 1 - 1

1.2 Features ……………………………………………………………………………… 1 - 2

1.3 Terminology …………………………………………………………………………… 1 - 3

Chapter 2. SYSTEM CONFIGURATION

2.1 Overall Configuration…………………………………………………………………… 2 - 1

2.2 Product List …………………………………………………………………………… 2 - 2

2.2.1 GM6 series Configuration ………………………………………………………… 2 - 2

2.3 System Configuration Types …………………………………………………………… 2 - 3

2.3.1 Basic System …………………………………………………………………… 2 - 3

2.3.2 Computer Link System…………………………………………………………… 2 - 3

2.3.3 Network System ………………………………………………………………… 2 - 4

Chapter 3. GENERAL SPECIFICATION

3.1 General Specifications ………………………………………………………………… 3 - 1

Chapter 4. CPU MODULE

4.1 Performance Specifications …………………………………………………………… 4 - 1

4.2 Operation processing ………………………………………………………………… 4 - 2

4.2.1 Operation processing Methods …………………………………………………… 4 - 2

4.2.2 Operation processing at momentary power failure occurrence …………………… 4 - 3

4.2.3 Scan Time ……………………………………………………………………… 4 - 4

4.2.4 Scan Watchdog Timer …………………………………………………………… 4 - 4

4.2.5 Timer processing ………………………………………………………………… 4 - 5

4.2.6 Counter processing ……………………………………………………………… 4 - 7

4.3 Program ……………………………………………………………………………… 4 - 9

4.3.1 Program Configuration …………………………………………………………… 4 - 9

4.3.2 Program Execution Procedures…………………………………………………… 4 - 10

4.3.3 Task……………………………………………………………………………… 4 - 13

4.3.4 Error Handling …………………………………………………………………… 4 - 19

4.3.5 Precautions when using special modules ………………………………………… 4 - 20

4.4 Operation Modes ……………………………………………………………………… 4 - 24

4.4.1 RUN mode ……………………………………………………………………… 4 - 24

4.4.2 STOP mode ……………………………………………………………………… 4 - 25

4.4.3 PAUSE mode …………………………………………………………………… 4 - 25

4.4.4 DEBUG mode …………………………………………………………………… 4 - 25

4.4.5 Operation Mode Change ………………………………………………………… 4 - 26

4.5 Functions ……………………………………………………………………………… 4 - 28

4.5.1 Restart mode …………………………………………………………………… 4 - 28

4.5.2 Self-diagnosis …………………………………………………………………… 4 - 30

4.5.3 Remote function ………………………………………………………………… 4 - 31

4.5.4 I/O Force On/Off function ………………………………………………………… 4 - 32

4.5.5 Direct I/O Operation function……………………………………………………… 4 - 33

4.5.6 External Device Error Diagnosis function ………………………………………… 4 - 33

4.6 Memory Configuration ………………………………………………………………… 4 - 36

4.7 I/O No. Allocation Method ……………………………………………………………… 4 - 38

4.8 Names of Parts………………………………………………………………………… 4 - 39

Chapter 5. BATTERY

5.1 Specifications ………………………………………………………………………… 5 - 1

5.2 Handling Instructions…………………………………………………………………… 5 - 1

5.3 Battery Replacement…………………………………………………………………… 5 - 1

Chapter. 6 USING THE USER PROGRAM IN FLASH MEMORY

6.1 Structure ……………………………………………………………………………… 6 - 1

6.3 Handling ……………………………………………………………………………… 6 - 1

Chapter. 7 DIGITAL INPUT AND OUTPUT MODULES

7.1 Notes on Selecting Input and Output Modules ………………………………………… 7 - 1

7.2 Digital Input Module Specifications……………………………………………………… 7 - 2

7.2.1 16-point 24VDC input module (source/sink type) ………………………………… 7 - 2

7.2.2 16-point 24VDC input module (source type) ……………………………………… 7 - 3

7.2.3 32-point 24VDC input module (source/sink type) ………………………………… 7 - 4

7.2.4 32-point 24VDC input module (source type) ……………………………………… 7 - 5

7.2.5 8-point 110VAC input module …………………………………………………… 7 - 6

7.2.6 8-point 220VAC input module …………………………………………………… 7 - 7

7.3 Digital Output Module Specifications …………………………………………………… 7 - 8

7.3.1 16-point relay output module……………………………………………………… 7 - 8

7.3.2 16-point transistor output module (sink type) ……………………………………… 7 - 9

7.3.3 32-point transistor output module (sink type) ……………………………………… 7 - 10

7.3.4 8-point triac output module ……………………………………………………… 7 - 11

Chapter 8. POWER SUPPLY MODULE

8.1 Selection of power supply module ……………………………………………………… 8 - 1

8.2 Specifications ………………………………………………………………………… 8 - 2

8.3 Names of Parts………………………………………………………………………… 8 - 3

Chapter 9. BASE BOARD

9.1 Specifications ………………………………………………………………………… 9 - 1

9.2 Names of Parts………………………………………………………………………… 9 - 1

Chapter 10. INSTALLATION AND WIRING

10.1 Installation …………………………………………………………………………… 10 - 1

10.1.1 Installation Environment ………………………………………………………… 10 - 1

10.1.2 Handling Instructions …………………………………………………………… 10 - 4

10.1.3 Module Loading and Unloading ………………………………………………… 10 - 7

10.2 Wiring………………………………………………………………………………… 10 - 9

10.2.1 Power Supply Wiring …………………………………………………………… 10 - 9

10.2.2 Input and Output Devices Wiring …………………………………………………10 - 11

10.2.3 Grounding ………………………………………………………………………10 - 11

10.2.4 Cable Specification for wiring ………………………………………………… 10 - 12

Chapter 11. MAINTENANCE

11.1 Maintenance and Inspection…………………………………………………………… 11- 1

11.2 Daily Inspection ……………………………………………………………………… 11- 1

11.3 Periodic Inspection …………………………………………………………………… 11- 2

Chapter 12. TROUBLESHOOTING

12.1 Basic Procedures of Troubleshooting ………………………………………………… 12- 1

12.2 Troubleshooting ……………………………………………………………………… 12- 1

12.2.1 Troubleshooting flowchart used when the POWER LED turns OFF ……………… 12- 2

12.2.2 Troubleshooting flowchart used when the STOP LED is flickering………………… 12- 3

12.2.3 Troubleshooting flowchart used when the RUN and STOP LEDs turns off ………… 12- 4

12.2.4 Troubleshooting flowchart used when the output load of the output module does not turns on ………………………………………………… 12 - 5

12.2.5 Troubleshooting flowchart used when a program cannot be written to the CPU module …………………………………………… 12 - 6

12.3 Troubleshooting Questionnaire ……………………………………………………… 12 - 7

12.4 Troubleshooting Examples …………………………………………………………… 12 - 8

12.4.1 Input circuit troubles and corrective actions ……………………………………… 12 - 8

12.4.2 Output circuit troubles and corrective actions …………………………………… 12 - 9

12.5 Error Code List ………………………………………………………………………12 - 11

Chapter 13. Dedicated Cnet communication for GM6

13.1 Introduction…………………………………………………………………………… 13- 1

13.2 The example of system configuration ………………………………………………… 13- 2

13.3 The pin assignment of RS-232C connector of the GM6 dedicated Cnet communication … 13- 3

13.4 Frame structure ……………………………………………………………………… 13- 4

13.5 List of commands …………………………………………………………………… 13- 7

13.6 Data type …………………………………………………………………………… 13- 8

13.7 Execution of commands (Ex.) ………………………………………………………… 13- 9

13.8 Error code during NAK occurrence (for GM6 dedicated communication) ……………… 13- 29

APPENDICES

Appendix 1. System Definitions …………………………………………………………APP 1 - 1

Appendix 2. Flag List ……………………………………………………………………APP 2 - 1

Appendix 3. Function/Function Block List…………………………………………………APP 3 - 1

Appendix 4. Dimensions ………………………………………………………………APP 4 - 1



The GLOFA-GM6 series has various modules 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

The following shows the overall configuration of the GLOFA-GM6 series.

RUN

STOP

GM6-CPUA

RUN

PAU/REM

STOP

Battery

GMW

IN

CPU Module

RS-232C

Cable

GMWIN

Discket

Power Supply

Module

(GM6-PAF□)

G6I-D22B G6I-RY2A

Base board(GM6-B0□M)

G6F-AD2A G6L-FUEA

Input Module

(G6I-□□□□)

Output Module

(G6Q-□□□A)

Special Module

(G6F-□□□□)

Communication

Module

(G6L-□□□□)

2 - 1


2.2 Product List

The following table shows product list of GLOFA-GM6 series.

2.2.1 GM6 series Configuration

Items

CPU module

Digital input module

Digital output module

Main base unit

Power supply module

Models Description

GM6-CPUA

GM6-CPUB

•

Maximum I/O points: 256

• Special functions : RS-232 communication

• Maximum I/O points :

• Special functions : RS-422/485 communication, RTC, PID

GM6-CPUC

• Maximum I/O points :

• Special functions : RS-232C communication, RTC, PID, HSC

G6I-D21A

• 8-point 12/24 VDC input module(current source & sink input)

G6I-D22A •

16-point 12/24 VDC input module(current source & sink input)

G6I-D22B

• 16-point 12/24 VDC input module(current source input)

G6I-D24A

• 32-point 12/24 VDC input module(current source & sink input)

G6I-D24B

•

32-point 12/24 VDC input module(current source input)

G6I-A11A

• 8-point 110 VAC input module

G6I-A21A

• 8-point 220 VAC input module

G6Q-RY1A

•

8-point relay output module(2A)

G6Q-RY2A

• 16-point relay output module(2A)

G6Q-TR2A

• 16-point transistor output module(0.5A, sink output)

G6Q-TR2B

•

16-point transistor output module(0.5A, source output)

G6Q-TR4A

• 32-point transistor output module(0.1A, sink output)

G6Q-TR4B

• 32-point transistor output module(0.1A, source output)

G6Q-SS1A

• 8-point triac output module(1A)

GM6-B04M

• Up to 4 I/O modules can be mounted.

GM6-B06M

•

Up to 6 I/O modules can be mounted.

GM6-B08M

• Up to 8 I/O modules can be mounted.

GM6-PAFA

GM6-PAFB

Free Voltage

(100 ~

240VAC)

•

•

•

5 VDC : 2 A, 24 VDC : 0.3 A

5 VDC : 2 A

+15 VDC : 0.5 A, -15VDC : 0.2 A

GM6-PD3A

GM6-PDFA

DC24V

DC12/24V

• 5 VDC : 2 A

Remarks

2 - 2


Items

Special modules

Communication modules

Others

Models Description

A/D conversion module

D/A conversion module

G6F-AD2A

G6F-DA2V

G6F-DA1A

• Voltage/current input : 4 channels

• DC -10 to 10V / DC -20 to 20 mA

• Voltage output : 4 channels

•

DC -10 to 10V

• Current output : 4 channels

• DC 4 to 20 mA

•

Counting range: 0 to 16,777,215(24 bit binary)

•

50 kHz, 1 channel

High speed counter module

Positioning module

G6F-HSCA

G6F-POPA • Pulse output, 2-axes control

Fnet I/F module G6L-FUEA

Fnet remote I/F module

Computer Link module

•

For Fnet I/F

•

1 Mbps base band

G6L-RBEA

• For twisted cable

• For Fnet remote I/F

• 1 Mbps base band

•

For twisted cable

G6L-CUEB

• RS-232C

G6L-CUEC

• RS422

G6L-DUEA

• Dnet I/F master module

•

Complying with ODVA (Open Devicenet

Vendor Association) 2.0 standard.

Dnet I/F module

G6L-DSIA

G6L-DSQA

• Dnet I/F slave input module

• 12/24 VDC input (16 points)

• Complying with ODVA (Open Devicenet


• Dnet I/F slave output module

• Relay output (16 points)

• Complying with ODVA (Open Devicenet


Dust Proof

Module

GM6-DMMA • Protect empty slot for dust

Remarks

2 - 3


2.3 System Configuration Types

System configuration is classified into 3 types that Basic system, Computer link system executing data communications between the CPU module and a computer by use of a computer link module(G6L-CUEB/C) and

Network system controlling the PLC and remote I/O modules.

2.3.1 Basic System

The following describes basic system.

Slot number 0 1 2 3 4 5 6 7

0.0.0

~

0.0.15

0.1.0

~

0.1.15

0.2.0

~

0.2.15

0.3.0

~

0.3.15

0.4.0

~

0.4.15

0.5.0

~

0.5.15

0.6.0

~

0.6.15

0.7.0

~

0.7.15

Example of System configuration

Base Board

(The above figure shows the configuration where 16-input/output modules are loaded.)

Maximum number of Input/Output modules

Maximum number of Input/Output points

Configuration units

CPU module

Power Supply module

Basic Base Unit

I/O module

Special module

Communication module

I/O number allocation

8 modules

• 16-point module mounted: 128 points

•

32-point module mounted: 256 points

GM6-CPUA, GM6-CPUB, GM6-CPUC

GM6-PAFA, GM6-PAFB, GM6-PD3A, GM6-PDFA

GM6-B04/06/08M

G6I-œœœœ

G6Q-œœœœ

G6F-œœœœ

G6L-œœœœ

64 points are allocated to each slot in a base board whatever it is empty or not.

There's no limitation for the location and the number of special modules on base board.

Special modules do not have fixed I/O numbers while a fixed I/O number is allocated to a digital I/O module.

A dedicated function block controls a special module and memory is allocated automatically.

Note for power supply module selection

•

To use A/D, D/A conversion module, be sure to select GM6-PAFB power supply module that supplies ± 15VDC instead of 24VDC. ± 15VDC power is need for operation of internal analog circuit of A/D and D/A conversion modules.

2 - 4


2.3.2 Computer Link System

Computer Link System communicates data between the CPU module and peripheral devices like a computer or a printer by use of RS-232C and RS-422(or RS-485)interface of the computer link module.

The G6L-CUEB or G6L-CUEC are the computer link module for GM6 series. For details of computer link module, refer to related User's Manual.

2.3.3 Network System

The Network system adapted in the GLOFA series a Fnet system that satisfies the IEC/ISA field bus specifications. Fnet system as a network system is used for data communications between CPU modules and control of remote I/O modules so that distribution of control and concentration of supervision could be easy. For details, refer to Fnet system user's manual.

2 - 5

Chapter 3. GENERAL SPECIFICATIONS

Chapter 3. GENERAL SPECIFICATION

3.1 General specifications

No

1

8

9

10

11

2

3

4

5

6

7

The following shows the general specifications of the GLOFA-GM series.

Item

Operating ambient temperature

Storage ambient temperature

Operating ambient humidity

Storage ambient humidity

Specifications

0 ~ 55

°

-25 ~ +75

C

°

C

5 ~ 95%RH, non-condensing.

5 ~ 95%RH, non-condensing.

Vibration

Shocks

Noise Immunity

Frequency

Occasional vibration

Acceleration Amplitude Sweep count

10

≤

f

<

57 Hz

57

≤ f

≤

150 Hz

-

9.8 m/s 2 {1 G}

0.075 mm

-

Frequency

10 ≤ f <57 Hz

57 ≤ f ≤ 150 Hz

Continuous vibration

Acceleration

4.9 m/s

-

2 {0.5G}

Maximum shock acceleration: 147 m/s 2

Amplitude

0.035 mm

{15G}

-

10 times per axis, on X,Y, Z axis

Duration time: 11 ms

Pulse wave: half sine pulse (3 shocks per axis, on X,Y,Z axis)

Square wave

Impulse Noise

±

1,500 V

Electronic discharge

Radiated electromagnetic field noise

Voltage : 4 kV

27 ~ 500 MHz, 10 V/m

Fast transient/burst noise

Item

Voltage

Power supply

2 kV

Digital I/O

(>24V)

1 kV

Digital I/O

(<24V)

Analog I/O interface

0.25 kV

Free of corrosive gases and excessive dust.

Operating ambience

Altitude

Pollution

Cooling method

2,000 m or less

2

Air-cooling

References

IEC 1131-2

IEC 1131-2

IEC 1131-2,

IEC 801-3

IEC 1131-2,

IEC 801-3

IEC 1131-2,

IEC 801-4

IEC 1131-2

REMARK

1) IEC(International Electromechanical Commission) : An international civilian institute who establishes

international standards in area of electric's and electronics.

2)Pollution : An indicator which indicates pollution degree which determine insulation performance of equipment.

Pollution 2 means that non-conductive pollution usually occurs but temporal conduction occurs with condensing

3 - 1

Chapter 4. CPU module

Chapter 4. CPU MODULE

4.1 Performance specifications

The following shows the general specifications of the GLOFA-GM series.

Number of instructions

Data memory

Program types

Items

Operation method

I/O control method

Programming language

Operator

Basic function

Basic function block

Special function block

Operator

Processing speed

Basic function

Basic function block

Programming memory capacity

I/O points

Direct variable area

Symbolic variable area

Timer

Counter

Numbers of program blocks

Initialization programs

Task

Programs

Time driven tasks

External interrupt tasks

Internal task

Operation modes

Restart modes

Self-diagnostic functions

Data protection method at power failure

Built-in special functions

Internal current consumption

Weight

GM6-CPUA

Specifications

GM6-CPUB GM6-CPUC

Cyclic operation of stored program, Interrupt task operation

Scan synchronized batch processing method(Refresh method)

Ladder Diagram(LD)

Instruction List(IL)

Sequential Function Chart(SFC)

LD : 13, IL : 21

194

11

Each special module have their own special function blocks

Refer to Appendix 3.

Remarks

68 k bytes(17 k steps)

256 points

2 to 8 k bytes

30 k bytes – Direct variable area

No limitations in points.

Time range : 0.01 to 4294967.29 sec(1193 hours)

No limitations in points

Counting range: -32768 to +32767

100

1 (_INIT)

0 ~ 8

0 ~ 8

0 ~ 8

RUN, STOP, PAUSE and DEBUG

Cold, Warm

Watch dog timer, Memory error detection, I/O error detection, Battery error detection, Power supply error detection, etc.

Set to 'Retain' variables at data declaration.

RS-232C

170mA

0.11Kg

RS-422/485

RTC

PID control

210mA

0.11 Kg

RS-232C

RTC

PID control

High Speed Counter

170mA

0.12Kg

1 point occupies 20 bytes of symbolic variable area.

1 point occupies 8 bytes of symbolic variable area.

Total : 8

(The type of task is variable, however, total numbers of tasks is 8.)

4 - 1


4.2 Operation Processing

4.2.1 Operation Processing Method

1) Cyclic operation

A PLC program is sequentially executed from the first step to the last step, which is called scan.

This sequential processing is called cyclic operation. Cyclic operation of the PLC continues as long as conditions do not change for interrupt processing during program execution.

This processing is classified into the following stages.

Stages Processing

Operation Start

Initialization

Input image area refresh

-

•

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 processing.

4I/O modules reset 4Execution of self-diagnosis

4Data clear 4I/O module address allocation or type registration

•

Input module conditions are read and stored into the input image area before

operation processing of a program.

•

Program is sequentially executed from the first step to the last step

Program operation processing

Program start

~

Program end

Output image area refresh

END processing

• The contents stored in the output image area is output to output modules when

operation processing of a program is finished.

• Stage for return processing after the CPU module has finished 1 scan. The

following processing are executed.

4Self-diagnosis

4Change of the present values of timer and counter, etc.

4Processing data communications between computer link module and

communications module.

4Checking the switch for mode setting.

4 - 2


2) Time driven interrupt operation method

In time driven interrupt operation method, operations are processed not repeatedly but at every pre-set interval.

Interval, in the GM6 CPU module, can be set to between 0.01 to 4294967.29 sec. This operation is used to process operation with a constant cycle.

3) Event driven interrupt operation method

If a situation occurs which is requested to be urgently processed during execution of a PLC program, this operation method processes immediately the operation which corresponds to interrupt program. The signal which informs the CPU module of those urgent conditions is called interrupt signal. The GM6 CPU module has two kind of interrupt operation methods, which are internal and external interrupt signal methods.

4.2.2 Operation processing at momentary power failure occurrence

The CPU module detects any momentary power failure when the input line voltage to the power supply module falls down below the defined value.

When the CPU module detects any momentary power failure, the following operations will be executed.

1) Momentary power failure within 20 ms

(1) The operation processing is stopped with the output retained.

(2) The operation processing is resumed when normal status is restored.

(3) The output voltage of the power supply module retains the defined value.

(4) The watch dog timer(WDT) keeps timing and interrupt timing normally while the operations is at a stop.

2) Momentary power failure exceeding 20 ms

•

The re-start processing is executed as the power is applied.

REMARK

1) Momentary power failure

The PLC defining power failure is a state that the voltage of power has been lowered outside the allowable variation range of it. The momentary power failure is a power failure of short interval(several to tens ms).

4 - 3


4.2.3 Scan Time

The processing time from a 0 step to the next 0 step is called scan time.

1) Expression for scan time

Scan time is the addition value of the processing time of scan program that the user has written, of the task program processing time and the PLC internal processing time.

(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 = Total of the processing times of task 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 task programs and communications processing, etc.

2) Flag

(1) Scan time is stored in the following system flag area.

• _SCAN_MAX : Maximum scan time (unit : 1 ms)

• _SCAN_MIN : Minimum scan time (unit : 1 ms)

• _SCAN_CUR : Current scan time (unit : 1 ms)

4.2.4 Scan Watchdog Timer

1) Watchdog timer is used to detect a delay of abnormal 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 make elapsed watchdog time as zero.

4) In order to clear watchdog error, using manual reset switch, restarting the PLC and mode change to STOP

mode are available.

REMARK

Setting range of watchdog : 1 ~ 65,535ms( 1ms base )

4 - 4


4.2.5 Timer Processing

The CPU module timer is on incremental timer which increase 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’.

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.

2) Off Delay Timer Process Time Change and Contact On/Off

•

If input condition turns on, timer output contact(Q) turns on. If input condition turns off, timer process time change starts.

•

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.

4 - 5


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.

4) Timer error

The maximum timer error is ‘1 scan time + time from the start of scan to execution of the timer function block".

4 - 6


4.2.6 Counter Processing

The CPU module counter increment/decrement the present counting value by the detection of rising edge(offàon) 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).

PV

•

If the counting value (CV) increments and reaches the setting value(PV) the output contact (Q) turns on.

When the reset signal is turn on, the counting value is set to ‘0’ and the output contact (Q) turns off.

(2) Decrement Counter

•

It should have input condition (CD), load (LD) and setting value (PV).

CD

LD

•

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.

4 - 7


(3) Increment/Decrement Counter

•

It should have Increment input condition (CU), Decrement input condition (CD), load (LD) and

setting value (PV).

NAME

CTUD

BOOL ▶CU QU BOOL

BOOL ▶CD QD BOOL

BOOL R

BOOL LD

INT PV CV INT

•

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 1at the rising edge of increment input(CU) and decreased by 1 at the edge of

decrement input(CD). If counting value(CV) is equal or larger than setting value(PV),QU will be on,

and if counting value(CV) is equal or less than setting value(PV),QD will be on.

2) Counting speed

•

The counting speed is decided by scan time and it will be counted when on time or off time of input

condition is larger than each scan time.

Max. Counting speed (Cmax.) = n / 100 × 1 / ts [pps] [ n : Duty(%), ts : scan time(s) ]

•

Duty is percent of on time / off time.

on

off

T1 T2

T1 ≤ T2 : n = T1 / (T1+T2) × 100 [%]

T1 ＞ T2 : n = T2 / (T1+T2) × 100 [%]

4 - 8


4.3 Program

4.3.1 Program Configuration

A program consists of all of the function elements that is needed to execute a particular control. It is to be stored in the internal RAM of the CPU module or the flash memory of the memory module.

The function elements are classified as below.

Function

Elements

Initialization program

Processing Operation

•

Executed 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

Time driven task program

Event driven task program

•

Processes the constantly repeated signals which are executed every scan.

• When the following time conditional processing is required the program is executed complying with the time interval setting.

4In case that the processing need a shorter interval than that of average one scan processing time.

4In case that the processing need a longer interval than that of average one scan processing time.

4In case that the processing should be executed by the specified time interval.

• A shorter processing is executed for internal or external interrupt.

4 - 9


4.3.2 Program Execution Procedure

The followings explain the program execution procedure when the power is applied or the mode setting switch of CPU module is in the RUN status.

Program operation processing is executed as the procedure given below

Operation start

Initialization program

Scan program

*1

External task program


• Executed when the power has been applied or the CPU operation is in the Run mode

• Restart operation is executed complying with the initialization task(_INIT, HINIT)

Executed only when the condition has been satisfied.

Internal task program

Executed only when the condition has been satisfied.

END processing

REMARK

1) *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.

4 - 10


1) Initialization program

(1) Function

•

The Initialization program initializes the program to execute scan and task programs.

•

The initialization can be executed with the restart mode which has been specified for program.

(2) Restart mode execution conditions

•

The initialization tasks can be specified as below complying with the purpose of the initialization task.

4 Program for Cold/ Worm restart started by the _INIT task

(3) 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.

(4) Flag

•

_INIT_RUN flag is on during executing the initialization program.

2) Scan program

(1) Function

•

In order to process signals which repeats constantly, the program executes its sequential operation repeatedly from the first step to the end step.

•

If the interrupt task execution condition has been satisfied by a time driven task or event driven task module during scan program execution, the program that is under execution will be temporary stopped and the corresponding task program will be executed.

•

If the scan program has been completely executed, the single task(internal interrupt) execution condition will be checked 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.

4 - 11


3) Task program

(1) Function

•

In order to process internal/ external signal which occurs periodically or non-periodically, the task program temporarily stop the operation of scan program and processes first the corresponding function

(2) Types

•

Task programs are classified into the three types as below.

4 Time driven task program : Up to 8 programs are applicable

4 Single (internal) task program : Up to 8 programs are applicable

4 Interrupt (external) task program : Up to 8 programs are applicable

•


4 The program is executed by the time internal set before

•

Single (internal) task program

4 The corresponding program will be executed at the rising edge and on state of internal contact in the program.

4 The detection of the start up condition will be executed after the scan program has been processed.

•

Interrupt (external) task program

4 The program is executed according to the external signal a input to the interrupt module

REMARK

1) Refer to section 4.3.3 task for details of task program.

2) For interrupt signal processing, the GM6 series use general digital input module instead of external interrupt input module. Refer 4.3.3. task for details.

4 - 12


4.3.3 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

*1

Program 1

Program Block

Program 2

Function

Program 3

Program Block

Program 4

Function Block

Program 5

Program Block

Program 6

Function

Program 1

Program Block

Task 1

( program 1)

Task 2

( program 3)

Task 3

( program 7)

REMARK

1) A task executes the some function as the control panel which are used to execute programs. Each task consists of one or more program blocks in the three types of program. Those programs are called task programs A program to which a task has not been specified as marked with '*1' will be automatically specified to scan program

4 - 13


1) Task types and functions

The following table show the types and functions of tasks

Specifications

Number 1)

Type

Time driven task

8

External interrupt task

8

Start up condition

Time driven interrupt

(up to 4,294,967.29sec

by the 10msec)

At the rising edge of input contact on the designated slot

Detection and execution

Detection delay time

Executed periodically as setting time

Up to 1msec delay

Immediately executed when an edge occurs in the interrupt module

Maximum 1msec delay +

Input module delay(Within

3msec

Internal interrupt task

8

The rising edge or on state of the BOOL variable data which has been specified of buffer data

Executed with edge detection after scan program has been finished

Delayed for the same time as maximum scan time

Execution priority

Level 0 to 7

(Level 0 has highest priority)

* 1) Up to 8 task programs are available.

Level 0 to 7 Level 0 to 7

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 a execution condition is satisfied while the scan program is repeatedly processed at every scan. Be sure to consider that point when writing a task program

• For example, if a timer and a counter have been used in a 10 sec cycle time driven task program, the timer can occur up to 10 sec error and an input which has been changed within 10 sec 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

(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 while executing task programs

4 - 14


(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 DI function(Task program start-up disable) or EI function(task program start-up enable)

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 be driven 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 assigned as task number automatically.

(2) Time driven task processing

•

The corresponding time driven interrupt task program will be executed every setting time internal

(execution cycle).

(3) Precautions for using the time driven task program

•

While a time driven task program is being executed or ready for its execution, if a same priority task program has been invoked to be executed the newly invoked task will be ignored, the representative task collision warning flag (_TASK_ERR) will be set to ON, the detailed system error flag(_TC_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

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 - 15


4) External contact program processing method

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 input module

• A contact of input module can be used as interrupt input.

(2) 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.

(3) External contact task processing

• The CPU module checks the occurrence of interrupt input every 1ms and executes the task program which are designated by the contact at which the signal has been occurred.

(4) Precautions for using an external contact task.

• 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]) 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(I, 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.

(2) Internal contact task processing

• After the execution of scan program has been completed in the CPU module, the internal contacts that are the start-up 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 scan program has finished its execution.

4 - 16


•

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.

6) Task processing at momentary power failure

•

In case of the power failure of 20 ms or less, the ready tasks before the power failure will be executed, a time driven task will be invoked with calculation of the power failure time, and time driven tasks invoked repeatedly before the power failure will be ignored.

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?

If tasks are invoked more frequently than necessary or several tasks are invoked simultaneously within one scan, the scan time become longer and irregular. In case that the task setting cannot be changed, check the maximum scan time.

(2) Task priorities are properly arranged?

The lower priority tasks still may not be processed after its time due to delay by higher priority tasks. In some cases, if the prior tasks have been delayed and next task occurs task collision can occur. Set the priority with due consideration of items such as urgency and execution time of a task.

(3) Task programs are written as shortly as possible?

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.

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 ‘DI’ and ‘EI’ to protect the program partly. When processing global variables used commonly in other programs, special modules or communications modules, problems can occur.

REMARK

1) For examination on processing speed of scan program and task program, refer to the ‘Scan time

Calculation Example in the Section 4.2.3 ‘Scan Time’.

4 - 17


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 (single : %MX0, priority : = 3)

E_INT1 (interrupt : %IX0.0.1, priority : = 0)

•

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 = 17 ms, P1 = 2 ms, P2 = 7 ms, P3 = 2 ms

• Interrupt E_INT occurrence time : Occurred at the 6, 7, 20 ms after the operation started.

• PROC_1 : Invoked during execution of scan program

Program execution is shown as below.

•

Processing with time

0 [ms] : Scan starts and the scan program P0 starts its execution.

0 to 6 [ms] : The program P0 is being executed.

6 to 8 [ms] : Execution request for P3 is input, and P0 is stopped and P3 is executed. Execution request for

P1 by E_INT1 at the 7 [ms] is ignored as the P2 is being executed.

8 to 10 [ms] : P3 finishes its execution and the P0 stopped continues its execution.

10 to 12 [ms] : P0 is stopped and P1 is executed due to execution request for P1.

12 to 20 [ms] : P2 finishes its execution and the P0 stopped continues its execution.

20 [ms] : Execution requests for P1 and P3 are simultaneously exist, but the higher priority P1 is executed and P3 is ready for its execution.

20 to 22 [ms] : P0 is stopped and P1 is executed.

22 to 24 [ms] : P1 finishes its execution and the higher priority P3 is executed before P0.

24 to 25 [ms] : P3 finishes its execution and the P0 stopped completes its execution.

25 [ms] : Execution request for P2 is checked at the finish time of the scan program (P0) and P2 is executed.

25 to 30 [ms] : The program P2 is executed.

30 to 32 [ms] : Execution request for P1 is input and P2 is stopped and P1 finishes its execution.

32 to 34 [ms] : P1 finishes its execution and the P2 stopped finishes its execution.

34 [ms] : A new scan starts. (P0 starts its execution.)

4 - 18


4.3.4 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 software. The system enter into the STOP state.

(3) Operation error during execution of the user programs

If the numeric operation error of these errors occurs during execution of the user programs, its contents are marked on the error flags and the system continues its operation. If operation time overruns the watch dog 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.

4 - 19


4.3.5 Precautions when using special modules

This system offers convenience and high performance in using special modules compared with the existing methods. Therefore, take some precautions when composing the system. Check the system after the following items have been thoroughly understood.

1) Special module programming

(1) Special function block is offered for each special module to make programs concise and to prevent errors in writing down the user program.

(2) Function blocks are largely of two types. ‘Initialization’ function block for initializing special modules and

‘control’ function block for control of the operations of special modules. Function block functions as an interface between the user program data and the special modules. As it includes the function that watches the operation status of special modules and indicates the error status, other separate error detection program does not have to be written.

(For detailed description of function block, refer to the User’s Manuals of special modules and GLOFA-

GM instructions.)

2) Special Module Initialization

This means to define the operations of a special module. It is done with ‘initialization’ function block.

Generally, it specifies the data range to used channel, resolution or filtering method, etc. It defines the hardware characteristics and only one time execution at system start is sufficient.

REMARK

1) As the initialization should be finished before the scan program starts its execution, its program should be written in the restart program (initialization task program).

3) Control of special modules

In control the operations of special modules, write the program using function blocks which correspond to the operations that have to be controlled. These function blocks can locate at any place within the program.

REMARK

1) If a power failure occurs in the base unit where special units are loaded, special modules data are removed. Therefore, data should be newly written down in the program.

4 - 20


4) Restart Program Example

(1) System Configuration

The followings give an example for writing the initialization program of the system where a special module has been loaded onto its basic base unit shown as below figure.

The followings describe an example for writing the ‘cold/warm restart program’ and ‘scan program’ for the scan program where the ‘D/A 02’ outputs data every scan and the ‘D/A 03’ outputs data only when the data has been changed.

P

O

W

E

R

DC32 : 32-point DC input module

A/D : A/D conversion module

D/A : D/A conversion module

RY32 : 32-point relay output module

• As cold/warm restart makes the whole system restart, the ‘cold/warm restart program’ consists of only initialization program of special module.

(2) program

• Project Configuration : Restart.prj

4 - 21


•

Program : cw_rst.src (cold/warm restart initialization program)

Variable Name

INI_START

AD2INI.ACT

AD01_DT

AD01_CH

AD2INI

AD2INI.STAT

AD01_FE

AVG_NUM

Variable type

VAR

VAR

VAR

VAR

VAR

VAR

VAR

VAR

Data type

BOOL

ARRAY[4] OF BOOL

ARRAY[4] OF BOOL

ARRAY[4] OF BOOL

FB Instance

USINT

ARRAY[4] OF BOOL

ARRAY[4] OF BOOL

Initial value Description

-

Start condition of initialization

Shows active channel

Set by parameter Select digital output type

Set by parameter Select channel to be used

-

-

-

Set by parameter

Shows error status

Enable/Disable average function

4 - 22


•

Program : scan.src (scan program)

STAT

Variable Name

READ

AD_CH

READ.DONE

READ.STAT

READ.ACT

READ.DATA

WRITE_1

DA01_DT

WRITE_1.DONE

WRITE_1.STAT

WRITE_2

DA02_DT

WRITE_2.DONE

WRITE_2.STAT

Variable type

VAR

VAR

VAR

VAR

VAR

VAR

VAR

VAR

VAR

VAR

VAR

VAR

VAR

VAR

Data type

FB Instance

ARRAY[4] OF BOOL

ARRAY[4] OF BOOL

USINT

ARRAY[4] OF BOOL

ARRAY[4] OF INT

FB Instance

ARRAY[4] OF INT

BOOL

USINT

FB Instance

ARRAY[4] OF INT

BOOL

USINT

Description

Assign a channel of AD module to be used

Indicates the reading operation is completed

Shows the error status of AD read FB

Shows the error status of AD read FB

Digital data converted from analog input

Digital data to be output

Indicates the write operation is completed

Shows the error status of DA write FB

Digital data to be output

Indicates the write operation is completed

Shows the error status of DA write FB

4 - 23


4.4 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.

4.4.1 RUN mode

In this mode, programs are normally operated.

The first scan start in the RUN mode

If the operation mode is the RUN mode when the power is applied

Mode condition at the start

If the operation mode has been changed from the STOP mode to the RUN mode

Data area initialization complying with the restart mode set

Data area initialization complying with the restart mode

Check on the effectiveness of the program and decision on the possibility of the execution

Execution of input refresh

Execution of programs and task programs

Check on the normal operation of the loaded modules and their mounting conditions

Processing the communications service or other internal operations

Execution of output refresh

The RUN mode is maintained

Is the operation mode changed?

Changed into another mode

Operation with the operation mode changed

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 / warm)

(3) The possibility of execution of the program is decided with check on its effectiveness.

2) Operation processing contents

I/O refresh 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.

4 - 24


4.4.2 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.


(1) I/O refresh is executed.



4.4.3 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.


Data area clear and input image clear are not executed and the operating conditions just before the mode change is maintain.


(1) I/O refresh is executed.



4.4.4 DEBUG mode

In this mode, errors of a program are searched and the operation sequence is traced. Changing into this mode is only possible in the STOP mode. In this mode, a program can be checked with examination on its execution state and contents of each data.


(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.


(1) I/O refresh is executed by one time every scan.


4 - 25


3) Debug operation conditions

•

Two or more of the following four operation conditions can be simultaneously specified.

Operation conditions

Executed by the one operation unit, (step over)

Executed to the specified breakpoint.

Executed according to the contact state

Executed by the specified scan number.

Description

If an operation command is ordered, the system operates one operation unit and stops.

•

If break step is specified in the program, the operation stops at those step before execution.

•

Up to 8 breakpoints can be specified.

If the contact area to be watched and the condition (Read, Write, Value) where the operation has to stop are specified, the operation stops when the specified operation occurs at the specified contact.(after execution)

If the number of scan that will be operated is specified, the operation stops after it has operated by the specified scan number.

4) 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.

4.4.5 Operation mode change

1) Operation mode change methods

The following method are used to change the operation mode.

(1) Change by the mode setting switch of CPU module.

(2) Change by the GMWIN connected with the CPU module communications port.

(3) 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.

Mode setting switch position

RUN

STOP

STOP

→

PAU/REM

PAU/REM

→

RUN 1)

RUN → PAU/REM 2)

PAU/REM → STOP

Operation mode

Local RUN

Local STOP

Remote STOP

Local RUN

Local PAUSE / Remote RUN

Local STOP

REMARK

1) If the operation mode changes from RUN mode to local RUN mode by the mode setting switch, the

PLC operates continuously without stop.

2) If Local PAUSE disable(or Local PAUSE enable) is set by parameter in GMWIN, it operated as

Remote RUN(or Local PAUSE).

4 - 26


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

Mode Change

Mode change by the GMWIN

PAU/REM

Remote STOP → Remote RUN

Remote STOP → Remote PAUSE

Remote STOP → DEBUG

Remote RUN → Remote PAUSE

Remote RUN → Remote STOP

Remote RUN → DEBUG

Remote PAUSE → Remote RUN

Remote PAUSE → Remote STOP

Remote PAUSE → Remote DEBUG

DEBUG → Remote STOP

DEBUG → Remote RUN

DEBUG → Remote PAUSE m

× m m m

× m m

× m

×

×

Mode change using FAM or computer link, etc.

m

× m m m

× m m

× m

×

×

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)

4 - 27


4.5 Functions

4.5.1 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 with ‘0’ and only the variables to which their initial value has been defined will be set to 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 download or 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)

4 - 28


• Restart mode is executed as the figure given below when the power has been re-applied during execution of the

CPU module

Power ON

Operation mode

STOP

Operation in the STOP mode

RUN

Abnormal

Data that remains at power failure

Normal

Restart mode

Warm Restart

Warm Restart execution

Cold Restart

Cold Restart execution

RUN mode

4) 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

Variable type

Default

Retain

Initialization

Retain & Initialization

Initialized with ‘0’


Initialized with the user defined value



Previous value is retained


Previous value is retained

REMARK

1) Definitions

(1)Default variable : A variable whose initial value is not defined or previous value will not be retained.

(2)Initialization variable : A variable whose initial value is defined.

(3)Retain variable : A variable whose previous value will be retained.

4 - 29


4.5.2 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 12.5 Error Code List of Chapter 12. Troubleshooting for details of contents of self-diagnosis and corrective actions.

4 - 30


4.5.3 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 setting 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 mode setting 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.

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.

4 - 31


4.5.4 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, change 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.

4 - 32


4.5.5 History Log-In

The GM6 CPU stores 3 operation histories such as error occurrence, mode change, and power shut-down.

Each history log-in contains the last 16 operation histories.

1) Error occurrence

•

Record occurrence time and error code when an error occurred while the CPU is in RUN mode.

2) Mode change

•

Record the mode change time, operation mode, and restart mode when a operation mode is changed.

3) Power failure

•

Record the occurrence time and total occurrence number when the AC failure occur while the CPU is

in RUN mode.

4.5.6 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_WN[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 sixteen elements(n : 0 to 15), the user can classify error states largely.

User defined error No. can be written to the elements. A number of 1 to 65535 is usable.

Error detection

Example)

MOV

10

4 - 33


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_WAR[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.

4 - 34


Example Error detection

( )

_ANNUN_WR = 1

=

_ANC

=

=

_WAR[0]

_ANC

_WAR[1]

=

=

=

=

=

0

0

0

0

0

0

10

0

_ANNUN_WR = 1

=

_ANC

=

=

_WAR[0]

_ANC

_WAR[1]

=

=

=

=

=

0

0

0

0

0

0

10

0

_ANNUN_WR = 1

=

_ANC

=

=

_WAR[0]

_ANC

_WAR[1]

=

=

=

=

=

0

0

0

0

0

0

10

0

_ANNUN_WR = 1

=

_ANC

=

=

_WAR[0]

_ANC

_WAR[1]

=

=

=

=

=

0

0

0

0

0

0

10

0

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 has lower priority than the numbers 1, 2 and 3, it will be the lower element of _ANC_WAR[n]. The _ANC_WB[75] is not indicated as it is turned on and the warning that occurred before has written to the _ANC_WAR[n].

After the next scan has been finished, if the numbers 1, 2, 3, 10, 15 ,

40 , 50, 60 and 75 of _ANC_WB[n] are tuned on _ANC_WAR[n] will be shown as left.

The No. 10 warning has been released the content of _ANC_WAR[0] will be cleared and the contents of _ANC_WAR[1..7] will shift into the lower elements. The content of _ANC_WAR[7] will has been cleared by the shifting and the content of _ANC_WB[75] will be written to _ANC_WAR[7].

If all warnings indicated on the _ANC_WB[n] are released during operation, the _ANNUN_WR and _ANC_WAR[n] will be shown as left.

4 - 35


4.6 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

Overall program memory area

Parameter area

•

Basic parameter area

•

I/O parameter area

•

High speed link parameter area

• Interrupt setting information area

Program area

• Scan program area

• Task program area

• User defined function/function block area

• Standard library area

• Access variable are

• Variable initialization information area

• Protective variable specification information area

Memory Capacity

68 k bytes

2 k bytes

66 k bytes

2) Data memory Configuration

The table given below shows the contents to be stored and the storage capacity of program memory.

Item

Overall data memory area

System area

• I/O information table

• Force I/O table

System flag area

Input image area (%IX)

Output image area (%QX)

Direct variable area (%M)

Symbolic variable area (maximum)

Stack area

Memory Capacity

32 k bytes

1 k bytes

1.5 k bytes

29 k bytes – the size of direct variable area

128 bytes

128 bytes

2 to 8 k bytes

3 k bytes

4 - 36


3) Purpose

(1) System area it used to store the self-created data of the CPU module for system management and GMWIN system control data.

(2) System flag area it used to user flags and system flags. The user operates it with flag name.

(3) Input image area

It used to store input data read from input modules. Overall size is %IX0.0.0 to %IX1.7.63. The redundant area

(Actual input module is not installed) can be used as auxiliary relay in user program. Especially, it is convenient to use the data storing area of remote input through high speed link.

(4) Output image area

It used to store operation results. The stored data are automatically output to output modules. Overall size is %QX0.0.0 to %QX1.7.63. The redundant area (Actual output module is not installed) can be used as auxiliary relay in user program. Especially, it is convenient to use the data storing area of remote output through high speed link.

(5) Direct variable area

The user can use this area to access direct memory data through the variable names such as %MX0, %MB0,

%MW0 and %MD0, which was pre-defined by the system. Memory size is defined when program is made by user and it refers to ‘App1. System Definitions’.

(6) Symbolic variable area

It used to store the variables that the user created, that is, whose names the user defined when writing a program. Global variables and instance memory are located in this area. The variables used in program blocks locates in the ‘PB instance memory’ of the program, and the memory used in function block locates in the ‘FB instance memory’.

The maximum size of the PB instance memory is 32 Kbytes. If the used size overruns the maximum size, divide the program blocks or use global variables.

4 - 37


4.7 I/O No. Allocation Method

1) I/O No. allocation means to give an address to each module in order to read data from input modules and output data to output modules.

2) Fixed 64 points are allocated to each module for I/O points.

3) Fixed 64 points are allocated regardless of mounting/dismounting or type of modules.

4) The following shows I/O No. allocation method.

Input : % I X 0. 0. 0

Output :% Q X 0. 1. 15

Contact number on I/O module

0 ~ 63

Slot number of Base

0 ~ 7

Base number. 1)

0 ~ 1

REMARK

1) Although there is no expansion base, A base having more than 8 I/O slot which has a plan to develop set by 1 as base number.

4 - 38


4.8 Names of Parts

The following describes the names and functions of parts of the CPU module.

①

②

③

④

⑤

⑥

⑦

No.

1

2

3

4

5

Name

RUN LED

Function

Indicates the operation status of the CPU module.

•

On : when the CPU module operates with the mode setting switch in the local or remote RUN state.

•

Off : when the followings occur

The voltage is not normally supplied to the SPU module.

The mode setting switch is in the STOP or PAU/REM state.

An error which makes operation stop is detected.

STOP LED

• On : when the mode setting switch is in the local or remote STOP state.

• Off : when the followings occur

The mode setting switch is in the local RUN or local PAUSE state.

The operation state is in the RUM/PAUSE/DEBUG state.

• Flickering : when an error is detected by self-diagnosis during operation.

Battery installing connector It used to connect to the backup battery.

Mode setting switch

Sets the operation mode of the CPU module. .

•

RUN : Program operation is executed.

•

STOP : Program operation is temporarily stopped.

•

PAU/REM :

PAUSE : Program operation is temporarily stopped.

REMOTE: Used for the remote operation

DIP S/W for flash memory See chap 6.

4 - 39


No.

6

6

Name

Terminal block for built-in special function

Function

GM6-CPUA : N/A (The terminal block is not installed)

GM6-CPUB : RS-422/485 interface terminal block

GM6-CPUC : High speed counter input terminal block

GM6-CPUB

RDA

RDB

SDA

SDB

GM6-CPUC

φ

A 24V

φ

B 24V

COM

PRE 24V

PRE 0V

RS-232C connector

It used to connect to peripheral devices(GMWIN, etc.)

GM6-CPUA and GM6-CPUC have built-in RS-232C interface function, and it shares the RS-232C connector with peripheral device interface.

(Refer the chapter 13 for details)

REMARK

The followings shows the LED status complying with the operation mode, and the operation mode complying with

the position of the mode setting switch.

1) LED status complying with the operation mode

LED Status

Local Run

Local Stop

Local Pause

Remote Run

Remote Stop

Remote Pause, Remote Debug

RUN

On

Off

Off

On

Off

Off

STOP

Off

On

Off

Off

On

Off

2) Operation mode complying with the position of the mode setting switch.

Position of Mode switch

STOP PAU/REM

Operation Mode

Remote Stop

PAU/REM RUN

RUN PAU/REM

Local Run

Local Pause 1) l Change of remote mode is available only after the operation mode has entered into the remote STOP mode.

caution 1) In case of local pause disable, it operated as Remote Run.

4 - 40



5.1 Specifications

Item

Normal voltage

Warranty life time

Application

Specifications

External dimension (mm)

Specifications

3.0 VDC

5 years

Programs and data backup, and RTC runs in power failure

Lithium Battery, 3 V

Φ 14.5 × 26

5.2 Handling Instructions

1) Do not heat or solder its terminals.

2) Do not measure its voltage with a tester or short circuit.

3) Do not disassemble.

5.3 Battery Replacement

Backup battery needs periodic exchange. When the battery exchange, it should be done at power on, otherwise some or all data will be lost.

The following shows the battery replacement procedure.

Battery replacement

Open the cover of the CPU module

.

Release the existing battery from the holder and disconnect the connector.

Insert a new battery into the holder in the exact direction and connect the connector.

No

Stop LED flickering?

Battery error

Yes

Complete

5 - 1

Chapter 6. MEMORY MODULE

Chapter. 6 USING THE USER PROGRAM IN FLASH MEMORY

This chapter describes user program storage and operation it.

Flash memory is used to store a user program and installed in PLC.

6.1 Structure

Dip switch for operation

Flash memory

6.2 How to use

Read / Write is available to flash memory in accordance with selection of DIP switch.

Selection of DIP switch for flash memory

Operation

ON

PLC is operated by the program in flash memory when power on or PLC reset.

PLC recognize that no program is in flash memory.

ON

( Caution : Lower switch should be at the off position. )

User program can be written to flash memory at the PLC stop mode and then the selection of switch is ignored.

6 - 1

Chapter 7. INPUT AND OUTPUT MODULES

Chapter. 7 DIGITAL INPUT AND OUTPUT MODULES

7.1 Notes on Selecting Input and Output Modules

The followings describe instructions for selection of digital I/O modules that will be used in the GLOFA-GM6 series.

1) The types of digital input are current sink input and current source input.

When selecting DC input modules consider the specifications of those input devices as the wiring method of the external input power supply varies complying with the type of digital input.

In the GM6 series, the types are dedicated source input and source/sink common DC input.

2) Maximum simultaneous input points differs with the type of a module. Check the specifications of the input module to be applied before use.

3) Use transistor or triac output modules with a load that is frequently opened and closed or with an inductive load as, in those cases, the life span of a relay output module will become shorter than specified.

7- 1


7.2 Digital Input Module Specifications

7.2.1 8-points 12 / 24 VDC input module (source / sink type)

Specifications

Number of input points

Insulation method

Rated input voltage

Model

8 points

Photo coupler

12 VDC

DC Input Module

G6I-D21A

24 VDC

Rated input current

Operating voltage range

3 mA 7 mA

10.2 VDC to 28.8 VDC (ripple: less than 5%)

Maximum simultaneous input points 100%(8 points/COM) simultaneously ON

ON voltage/ON current 9.5 VDC or higher / 3.5 mA or higher

OFF voltage/OFF current

Input impedance

Response time

OFF

→

ON

ON → OFF

Common terminal


Operating indicator

External connections

Weight

5 VDC or lower / 1.5 mA or lower

Approx. 3.3 k

5 ms or less

5 ms or less

8 points/COM

40 mA

Ω

LED turns on at ON state of input

9-points terminal block connector(M3

0.12 kg

× 6 screws)

00

1

07

COM

8

9

DC12/24V

R

R

Photo coupler

DC5V

Internal

Circuit

07

COM

04

05

06

01

02

03

00

G6I-D21A

7- 2



Specifications


Insulation method

Rated input voltage

Rated input current

Operating indicator


Weight

Model

16 points

Photo coupler

12 VDC

3 mA

DC Input Module

G6I-D22A

24 VDC

7 mA

Operating voltage range 10.2 VDC to 28.8 VDC (ripple: less than 5%)


ON voltage/ON current


9.5 VDC or higher / 3.5 mA or higher

5 VDC or lower / 1.5 mA or lower

Input impedance

Response time

OFF → ON

ON → OFF

Common terminal


Approx. 3.3 k

Ω

5 ms or less

5 ms or less

8 points/COM

70 mA


18-points terminal block connector(M3 × 6 screws)

0.15 kg

00

1

R

R

07

COM

8

9

DC12 / 24V

08

10

15

17

COM 18

DC12 / 24V

Terminal Block Number

DC5V

Internal

Circuit

G6I-D22A

00

01

02

03

04

05

06

07

COM

09

08

11

10

13

12

14

15

COM

7- 3


7.2.3 16-points 24 VDC input module (source type)

Specifications


Insulation method

Rated input voltage

Rated input current

Model

16 points

Photo coupler

24 VDC

7 mA

DC Input Module

G6I-D22B

Operating voltage range 20.4 VDC to 28.8 VDC (ripple: less than 5%)




15 VDC or higher/4.3 mA or higher

5 VDC or lower/1.7 mA or lower

Input impedance

Response time

OFF → ON

ON → OFF

Common terminal


Approx. 3.3 k

Ω

5 ms or less

5 ms or less

8 points/COM

70 mA

Operating indicator


Weight


18-points terminal block connector(M3 × 6 screws)

0.15 kg

00

1

R

R

07

COM

8

9

DC24V

08

10

15

17

COM 18

DC24V


DC5V

Internal

Circuit

G6I-D22B

05

04

06

07

01

00

03

02

COM

08

09

11

10

12

13

14

15

COM

7- 4



Model

DC Input Module

Specifications


Insulation method

Rated input voltage

Rated input current


G6I-D24A

32 points

Photo coupler

12 VDC

3 mA

10.2 to 28.8 VDC (ripple: less than 5%)

24 VDC

7 mA

Maximum simultaneous input points 60% simultaneously ON

ON voltage/ON current 9.5 VDC or higher / 3.5 mA or higher

OFF voltage/OFF current 5 VDC or lower / 1.5 mA or lower

Input impedance

Response time

OFF → ON

ON → OFF

Common terminal


Operating indicator


Weight

Approx. 3.3 k

5 ms or less

5 ms or less

Ω

32 points/COM

75 mA


37-point terminal block connector(M3

0.11 kg

× 6 screws)

00

1

R

R

31

18

37

19

35

17

36

DC12 / 24V

Connector Pin Number

DC5V

Internal

Circuit

00

16

17

18

1

19

20

21

22

24

23

25

26

27

28

30

29

31

COM

10

12

11

13

14

15

01

02

03

04

06

05

07

08

09

26

27

28

29

30

31

23

24

25

20

21

22

35

36

37

32

33

34

9

10

11

6

7

8

3

4

5

1

2

18

19

15

16

17

12

13

14

12

7- 5


7.2.5. 32-points 24 VDC input module (source type)

Model

DC Input Module

Specifications


Insulation method

Rated input voltage

Rated input current


G6I-D24B

32 points

Photo coupler

24 VDC

7 mA

20.4 to 28.8 VDC (ripple: less than 5%)

Maximum simultaneous input points 60% simultaneously ON

ON voltage/ON current 15 VDC or higher / 4.3 mA or higher

OFF voltage/OFF current 5 VDC or lower / 1.7 mA or lower

Input impedance

Response time

OFF → ON

ON → OFF

Common terminal


Operating indicator


Weight

Approx. 3.3 k

5 ms or less

5 ms or less

Ω

32 points/COM

75 mA



0.11 kg

× 6 screws)

00

1

R

R

31

35

17

36

18

37

19

DC24V


DC5V

Internal

Circuit

00

22

23

24

25

26

27

28

29

30

31

COM

16

17

18

1

19

20

21

10

12

11

13

14

15

01

02

03

04

06

05

07

08

09

20

21

22

23

24

25

26

27

28

29

30

34

35

31

32

33

36

37

10

11

12

13

14

15

7

8

9

16

17

18

19

1

2

3

4

5

6

12

7- 6


7.2.6 8-points 110 VAC input module

Models

AC Input Module

Specifications

G6I-A11A


Insulation method

Rated input voltage

Rated input current

8 points

Photo coupler

100 to 120 VAC (50/60 Hz)

11 mA (110 VAC / 60 Hz)

Operating voltage range 85 to 132 VAC (50/60 Hz ± 3 Hz)

Maximum simultaneous input points 100%(8 points / COM) simultaneously ON

Inrush current


300 mA, 0.3 ms or lower (132 VAC)

80 VAC or higher / 5 mA or higher


Input impedance

Response time

OFF

→

ON

ON → OFF

Common terminal


Operating indicator


Weight

30 VAC or lower / 2 mA or lower

Approx. 15 k

15 ms or less

25 ms or less

8 points/COM

60 mA

Ω



0.14 kg

× 6 screws)

00

1

R

R

R

07

COM

9

8

AC 110V


DC5V

Internal

Circuit

04

05

06

07

COM

01

02

03

G6I-A11A

00

7- 7


7.2.7 8-points 220 VAC input module

Model

GM4

Specifications

G6I-A21A


Insulation method

8 points

Photo coupler

Rated input voltage

Rated input current

200 to 240 VAC (50/60 Hz)

11 mA (220 VAC / 60 Hz)


170 to 264 VAC (50/60 Hz ± 3 Hz)

Maximum simultaneous input points 100%(8 points / COM) simultaneously ON

Surge input current 600 mA, 0.12 ms or lower (264 VAC)



Input impedance

Response time

OFF → ON

ON

→

OFF

Common terminal


Operating indicator


Weight

80 VAC or higher / 5 mA or higher

30 VAC or lower / 2 mA or lower

Approx. 20 k Ω

15 ms or less

25 ms or less

8 points/COM

41 mA


9-point terminal block connector(M3 × 6 screws)

0.14 kg

00

1

R

R

R

07

COM

9

8

AC 220V


DC5V

Internal

Circuit

G6I-A21A

00

03

04

01

02

07

COM

05

06

7- 8


7.3 Digital Output Module Specifications

7.3.1. 8-point relay output module

Models

Relay Output Module

Specifications

G6Q-RY1A

Number of output points

Insulation method

Rated load voltage & current

Minimum load voltage/current

Maximum load voltage/current

Maximum switching frequency

Surge absorber

Mechanical

8 points

Photo coupler

24 VDC 2A(resistance)/point, 5 A/ COM

220 VAC 2A(COS Ψ = `1)/point, 5A/COM

5 VDC / 1 mA

250 VAC, 110 VDC

1200 times per hour

None

20 million times or more

Rated load voltage/current 100000 times or more

Service life

Electrical

200 VAC 1.5 A, 240 VAC 1 A (COS Ψ = 0.7) : 100000 times or more

200 VAC 1 A, 240 VAC 0.5 A (COS Ψ = 0.35) : 100000 times or more

24 VAC 1.5 A, 100 VDC 0.1 A (L/R= 7 ms) : 100000 times or more

10 ms or less

Response time

Weight

Off

→

On

On

→

Off

Common terminal arrangement 1 points/COM


Operation indicator


12 ms or less

250mA

LED turns on at ON state of output

18-point terminal block connector (M3

0.19 kg

× 6 screws)

Internal

Circuit

DC5V

R

R

Relay

DC5V

Terminal

Block No.

15

16

07

L

17

18

NC

1

2

00

L

AC110/220V

G6Q-RY1A

NC

NC

00

COM

L

L

L

L

COM

04

COM

01

COM

02

COM

03

L

05

COM

L

06

COM

L

07

COM

7- 9


7.3.2. 16-point relay output module

Models

Relay Output Module

Specifications

G6Q-RY2A


Insulation method

Rated load voltage & current

Minimum load voltage/current

Maximum load voltage/current

Maximum switching frequency

Surge absorber

Mechanical

16 points

Photo coupler

24 VDC 2A(resistance)/point, 5 A/ COM

220 VAC 2A(COS

Ψ

= `1)/point, 5A/COM

5 VDC / 1 mA

250 VAC, 110 VDC

1200 times per hour

None

20 million times or more

Rated load voltage/current 100000 times or more

200 VAC 1.5 A, 240 VAC 1 A (COS

Ψ

= 0.7) : 100000 times or more Service life

Response time

Weight

Electrical

Off → On

On → Off

200 VAC 1 A, 240 VAC 0.5 A (COS Ψ = 0.35) : 100000 times or more

24 VAC 1.5 A, 100 VDC 0.1 A (L/R= 7 ms) : 100000 times or more

10 ms or less

Common terminal arrangement 8 points/COM


Operation indicator


12 ms or less

415mA



0.19 kg

× 6 screws)

Internal

Circuit

DC5V

R

R

Relay

DC5V


1

00

L

8

9

07

L

10

110/220 VAC

08

L

17

18

15

L

110/220 VAC

G6Q-RY2A

L

01

00

03

02

04

05

07

06

COM

09

08

11

10

12

13

14

15

COM

7- 10


7.3.3 16-point transistor output module (sink type)

Models

Transistor Output Module

Specifications

G6Q-TR2A


Insulation method

Rated load voltage/current

Operating load voltage range

Maximum load current

16 points

Photo coupler

12/24 VDC

10.2 to 26.4 VDC

0.5 A /point, 4 A / COM

Off leakage current

Maximum inrush current

0.1 mA

4 A, 10 ms or less

Maximum voltage drop at ON circuit 1.5 VDC(0.5A)

Surge absorber

Response time

Off → On

On

→

Off

Common terminal arrangement


External power supply

Voltage

Current

Operation indicator


Weight

Clamp Diode

2 ms or less

2 ms or less

16 points/COM

185 mA

24 VDC ± 10 % (ripple voltage : 4VP-P or less)

48 mA or less (all points ON)



0.18 kg

× 6 screws)

DC5V

R

17

1

00

L

Internal

Circuit

R

16

18

15

L

G6Q-TR2A

L

07

08

09

10

11

12

13

14

15

01

00

02

03

04

05

06

COM


7- 11


7.3.4 16-point transistor output module (source type)

Models


Specifications

G6Q-TR2B


Insulation method




16 points

Photo coupler

12/24 VDC

10.2 to 26.4 VDC

0.5 A /point, 4 A / COM

Off leakage current

Maximum inrush current

0.1 mA

4 A, 10 ms or less

Maximum voltage drop at ON circuit 1.5 VDC(0.5A)

Surge absorber

Response time

Off → On

On

→

Off



External power supply

Voltage

Current

Operation indicator


Weight

Clamp Diode

2 ms or less

2 ms or less

16 points/COM

185 mA


48 mA or less (all points ON)



0.18 kg

× 6 screws)

Photo

Coupler

DC5V

R

R

Transistor

1 00

L

Internal

Circuit

1

17

18

15

L

G6Q-TR2B

L

01

00

03

02

05

04

06

07

08

09

10

11

12

13

14

15

COM

Terminal Block No.

DC12/24V

7- 12


7.3.5 32-point transistor output module (sink type)

Models


Specifications

G6Q-TR4A


Insulation method



32 points

Photo coupler

12/24 VDC

10.2 to 26.4 VDC


Off leakage current

Maximum inrush current 4 A, 10 ms or less

Maximum voltage drop at ON circuit 1.0 VDC

Surge absorber

0.1 A / point, 2 A /COM

0.1 mA or less

Off

→

On

None

2 ms or less

2 ms or less

Response time

On → Off



External Voltage power supply

Current

Operation indicator


Weight

32 points/COM

139 mA


36 mA or less (24 VDC/COM)


37-pin D Sub-connector

0.11 kg

Internal

Circuit

DC5V

R

17

18

1

00

L

R


16

19

36

37

31

L

L

00

01

02

03

04

05

1

2

3

20

21

22

L

24

25

26

27

28

29

30

31

14

14

15

16

17

18

19

34

35

36

32

33

37

7- 13


7.3.6 32-point transistor output module (source type)

Models


Specifications

G6Q-TR4B


Insulation method



32 points

Photo coupler

12/24 VDC

10.2 to 26.4 VDC


Off leakage current

0.1 A / point, 2 A /COM

0.1 mA or less


Maximum voltage drop at ON circuit 1.0 VDC

Surge absorber None

2 ms or less

Response time

Off → On

On → Off



External Voltage power supply

Current

Operation indicator


Weight

2 ms or less

32 points/COM

139 mA


36 mA or less (24 VDC/COM)


37-pin D Sub-connector

0.11 kg

DC5V

R

1

00

L

Internal circuit

R

35

17

18

36

19

37

31

L

COM

00

02

01

03

04

05

06

07

08

09

10

11

12

13

14

15

16

17

18

20

1

19

21

22

23

24

26

25

27

28

29

30

31

COM

20

21

22

23

24

25

26

27

28

29

30

34

35

31

32

33

36

37

10

11

12

13

14

15

7

8

9

18

19

16

17

1

2

3

4

5

6

Connector Pin No.

COM : 17,18,36

:17,18,36

The total current of each 8 points (0~7,8~15,16~23,and 24~31) should be lower than 600mA.

7- 14


7.3.7 8-point triac output module

Specifications


Insulation method

Rated load voltage

Minimum load voltage


Minimum load current

Off leakage current

Surge absorber

Models

8 points

Photo coupler

264 VAC

1 A / point, 4 A / 1 COM

20 mA

2.5 mA (220 VAC, 60 Hz)


Maximum voltage drop at ON circuit 1.5 VAC or less (2 A)

Triac Output Module

100 to 240 VAC (50 to 60 Hz)

G6Q-SS1A

Varistor (387 to 473 V), C.R absorber

1ms or less

Response time

Off

→

On

On

→

Off



Operation indicator


Weight

1ms + 0.5 cycle or less

8 points/COM

210 mA



0.16 kg

×

6 screws)

DC5V

R

Internal

Circuit

R

DC5V

R

SSR

R

1

00

L

8

9

07

L

110/220 VAC

04

07

COM

05

06

G6Q-SS1A

L

00

01

02

03


7- 15

Chapter 8. POWER SUPPLY MODULES

Chapter 8. POWER SUPPLY MODULE

This chapter describes the selection method, type and specifications of the power supply module.

8.1 Selection of power supply module

Selection of the power supply module is determined by the total current consumption of digital input modules, special modules and communications modules, etc. whose powers are supplied by the power supply module.

If total load overrun the rated output capacity , the system will not normally operate. When configuring a system, select a power supply module with due consideration of current consumption of each module.

1) Current consumption GM6 series modules (unit: mA)

Modules Models

Current

Consumption

GM6-CPUA 170

Modules Models

G6Q-TR2A

Current

Consumption

180

CPU module GM6-CPUB

GM6-CPUC

210

170

Transistor output module

G6Q-TR2B

G6Q-TR4A

170

140

G6I-D21A 40 G6Q-TR4B 145

24 VDC input module

G6I-D22A

G6I-D22B

70

70

50

50

110 VAC input module


G6Q-RY1A

Relay output module

G6Q-RY2A

Triac output module G6Q-SS1A

Positioning module

G6I-D24A

G6I-D24B

G6I-A11A

G6I-A21A

G6F-POPA

75

75

35

35

210

400

190

345

A/D conversion module G6F-AD2A

G6F-DA2V

D/A conversion module

G6F-DA2I

High speed counting module

G6F-HSCA

Computer link module

Fnet I/F module

Dnet I/F module

G6L-CUEB

G6L-CUEC

G6L-FUEA

G6L-RBEA

G6L-DUEA

G6L-DSIA

G6L-DSQA

50

220

140

180

215

215

220

155

240

8- 1



Item GM6-PAFA GM6-PAFB GM6-PDFA GM6-PD3A

Input

Output

Input voltage 85 to 264 VAC

Input frequency

50 / 60 Hz (47 to 63 Hz)

85 to 264 VAC

Input current 0.7 / 0.35 A

Inrush current 30 A or less

0.7 / 0.35 A

70% or more (rated load, 110/220 VAC)

250 VAC / 2A

Efficiency

Input fuse

Allowable momentary power failure

Output voltage

Output current

Over-current protection

Output voltage

Output current

Over-current protection

Voltage status indicator

24 VDC

20 ms or less

24 VDC : 0.3 A

24 VDC : 0.33 A or more

12 / 24VDC

1.5A (12VDC)

40A or less

5 VDC : 2 A

5 VDC : 2.2 A or more

±

15VDC

+15 VDC : 0.5 A

-15VDC : 0.2 A

+15 VDC : 0.55 A

-15VDC : 0.22 A

LED turns On at normal output voltage.

5 VDC

–

–

–

–

–

24VDC

0.7A (24VDC)

60% or more (rated input, rated load)

250VAC / 3A

1ms or less

Used wire specifications

Weight

0.75 to 2 mm 2

0.4 kg

–

REMARK

To use A/D and D/A modules (G6F-AD2A, G6F-DA2V, G6F-DA2I), choose the GM6-PAFB power module.

8- 2



The followings describe names of parts and their purposes of the power supply module.

①

②

③

④

⑤

3

4

1

No.

2

5

Name Purpose

Power LED

Power input terminal

It used to indicate the 5 VDC power supply.

Connect 110 or 220 VAC power. (GM6-PAFA, GM6-PAFB)

Connect 12 / 24VDC power. (GM6-PDFA)

Connect 24VDC power (GM6-PD3A)

Line Ground LG terminal

FG terminal Frame Ground

24 VDC and DC24G terminal GM6-PAFA It used the 24 VDC power to supply to the other module

GM6-PAFB

No connection

GM6-PDFA

GM6-PD3A

No connection

8- 3

Chapter 9. BASE BOARD AND EXPANSION CABLE

Chapter 9. BASE BOARD


1) GM6

Items

Mounting I/O modules

Outer dimensions (mm)

Models

Panel installation hole size

Weight (kg)

GM6-B04M

4 modules

244

×

110

×

62

φ 4.5 (for M4 screw)

0.24

GM6-B06M

6 modules

314

×

110

×

62

0.35

GM6-B08M

8 modules

384

×

110

×

62

0.75


Hook

Mounting Guide Hole

CPU Module Connector

I/O Module Connector

Module Mounting Guide Rail

Power Module Connector

9 - 1



10.1 Installation

10.1.1 Installation Environment

This unit has high reliability regardless of its installation environment, but be sure to check the following for system reliability and stability.

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 ° C

(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 50 mm 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.

10 - 1


The following shows the procedure for calculating the PLC system power consumption.

1) PLC system power consumption block diagram

2) Power consumption of each part

(1) Power consumption of a power supply module

Approximately 70% of the power supply module current is converted into power and 30% of that 70% dissipated as heat, i.e., 3/7 of the output power is actually used.

• Wpw = 3/7 {(I

5V

× 5) + (I

24V

× 24)} (W) where, I

5V

= 5 VDC circuit current consumption of each module

I

24V

= 24 VDC circuit average current consumption of output modules (with points simultaneously switched ON). Not for 24 VDC power supplied from external or power supply modules that has no 24 VDC output.

(2) Total 5 VDC power consumption

The total power consumption of all modules is the power of the 5 VDC output circuit of the power supply module.

• W

5V

= I

5V

× 5 (W)

(3) Average 24 VDC power consumption (with points simultaneously switched ON)

The total power consumption of all modules is the average power of the 24 VDC output circuit of the power supply module.

• W

24V

= I24

V

× 24 (W)

(4) Average power consumption by voltage drop of output modules (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)

10 - 2


(5) Average power consumption of input circuits if input modules (with points simultaneously switched ON)

•

Win = Iin

×

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)

(6) Power consumption of the special module power supply

•

Ws = I

5V

×

5

+

I

24V

×

24

+

I

100V

×

100 (W)

The sum of the above values is the power consumption of the entire PLC system.

•

W = W

PW

+

W

5V

+

W

24V

+

W

OUT

+

W

IN

+

W

S

(W)

Check the temperature rise within the control panel with calculation of that total power consumption(W).

The temperature rise in the control panel is expressed as:

T = W/UA [

°

C]

W : Power consumption of the entire PLC system (obtained as shown above)

A : Control panel inside surface area (m2)

U : 6 (if the control panel temperature is controlled by a fan, etc.)

4 (if control panel air is not circulated)

10 - 3


10.1.2 Handling Instructions

To installing the temperature-measuring resistor input module, be sure to check the following:

•

Do not drop it 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.

•

Do not load or unload the module while the power supply is being connected.

1) I/O module handling instructions

The followings explains instructions for handling or installing the input module.

(1) I/O module specifications re-check

Re-check the input voltage for the input module. If a voltage over the maximum switching capacity is applied, it can cause faults, destruction or fire.

(2) Used wire

Select the wire with due consideration of ambient temperature and rated current. Its minimum specifications should be AWG22(0.3 mm 2 ) or more.

(3) Environment

When wiring the I/O module, if it locates near a device generating an cause short circuit, destruction or malfunction.

(4) Polarity

Before applying the power to a module that has polarities, be sure to check its polarities.

(5) 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 module, connect parallel surge killer or diode to a load. Connect the cathode part of diode to the

+

part of the power supply.

10 - 4


(6) Terminal block

Check its fixing. During drilling or wiring, do not allow any wire scraps to enter into the PLC. It can cause malfunction and fault.

(7) Be cautious that strong shock does not applied to the I/O module. Do not separate the PCB from its case.

2) Base board mounting instructions

The following explains instructions for mounting the PLC onto the control panel.

(1) Allow sufficient distance from the upper part of the module for easy module replacement.

(2) Do not mount the PLC in a vertical or horizontal position because it affects on ventilation.

(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 base board away from such a vibration source.

(4) Mount the wire duct as it is needed.

If the clearances are less than those in Fig 10.1, follow the instructions shown below.

•

If the wire duct is mounted on the upper part of the PLC, make the wiring duct clearance 50mm or less for good ventilation. Also, 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 mm or more clearances between it and parts. Left or right clearance and clearance from other device in the left or right side should be 50 mm or more.

board board

[Fig. 10.1] PLC mounting

10 - 5


[Fig.10.2] Clearance from the front device [Fig. 10.3] Vertical mounting [Fig 10.4] Horizontal mounting

10 - 6


10.1.3 Mounting and Dismounting of module

The following explains the mounting and dismounting of various modules.

1) Module mounting

•

Insert the module to mounting slot with sliding guide.

•

Check that the module is firmly mounted onto the base board.

Locking part for Hook

Hook

Sliding

Locked Hook

Note : The CPU module should be mounted on the next of the power module. If the CPU module is mounted other slot when a power module that has

±

15VDC output (GM6-PAFB), the CPU module will be damaged. Therefore, please be sure to mount CPU module on the proper slot.

10 - 7


2) Module dismounting

•

First, push the locked hook(①) and pull the module with direction of arrow ②.

①

②

10 - 8


10.2 Wiring

The followings explains the wiring instructions for use of the system.

10.2.1 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)

3) When wiring, separate the PLC power supply from the I/O and power device as shown below.

10 - 9


4) Notes on using 24 VDC output of the power supply module

•

To protect the power supply modules, do not supply one I/O module with 24 VDDC from several power supply modules connected in parallel.

•

If 24 VDC output capacity is sufficient for one power supply module, supply 24 VDC from the external 24

VDC power supply as shown below.

5) Twist the 110 VAC, 220 VAC, and 24 VDC cables as closely as possible. Connect modules with the shortest possible wire lengths.

7) To minimize voltage drop, use the thickest (max. 2 mm 2 ) wires possible for the 100 VAC, 200VAC and

24 VDC cables.

8) Do not bundles the 100 VAC and 24 VDC cables with main-circuit(high voltage, large current) wires or the I/O signal wires. If possible, provide more than 100 mm distance between the cables and wires.

8) As a lightning-protection measure, connect a surge absorber as shown below.

REMARK

1) Ground the surge absorber (E1) and the PLC(E2) separately from each other.

2) Select a surge absorber making allowances for power voltage rises.

9) Use a insulating transformer or noise filter for protection against noise .

10) Twist every input power supply wires as closely as possible. Do not allow the transformer or noise filter across the duct.

10 - 10


10.2.2 Input and Output Devices Wiring

1) Applicable size of wire for I/O wiring is 0.3 to 2 mm 2 . However, it is recommended to use wire of 0.3mm

2 for convenience.

2) Separate the input and output lines.

3) I/O signal wires must be at least 100 mm away from high voltage and large current main 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 batch-shielded cables.

5) If wiring has been done with a piping, ground the piping.

6) Separate the 24 VDC I/O cables from the 110 VAC and 220 VAC cables.

7) If wiring over 200 m or longer distance, problems can be caused by leakage currents due to line capacity.

Refer to the Section 12.4 Examples.

10.2.3 Grounding

1) This PLC has sufficient protection against noise, so it can be 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

100 Ω or less).

3) When independent grounding is impossible, use the joint grounding method as shown in the figure below (B).

(A) Independent grounding : Best (B) Joint grounding : Good (C) Joint grounding : Not allowed

4) Use 2 mm 2 or more wire for grounding line. Make the distance as short as possible with the grounding point

located to nearest to the PLC.

10 - 11


5) Ground LG (Power Supply Module) separately with FG (Base board).

(A) Independent grounding : BEST (B) Joint grounding : GOOD (C) Joint Grounding : Not Allowed

6) If a malfunction occurs depend on grounding point, separate FG (Base Board) with ground.

10.2.4 Cable Specifications for wiring

Kinds of external connection

Digital Input

Digital Output

Analog Input/Output

Communication

Main Power

Grounding

Cable Specifications (㎟)

Minimum

0.18 (AWG 24)

0.18 (AWG24)

0.18 (AWG24)

0.18 (AWG24)

1.5 (AWG16)

1.5 (AWG16)

Maximum

1.5 (AWG16)

2.0 (AWG14)

1.5 (AWG16)

1.5 (AWG16)

2.5 (AWG12)

2.5 (AWG12)

10 - 12

Chapter 11. MAINTENACE

Chapter 11. MAINTENANCE

Be sure to perform daily and periodic maintenance and inspection in order to maintain the PLC in the best conditions.

11.1 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

Ambient environment

Temperature 0 to +55

Humidity

° C

5 to 95%RH

Vibration No vibration

Judgment

Play of modules No play allowed

Connecting conditions of terminal screws

No loose allowed

Change rate of input voltage -15% to 15%

Spare parts Check the number of spare parts and their storage conditions

Hold it with the allowable range

Cover the shortage and improve the storage condition

Corrective Actions

Adjust the operating temperature and humidity with the defined range

Use vibration resisting rubber or the vibration prevention method

Securely enrage the hook

Retighten terminal screws

11.2 Daily Inspection

The following table shows the inspection and items which are to be checked daily

Check Items

Base unit mounting conditions

Mounting conditions of

I/O modules

Connecting conditions of terminal block or extension cable

Indic atin g

LED

Power LED

Run LED

Stop LED

Input LED

Output LED

Check points

Check for loose mounting screws

• Check if the hook is securely engaged

• Check if the upper cover is securely mounted

Check for loose terminal screws

Check the distance between solderless terminals

Check connectors of extension cable

Check that the LED is ON

Check that the LED is ON during Run

Check that the LED is OFF during Run

Check that the LED turns ON and OFF

Check that the LED turns ON and OFF

Judgment

The base unit should be securely mounted

The hook should be securely engaged

Screws should not be loose

Proper clearance should be provided

Connectors should not be loose

ON(OFF indicates an error)

ON(ON or flickering indicates an error)

OFF(ON indicates an error)

ON when input is ON, OFF when input is off

ON when output is ON.

OFF when output is OFF

Corrective

Actions

Retighten Screws

Securely engage the hook

Retighten terminal screws

Correct

Correct

See chapter 12

"

"

"

"

11 - 1

Chapter 11. MAINTENACE

11.3 Periodic Inspection

PLC

Check the following items once or twice every six months, and perform the needed corrective actions.

Ambient

Check Items

environment temperature

Ambient humidity conditions

Connecting conditions

Ambience

Looseness, play

Ingress of dust or foreign material

Loose terminal screws

Distance between terminals

Loose connector

Line voltage check

Battery

Fuse

Checking Methods

Measure with thermometer and hygrometer Measure corrosive gas

Move the unit

Visual check

Re-tighten

Visual check

Visual check

Measure voltage across

110/ 220 VAC terminal

Check battery replacement time and battery capacity reduction

Visual check

0 to 55

°

C

Judgment

5 to 95% RH

There should be no corrosive gases

The module should be mounted securely

No dust or foreign material

Screws should not be loose

Proper clearance

Connectors should not be loose

85 ~ 264VAC (GM6-PAFA/B))

10.5 ~ 28VDC (GM6-PDFA)

20 ~ 28VDC (GM6-PD3A)

• Check total power failure time and the specified source life

• Battery capacity reduction should not be indicated

No melting disconnection

Corrective Actions

Retighten screws

Retighten

Correct

Retighten connector mounting screws

Change supply power

If battery capacity reduction is not indicated, Change the battery when specified service life is exceeded

If fuse melting disconnection, change the fuse periodically because a surge current can cause heat

11 - 2

Chapter 12. TROUBLE SHOOTING


The following explains contents, diagnosis and corrective actions for various errors that can occur during system operation

12.1 Basic Procedures of Troubleshooting

System reliability not only depends on reliable equipment but also on short down-times in the event of faults.

The short discovery and corrective action is needed for speedy operation of system.

The following shows the basic instructions for troubleshooting.

1) Visual checks

Check the following points

• Machine motion(In stop and operating status)

• Power ON or 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, STOP LED and I/O LED). After checking them, connect the 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.

• Set the mode setting switch to the STOP position, and then turn the power ON and OFF

3) Narrow down the possible causes of the trouble

Deduce where the fault lies, i. e:

• Inside or outside of the PLC

• I/O module or another module

• PLC program ?

12.2 Troubleshooting

This section explains the procedure for determining the cause of troubles as well as the errors and corrective actions for the error codes.

Occurrence of error

Is the power LED turned OFF?

Is the stop LED flickering ?

Are the RUN and STOP LED turned OFF?

I/O module dose not operate properly

Program cannot be written

Flowchart used when the POWER LED is turned OFF

Flowchart used when the STOP LED is flickering

Flowchart used when the RUN and STOP LED is turned OFF

Flowchart used when the output load of the output module dose not turn on

Flowchart used when a program cannot be written to the PLC

12 - 1


12.2.1 Troubleshooting flowchart used when the POWER LED turns OFF.

The following flowchart explains corrective action procedure used when the power is all lied or the POWER

LED turns OFF during operation

Power LED is turned OFF

Is the power supply operating

Yes

No

Is the line voltage

85 to 264VAC?

Yes

Is Fuse disconnected ?

No

No

Yes

Apply the power supply

No

Does the Power

LED turn ON?

Yes

See the supply power to within the rated power

No

Yes

Does the Power

LED turn ON?

No

Replace the fuse

Does the Power

LED turn ON?

Yes

Is the power supply module

Fixed to the base?

Yes

No

Over current protection

Device activated?

No

Yes

No

Fix the power supply module correctly

Does the Power

LED turn ON?

1) Eliminate the excess current

2) Switch the input power OFF, then ON

Yes

No

Yes

Does the Power

LED turn ON?

Write down the troubleshooting questionnaires and contact the nearest service center

Complete

12 - 2


12.2.2 Troubleshooting flowchart used when the STOP LED is flickering

The following flowchart explains corrective action procedure use when the power is applied starts or the

STOP LED is flickering during operation

Stop LED goes OFF

Read the error code in the system flag

Yes

Program error?

No

Correct in accordance with the error contents

S/W error.

Correct the program

Set the operation mode to the STOP mode

Write the program newly

Set the operation mode to the RUN mode

Yes

Program error?

No

Complete

Write down the troubleshooting questionnaires and contact the nearest service center

12 - 3


12.2.3 Troubleshooting flowchart used when the RUN and STOP LEDs turns off.

The following flowchart explains corrective action procedure use when the power is applied starts or the RUN and STOP LED is turned OFF is flickering during operation

RUN and STOP LED is turned OFF

Turn the power supply module

from OFF to ON

Are RUN and STOP

LED Turned OFF?

Yes contact the nearest service center

No

Complete

12 - 4


12.2.4 Troubleshooting flowchart used when the output load of the output module does not turns on.

The following flowchart explains corrective action procedure used when the output load of the output module does not turn ON during operation

Output load does not turn

ON.

Is the indicator LED of the output module ON

No

Yes

Check the output status in monitor mode of the peripheral devices

Is the indicator LED Of the input module ON

Measure the voltage across module input terminal and CPU terminal

Is the voltage of power supply for load applied?

Yes

Is the voltage of power supply for load applied?

No

Check the input signal OFF in monitor mode with the peripheral devices

Check the wiring load of the power supply for load and restore the power

Check external wiring and external input equipment

Output module defect

Check the wiring load of the power supply for load and restore the power

Contact the nearest service center

REMARK

1) If the input or load signals are not switched OFF, see Section 12.4.1

12 - 5


12.2.5 Troubleshooting flowchart used when a program cannot be written to the CPU module.

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 remote STOP mode

Yes

No Set the mode setting switch to the remote STOP mode and execute the program write

Is the STOP LED flickering?

Yes

Read the error code using the peripheral devices and correct the contents.

12 - 6


12.3 Troubleshooting Questionnaire

When problems have been met during operation of the GM6 series PLC, please write down this questionnaires and contact the service center via telephone or facsimile

• For errors relating to special or communications modules, use the questionnaire included in the user's Manual of the unit

1. Telephone & FAX No. Tel)

FAX)

2. Used Equipment ( )

3. Details of used Equipment

- CPU module : - OS version No.( ),

- GMWIN version No. used to compile programs

- Serial No.( )

4. General description of the device or system used as the control object

5. Operations used by the CPU module

- Operation by the mode setting switch( ),

- Operation by the GMWIN or communications.( )

6. Is the STOP LED of the CPU module turned ON? Yes( ), No( )

7. GMWIN error message :

8. Used initialization program : initialization program( )

9. History of corrective actions for the error message in the article 7.

10. Other tried corrective actions

11. Error character sties

• Repetitive( ) : Periodic( ), Related to a particular sequence( ), Related to environment( )

• Sometimes( ) : General error assurance interval

12. Detailed Description of error contents :

13. Configuration Diagram for the applied system :

12 - 7


12.4 Troubleshooting Examples

Possible troubles with various circuits and their corrective actions are explained.

12.4.1 Input circuit troubles and corrective actions

The followings describe possible troubles with input circuits, as well as corrective actions.

Condition

Input signal close not turn OFF

Cause

Leakage current of external device

(such as a drive by non-contact switch)

Corrective Action

• Connect an appropriate register and capacity which will make the voltage across the terminals of the input module lower than

Input signal does not turn OFF


(Drive by a limit switch with neon lamp)


Leakage current due to line capacity of wiring cable

• C and R values are determined by the leakage current value

- Reminded value C : 0.1 ~ 0.47 ㎌

R : 47 ~ 120 Ω (1/2W)

Or make up another independent display circuit

• Power supply is located on the external device side as shown below



(Drive by switch with LED indicator)

•

Connect an appropriate register which will make the voltage across input module terminal and common higher than the OFF voltage, as shown below


• Sneak current due to the use of two different power supplies

• Use only one power supply

• Connect a sneak current prevention diode, as shown below

• E1 > E2, Sneaked

12 - 8


12.4.2 Output circuit troubles and corrective actions

The following desires possible troubles with output circuits, as well as corrective actions

Condition

When the output is Off, excessive voltage is applied to the load

Cause

• Load is half-wave rectified inside

(in some cases, it is true of a solenoid)

• When the polarity of the power supply is as shown in À, C is charged. When the polarity is as shown inÁ, the voltage charged in C plus the line voltage are applied across D. Max voltage is approx.


• Connect registers of tens to hundreds k Ω across the load in parallel

The load does not turn

OFF

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

• Leakage current by surge absorbing circuit which is connected to output element in parallel

• Connect C and R across the load, which are of registers of tens k Ω

When the wiring distance from the output module to the load is long, there may be a leakage current due to the line capacity

When the load is C-R type timer, time constant fluctuates

•

Leakage current by surge absorbing circuit which is connected to output element in parallel

•

Drive the relay using a contact and drive the C-R type timer using the since contact

•

Use other timer than the C-R contact

Some timers have half-ware rectified internal circuits therefore, be cautious

.

The load does not turn

OFF

• Sneak current due to the use of two different power supplies

• Use only one power supply

• Connect a sneak current prevention diode(Figure below)

• E1 < E2 : sneak current

• E1 is switched Off and E2 is switched

ON : sneak current

If the load is the relay, etc, connect a counter-electromotive voltage absorbing code as show by the dot line

12 - 9


Output circuit troubles and corrective actions(continued)

Condition

The load off response time is long

Cause

•

Over current at Off state

[The large solenoid current fluidic load

(L/R is large) such as is directly driven with the transistor output


•

Insert a small L/R magnetic contact and drive the load using the same contact

Output transistor is destroyed

•

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

Surge current of the white lamp

• To suppress the surge current make the dark current of 1/3 to 1/5 rated current flow

A surge current of 10 times or more when turned ON.

12 - 10


12.5 Error code list

Error code

Cause Corrective Action

6

7

10

2

3

4

5

20

21

22

23

30

31

32

33

34

40

41

50

Abnormal special/ link module data access during run

During run, Scan time over than the scan delay time specified by parameters

Unreadable instructions in the user program

External device fatal error

60

100

101

500

The 'E-STOP' function has been executed

Communications module configuration error

Special/

Communications module initialization failure

Data memory backup error

501 RTC data error

502 Lower battery voltage

OS ROM error

OS ROM error

RTC fault

Dedicated processor fault

Program memory fault

Data memory fault

Watch dog error due to

OS program congestion

Program memory backup error

Memory module defect

Memory module program fault

An normal program

Inconsistency between the specified modules by parameters and the loaded modules

Module dismounting or additional mounting during run

Fuse disconnection during run

Abnormal I/D module data access during run

Contact the service center if it reactively occurs when the power is re-applied.

"

"

"

"

"

RE-apply the power

Replace the battery if it has error check the program after cc-loading it, and if an error is detected replace the CPU module

Check and correct the memory module mounting condition Re-apply the power and if an error occurs, replace the memory module

Correct the memory module program and re-operate the system

Re-load the program and start it

Module type inconsistency error

Refer to the flags(_IO_TYER,_IO_ DEER_N,

_IO_TYER [n]) and correct the incorrective slot, and restart the system

Module mounting/ dismounting error

Refer to the flags(_IO_DEER,_IO_ DEER_N,

IO_DEER [n]) and correct the in corrective slot, and restart the system

Fuse disconnection error

Refer to the flags(_FUSE_ER,_FUSE _ER_N,

FUSE_ER[n]) and correct the in corrective slot, and restart the system

I/O module read/ write error

Refer to the flags(IO_RWER, _IP_RWER_N,

_IO_RWER [n]) and restart the system

Special/ link module interface error

Refer to the flags(_SP_IFER,_IP_ IFER_N,_IP_IFER

[n]) and restart the system

Check the scan delay time specified by parameters and correct the parameters or the program, and then restart the program

Re-load the program and re-start it

Refer to the external device fatal error flags(_ANNUN_ER,_ANC_ERR[n]) and correct the fault devices and then re-start the system

Correct the program so that the error elements that invoked the 'E_STOP' function can be eliminated in the program and re-start the system(Cold re-start)

If the number of computer 4communications module is included, then adjust the maximum number with in 8

Adjust the number of high speed communications modules loaded

If the battery has no error

If the battery has no error, re-set the time using the

GMWIN

Replace the battery which the power is being applied.

STOP

STOP

STOP

STOP

STOP

STOP

STOP

STOP

STOP

STOP

STOP

STOP

STOP

STOP

RUN

RUN

RUN

Operati on status

Defect

Defect

Defect

Defect

Defect

Defect

Reset

STOP

LED

Flickerin g cycle

0.4 sec

0.4 sec

0.4 sec

0.4 sec

0.4 sec

0.4 sec

0.4 sec

STOP 0.4 sec

0.4 sec

0.4 sec

0.4 sec

0.4 sec

0.4 sec

0.4 sec

0.4 sec

0.4 sec

0.4 sec

0.4 sec

0.4 sec

0.4 sec

0.4 sec

-

-

2 sec

4 sec

Diagnosis time

When power is applied






During run

When power is applied Cold

Restart mode

-

-

Cold

-

-

-

-

When power is applied Cold

Change into the RUN mode



Cold

Cold

Cold

When scan completes Cold

When scan completes Cold

When scan completes

During execution of program


When scan completes




When scan completes cold cold cold cold cold

During execution of program cold

When power is applied cold




When scan completes


When scan completes

-

-

12 - 11



13.1 Introduction

The GM6 CPU module provides some basic Cnet communication functions without Cnet module. Although all functions of Cnet module are not supported, it will be very useful functions for users to perform simple Cnet communication. If your needs are read/write variables (I,Q,M devices) and Monitoring, you don’ t need to buy Cnet module. It will save your money and slot for Cnet module.

The Cnet functions provided by CPU (A-type) module are as following; n Individual read instruction n Continuous read instruction n Individual write instruction n Continuous write instruction n Monitoring variables registration n Monitoring execution n 1:1 communication only (dedicated protocol) n RS-232 communication only module, there are some limitations as following comparison with using Cnet module.

1) At the pressing time, the RS-422 protocol is not supported. Only RS-232C protocol is supported. (RS422 protocol will be available with the next version of GM6 CPU.)

2) Only the 1:1 communication is available. The 1:N communication (multi-drop) which have Master & Slave station will be available with the next version of GM6 CPU.

3) Because the GM6 CPUA module has only one serial port supports RS-232C, the general RS-232C cable can not be used. Also the cable for Cnet module can not be used with GM6 CPUA module. See the chapter

13.3 of this manual for the detailed pin assign for GM6 CPUA module.

13 - 1


13.2 The example of system configuration

Generally, the system configuration have two types; the 1:1 communication with PC and the connection with monitoring device (like PMU).

The configuration when connected to PC

: With this configuration, the communication program of PC can be a user’ s own program (written in C or other programming language) or a commercial software like FAM or CIMON.

G L O F A PLC(GM6)

P

W

R

C

P

U

GM6

I

N

O

U

T

IBM

Compatible

PC

RS-232C Interface

The example of 1:1 connection

(Cnet connection with PC)

The configuration when connected to PMU

G L O F A PLC(GM6)

P

W

R

C

P

U

GM6

I

N

O

U

T

PMU(LGIS)

RS-232C Interface

The example of 1:1 connection with LGIS protocol

(Cnet connection with PMU)

13 - 2


13.3 The pin assignment of RS-232C connector of the GM6 dedicated Cnet communication

The 1:1 connection with PC

4

5

6

7

8

9

P C

1

2

3

PLC(GM6)

1

2

3

4

5

6

7

8

9

<The pin assignment of RS232C connector which are used the connection of PC and GM6 CPU>

The 1:1 connection with the monitoring unit like PMU

P M U

1

2

3

4

5

6

7

8

9

PLC(GM6)

1

2

3

4

5

6

7

8

9

<The pin assignment of RS232C connector which are used the connection of PMU and GM6 CPU>

13 - 3


13.4

Frame structure

1) Basic structure of frame

(1) Request frame(external communication devices→Cnet module)

Header

(ENQ)

Station

No.

Command

(Max. 256 Bytes)

Type of command Structurized data area

Tail

(EOT)

Frame check(BCC)

(2) ACK response frame(Cnet module→external communication devices, when data is normally received)

Header

(ENQ)

Station

No.

Command

(Max. 256 Bytes)

Type of command Structurized data area or null

Tail

(ETX)

Frame check(BCC)

(3) NAK response frame(Cnet module→external communication devices, when data is abnormally received)

Header

(NAK)

Station

No.

Command

(Max. 256 Bytes)

Type of command Error code (ASCII 4 Bytes)

Tail

(ETX)

Frame check(BCC)

Remark

The contents of the code used are as below Table. Control characters are importantly used during serial communication, so they must be well acquainted.

Table 13.1 Control characters

Code

ENQ(Header)

ACK(Header)

NAK(Header)

EOT(Tail)

ETX(Tail)

Hex value

H05

H06

H15

H04

H03

Original word

Enquire

Acknowledge

Not acknowledge

End of text

End Text

Contents

Start code of request frame

Start code of ACK response frame

Start code of NAK response frame

End ASCII code of request frame

End ASCII code of response frame

13 - 4


Remark

Numerical data of all frames is ASCII code of hex value as long as there is not any definition. The contents that is indicated into hex-decimals are as follows :

• Station number

• Command type in case that command type is numerical(means data type) when main commands are R(r) and W(w).

•

All items indicating data size of data area structurized.

• Command type(register number) for monitor register and execution command M(n).

• All contents of data

•

Frame number of domain

Remark

For hex-decimal data, ‘ H’ such as H01, H12345, H34, H12, or H89AB indicates that the data is a type of hex-decimal.

13 - 5


2) Sequence of command frame

(1) Sequence of command request frame

ENQ Station No.

Command Formatted data EOT BCC (PLC ACK response)

ACK Station No. Command Data or null ETX BCC

NAK Station No. Command Error code ETX BCC

(PLC NAK response)

(2) Sequence of Download/upload frame

ENQ Station No.

Start Command Data EOT BCC


ENQ Station No. Command Formatted data EOT BCC (Down/upload command frame No. H0001)


.

.

.

.

ENQ Station No. Command Formatted data EOT BCC (Down/upload end command frame No. HFFFF)


13 - 6


13.5

List of commands

Commands used in dedicated communication service are as below Table :

[Table 13.2 List of commands]

Main command

Command

Command type

Direct var.

Indivi.

Sign ASCII code Sign ASCII code

r (R)

Reading

Contin. r (R)

H72

(H52)

H72

(H52)

SS

SB

5353

5342

Named

Var.

Reading

Direct var.

Named

Var.

Writing

Monitor

Var.

Register

Monitor

Execution

2

1

Indivi.

Array r (R) r (R)

Indivi. w(W)

Writing

Contin. w(W)

Indivi. w(W)

Array x(X) y(Y) w(W)

H72

(H52)

H72

(H52)

H77

(H57)

H77

(H57)

H77

(H57)

H77

(H57)

H78

(H58)

H79

(H59)

H00-

H14

H15-

H27

SS

SB

H00-

H14

H15-

H27

H00-

H31

H00-

H31

3030-3134

3135-3237

5353

5342

3030-3134

3135-3237

3030-3331

3030-3331

Contents

Reads direct variables of Bit, Byte, Word, Dword, and

Lword type.

Reads direct variables of Byte, Word, Dword, and

Lword type in block unit.

(Continuous reading Bit is unavailable)

Reads data according to data type of named variable.

(Variable to be read must be one registered in access variable area.)

Reads data of array named variable.


Writes data to direct variable of Bit, Byte, Word,

Dword, Lword type.

Writes data to direct variable of Byte, Word, Dword,

Lword type in block unit.

(Continuous reading Bit is unavailable)

Writes variable of each data type using variable name.


Writes data to array named variable.


Register variable to be monitored. If registered variable is named one, variable to be read must be one registered in access variable area.

Carries out the registered variable to monitor.

Remark

In the main command, the capital and small letter have different meaning. In other field, however, it doesn’ t care letters are capital or small. For example, %mW100 and %mw100 are exactly same command.

1 The CPU-A type does not support this function.

13 - 7


13.6

Data type

When direct variables and named variables are read/written, attention must be paid to data type of direct and named variables.

1) Data type of direct variables

Memory device type of GLOFA GM PLC : M(Internal memory), Q(Output), I(Input)

Memory device type of GLOFA GK PLC : P, M, L, K, C, D, T, S, F

Data type for direct variables is indicated next to direct variable indicating character '%'.

Table 13.3 List of data types of direct variables

Data type

BIT

BYTE

WORD

DOUBLE WORD

Ind. charac..

X(58H)

B(42H)

W(57H)

D(44H)

Example of use

%MX0, %QX0.0.0, %IX0.0.0, %PX0, %LX0, %FX0

%MB10, %QB0.0.0, % IB0.0.0

%MW10, %QW0.0.0, % IW0.0.0, %PW0, %LW0, %FW0, %DW0

%MD10, %QD0.0.0, % ID0.0.0

Remark

1) The read/write of named variables will be available with the next version of CPU-A type.

2 The CPU-A type does not support this function.

13 - 8


13.7

Execution of commands(Ex.)

1) Separately reading(RSS) direct variables

(1) Introduction

This is a function that reads PLC device memory directly specified in accord with memory data type.

Separate device memory can be read up to 4 at a time.

(2) Request format(PC-->PLC)

Format name

Header

Station

No.

Command

Comman d type

Number of blocks

Variable length

Variable name

..........

Frame

(Ex.)

ASCII value

ENQ

H05

H20 1)

H3230

R(r)

H52

(72)

SS

H5353

H01

H3031

H06

H3036

%MW100

H254D573130

30

Tail

EO

T

H04

Fame check

BCC

1 block(Setting can be repeated up to 4 block)

• BCC : When command is one of lower case(r), only one lower byte of the value resulted by adding 1 Byte each to

ASCII values from ENQ to EOT is converted into ASCII and added to BCC.

•

Number of blocks : This specifies how much of the blocks composed of '[Variable length][Variable name]' are in this request format. This can be set up to 4. Therefore, the value of [Number of blocks] must be

H01(ASCII value:3031)-H04(ASCII value:3034).

•

Variable length(Name length of direct variable) : This indicates the number of name's characters that means direct variable, which is allowable up to 16 characters. This value is one of ASCII converted from hex type, and the range is from H01(ASCII value:3031) to H10(ASCII value:3130).

• Direct variables : Address to be actually read is entered. This must be ASCII value within 16 characters, and in this name, digits, upper/lower case, '%' and '.' only are allowable to be entered.

Remark

1) Numerical data of frame(Ex.) is hex value, and 'H' is unnecessary during preparing real frame.

13 - 9


Direct variables available according to PLC type are as follows :

Table 13.4 Type of direct variables

Type BOOL Byte WORD DOUBLE WORD

GM1 %MX,%QX,%IX %MB,%QB,%IB %MW,%QW,%IW %MD,%QD,%ID

GM2 %MX,%QX,%IX %MB,%QB,%IB %MW,%QW,%IW %MD,%QD,%ID

GM3 %MX,%QX,%IX

GM4 %MX,%QX,%IX

GM5 %MX,%QX,%IX

GM6 %MX,%QX,%IX

%MB,%QB,%IB

%MB,%QB,%IB

%MB,%QB,%IB

%MB,%QB,%IB

%MW,%QW,%IW

%MW,%QW,%IW

%MW,%QW,%IW

%MW,%QW,%IW

%MD,%QD,%ID

%MD,%QD,%ID

%MD,%QD,%ID

%MD,%QD,%ID

For how to specify the area of each device in GLOFA GM and GK series, see GLOFA PLC technical data.

Remark

Device data type of each must be same. If data type of the first block is WORD, and the second block is DOUBLE

WORD, error occurs.

LONG

WORD

%ML,%

QL,%IL

%ML,%

QL,%IL

--

--

--

--

(3) Response format(for PLC of ACK response)

Format name

Header

Station No.

Command

Comma-nd type


Frame

(Ex.)

ASCII value

ACK

H06

H20

H3230

R(r)

H52(72)

SS

H5353

H01

H3031

Variable length

H02

H3032

Data

HA9F3

H4139463

3

..........

Tail

Fame check

ETX BCC

H04

1 block(Max. 4 blocks)

•

Station number, commands, type of command, and number of blocks are the same as computer request format.

• BCC : When command is one of lower case(r), only one lower byte of the value resulted by adding 1 Byte each to ASCII values from ACK to ETX is converted into ASCII, added to BCC, and sent.

• Number of data means Byte number of hex type, and is converted into ASCII. This number is determined according to memory type(X,B,W,D,L) included in direct variable name of computer request format.

13 - 10


Table 13.5 Number of data according to variables

BOOL(X)

Byte(B)

WORD(W)

DOUBLE WORD(D)

Available direct variable

%MX,%QX,%IX,%(P,M,L,K,F,T,C,D,S)X

%MB,%QB,%IB,%(P,M,L,K,F,T,C,D,S)W

%MW,%QW,%IW,%(P,M,L,K,F,T,C,D,S)W

%MD,%QD,%ID,%(P,M,L,K,F,T,C,D,S)W

• In data area, there are the values of hex data converted to ASCII code.

Number of data

1(Only lowest bit of these is available)

1

2

4

Ex.1

The fact that number of data is H04(ASCII code value:H3034) means that there is hex data of 4 Bytes in data(DOUBLE

WORD). Hex data of 4 Bytes is converted into ASCII code in data.

Ex.2

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. Namely, highest value is first, lowest value is last.

Remark

If data type is BOOL, data read is indicated by one Byte of hex. Namely, if Bit value is 0, it indicated by H00, and if 1, by

H01.

(4) Response format(for NAK response)

Format name

Header

Frame(Ex.) NAK

ASCII value H15

Station

No.

H20

H3230

Command

R(r)

H52(72)

Command type

SS

H5353

Error code

(Hex 2 Byte)

H1132

H31313332

Tail

ETX

H03

Frame check

BCC

• Station number, commands, and type of command are the same as computer request format.

•

BCC : When command is one of lower case(r), only one lower byte of the value resulted by adding 1 Byte each to ASCII values from NAK to ETX is converted into ASCII, added to BCC, and sent.

• Error code is hex and 2 Bytes(ASCII code, 4 Bytes), which indicates type of error. For the details, see Appendix

'B. Error Code Table'.

13 - 11


(5) Example of use

• This example supposes when 1 WORD from %MW20 of station No.1 and 1 WORD from %QW0.2.1

address are read. Also it is supposed that H1234 is entered in %MW20, and data of H5678 is entered in %QW0.2.1.

(Computer request format)

Format name

Header

Frame

(Ex.)

ENQ

Statio n No.

H01

Command

R(r)

Command type

SS

ASCII value

H05 H3031 H52(72) H5353


H02

Variabl e length

H05

H3032 H3035

Variable name

Variable length

%MW20 H08

H254D5

73230

H3038

Variable name

%QW0.2.

1

H255157

302E322

E31

Tail BCC

EOT BCC

H04

(For PLC ACK response after execution of command)

Format name

Frame

(Ex.)

ASCII value

Header

ACK

H06

Station

No.

H01

H3031

Comman

R(r)

d

H52(72)

Comman d type

SS

H5353


H02

Numbe r of data

H02

H3032 H3032

Data

Number of data

H1234 H02

H3132

3334

H3032

Data

H3536

3738

Tail

H03

BCC

H5678 ETX BCC

(For PLC NAK response after execution of command)

Format name

Frame

(Ex.)

ASCII value

Header

NAK

H15

Station

No.

H01

H3031

Command

R(r)

H52(72)

Command

SS

type

H5353

Error code(2)

Error code(4)

Error code Tail

ETX

H03

BCC

BCC

13 - 12


2) Continuous reading(RSB) of direct variable

(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.

(2) Request format

Format name

Frame

(Ex.)

ASCII value

Header

ENQ

H05

Station

No.

H10

H3130

Command

R(r)

H52

(72)

Command

SB

type

H5342

Variable length

H06

H3036

Variable name

Number of data

(Max.120 Bytes)

%MD100 H05

H254D44

313030

H3035

Tail

EOT

H04

Frame check

BCC

Remark

Number of data specifies the number according to the type of direct variable. Namely, if the data type of direct variable is double word, and number of data is 5, it means that read 5 DOUBLE WORDs.

•

BCC : When command is one of lower case(r), only one lower byte of the value resulted by adding 1 Byte each to ASCII values from ENQ to EOT is converted into ASCII, added to BCC.

• Name length of direct variable : This indicates the number of name's characters that means direct variable, which is allowable up to 16 characters. This value is one of ASCII converted from hex type, and the range is from

H01(ASCII value:3031) to H10(ASCII value:3130).

• Direct variables : Address to be actually read is entered in this. This must be ASCII value within 16 characters, and in this name, digits, upper/lower case, '%' and '.' only are allowable to be entered. Continuous reading of direct variables available according to PLC type are as follows :

13 - 13


GM1

GM2

GM3

GM4

GM5

GM6

Table 13.6 Readable continuous variable area

BOOL

--

--

--

--

--

--

Byte

%MB,%QB,%IB

%MB,%QB,%IB

%MB,%QB,%IB

%MB,%QB,%IB

%MB,%QB,%IB

%MB,%QB,%IB

WORD

%MW,%QW,%IW

%MW,%QW,%IW

%MW,%QW,%IW

%MW,%QW,%IW

%MW,%QW,%IW

%MW,%QW,%IW

DOUBLE WORD

%MD,%QD,%ID

%MD,%QD,%ID

%MD,%QD,%ID

%MD,%QD,%ID

%MD,%QD,%ID

%MD,%QD,%ID

LONG WORD

%ML,%QL,%IL

%ML,%QL,%IL

%ML,%QL,%IL

%ML,%QL,%IL

%ML,%QL,%IL

%ML,%QL,%IL

(3) For PLC ACK response after execution of command

Format name

Frame

(Ex.)

Header Station

No.

ACK H10

Command

R(r)

Command

SB

type

ASCII value

H06 H3130 H52(72) H5342

Number of data

H14

H3134

Data Tail

Frame check

H112233445566778899AABBC

CDDEEFF1122334455

H313132323333343435353636

3737383839394141424243434

4444545464631313232333334

343535

EOT BCC

H03

• Station number, main commands, and type of command are the same as computer request format.

• BCC : When main command is lower case(like ‘r’), only one lower byte of the value resulted by adding ASCII values from ACK to ETX is converted into ASCII, added to BCC, and sent.

When main command is upper case(like ‘r’), BCC is not used.

• Number of data means Byte number of hex type, and is converted into ASCII. This number is determined by multiplying the data number of computer request format by the data size(in below Table) according to memory type(B,W,D,L) included in direct variable name of computer request format.

13 - 14


Table 13.7 Available direct variables

Byte(B)

WORD(W)

Available direct variable

%MB,%QB,%IB

%MW,%QW,%IW,%(P,M,L,K,F,T,C,D,S)W

DOUBLE WORD(D) %MD,%QD,%ID

Number of data

1

2

4

Ex.1

When memory type included in direct 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

• In data area, the value converted from hex data to ASCII code is entered.

Ex.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 is to be entered in data area.

(4) Response format( for PLC NAK response)

Format name

Frame

(Ex.)

ASCII value

Header

NAK

H15

Station No.

H10

H3130

Command

R(r)

H52(72)

Command type

SB

H5342

Error code

(Hex 2 Bytes)

H1132

H31313332

Tail

ETX

H03


• BCC : When main command is lower case(like ‘r’), only one lower byte of the value resulted by adding ASCII values from NAK to ETX is converted into ASCII, added to BCC, and sent.

When main command is upper case(like ‘r’), BCC is not used.

•

Error code is hex and 2 Bytes(ASCII code, 4 Bytes), which indicates type of error. For the details, see Appendix

'B. Error Code Table'.

Frame check

BCC

13 - 15


(5) Example of use

This example supposes when 2 DOUBLE WORDs from %MD0 of station No.10 are read. Also it is supposed that the following data are entered in %MD0 and %MD1 :

%MD0 = H12345678

%MD1 = H9ABCDEF0


Format name

Frame

(Ex.)

ASCII value

Header

ENQ

H05

Station

H0A

No.

H3041

Command

R(r)

H52(72)

Command type

SB

H5342

Variable length

H04

H3034

Variable name

Number of data

H02

Tail BCC

EOT BCC %MD0

H254D4430 H3032 H04


Format name

Frame

(Ex.)

ASCII value

Header

ACK

H06

Station

No.

H0A

H3041

Command

R(r)

H52(72)

Command

SB

type

H5342


H01

Number of data

H08

H3031

H3038

Data

12345678 9ABCDEF0

H313233343536373839

41424344454630

Tail BCC

ETX BCC

03


Format name

Frame

(Ex.)

ASCII value

Header

NAK

H15

Station

No.

H0A

H3041

Command

R(r)

H52(72)

SB

Command type

H5342

Error code

Error code(2)

Error code(4)

Tail

ETX

H03

BCC

BCC

13 - 16


3) Separate writing of direct variable (WSS)

(1) Introduction

This is a function that directly specifies PLC device memory and writes in accord with data type. Device memory can be separately written up to 4 memories at a time.

(2) Request format

Format name

Frame

(Ex.)

ASCII value

Headr

Statin

No.

ENQ H20

H05 H3230

Command

W(w)

H57

(77)

Command type

SS


H01

Variable length

H06

H5354 H3031 H3036

Variable name

Data

%MW100 H00E2

H254D57

313030

H3030

4532

.........

Tail

Frame check

EO

T

H04

BCC

1 blocks(can be repeatedly set up to 4 blocks)

• BCC : When command is one of lower case(w), only one lower byte of the value resulted by adding 1 Byte each to ASCII values from ENQ to EOT is converted into ASCII, added to BCC, and sent.

• Number of blocks : This specifies how much of the blocks composed of '[Variable length][Variable name]' are in this request format. This can set up to 4 blocks. Therefore, the value of [Number of blocks] must be H01(ASCII value:3031)-H04(ASCII value:3034).

• Variable length(Name length of direct variable) : This indicates the number of the name's characters that registered in direct variable of PLC, which is allowable up to 16 characters. This value is one of

ASCII converted from hex type, and the range is from H01(ASCII value:3031) to H10(ASCII value:3130).

• Direct variable : This is an address of variable to be actually read. This must be ASCII value within 16 characters, and in this name, digits, upper/lower case, '%' and '.' only are allowable to be entered.

•

Data : If the value to be written in %MW100 area is H A, the data format must be H000A. If the value to be written in %MD100 area is H A, the data format must be H0000000A. In data area, the ASCII value converted from hex data is entered.

13 - 17


The following shows direct variables available according to PLC type.

Type

GM1/2

BOOL

%MX,%QX,%IX

GM3/4/5 %MX,%QX,%IX

GM4 %MX,%QX,%IX

GM5

GM6

%MX,%QX,%IX

%MX,%QX,%IX

Byte WORD

%MB,%QB,%IB %MW,%QW,%IW





DOUBLE WORD

%MD,%QD,%ID

%MD,%QD,%ID

%MD,%QD,%ID

%MD,%QD,%ID

%MD,%QD,%ID

Ex.1

If type of data to be currently written is DOUBLE WORD, the data is H12345678, ASCII code converted value of this is

"3132333435363738", and this content must be entered in data area. Namely, most significant value must be sent first, least significant value must be last.

Remark

1) Device data types of each blocks must be same.

2) If data type is BOOL, the data to be written is indicated by 1 Byte of hex. Namely, if Bit value is 0, it must be indicated by H00(3030), and if 1, by H01(3031).

(3) Response format(for ACK response)

Format name

Frame(Ex.)

ASCII value

Header

ACK

H06

Station No.

Command

H20 W(w)

H3230 H57(77)

Command type

SS

H5353

Tail

ETX

H03

BCC

Frame check


•

BCC : When command is one of lower case(w), only one lower byte of the value resulted by adding 1 Byte each to ASCII values from ACK to ETX is converted into ASCII, added to BCC, and sent.

13 - 18


(4) Response format(for NAK response)

Format name

Frame(Ex.)

ASCII value

Header

NAK

H15

Station

H20

No.

H3230

Command

W(w)

H57(77)

SS

Command type

H5353

Error code

(Hex 2 Bytes)

H4252

H34323532

Tail

ETX

H03

•

Station number, commands, and type of command are the same as computer request format.

Frame check

BCC

• BCC : When command is one of lower case(w), only one lower byte of the value resulted by adding 1 Byte each to ASCII values from NAK to ETX is converted into ASCII, added to BCC, and sent.

•

Error code is hex and 2 Bytes(ASCII code, 4 Bytes), which indicates type of error. For the details, see

Appendix 'B. Error Code Table'.

(5) Example of use

This supposes that "H00FF" is written in %MW230 address.


Format name

Frame

(Ex.)

ASCII value

Header

ENQ

H05

Station

No.

H01

H3031

Command

W(w)

H57(77)

Command type

SS


H01

Variable name length

H06

H5353 H3031 H3036

Variable name

Data Tail BCC

%MW230 H00FF EOT BCC

H254D573

23330

H303046

46

H04


Format name

Frame

(Ex.)

ASCII value

Header

ACK

H06

Station No.

H01

H3031

Command

W(w)

H57(77)

SS

H5353

Command type


Format name

Frame

(Ex.)

ASCII value

Header

NAK

H15

Station

No.

H01

H3031

Command

W(w)

H57(77)

Command type

SS

H5353

Error code

Error code(2)

Error code(4)

Tail

ETX BCC

H03

Tail

ETX

H03

BCC

BCC

BCC

13 - 19


4) Continuous writing of direct variable(WSB)

(1) Introduction

This is a function that directly specifies PLC device memory and continuously writes data from specified address as much as specified length.

(2) Request format

Format name

Frame

(Ex.)

ASCII value

H05

Header

Station

No.

ENQ H10

Command

W(w)

Comm

-and type

SB

Variable length

H06

H5342 H3036

Variable name

Number of data

(Max.120 Bytes)

%MD100 H01

H254D44

313030

H3031

Data Tail

Frame check

H1111222

2

H3131313

132323232

EOT BCC

H04

Remark

1) Number of data specifies the number according to the type of direct variable. Namely, if the data type of direct variable is DOUBLE WORD, and number of data is 5, it means that write 5 DOUBLE WORDs.

• BCC : When command is one of lower case(w), only one lower byte of the value resulted by adding 1 Byte each to ASCII values from ENQ to EOT is converted into ASCII, added to BCC.

•

Protocol of continuous writing function of direct variable has not [Number of blocks].

• Name length of direct variable : This indicates the number of name's characters that means direct variable, which is allowable up to 16 characters. This value is one of ASCII converted from hex type, and the range is from H01(ASCII value:3031) to H10(ASCII value:3130).

• Direct variables : Address to be actually read is entered in this. This must be ASCII value within 16 characters, and in this name, digits, upper/lower case, '%' and '.' only are allowable to be entered.

Direct variables available according to PLC type are as follows :

13 - 20


GM1

GM2

GM3

GM4

GM5

GM6

BOOL

--

--

--

--

--

--

Byte

%MB,%QB,%IB

%MB,%QB,%IB

%MB,%QB,%IB

%MB,%QB,%IB

%MB,%QB,%IB

%MB,%QB,%IB

WORD

%MW,%QW,%IW

%MW,%QW,%IW

%MW,%QW,%IW

%MW,%QW,%IW

%MW,%QW,%IW

%MW,%QW,%IW

DOUBLE WORD

%MD,%QD,%ID

%MD,%QD,%ID

%MD,%QD,%ID

%MD,%QD,%ID

%MD,%QD,%ID

%MD,%QD,%ID

LONG WORD

%ML,%QL,%IL

%ML,%QL,%IL

%ML,%QL,%IL

%ML,%QL,%IL

%ML,%QL,%IL

%ML,%QL,%IL

(3) Request format(for ACK response)

Format name

Frame

(Ex.)

ASCII value

Header

ACK

H06

Station No.

H10

H3130

Command

W(w)

H57(77)

SB

Command type

H5342

Tail

ETX

H03

Frame check

BCC

• Station number, command and command type are the same as computer request format.

•

BCC : When command is one of lower case(w), only one lower byte of the value resulted by adding 1 Byte each to ASCII values from ACK to ETX is converted into ASCII, added to BCC, and sent.

(4) Response format(for PLC NAK response)

Format name

Header

Frame(Ex.) ENQ

ASCII value H05

Station No.

H10

H3130

Command

W(w)

H57(77)

Command type

SB

H5342

Error code

(Hex 2 Bytes)

H1132

H31313332

EOT

H03

Tail

Frame check

BCC

•

Station number, command and command type are the same as computer request format.

• BCC : When command is one of lower case(w), only one lower byte of the value resulted by adding 1 Byte each to ASCII values from ACK to ETX is converted into ASCII, added to BCC, and sent.

•

Error code is hex and 2 Bytes(ASCII code, 4 Bytes), which indicates type of error. For the details, see

Appendix 'B. Error Code Table'.

13 - 21


(5) Example of use

This supposes that HAA15056F is written in %QD0.0.0 of No.1 address.


Format name

Frame

(Ex.)

ASCII value

Header

Station

No.

ENQ H01

Command

W(w)

Command

SB

type

H05 H3031 H57(77) H5342

Variable length

H08

H3038

Variable name

%QD0.0.0

H254442302

E302E30

Number of data

H01

H3031

Data

HAA150

56F

H414131

3503536

46

Tail

Frame check

EOT BCC

H04


Format name

Frame

(Ex.)

ASCII value

Header

ACK

H06

Station

No.

H01

H3031

Command

W(w)

H57(77)

SB

H5342

Command type Tail

ETX

H03

Frame check

BCC


Format name

Frame

(Ex.)

ASCII value

Header

NAK

H15

01

Station

No.

H3031

Command

W(w)

H57(77)

SB

Command type

H5342

Error code

Error code(2)

Error code(4)

Tail

ETX

H03

Frame check

BCC

13 - 22


5

) Monitor register(X##)

(1) Introduction

Monitor register can separately register up to 32 in combination with actual variable reading command, and carries out the registered one through monitor command after registration.

(2) Request format

Format name

Frame

(Ex.)

ASCII value

Header

ENQ

H05

Station

No.

H10

H3130

Command

X(x)

H58(78)

Register

No.

H1F

H3146

Register format Tail

See register format EOT BCC

Frame check

[※] H04

• BCC : When command is one of lower case(x), only one lower byte of the value resulted by adding 1 Byte each to ASCII values from ENQ to EOT is converted into ASCII, added to BCC, and sent.

•

Register No. : This can be registered up to 32(0-31, H00-H1F), and if an already registered No. is registered again, the one of current execution is registered.

• Register format : This is used to before EOT in command of formats of separate reading of direct variable, continuous reading, and named variable reading.

※

Register format : Register format of request formats must select and use only one of the followings.

①

Separate reading of direct variable

RSS Number of blocks(2 Bytes) Variable length(2 Bytes) Variable name(16 Bytes)


....

②

Continuous reading of direct variable

RSB Variable length(2 Bytes) Variable name(16 Bytes)


Number of data

13 - 23


(3) Response format(for PLC ACK response)

Format name Header

Frame(Ex.) ACK

ASCII value H06

Station No.

H10

H3130

Command

X(x)

H58(78)

H1F

Register No.

H3146

Tail

ETX

H03

BCC

Frame check

• Station number, command and resister No. are the same as computer request format.

• BCC : When command is one of lower case(x), only one lower byte of the value resulted by adding 1 Byte each to ASCII values from NAK to ETX is converted into ASCII, added to BCC, and sent.


Format name

Frame

(Ex.)

ASCII value

Header

ACK

H06

Station

No.

H10

H3130

Command

X(x)

H58(78)

Register No.

H1F

H3146

Error code(Hex 2 Bytes)

H1132

H31313332

Tail

ETX

H03

Frame check

BCC

• Station number, main commands, and resister No. are the same as computer request format.

• BCC : When command is one of lower case(x), only one lower byte of the value resulted by adding 1 Byte each to ASCII values from NAK to ETX is converted into ASCII, added to BCC, and sent.

•

Error code is hex and 2 Bytes(ASCII code, 4 Bytes), which indicates type of error. For the details, see Appendix

‘ A2. Error Code Table’ .

(5) Example of use

This supposes that the variable which data type of station No.’ 1’ is UINT and the variable name is “ ASDF” is monitor-registered with No.’ 1’ .


Format name

Frame(Ex.)

ASCII value

Header

ENQ

H05

Station No.

H01

H3031

Command

X(x)

H58(78)

Register No.

H01

R##


R0A H01

Register format

Variable length

H04

H3031

H523

041

H3031 H3034

Variable name

ASDF

H4153444

6

Tail

Frame check

EOT BCC

H04

13 - 24



Format name

Frame(Ex.)

ASCII value

Header

ACK

H06

Station No.

H01

H3031

X(x)

Command

H58(78)

Register No.

H01

H3031

Tail

ETX

H03

Frame check

BCC


Format name Header

Frame(Ex.)

ASCII value

NAK

H15

Station No.

H01

H3031

Command

X(x)

H58(78)

Command type

H01

H3031

Error code

(Hex 2 Bytes)

Error code(2)

Error code(4)

Tail

ETX

H03

Frame check

BCC

13 - 25


6) Monitor execution(Y##)

(1) Introduction

This is a function that carries out the writing of the variable registered by monitor register. This also specifies registered No. and carries out the writing of the variable registered in the No.

(2) Request format

Format name

Frame(Ex.)

ASCII value

Header

ENQ

H05

Station No.

H10

H3130

Command

Y(y)

H59(79)

Register No.

H1F

H3146

Tail

EOT

H03

Frame check

BCC

• Register No. uses the same No. as the No. registered during monitor register for monitor execution.

•

BCC : When main command is one of lower case(y), only one lower byte of the value resulted by adding 1

Byte each to ASCII values from ENQ to EOT is converted into ASCII, added to BCC, and sent.

• In computer request format, register No. can be set to 00-31(H00-H1F).

(3) Response format(for PLC ACK response)

¬ In case that the register format of register No. is the separate reading of direct variable

Format name

Frame

(Ex.)

ASCII value

Header

ACK

H06

Station

No.

H10

H3130

Command

Y(y)

H59(79)

Register

No.

H1F


H01

Number of data

H04

H313F H3031 H3034

Data

H9183AABB

H3931383341

414242

Tail

Frame check

ETX BCC

H03

- In case that the register format of register No. is the continuous reading of direct variable

Format name

Frame

(Ex.)

ASCII value

Header

ACK

H06

Station

No.

H10

H3130

Command

Y(y)

H59(79)

Register

No.

H1F

Number of data

H04

H313F H3034

H9183AABB

Data

H3931383341414242

Tail

Frame check

ETX BCC

H03

13 - 26


® In case that the register format of register No. is the reading of named variable

Format name

Frame

(Ex.)

ASCII value

Header

ACK

H06

Station

No.

H10

H3130

Command

Y(y)

H59(79)

Register

No.

H1F

H313F


Number of data

H01 H04

H3031 H3034

Data

H9183AABB

H3931383341

414242

Tail

Frame check

ETX BCC

H03

• Data format such as number of blocks and number of data is the same as the contents of variable writing.

• Station number, commands, and register No. are the same as computer request format.

•

BCC : When main command is one of lower case(y), only one lower byte of the value resulted by adding 1 Byte each to ASCII values from ACK to ETX is converted into ASCII, added to BCC, and sent.


Format name

Frame

(Ex.)

ASCII value

Header

NAK

H15

Station No.

H10

H3130

Command

Y(y)

H59(79)

Register No.

H1F

H3146

Error code (Hex 2 Bytes)

H1132

H31313332

Tail

Frame check

ETX BCC

H03

• Station number, commands, and register No. are the same as computer request format.

•

BCC : When command is one of lower case(y), only one lower byte of the value resulted by adding 1 Byte each to ASCII values from NAK to ETX is converted into ASCII, added to BCC, and sent.

• Error code is hex and 2 Bytes(ASCII code, 4 Bytes), which indicates type of error. For the details, see Appendix

‘ A2. Error Code Table’ .

13 - 27


(5) Example of use

This supposes that reading the variable registered with register No.’ 1’ in station No.’ 1’ is carried out. It is also supposed that the one registered is a named variable reading, the number of blocks is 1, and the data type is

DINT.


Format name

Header

Frame(Ex.) ENQ

ASCII value H05

Station No.

H01

H3031

Command

Y(y)

H59(79)

Register No.

H01

H3031

EOT

H04

Tail Frame check

BCC


Format name

Frame

(Ex.)

ASCII value

Header

ACK

H06

Station

No.

H01

H3031

Command

Y(y)

H59(79)

Register

No.

H01

H3031


Number of data

H01 H04

Data

H23422339

H3031 H3034

H3233343232

333339

Tail

Frame check

ETX BCC

H03


Format name

Header

Frame(Ex.) NAK

ASCII value H15

Station No.

Command

H01

H3031

Y(y)

H59(79)

Register No.

H01

H3031

Error code

Error code(2)

Error code(4)

Tail

ETX

H03

Frame check

BCC

13 - 28


13.8 Error code during NAK occurrence(for GM6 dedicated communication)

Error code

Error type

H0001 PLC system error

Contents Action to take

H0011 Data error

Interface with PLC impossible

* Error occurred when ASCII data value is converted into digits

Power On/Off

Check whether another character than upper and lower cases(‘ %’ ,’ -’ , ’ .’ ), and digits has been used, correct, and execute again.

H0021 Instruction error

H0031 Instruction type error

H1132 Device memory error

H1232 Data size error

H2432 Data type error

H7132 Variable request format error

H2232 Area exceeding error

* Using wrong instruction

* Instruction is used in wrong type

* ‘ %’ is missing

* M,I,Q area exceeding error

Inspect instruction

Inspect instruction type

* Wrong specified device memory Inspect device type

* Execution data number exceeding 120 Bytes

* Data type mismatch with actual variable

Correct data length

Equalize variable and data type of PLC program

Inspect format, correct, and then execute again.

Inspect area difinition and execute again

H0190 Monitor execution error

H0290 Monitor registration error

H6001 Syntax error_6001






Not available instruction is used

Over-run, Frame error

Time out error

Instructino syntax error

Text of one frame exceed 256byte

BCC error

Check the system is in stop mode

Check the connection of RS-232C port

Check each frame has ENQ, EOT

Devide the text into several frames as a text does not exceed 256 byte

Check the BCC is correct

13 - 29

Chapter 14 The RS422/485 communication of GM6-CPUB

14.1

Introductions ........................................................................14-1

14.2

Features ...............................................................................14-1

14.3

Parameter setup .................................................................14-2

14.4

The status flag ....................................................................14-4

14.5

Monitoring............................................................................14-5

14.6

Communication method and termination resistor .........14-6

14.7

RS-422/485 pin assignment .............................................14-6

Chapter 14. The RS422/485 communication of GM6-CPUB

14 The RS422/485 communication of GM6-CPUB

14.1 Introductions

1) The GM6-CPUB module can be used as the master station of RS422/485 network and applicable for the 1:N network of GLOFA PLCs and/or PC.

2) To operate the GM6-CPUB as the master station, basic parameters and high speed link parameters should be set properly.

3) The dedicated GLOFA Cnet protocol is used for transmission control.

4) The GM6-CPUA and GM6-CPUC does not support the master station function.

14.2 Features

1) Max. 64 high speed link items can be assigned.

2) Max. 32 stations can be linked.

3) According to the parameter setting, the operation mode and error code of slave stations is stored at the relevant flag.

4) The communication status can be monitored with the monitoring function of GMWIN software.

14-1


14.3 Parameter setup

To start RS422/485 communication,

-

The CPU module type should be a B-type CPU. (GM6-CPUB)

-

Set the communication parameters of the ‘Basic Parameters’ of GMWIN software.

-

Set the ‘High speed link 1’ of the ‘High Speed Link Parameters’

-

Enable the high speed link 1 with ‘Link Enable …’ menu.

1) Basic parameter setup a) Station number : Assign the station number of master station in the range of 0 ~ 31 b) Baud rate : Select the communication as 9600, 19200 or 38400 bps.

c) Master/Slave : Only GM6-CPUB can be set as master station. If the CPU is selected as master station, the network type of high speed link 1 is automatically set as GLOFA 422/485.

d) Timeout : Set the period that the interval until a timeout error occurs. The default value is

500msec and minimum value is 10msec (1

×

10msec).

e) Read status of slave PLC : If check this item, the master station reads the status of slave

PLCs and store the status at the corresponding flags.

14-2


2) High speed link parameter setup a) Only the ‘High speed link 1’ can be set as GLOFA 422/485 network type.

b) The setup is similar as the high speed link parameter setup with other communication modules such as Fnet module.

- Max. 64 items can be assigned.

- The size of data block is assigned by the unit of word, and the Max. size is 60 words.

- Area setup

Send From : I / Q / M

Receive From : I / Q / M

To : Q / M

To : Q / M

14-3


14.4 The status flag

1) Communication error counter flag

-

Flag name : _M422_ERR_CNT[n] (Array_Byte Type, n = 0 ~ 31)

-

Description

Each byte of the ‘_M422_ERR_CNT[n]’ array indicates how many times communication errors occurred at the relevant station. For example, the

_M422_ERR_CNT[5] is the error counter of station 5.

2) The error code

-

Flag name : _M422_ERR[n] (Array_Byte Type, n = 0 ~ 31)

-

Description

0 : No error 1 : Timeout error 2 : NAK

3) Operation mode and error of slave station

-

Flag name : _S422_STATE[n] (Array_Byte Type, n = 0 ~ 31)

-

Description

Bit 0 : Indicates an error of slave PLC. (0 : No error, 1 : Error occurred)

Bit 1 ~ Bit 3 : Reserved

Bit 4 ~ Bit 7 : Indicates the operation mode of slave PLC

Bit 4 : STOP

Bit 6 : PAUSE

Bit 5 : RUN

Bit 7 : DEBUG

4) The status flag of master station

-

Flag name : _M422_STATE (Byte Type, n = 0 ~ 31)

-

Description

Bit 0 : Turn on when the CPU module is assigned as master station but it is not B type

(GM6-CPUB)

Bit 1 : Turn on when the master station number of basic parameter setting is duplicated with one of the slave station numbers of high speed link parameters setting.

Bit 2 : Turn on when the M area of high speed link parameter setting is out of the range.

5) The scan time of RS422/485 communication

-

Description _M422_SCAN_MAX (Time Type) : The maximum scan time

_M422_SCAN_MIN (Time Type) : The minimum scan time

_M422_SCAN_CUR (Time Type) : The current scan time

Remark

Scan time : A total time of the processing time of the all parameter settings. (From the execution of the first parameter setting to the next execution)

14-4


14.5 Monitoring

Users can monitor the communication status of RS422/485 network with the monitor function of the

GMWIN software. The high speed link parameter 1 monitoring screen is used for monitoring the

RS422/485 network status.

-

The CPU module should be a B-type, and assigned as master station in the basic parameter setting. Otherwise, the monitor screen will show the status of high speed link service.

-

In the monitoring screen, the following flags are shown;

Master PLC parameter _M422_STATE (On / Off)

The scan time of communication _M422_SCAN_MAX (Maximum scan time)

_M422_SCAN_MIN (Minimum scan time)

No., Type, From, To, Size

Error counter and code

Slave PLC

_M422_SCAN_CUR (Current scan time)

The contents of high speed link 1 parameters

_M422_ERR_CNT, _M422_ERR

_S422_STATE

14-5


14.6 Communication method and termination resistor

1) Data type

Data bit : 8 bits

Stop bit : 1 bit

Parity : None

2) Communication speed (Baud rate) : Selectable one of 9600, 19200, 38400 bps

3) Termination resistor

When use a long cable for connecting two or more PLCs, a termination resistor should be connected at the both ends of network. Otherwise, the communication can be disturbed by the reflected wave of cable. The termination resistor should be 1/2W grade and have the equivalent resistance with the characteristic impedance of cable. (When use the RS-422 protocol, connect two termination resistors between SDA and SDB, RDA and RDB. With the RS-485 protocol, connect a termination resistor between RDA and RDB, or SDA and SDB.)

14.7 RS-422/485 pin assignment

1) The RS-422 network is connected with 5-pin connector. The following table shows the name, and description of each pins and direction of signal.

Pin No.

3

4

5

1

2

MASTER

RDA

RDB

SDA

SDB

SG

Signal direction SLAVE

SDA

SDB

RDA

RDB

SG

2) When using RS-485 interface, connect cable as RS-422 interface, then interconnect RDA and

SDA, RDB and SDB. With the RS-485 interface, the send / receive signals share one line and communication is performed as half-duplex method.

14-6

Chapter 15 The PID function

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

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

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

15.2.2 Realization of PID control on the PLC.......................................................15-13

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

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

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

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

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

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

15.4.1 System configuration....................................................................................15-22

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

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

Chapter 15. The PID functions

15 The PID functions

15.1 Introductions

This chapter will provide information about the built-in PID (Proportional Integral

Differential) function of B and C type CPU module. (GM6-CPUB and GM6-CPUC) The

GM6 series does not have separated PID module like GM3 and GM4 series, and the PID function is integrated into the CPU module (B and C type)

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 differential (D).

The characteristics of the PID function of GM6 is as following;

- the PID function is integrated into the CPU module. Therefore, all PID control action can be performed with F/B (Function Block) without any separated PID module.

- Forward / reverse operations are available

- P operation, PI operation, PID operation and On/Off operation can be selected easily.

- 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.

15-1


15.2 PID control

15.2.1 Control actions

15.2.1.1 Proportional operation (P operation)

1) P action means a control action that obtain a manipulate value which is proportional to the deviation (E : the difference between SV and PV)

2) 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

=

Kp

×

[

b

×

SV

−

PV

]

Kp : the proportional constant (gain) b

SV

: reference value

: set value

PV : present value

3) If the Kp is too large, the PV reaches to the SV swiftly, but it may causes a bad effect like oscillations shown in the Fig. 2.1.

4) If the Kp is too small, oscillation will not occur. However, the PV reaches to the SV slowly and an offset may appear between PV and SV shown in the Fig. 2.2.

5) The manipulation value (MV) varies 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.

6) 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 with GM-WIN software.

15-2


Fig. 2.1 When the proportional constant (Kp) is large

Fig. 2.1 When the proportional constant (Kp) is small

15-3


15.2.1.2 Integral operation (I action)

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.

2) 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

Ki.

3) Integral action when a constant deviation has occurred is shown as the following

Fig. 2.4.

Fig. 2.4 The integral action with constant deviation

4) The expression of I action is as following;

MV

=

Kp

Ti

∫

Edt

As shown in the expression, Integral action can be made stronger or weaker by adjusting integration time (Ki) in I action.

That is, the more the integration time (the longer the integration time) as shown in

Fig. 2.5, 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. 2.6, 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.

15-4


5) 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.

Fig. 2.5 The system response when a long integration time given

Fig. 2.6 The system response when a short integration time given

15-5


15.2.1.3 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.

4D 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.

4D action can prevent the large changes of control object due to external conditions.

(2) The period of time from when the deviation has occurred to when the MV of D action become the MV of P action is called derivative time and represented as Kd.

(3) The D action when a constant deviation occurred is shown as Fig. 2.7.

Fig. 2-7 Derivative action with a constant deviation

(4) The expression of D action is as following;

MV

=

Kp

×

Td dE dt

(5) Derivative action is used only in PID action in which P and I actions combine with

15-6


D action.

15.2.1.4 PID action

1) PID action controls the control object with the manipulation quantity produced by

(P+I+D) action

2) PID action when a given deviation has occurred is shown as the following Fig. 2.8.

Fig. 2-8 PID action with a constant deviation

15-7


15.2.1.5 Forward / Reverse action

1) PID control has two kind of action, forward action and reverse action. The forward action makes the PV reaches to SV by outputting a positive MV when the PV is less than SV.

2) A diagram in which forward and reverse actions are drawn using MV, PV and SV is shown as Fig. 2.9.

Reverse action

Forward action

Fig. 2-9 MV of forward / reverse action

3) Fig 2.10 shows examples of process control by forward and reverse actions, respectively.

Fig. 2-10 PV of forward / reverse action

15-8


SV

15.2.1.6 Reference value

In general feedback control system shown as the Figure 2-10, the deviation value is obtained by the difference of PV and SV. P, I, and D operations are performed based on this deviation value. However, each of P, I, and D operations use different deviation values according to the characteristics of each control actions. The expression of PID control is as following;

MV

=

K Ep

+

1

Ti

∫

0

t

Ei

(

s

)

ds

+

Td dEd dt

Ep

Ei

Ed

MV

K

Ti

Td

: Manipulate value

: Proportional gain

: Integral time

: Derivative time

: Deviation value for proportional action

: Deviation value for integral action

: Deviation value for derivative action

The deviation values of P, I, and D action is described as following equations;

Ep

=

b

×

SV

−

PV

Ei

Ed

=

=

SV

−

−

PV

PV

The b of the first equation is called as reference value. It can be varied according to the load disturbance of measurement noise.

+

PID controller

MV

Process

PV

-1

Fig. 2-10 Diagram of simple feedback system

15-9


The figure 2.11 shows the variation of PV according to the several different reference values (b). As shown in the Fig. 2.11, the small reference value produces small deviation value, and it makes the control system response be slow.

In general, control system is required to be adaptable to various external / internal changes. Especially, it should shows a stable transient response with the sudden change of the SV to be robust to load disturbances and/or measurement noise.

P V

S V

b=1 b=0.1

b=0.5

b=0.7

Figure 2-11 The PI control with several reference values

T i m e

15.2.1.7 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.

15-10


The Fig. 2-12 shows the PV and MV of PI control system when the windup occurs. As shown as the Fig. 2-12, 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 mis-operation of devices can cause windup of actuator.

P V

P V

S V

T i m e

M V

S V

T i m e

MV (without windup)

MV (with windup)

Integral term

Proportional term

15-11


There are several methods to avoid the windup of actuator. The most popular two methods are adding another feedback system to actuator, and using the model of actuator. The Fig. 2-13 shows the block diagram of the anti-windup control system using the actuator model.

As shown in the Fig. 2-13, the anti-windup system feedback the multiplication of gain

(1/Tt) and Es to the input of integral term. The Es is obtained as the difference value between actuator output (U) and manipulation value of PID controller (MV). The Tt of the feedback gain is tracking time constant, and it is in inverse proportion with the resetting speed of integral term. Smaller Tt will cancel the windup of actuator faster, but too small Tt can cause anti-windup operation in derivative operation. The Fig. 2-14 shows several Tt value and PV in the PI control system.

E = -PV

E = SV-PV

K

× Td

MV

Actuator model

U

K

+

k / Ti

+

–

+

+

Es

1 / Tt

Fig. 2-13 The block diagram of anti-windup control system

Actuator

PV

Tt = 3

Tt = 2

Tt = 1

Tt = 0.1

SV

Time

Fig. 2-14 The PV output characteristics with different Tt values.

15-12


15.2.2 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. Then, the pseudo code of PID control will be shown.

15.2.2.1 P control

The digitized formula of P control is as following;

P

(

n

)

=

K

[

b

×

SV

(

n

)

−

PV

(

n

)

] n : sampling number

K : proportional gain constant b : reference value

SV : set value

PV : present value

15.2.2.2 I control

The continuous formula of I control is as following;

I

(

t

)

=

K

Ti

∫

0

t e

(

s

)

ds

I(t) : integral term

K : proportional gain constant

Ti : integral time e(s) : deviation value

By deviation about t, we can obtain;

dI dt

=

K

Ti e

e = (SV – PV) : deviation value

The digitized formula is as following;

I

(

n

+

1 )

−

I

(

n

)

h

=

K

Ti e

(

n

)

I

(

n

+

1 )

=

I

(

n

)

+

Kh e

(

n

)

Ti

h : sampling period

15-13


15.2.2.3 D control

The continuous formula of derivative term is as following;

Td

N

×

d dt

D

+

D

= −

KTd dy dt

N : high frequency noise depression ration y : the object to be controlled (PV)

The digitized formula is as following (Use Tustin approximation method)

D

(

n

)

=

2

Td

2

Td

−

+

hN hN

D

(

n

−

1 )

−

2

2

KTdN

Td

+

hN

[

y

(

n

)

−

y

(

n

−

1 )

]

15.2.2.4 Pseudo code of PID control

The pseudo code of PID control is as following;

Step 1 : Get constants that are used for PID operation

Bi

Ad

=

=

K

×

h

Ti

( 2

×

Td

( 2

×

Td

Bd

=

−

+

N

N

×

×

h h

)

)

( 2

( 2

×

K

×

Td

×

+

N

N

×

Td

×

h

)

)

A

0

=

h

Tt

Step 2 : Read SV and PV value

: integral gain

: derivation gain

: anti-windup gain

PV = adin(ch1)

Step 3: Calculate the proportional term.

P = K

×

(b

×

SV – PV)

Step 4 : Update the derivative term. (initial value of D = 0)

D = As

×

D – Bd

×

(PV – PV_old)

Step 5 : Calculate the MV. (initial value of I = 0)

MV = P + I + D

Step 6 : Check the actuator is saturated or not.

U = sat(MV, U_low, U_high)

Step 7 : Output the MV value to the D/A module

Step 8 : Update the integral term.

I = I + bi

×

(SV – PV) + A0

×

(U – MV)

Step 9 : Update the PV_old value.

PV_old = PV

15-14


15.3 Function blocks

For the PID operation of GM6-CPUB and GM6-CPUC, following 2 function blocks are included in the GMWIN software. (version 3.2 or later)

No

1

2

Name

PID6CAL

PID6AT

Description

Perform the PID operation

Perform the auto tuning operation

Remarks

1. GM6 PID function blocks do not support array type.

2. Refer the GMWIN manual for the registration and running of function block.

3. GM6-CPUA does not support PID operation.

15-15


BOOL

BOOL

BOOL

INT

INT

INT

BOOL

BOOL

BOOL

UINT

UINT

UINT

UINT

UINT

UINT

UINT

UINT

UINT

UINT

15.3.1 The function block for PID operation (PID6CAL)

Function block

EN

MAN

D/R

SV

PV

BIAS

P_GAIN

I_TIME

D_TIME

REF

TT

N

PID6CAL

EN_P

EN_I

EN_D

MV_MAX

MV_MIN

MVMAN

S_TIME

DONE

MV

STAT

Q_MAX

Q_MIN

BOOL

INT

USINT

BOOL

BOOL

Description

Input

EN : enable signal of the PID6CAL F/B

MAN : manual operation mode

( 0 : auto, 1 : manual )

D / R : select direction of operation

( 0 : forward, 1 : reverse )

SV : set value data input

( input range : 0 ~ 4000 )

PV : present value data input

BIAS : feed forward or offset value input for

disturbance compensation

( input range : 0 ~ 4000 )

EN_P : enable signal of proportional control

( 0 : disable, 1 : enable )

EN_I : enable signal of integral control


EN_D : enable signal of derivative control


P_GAIN : the proportional gain constant

( range : 0.01 ~ 100.00 )

I_TIME : the integration time

( range : 0.0 ~ 2000.0 )

D_TIME : the deviation time

( range : 0.0 ~ 2000.0 )

MV_MAX : the maximum value of MV

( range : 0 ~ 4000 )

MV_MIN : the minimum value of MV

( range : 0 ~ 4000 )

MVMAN : the input data of manual operation mode

( range : 0 ~ 4000 )

S_TIME : operation scan time

( range : 0.1 ~ 10 )

REF : the reference value

( range : 0.1 ~ 1 )

TT : tracking time constant

( range : 0.01 ~ 10.00 )

N : high frequency noise depression ratio

( range : 1 ~ 10 )

Output

DONE : completion flag of PID operation

MV : output manipulation value

( range : 0 ~ 4000 )

STAT : error code output

Q_MAX : shows MV is limited with maximum value

Q_MIN : shows MV is limited with minimum value

15-16


1) SV (setting value : the designated value) and PV (process value : present value) of

GM6 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 GM6 series (12 bits) and offset value.

2) The BIAS data is used for the compensation of offset in the proportional control.

3) In GM6-CPUB and GM6-CPUC, only the following 4 operation modes are available.

Other operation modes, such as PD or I, are not permitted.

No.

1

2

3

4

EN_P EN_I EN_D

1 (enable) 0 (disable) 0 (disable) P operation

Operation

1 (enable) 1 (enable) 0 (disable) PI operation

1 (enable) 1 (enable) 1 (enable) PID operation

0 (disable) 0 (disable) 0 (disable) On/Off operation

4) The GM6 CPU module can handle only integer, not the floating point type.

Therefore, to enhance the accuracy of PID operation, the PID6CAL function block is designed to input the P_GAIN data as the 100 times scaled up. For example, if the designated P_GAIN is 98, actual input data of P_GAIN should be 9800. If the designated P_GAIN is 10.99, input 1099 to the P_GAIN.

5) I_TIME and D_TIME are 10 times scaled up. For example, input 18894 if the designated I_TIME value is 1889.4. The range of actual input is 0 ~ 20000.

6) S_TIME is the period of reading data (sampling), and also 10 times scaled up.

Generally, it should be synchronized with external trigger input (EN input of function block) to perform proper PID operation. The range of sampling time is 0.1 ~ 10 seconds, and actual input range is 0 ~ 100.

7) REF may be useful parameter according to the control system type, especially velocity, pressure, or flux control system. The REF input is also 10 times scaled up, and the actual range is 0 ~ 10.

8) TT (tracking time constant) parameter is used to cancel anti-windup operation. The range of TT is 0.01 ~ 10 and the actual input range that are 100 times scaled up is

0 ~ 1000.

9) N (high frequency noise depression ratio) parameter is used for derivative control operation, and shows the ratio of high frequency noise depression. If there is a lot of high frequency noise in the control system, select the N value as higher value.

Otherwise, leave the N parameter as 1. The range of N is 0 ~ 10 and it is not scaled up, so input the designated value directly.

15-17


15.3.2 The error code of PID6CAL F/B

The following table shows error codes and descriptions of PID6CAL function block.

Error code

(STAT output)

Type

4

5

6

7

8

0

1

2

3

9

10

40

Description Countermeasure

Local

Normal operation

SV is out of range Change the SV within 0 ~ 4000

MVMAN is out of range Change the MVMAN within 0 ~ 4000

P_GAIN is out of range Change the P_GAIN within 0 ~ 10000

I_TIME is out of range

D_TIME is out of range

S_TIME is out of range

REF is out of range

TT is out of range

N is out of range

Change the I_TIME within 0 ~ 20000

Change the D_TIME within 0 ~ 20000

Change the S_TIME within 0 ~ 100

Change the REF within 0 ~ 10

Change the TT within 0 ~ 1000

Change the N within 0 ~ 1000

EN_I and/or EN_D is set as 1 when EN_P is 0

Only P, PI, and PID controls are available with GM6-CPUB and GM6-

CPUC. Please change the setting of

EN_P, EN_I, and EN_D by reference to the chapter 15.3.1.

CPU type is mismatched

Replace the CPU module with GM6-

CPUB or GM6-CPUC.

Remarks

1. Please be careful to input 100 times scaled up values for P_GAIN and TT.

2. I_TIME, D_TIME, S_TIME, and REF are 10 times scaled up, not 100 times.

15-18


15.3.3 Auto tuning function block (PID6AT)

BOOL

INT

INT

INT

UINT

Function block

PID6AT

EN

RIPPLE

AT

DONE

MV

STAT

SP

END

P V

S_TIME

P

I

D

Description

BOOL

INT

USINT

BOOL

UINT

UINT

UINT

Input

EN : enable input of function block

SV : set value (goal value) data input

(range : 0 ~ 4000)

PV : present value input

(range : 0 ~ 4000)

S_TIME : scan time input (sampling interval)

(range : 0 ~ 100)

RIPPLE : select the wave form to be used for auto

tuning operation. Select 1 in general case.

Output

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 : shows the error code

MV : the manipulated value of current loop on which

the auto tuning operation is performed.

(range : 0 ~ 4000)

P : the proportional gain constant obtained by auto

tuning operation. (range : 0.01 ~ 100.00)

I : the integral time constant obtained by auto tuning

operation.

D : the derivative time constant obtained by auto

tuning operation

15-19


1) SV (setting value : the designated value) and PV (process value : present value) of GM6 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 GM6 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. For example, assume that PID control is used for temperature control with Pt100 (operation range : 0

°

C ~ 250

°

C), and the goal value is 100

°

C. The equivalent digital output of A/D module (voltage output range : 1 ~ 5V) is 1600 if the A/D module outputs 0 (1V) with 0

°

C, and 4000(5V) with 250

°

C. Therefore, the input of SV should be 1600, not 2.

2) S_TIME is the period of reading data (sampling), and 10 times scaled up for more precious operation. Generally, it should be synchronized with external trigger input

(EN input of function block) to perform proper PID operation. The range of sampling time is 0.1 ~ 10 seconds, and actual input range is 0 ~ 100.

3) The GM6-CPUB and GM6-CPUC module perform auto-tuning operation based on the frequency response method. PID parameters are obtained by On/Off operation during 1 cycle of PV variation. The RIPPLE parameter shows at which cycle the

CPU module will perform auto-tuning operation. If 0 is selected, the CPU will get

PID parameters during the first cycle of PV variation. If 1 is selected, the second cycle will be used. (refer Fig. 12-15 for detailed information) Other choice of

RIPPLE parameter is not allowed. In general case, select 1 for proper auto-tuning operation. The On/Off operation will be occur at the 80% of PV value.

Perform A/T operation at the 1 st cycle

(When the RIPPLE = 0)

Perform A/T operation at the 2 nd cycle

(When the RIPPLE = 1)

80% of PV

15-20


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

The following table shows error codes and descriptions of PID6AT function block.

Error code

(STAT output)

Type

0

1

2

3

4

Description Countermeasure

Local

Normal operation

SV is out of range

PV is out of range

S_TIME is out of range

Change the SV within 0 ~ 4000

It may caused by fault of A/D module.

Check the A/D module.

Change the S_TIME within 0 ~ 100

CPU type is mismatched

Replace the CPU module with GM6-

CPUB or GM6-CPUC.

15-21


15.4 Programming

15.4.1 System configuration

GM6-

PAFB

+5V

+15V

GM6-

CPUB or

GM6-

CPUC

Input module

Output module

A/D module

Input module

D/A module

Output module

GMWIN

(V3.2 or later)

RS-232C

PV : DC4 ~ 20mA

(1 ~ 5V)

Signal converter

MV : DC4 ~ 20mA

(1 ~ 5V)

Temperature sensor heater

Electric oven

(0 ~ 200

°

C)

Power converter

15.4.2 Initial setting

1) PID operation parameters a) Auto / Manual operation setting b) Forward / Reverse operation c) SV setting d) BIAS setting e) EN_P, EN_I, EN_D setting f) REF, TT, N g) MV_MAX, MV_MIN, MVMAN h) S_TIME

2) Auto-tuning parameters a) PV setting b) S_TIME

: Auto

: Forward

: 1600 (100

°

C)

: 0 (If only P control is used, input proper value

other 0)

: EN_P=1, EN_I=1, EN_D=1 (PID operation)

: REF=10, TT=5-, N=1

: MV_MAX=4000, MC_MIN=0, MAMAN=2000

: S_TIME=100 (sampling time = 10 seconds)

: 1600 (100

°

C)

: S_TIME=100 (sampling time = 10 seconds)

15-22


3) A/D module setting a) Channel setting b) Output data type c) Input processing

4) D/A module setting a) Channel setting

15.4.3 Program description

: use channel 0

: – 48 ~ 4047

: Sampling

: use channel 0

15.4.3.1 Use only PID operation (without A/T function)

1) Convert the measured temperature (0 ~ 250

°

C) to current signal (4 ~ 20mA), and input the current signal to the channel 0 of A/D module. Then, the A/D module converts the analog signal to digital value (0 ~ 4000)

2) PID6CAL function block will calculate manipulate value (MV : 0 ~ 4000) based on

PID parameter settings (P_GAIN, I_TIME, D_TIME, etc.) and PV from A/D module.

Then, the calculated MV is output to the channel 0 of D/A module.

3) D/A module will convert the MV (0 ~ 4000) to analog signal (4 ~ 20mA) and output to the actuator (power converter).

15.4.3.2 Use PID operation with A/T function

1) Convert the measured temperature (0 ~ 250

°

C) to current signal (4 ~ 20mA), and input the current signal to the channel 0 of A/D module. Then, the A/D module converts the analog signal to digital value (0 ~ 4000)

2) A/T function block will calculate manipulate value (MV : 0 ~ 4000) based on the SV and PV from A/D module. Simultaneously, the A/T module will calculate P,I and D parameters.

3) The END output of A/T module will be 1 when the A/T operation is completed. Then,

PID module will start operation with PID parameters that are calculated by A/T module.

4) D/A module will convert the MV (0 ~ 4000) to analog signal (4 ~ 20mA) and output to the actuator (power converter).

15-23

[ Example program of 15.4.3.1 ]


15-24


[ Example program of 15.4.3.2 ]

(continue to next page)

15-25

[ Example program of 15.4.3.2 ] (continued)


15-26

Chapter 16 Built-in high speed counter of GM6-CPUC

16.1. Introductions..................................................................................... 16-16-1

16.2. Performance specifications.............................................................. 16-16-2

16.3. Input specifications........................................................................... 16-16-3

16.3.1.

Function of input terminals ............................................................................ 16-16-3

16.3.2.

Names of wiring terminals ............................................................................. 16-16-3

16.3.3.

External interface circuit................................................................................. 16-16-4

16.4. Wiring ............................................................................................... 16-16-5

16.4.1.

Wiring instructions ........................................................................................... 16-16-5

16.4.2.

Wiring examples .............................................................................................. 16-16-5

16.5. Programming .................................................................................... 16-16-6

16.5.1.

Function block (F/B)........................................................................................ 16-16-6

Chapter 16. Built-in high speed counter of GM6-CPUC

16. Built-in high speed counter of GM6-CPUC

16.1. Introductions

This chapter describes the specification, handling, and programming of built-in high speed counter of GM6-CPUC module. The built-in high speed counter of GM6-CPUC (Hereafter called

HSC) has the following features;

- 3 counter functions as followings

- 1-phase up / down counter



: Up / down is selected by user program

: Up / down is selected by external B phase input

: Up / down is automatically selected by the phase difference between phase A and B.

- Multiplication (1, 2, or 4) with 2-phase counter

- 2-phase pulse input multiplied by one : Counts the pulse at the leading edge of phase A.

- 2-phase pulse input multiplied by two : Counts the pulse at the leading / falling edge of phase A.

- 2-phase pulse input multiplied by four : Counts the pulse at the leading / falling edge of phase A and B

16-1

16.2. Performance specifications


Items Specifications

Input signal

Types

Rated level

Phase A, Phase B, Preset

24VDC (13mA)

Signal type Voltage input

Counting range 0 ~ 16,777,215 (Binary 24 bits)

Max. counting speed

Up /

Down selection

1-phase

2-phase

Multiplication

Preset input

50k pps

Sequence program or B-phase input

Auto-select by phase difference of phase A and B

1, 2, or 4

Sequence program or external preset input

16-2


16.3. Input specifications

16.3.1. Function of input terminals

A / B phase

Preset input

Items

Rated input

On voltage

Off voltage

Rated input

On voltage

Off voltage

On delay time

Off delay time

16.3.2. Names of wiring terminals

Specifications

24VDC (13mA)

14VDC or higher

2.5VDC or lower

24VDC (10mA)

19VDC or higher

6V or lower

Less than 1.5ms

Less than 2ms

RUN

STOP

GM6-CPUC

ROM MODE

TEST MODE

→

No. of terminal

1

2

3

4

5

Input signal

A phase input

B phase input

COM

Preset input

Preset COM

16-3


16.3.3. External interface circuit

Internal circuit

3.3K

Ω

Input

820

Ω

Input

3.3K

Ω

270

Ω

No. of terminal

1

2

3

4

Signal type

A-phase pulse input 24VDC

B-phase pulse input 24VDC

Operation voltage

ON

OFF

ON

OFF

14 ~ 26.4

VDC

Less than

2.5VDC

14 ~ 26.4

VDC

Less than

2.5VDC

COM

Preset input

24V

ON

OFF

19 ~

26.4

V

6 V or less

5 Preset COM

16-4


16.4. Wiring

16.4.1. 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 GM6-CPUC, 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 noiseprotected power supply.

4) For 1-phase input, connect the count input signal only to the phase A input; for 2phase input, connect to phases A and B.

16.4.2. Wiring examples

1) Voltage output pulse generator

Pulse Generator

24V

CHSC

A

B

COM

24VG

2) Open collector output pulse generator

24V

CHSC

Pulse Generator

COM

A

B

24VG

16-5


16.5. Programming

16.5.1. Function block (F/B)

CHSC_WR

CHSC_WR

GM1 GM2 GM3 GM4 GM5 GM6 l

BOOL

BOOL

USINT

BOOL

BOOL

BOOL

BOOL

BOOL

FUNCTION BLOCK

REQ

CHSC_WR

DONE

PHS

MULT

U/D_

I/E

CY_R

DOWN

CT_E

PRE_

I/E

STAT

BOOL

USINT

Description

Input REQ : Request signal of F/B execution

PHS : Operation modes selection

0 (1-phase counter), 1(2-phase counter)

MULT : Assign the multiplication factor

(MULT = 1, 2, or 4)

U/D_I/E : Assign the count direction (up/down)

selector

0 : Set by sequence program

1 : Set by B-phase input signal

(1:up-count, 0:down-count)

CY_R : Carry reset signal ( 1: reset).

DOWN : Select the count direction (0:up/1:down) when the counter is set as 1-phase counter and up/down is selected by sequence program. (PHS=0 & U/D_I/E=0)

CT_E : Counter enable signal

(0 : Counter disable, 1 : Enable)

PRE_I/E : Assign PRESET input

0 : PRESET by sequence program

1 : PRESET by external input at the

PRESET terminal

Output

DONE : Turns on after the F/B is executed with no error.

STAT : Indicate the operation status of F/B

- The MULT input will be dummy input when the HSC is set as 1-phase counter (PHS =

0). When the HSC is set as 2-phase counter, the U/D_I/E and DOWN input will be dummy input. (PHS = 1)

- The current value of HSC will be cleared as 0 when the CT_E (counter enable) is 0.

16-6


CHSC_RD

CHSC_RD

Read the current value and operation status of HSC

FUNCTION BLOCK


Description

Input REQ : Request signal for F/B execution

BOOL

REQ

CHSC_RD

DONE

STAT

CNT

CY

BOOL

USINT

UDINT

BOOL

Output


STAT : Indicates the operation status of F/B

CNT : The current value of HSC

(0 ~ 16,777,215)

CY : Carry flag (0 : OFF, 1 : ON)

16-7


CHSC_PRE

CHSC_PRE

Set the preset value of HSC

FUNCTION BLOCK

BOOL

UDINT

CHSC_PRE

REQ DONE

PSET

STAT

BOOL

USINT


Description


PSET : Set the preset value (0 ~ 16,777,215)

Output



- When the PRE_I/E is set as 0 (Preset input by sequence program), the current value of HSC is changed as the assigned preset value with the rising edge of REQ input.

- When the PRE_I/E is set as 1 (Preset input by external preset input), the current value of HSC is changed as the assigned preset value with the rising edge of external preset input. At this time, the REQ input of CHSC_PRE is ignored.

- The CY output is set off while the CHSC_PRE F/B is executing.

- The CHSC_PRE F/B is disabled while the CT_E input of CHSC_WR F/B is 0 (Counter disabled).

16-8


CHSC_SET

CHSC_SET

Assign a setting value to be compared with the current value of HSC

FUNCTION BLOCK


Description


SET : Set a setting value (0 ~ 16,777,215)

BOOL

UDINT

REQ

CHSC_SET

DONE

SET

STAT

BOOL

USINT

Output



Run a task program when the current value of HSC reaches to the setting value.

To run a task program, define a high speed counter task program as following figure, and write a task program.

HSC

16-9


16.5.2 Error code of F/B

The following table shows error codes appear at the STAT output.

Error code

00

01

02

03

04

Description

No error

Built-in high speed counter is not found

(GM6-CPUA, GM6-CPUB CPU module)

Input data error at MULT input of CHSC_WR

(2 Phase Mode 에서 1, 2, 4 이외의 숫자일 때)

PSET (CHSC_PRE) or SET (CHSC_SET) is out of specified range (0 ~ 16,777,215).

Execute Preset command while the HSC is disabled status

16-10

Appendix 1. System definitions

Appendix 1. System Definitions

1) Basic Parameters

The basic parameters are necessary for operation of the PLC and used to allocate memory, set the restart mode and set the scan watch dog time, 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.

APP1 - 1


(4) Resource (CPU) Name

•

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 GM3/4 series, therefore, only the resource 0 is

valid.

(5) Scan Watch Dog Time

•

This parameter is used to set the maximum allowable execution time of an user program in order to supervisor its normal or abnormal operation.

•

Only one CPU module can be mounted in the GM3/4 series, therefore, scan watch dog is valid to only the resource 0.

(6) Unable to Pause by mode setting switch

•

Set : When switch mode is changed from run to pause/remote (RUN à PAU/REM),

PLC is operated as Local Pause mode.

•

Default (do not set) : When switch mode is changed from run to pause/remote (RUN à PAU/REM),

PLC is operated as Remote RUN mode.

APP1 - 2


2) I/O Configuration Parameters

These parameters are used to set the configuration of a system that will be operated. They set the modules that will be mounted and operated onto their own slot in the base unit. If a parameter that has been set and the real mounted module are different, the operation will not be executed. When writing a new project I/O configuration parameters will be all set to default (DEF_MODULE).

If I/O configuration parameters are set to default, the operation starts on the basis of the configuration of the real mounted module when the power is applied. Therefore, though a power failure had occurred during normal operation or the system configuration had been changed due to slip-out of a mounted module, operation starts and continues when the power has been re-applied because the system considers that it is a normal operation state. To prevent this error, be sure to set correctly the I/O configuration parameters complying with the real modules that shall be mounted and operated.

APP1 - 3


<I/O Parameters Setting List>

Keywords

DC input

110 VAC input

220 VAC input

Relay output

SSR output

TR output

A/D

DAV, DAI

HSC

GLOFA Fnet

GLOFA Cnet

DEF_I

DEF_O

DEF_IO

DEF_SP

DEF_MODULE

Description

DC input module



Relay output module

Triac output module

All modules

G6I-A21A(8 points)

G6Q-RY2A(16 points)

G6Q-SS1A(8 points)

Transistor output

A/D conversion module G6F-AD2A(4 channels)

D/A conversion module G6F-DA2V(4channels, voltage type)

G6F-DA2I(4channels, current type)

High speed counting module

Fnet I/F module

Cnet I/F module

All input modules

All output modules

All mixed I/O modules

All communications / special modules

Applicable Modules

G6I-D22A(16 points), G6I-D24A(32 points), G6I-D22B(16 points)

G6I-D24B(32 points)

G6I-A11A(8 points)

G6Q-TR2A(16 points), G6Q-TR4A(32 points)

G6F-HSCA(1 channels)

G6L-FUEA

G6L-CUEB, G6l-CUEC

G6I-D22A(16 points), G6I-D24A(32 points), G6I-D22B(16 points)

G6I-D24B(32 points), G6I-A11A(8 points), G6I-A21A(8 points)

G6Q-RY2A(16 points), G6Q-SS1A(8 points),

G6Q-TR2A(16 points), G6Q-TR4A(32 points)

-

•

•

All special modules

All communications modules

•

All input modules

• All output modules

• All mixed I/O modules

• All special modules

• All communications modules

DEF_EMPTY Empty slot

−

APP1 - 4


3) Communications Parameters

These high speed link parameters are used to set the opposite station for data communications, data and communications cycle when communicating a defined data repeatedly through communication modules.

(For detailed descriptions, refer to the User’ s Manual relating to data communications)

(1) Network type : Used to set the type of the communications module

(2) Slot No. : Location number of slot where the communications module has been mounted.

(3) Local No. : Local number of the module which executes high speed link communications.

(1) Station type : Type of the communications module in the opposite station. Local or remote will be set.

(2) Station No. : Used to indicate the station that has invoked data during communications.

(3) Mode : Used to set the communications mode to Send or Receive.

(4) Block No. : Designating number for identification of a data block in the same communications module.

(5) Data communications cycle : Used to set the cycle of sending and receiving of data.

(6) Area: I, Q and M areas should be set by the decimal number or word.

(7) Size : Number of words that will be sent and received.

APP1 - 5

Appendix 2. Flag List


1) User Flag List

Keyword

_LER

_ERR

_T20MS *

_T100MS *

_T200MS *

_T1S *

_T2S *

_T10S *

_T20S *

_T60S *

_ON *

_OFF *

_1ON *

_1OFF *

_STOG *

_INT_DONE

_INT_DATE

_RTC_TOD

_RTC_WEEK

Type

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

BOOL

DATE

TOD

UNIT

Write

Enable

Enable

−

−

−

−

−

−

−

−

−

−

−

−

−

Enable

−

−

− flag flag

1s Clock

Name

Operation error latch

Operation error latch

20 ms Clock

100 ms Clock

200 ms Clock

2s Clock

10s Clock

20s clock

60s Clock

Always On

Always Off

First scan On

First scan Off

Scan Toggle

Initialization Program

Complete

RTC present date

RTC present time

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

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.

• If cold or warm restart has been set, the flags will be initialized when the scan program starts its execution.

If hot restart has been set , the flags will be restored to the state before the last stop when the scan program starts its execution.

2) Representative System Error Flag List

Keyword

_CNF_ER

Type

WORD

Bit No.

Representative keyword

Name

System error

(fatal error)

Description

This flag handles the following operation stop error flags in batch.

_IO_TYER BOOL Bit 1

Module type inconsistency error

This representative flag indicates that I/O configuration parameters differ from the real loaded module or that a certain module is loaded onto a slot where it should not be loaded. (Refer to _IO_TYER_N and _IO_DEER[n] )

_IO _DEER

_FUSE _ER

_IO _RWER

_SP _IFER

_ANNUN_ER

−

_WD_ER

_CODE_ER

_P_BCK_ER

BOOL

BOOL

BOOL

BOOL

BOOL

−

BOOL

BOOL

BOOL

Bit 2

Bit 3

Bit 4

Bit 5

Bit 6

Bit 7

Bit 8

Bit 9

Bit 11

Module loading/unloading error

Fuse disconnection error

I/O module read/write error

Special/communicat

-ions module interface error

External device fatal fault detection error

−

Scan watch dog error

Program code error

Program 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 one of fuses of slots including them has disconnection. (Refer to _FUSE_ER_N and _FUSE_ER[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])

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 program execution is impossible due to destroyed memory or program error.

APP2 - 1


3) Representative System Warning Flag List

Keyword

_CNF _WAR

_D_BCK_ER

Type

WORD

BOOL

Bit No.

Representa tive keyword

Bit 1

Name

System warning

Description

This flag treats the below warning flags relating to continuous operation in batch.

Data backup error This flag indicates

_AB_SD_ER BOOL Bit 3

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_ERR BOOL Bit 4

Task collision

(plus cycle and external tasks)

This flag indicates that task collision has occurred as execution request for a same task had been repeatedly invoked. (Refer to the flag

_TC_BMAP[n] and _TC_CNT[n])

_BAT_ERR

_ANNUN_WR

BOOL

BOOL

− −

_HSPMT1_ER BOOL

_HSPMT2_ER BOOL

_HSPMT3_ER BOOL

_HSPMT4_ER BOOL

Bit 5

Bit 6

Bit 7

Bit 8

Bit 9

Bit 10

Bit 11

Battery fault

External device warning detection

−

High speed link parameter 1 error




This flag detects and indicates that the voltage of the battery, which is used to backup user programs and data memory, is lower than the defined value.

This representative flag indicates that the user program has detected an ordinary fault of external devices and has written it to the flag _ANC_WB

[n].

−

This representative flag detects error of each high speed link parameter when the high link has been enabled and indicates that high speed link cannot be executed. It will be reset when the high speed link is disabled.

APP2 - 2


4) Detailed System Error and Warning Flag List

Keyword Type

Data setting range

Name

_IO_TYER_N UINT 0 to 15

The number of slot whose module type is inconsistent.

_IO_TYERR[n]

_IO_DEER_N

_IO_DEERR[n]

BYTE

UINT

BYTE n: 0 to 1

0 to 15 n: 0 to 1

The location of slot where module type is inconsistent.

The number of slot where module mounting/dismounting error occurred.

The location of slot where module mounting/dismounting error occurred.

Description

This flag detects that I/O configuration parameters of each slot differ from the real loaded module configuration or a particular module is loaded onto the slot where modules cannot be loaded, and indicates the lowest slot No. of the detected slot numbers.

This flag detects that I/O configuration parameters of each slot differ from the real loaded module configuration or a particular module is loaded onto the slot where modules cannot be loaded, and indicates the slot locations in the bit map of base units.

This flag detects that module configuration of each slot has been changed, that is, module mounting/dismounting error has been occurred, and indicates the lowest slot No. of the detected slot numbers.

This flag detects that module configuration of each slot has been changed, that is, module mounting/dismounting error has been occurred, and indicates the slot locations in the bit map of base units.

_FUSE_ER_N UINT 0 to 15

The number of slot where fuse breaks.

This flag detects that fuses of fuse-mounted modules has broken, and indicates the lowest slot No. of the detected slot numbers.

_FUSE_ERR[n] BYTE

_IO_RWER_N UINT

_IO_RWERR[n] BYTE

_IP_IFER_N

_IP_IFERR[n]

_ANC_ERR[n]

_ANC_WAR[n] UINT

_ANC_WB[n]

_TC_BMAP[n] BIT

_TC_CNT[n]

UINT

BYTE

UINT

BIT

UINT n: 0 to 1

0 to 15 n: 0 to 1

0 to 15 n: o to 1 n : 0 to 7 n : 0 to 7 n: 0 to 127 n : 0 to 7 n : 0 to 7

The location of slot where fuse breaks.

The number of slot where I/O module read/write occurred.

The location of slot where I/O module read/write occurred.

Special/link module interface error slot No.

Special/link module interface error location

External device fatal error

External device ordinary error

External device ordinary error bit map

Task collision bit map

Task collision counter

This flag detects that fuses of fuse-mounted modules has broken, and indicates the slot locations in the bit map of base units.

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.

This flag detects that input modules of a slot cannot be normally read from or written to, and indicates the slot locations in the bit map of base units.

This flag detects that initialization cannot be executed for special or link module of a slot, or normal interface is impossible due to module malfunction, and indicates the lowest slot No. of the detected slot numbers.

This flag detects that initialization cannot be executed for special or link module of a slot, or normal interface is impossible due to module malfunction, , and indicates the slot locations in the bit map of base units.

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 _ANC_WB[n], the bit locations are sequentially written to _ANC_WAR[n] from

_ANC_WAR[0] complying with their occurrence sequence.

The user program detects ordinary error of external device and the errors are indicated on a bit map. (The number 0 is not allowed)

The flag detects that task collision has occurred because, while a task was being executed or ready for execution, an execution request has occurred for the same task, indicates the errors on a bit map.

This flag detects task collision occurrence time for each task when executing a user program, indicates the task collision occurrence time.

APP2 - 3


4) Detailed System Error and Warning Flag List (continued)

Keyword Type

Data setting range

Name

_BAT_ER_TM

DATE &

TIME



_AC_F_CNT

_AC_F_TM[n]

UINT

DATE &

TIME

0 to 65535 n : 0 to 15

Momentary power failure occurrence count

Momentary power failure history

Description

The accumulated momentary power failure occurrence times during operation in the RUN mode is written to this flag.

The times of the latest sixteen momentary power failures are written.

_ERR_HIS[n]

_MODE_HIS[n] n : 0 to 15 Error history n : 0 to 15

Operation mode change history

The times and error codes of the latest sixteen errors are written to this flag.

• Stop time : DATE & TIME (8 bytes)

• Error code : UINT (2 bytes)

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)

* Write is available in user programs.

APP2 - 4


5) System Operation status Information Flag List

Keyword Type

Data setting range

Name

_CPU_TYPE

_VER_NUM

_MEM_TYPE

_SYS_STATE

_RST_TY

_INIT_RUN

_SCAN_MAX

_SCAN_MIN

_SCAN_CUR

_RTC_TIME[n]

_SYS_ERR

Unit

Unit

Unit

Word

_GMWIN_CNF Byte

Byte

Bool

Unit

Unit

Unit

BCD

Unit

0 to 16

-

1 to 5

Representati ve keyword

Bit 0

Bit 1

Bit 2

Bit 3

Bit 4

Bit 5

Bit 6

Bit 7

Bit 8

Bit 9

Bit 10

Bit 11

Bit 12

Bit 13

Bit 14

Bit 15


Bit 0

Bit 1

Bit 2


Bit 0

Bit 1

Bit 2

-

-

-

-

N : 0 to 7

Error code

Description

System type

O/S version No.

Memory module type

PLC mode and operation status

Local control

STOP

RUN

PAUSE

DEBUG

Operation mode change factor



GM1 : 0, GM2 : 1, (GM3 : 2, GM4 : 3, GM% : 4)

(FSM : 5,6), Twofold : 16

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

CPU module operation state

Operation mode change by mode change switch

Operation mode change by GMWIN

Operation mode change by remote GMWIN


STOP by STOP function

Force input

Force output

STOP by ESTOP function

Operation mode change by communications

Operation in the RUN mode is stopped by STOP function after the scan has finished

Input junction force On/Off is being executed.

Output junction force On/Off is being executed

Operation in the RUN mode is directly stopped by ESTOP function.

-

During monitoring External monitoring is being executed for programs or variables

Remote mode ON Operation in the remote mode

GMWIN

Connection state between CPU module and GMWIN connection state

Local GMWIN connection

Remote GMWIN

Local GMWIN connection state

Remote GMWIN connection state connection

Remote communications connection

Remote communications connection state

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)

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.

Present time

Error type

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

APP2 - 5


6) System Configuration status Information Flag

(1) User Program Status Information

Keyword Type

Data setting range


Bit 0

_DOMAN_ST BYTE

Bit 1

Bit 2

Bit 3

Bit 4

Name

System S/W configuration information

Basic parameter error

I/O configuration parameter error

Program error

Access variable error

High speed link parameter error

Description

GM1 : 0, GM2 : 1, (GM3 : 2, GM4 : 3, GM% : 4)

(FSM : 5,6), Twofold : 16

Checks and indicates Basic parameter error

Checks and indicates I/O configuration parameter error

Checks and indicates Program error

Checks and indicates Access variable error

Checks and indicates High speed link parameter error

(2) Operation Mode change switch Status Information

Keyword Type

Data Setting range

Name


Mode setting switch position

_KEY_STATE BYTE

Bit 0

Bit 1

Bit 2

KEY_STOP

KEY_RUN

KEY_PAUSE/REMOTE

Description

Indicates the state mode setting switch of CPU module

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.

(3) I/O Module Installation Status Information

Keyword Type

Data Setting range

_IO_INSTALL[n] BYTE n : 0 to 1

Name

I/O module installation location

Description

Locations of slots where I/O modules are loaded are indicated in the bitmap of base units.

APP2 - 6


7) Communications Flag

- GLOFA Mnet / Fnet / Cnet Flag List

(1) Communication Module Information Flag List

•

n is the number of slot where a communications module is loaded. ( n = 0 to 7)

Keyword

_CnVERNO

Type

UINT

Applicable

Net

Mnet/Fnet/Cnet

Name Description

• Communications module O/S version No.

_CnSTNOH

_CnSTNOL

UINT

UDINT

Mnet/Fnet/Cnet

Communications module version No.

Communications module station

No.

_CnTXECNT

_CnRXECNT

_CnSVCFCNT

_CnSCANAV

_CnSCANMN

_CnLINF

UINT

UINT

UINT

UINT

UINT

UINT

Mnet/Fnet/Cnet

Mnet/Fnet/Cnet

Mnet/Fnet/Cnet

Mnet/Fnet/Cnet

Mnet/Fnet/Cnet

Mnet/Fnet/Cnet

Communications frame sending error

Communications frame receiving error

Communications service processing error

Maximum communications scan time (unit : 1 ms)

Average communications scan time (unit : 1 ms)

Minimum communications scan time (unit : 1 ms)

• Indicates the number which is set on communications module station switch.

Mnet : MAC station No. marked on the front of communication module.

Fnet : Station switch No. marked on the front of communications module.

Cnet : Station No. set by the frame editor

_CnSTNOH : Station No. set on the side of RS-232C

_CnSTNOL : Station No. set on the side of RS-422

• Increments by one whenever sending error of communications frame occurs.

• Connection condition of network is evaluated by this value.

• In Cnet, this value is the sum of errors occurred during receiving through RS-

232 and RS-422.

• Increments by one whenever communications service fails.

•

Connection condition of network is evaluated by this value. Overall network communications quantity and program stability are also evaluated by this value.

• Indicates the maximum time that is spent until every station connected to network has the token at least one time and sends a sending frame.

•

Indicates the average time that is spent until every station connected to network has the token at least one time and sends a sending frame.

• Indicates the minimum time that is spent until every station connected to network has the token at least one time and sends a sending frame.

• Indicates operation state of communications module with a word.

_CnLNKMOD

_CnINRING

BIT 15

BIT 14

Operation mode (RUN=1,

TEST=0)

In-ring (IN_RING = 1)

• Indicates that operation mode of communications module is in the normal operation mode or test mode.

• Indicates that the communications module can communicates(IN_RING = 1) with other station or not.

_CnIFERR BIT 13 Interface error (error = 1)

•

Indicates that interface with communications modules has been stopped.

_CnSVBSY BIT 12 Insufficient common RAM

(Insufficient = 1)

• Indicates that service cannot be offered due to insufficient common RAM.

• Indicates communications module hardware defect or system O/S error.

_CnCRDER

_NETn_LIV[k]

( k = 0 to 63,

k:Station No. )

_NETn_RST[k]

( k = 0 to 63,

k:Station No. )

_NETn_232[k]

( k = 0 to 63,

k:Station No. )

_NETn_422[k]

( k = 0 to 63,

k:Station No. )

BIT 11

BIT

ARRAY

BIT

ARRAY

Fnet

Fnet

BIT

ARRAY

Cnet

BIT

ARRAY

Cnet

Communications module system error (error = 1)

Stations connected to the network (1=connected,

0=disconnected)

Re-connection of a station

(1=re-connected, 0=no changed condition)

The indication that the user defined frame has been received. Indicated at each setting No. (Received = 1).

The indication that the user defined frame has been received. Indicated at each setting No. (Received = 1).

• Indicates whether k remote station or local PLC is connected to the network or not. The state value is written to each bit. These values shows present state of the network. (Write is disabled)

• Indicates re-connected stations, which had been disconnected before, on a bitmap. Because this value has been replaced with ‘ 1’ when re-connected, the user program has to clear this value with ‘ 0’ so that next re-connection can be detected. (Write is enabled)

• When a receiving frame is received through RS-232C while the part of RS-

232C in Cnet is operating in the user-defined mode, the bit corresponding to setting No. is turned ON. If RCV_MSG F/B has read that, that bit will be cleared with 0.

• When a receiving frame is received through RS-422 while the part of RS-

232C in Cnet is operating in the user-defined mode, the bit corresponding to setting No. is turned ON. If RCV_MSG F/B has read that, that bit will be cleared with 0.

APP2 - 7


(1) Communications Module Information Flag List (continued)

Keyword

_FSMn_reset

Type

BIT

Applicable

Net

Fnet

Name

Remote I/O station S/W reset

_FSMn_io_reset

_FSMn_hs_reset BIT

_FSMn_st_no

BIT

USINT

Fnet

Fnet

Remote I/O station digital output reset

Remote I/O station high speed link information initialization

Numbers of I/O stations where

_FSMn_reset, _FSMn_io_reset and _FSMn_hs_reset will be executed. (Write is enabled)

Description

• Requests reset for remote I/O station (Write is enabled)

Request can be done individually or wholly complying with the settings in the

FSMn_st_no.

•

Requests output reset for remote I/O station (Write is enabled)

• Request can be done individually or wholly complying with the settings in the

FSMn_st_no.

• If a momentary power failure occurs in the remote I/O station, the operation mode bit of high speed link information turns off and link trouble has the value

1. If the bit is turned on to clear that bit, the operation mode bit turns on and link trouble is cleared with 0.

• Request can be done individually or wholly complying with the settings in the

FSMn_st_no.

• Sets the numbers of I/O stations where _FSMn_reset, _FSMn_io_reset and

_FSMn_hs_reset will be executed. (Write is enabled)

• 00 to 63 è individual station No. setting

• 255 è Whole station No. setting

(2) Detailed High Speed Link Information Flag List

Keyword

_HSmRLINK

_HSmLTRBL

_HSmSTATE[k]

(k = 0 to 63, k:Station No.)

_HSmMOD[k]


_HSmTRX[k]


_HSmERR[k]


Type

Bit

Bit

Bit

Array

Bit

Array

Bit

Array

Bit

Array

Applicable

Net

Fnet/Mnet

Fnet/Mnet

Fnet/Mnet

Fnet/Mnet

Fnet/Mnet

Fnet/Mnet

Name

High speed link RUN link information

High speed link trouble information

K Data Block overall communications state information

K Data Block setting stations mode information. (RUN = 1, others =-0)

K Data Block communications state information (Normal = 1, abnormal = 0)

K Data Block setting stations state information. (Normal = 1, abnormal = 0)

Description

• Indicates that all stations are normally operating complying with the parameter set in the high speed link. This flag turns on under the following conditions.

1) All stations set in the parameter are in the RUN mode and have no error, and

2) All blocks set in the parameter normally communicate, and

3) The parameter set in all stations, which are set in the parameter, normally communicate.

• Once this flag is turned on, it maintains that state as long as link enable does not make that state stopped.

• This flag turns on when, under the condition that _HSmRLINK is turned on, communications of the stations and data blocks set in the parameter is under the following conditions.

1) A station set in the parameter is not in the RUN mode, or

2) A station set in the parameter has an error, or

3) The communications of data blocks set in the parameter does not normally operate.

• This flag turns on if the above conditions 1), 2) and 3) occur. If those conditions are restored, it will turn off again.

• Indicates overall communications state of every blocks of the parameters set.

_HSmSTATE[k] = _HSmMOD[k] & _HSmTRX[k] & _HSmERR[k]

• Indicates the operation modes of stations set the K data block of parameters.

• Indicates that communications of the K data block of parameters are normally operating as set or not. .

• Indicates that the stations set in the K data block of parameters have an error or not.

APP2 - 8

Appendix 3. Function/Function Block List


1) Function List

Name Function

ABS (int)

ADD(int)

AND (word)

DIV(int)

DIV(dint)

Absolute value operation

Addition

Logical multiplication

Division

Division

EQ (int)

LIMIT(int)

MAX(int)

MOVE

MUL(dint)

MUL (int)

MUX (int)

MUX(dint)

ROL

BCD_TO_DINT

BCD_TO_INT

BCD_TO_SINT

BYTE_TO_SINT

DATE_TO_STRING

DINT_TO_INT

DINT_TO_BCD

STRING_TO_INT

CONCAT

DELETE

EQ

FIND

INSERT

LEFT

LEN

LIMIT (str)

MAX (str)

MID

REPLACE

RIGHT

ADD_TIME (time)

DIV_TIME(i1 = time)

‘ Equality’ comparison

To output upper and lower limits

To output the maximum input value

To copy data

Multiplication

Multiplication

To output a selected input value

To output a selected input value

To rotate left

Conversion of BCD type into DINT type

Conversion of BCD type into INT type

Conversion of BCD type into SINT type

Conversion of BCD type into SINT type

Conversion of DATE type into string

Conversion of DINT type into INT type

Conversion of DINT type into BCD type

DT_TO_DATE

DT_TO_TOD

DT_TO_STRING

DWORD_TO_WORD

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 type

INT_TO_DINT

INT_TO_BCD

Conversion of INT type into DINT type

Conversion of INT type into BCD type

NUM_TO_STRING (int) Conversion of number into string

SINT_TO_BCD Conversion of SINT type into BCD type

Conversion of string into INT 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 right part of a string

Time addition

Time division

Size of PB

(byte) *1

24

24

16

32

32

40

68

56

16

16

72

68

20

12

12

52

12

16

16

48

8

56

40

40

80

76

64

73

8

48

8

12

40

12

12

12

24

24

56

84

20

48

48

8

Size of library

(byte) *2













794

738

682

682

160

300

200

140

458

278

12

780

738

236

584

226

524

158

48

794

280

266

180

808

140

1308

248

298

788

222

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 list when programs are written with IL(Instruction List) language. If programs are written with LD(Ladder diagram), the following differences occur.

(1) 16 byte 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 µ sec will be added.

Processing speed

( µsec) *3

GM6

1.2

1.7

4.3

32.9

62.9

281.9

54.9

63.9

38.3

73.9

418.9

33.4

17.5

3.3

4.1

524.9

1.3

0.9

129.9

159.9

67.9

80.9

68.4

47.1

97.9

53.9

11.6

67.9

9.7

273.9

111.9

40.9

0.4

205.9

1.3

446.9

1.6

11.8

12.9

1.0

65.9

35.9

15.8

53.2

APP3 - 1


2) Function Block List

Name

CTU

CTUD

F_TRIG

RS

TON

Function

Addition counter

Addition/subtraction counter

Descending edge detection

Preference reset table

ON delay timer

Size of PB

(byte) *1

72

112

40

48

56

Size of library

Size (byte) *2

Size of instance

110

186

38

72

200

memory *3

6

6

1

2

2000

Processing speed (

µsec)

GM3 GM4

10.2

15.6

5.7

7.5

8.5

12.8

18.4

6.6

8.7

11.1

REMARK

1) The items marked with ‘ *’ has following meaning.

*1 : The size of the program memory which a program occupies when it uses the function once.

*2 : The size of the program memory which a program occupies only one time though it uses the function many times.

*3: The size of the program memory which a program occupies 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. Outer Dimensions

Appendix 4. Dimensions (Unit : mm)

1) CPU module

RUN

STOP

GM6-CPUA

RUN

PAU/REM

STOP

38 35

2)I/O Module

90

90

38 35

APP4 - 1


3) Power Supply Module

POWER ○

GM6-PAFA

38 45

90

4) Basic/Extension Base Unit

A

B

(Unit : mm)

A B C D E

GM6-B04M

230.5

244 92.0

110 62

GM6-B06M

GM6-B08M

GM6-B12M

300.5

370.5

510.5

314

384

524

92.0

92.0

92.0

110

110

110

62

62

62

APP4 - 2


APP4 - 3

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