“H” Series Users MANUAL - Lighthouse PLCslighthouseplcs.com/Catalogs/H_Users_Manual_LPI.pdf ·...

Copyright Actron AB 1994-2009 1

“H” Series Users MANUAL

Authored By:

Programming

Software creator for

Hitachi PLC products

Produced by:

Authorized Distributor for Hitachi and Actron products

How to read this manual.

2 Copyright Actron AB 1994, 2009

THIS PAGE INTENTIONALLY LEFT BLANK

Copyright Actron AB 1994-2009 i

TABLE OF CONTENTS:

AUTHORED BY: ................................................................................................................................ 1 1 HOW TO READ THIS MANUAL: ........................................................................................... 1

2 HISTORY, BACKGROUND: ................................................................................................... 3 2.1 SHORT HISTORY ABOUT LIGHTHOUSE PLCS, INC.: .................................................................. 3 2.2 SHORT HISTORY ABOUT HITACHI:........................................................................................ 3 2.3 SHORT HISTORY ABOUT PLC: ................................................................................................... 4 3.1 SYMBOLIC PICTURE OF AN H SERIES PLC:............................................................................... 6 3.2 ABBREVIATIONS:........................................................................................................................ 7 3.3 PROGRAM SYMBOLS:................................................................................................................. 8 3.4 ADDRESSING: ............................................................................................................................ 9

3.4.1 In-/ and Outputs: ................................................................................................................ 9 3.4.2 Internal memories: ........................................................................................................... 12 3.4.3 Link memories: ................................................................................................................. 12 3.4.4 Edge memories: ................................................................................................................ 14 3.4.5 Timers and Counters: ....................................................................................................... 14 3.4.6 Master Control: ................................................................................................................ 15 3.4.7 Constant values: ............................................................................................................... 15 3.4.8 Battery backup (retentive areas) of memories: ............................................................... 15

3.5 SPECIAL MEMORIES:................................................................................................................ 16 3.5.1 Special memories, Words: ................................................................................................ 16 3.5.2 Special memories Bits: .................................................................................................. 17

4.1 BASIC LADDER PROGRAMMING:............................................................................................... 20 4.2 SYMBOLS: ................................................................................................................................ 20

4.2.1 Block................................................................................................................................. 20 4.2.2 Branch .............................................................................................................................. 21 4.2.3 Contact symbols ............................................................................................................... 22 4.2.4 Inverting: .......................................................................................................................... 24 4.2.5 Set, Reset .......................................................................................................................... 26 4.2.6 Master Control Set (MCS) and Reset (MCR) ................................................................... 26 4.2.7 Master Control Set. .......................................................................................................... 27 4.2.8 Master Control Reset........................................................................................................ 27 4.2.9 Edge detection (DIF and DFN-Contacts) ........................................................................ 29 4.2.10 Comparison contacts ...................................................................................................... 31 4.2.11 Arithmetic box: ............................................................................................................... 31 4.2.12 Timer programming: ...................................................................................................... 32 4.2.13 Counter programming:................................................................................................... 32 4.2.14 Complex logic................................................................................................................. 32 4.2.15 Self hold: ........................................................................................................................ 33 4.2.16 Sequence programming with self hold: .......................................................................... 33 4.2.17 Output control in sequence programming: .................................................................... 33 4.2.18 Timers : .......................................................................................................................... 34 4.2.19 Counters: ........................................................................................................................ 40 4.2.20 Set value (The preset value) of Timers /Counters........................................................... 43 4.2.21 Variable preset value of timers/counters........................................................................ 43 4.2.22 Timer/Counter read of current value: ............................................................................ 43 4.2.23 Comparison instructions: ............................................................................................... 44

4.3 ARITHMETIC INSTRUCTIONS REFERENCE: ............................................................................... 46 4.3.1 Array variables and indexed addressing.......................................................................... 46 4.3.2 Summary of arithmetic instructions,................................................................................. 48 4.3.3 Arithmetics......................................................................................................................... 48 4.3.4 Logic expressions ............................................................................................................. 49

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ii Copyright Actron AB 1994, 2009

4.3.5 Comparison expressions ...................................................................................................50 4.3.6 Bit operations ....................................................................................................................50 4.3.7 Shift and rotation expressions...........................................................................................51 4.3.8 Moving data ......................................................................................................................52 4.3.9 Negations, absolute value etc............................................................................................52 4.3.10 Conversions.....................................................................................................................52 4.3.11 Application commands ....................................................................................................54 4.3.12 Control commands (jump etc.) ........................................................................................54 4.3.13 FUN-instructions for series HB: .....................................................................................54 4.3.14 FUN-instructions for H252, H302-H2002:.....................................................................55

4.4 DETAILED DESCRIPTION OF ARITHMETIC INSTRUCTIONS:........................................................57 4.4.1 Copy ..................................................................................................................................57 4.4.2 Indexed (relative) addressing............................................................................................57 4.4.3 Arithmetics ........................................................................................................................59 4.4.4 Logic expressions ..............................................................................................................69

4.5 COMPARISON EXPRESSIONS:...................................................................................................70 4.6 BIT OPERATIONS: .....................................................................................................................73

4.6.1 Shift and rotation expressions...........................................................................................76 4.7 MOVING DATA:..........................................................................................................................83

4.7.1 Negations, absolute value etc............................................................................................89 4.7.2 Converting.........................................................................................................................91

4.8 APPLICATION COMMANDS: .......................................................................................................96 4.9 FIFO (QUEUE REGISTER): .......................................................................................................97 4.10 CONTROL COMMANDS (JUMP ETC.): ....................................................................................101 4.11 LOGIC INSTRUCTION PROGRAMMING: ..................................................................................109

Start Contact symbol .................................................................................................................109 5.1 TO RUN THROUGH A COMPLETE PROJECT: ............................................................................114

5.1.1 Choice of PLC..................................................................................................................114 5.2 COMPUTER PROGRAMMING.: .................................................................................................116

5.2.1 Actsip-H ..........................................................................................................................116 5.2.2 Change of an existing block:..........................................................................................123 5.2.3 Comparison contacts: .....................................................................................................124 5.2.4 Arithmetic expressions: ...................................................................................................125 5.2.5 Syntax check:...................................................................................................................127 5.2.6 ON-Line programming....................................................................................................129 5.2.7 Store the program: ..........................................................................................................130 5.2.8 Documentation:...............................................................................................................130 5.2.9 Printout: ..........................................................................................................................131 5.2.10 End of project: ..............................................................................................................131

5.3 PROGRAMMING WITH ACTGRAPH:.........................................................................................132 5.3.1 Programming:.................................................................................................................132 5.3.2 Start step: ........................................................................................................................134 5.3.3 Actions: ...........................................................................................................................134 5.3.4 Transitions: .....................................................................................................................135 5.3.5 Detailed Actions:.............................................................................................................136 5.3.6 Alternative branch: .........................................................................................................137 5.3.7 Parallel branch: ..............................................................................................................137 5.3.8 Return branch: ................................................................................................................138 5.3.9 Super conditions: ...........................................................................................................138 5.3.10 Logic boxes: ..................................................................................................................140 5.3.11 Macro boxes:.................................................................................................................140 5.3.12 Action boxes:.................................................................................................................141 5.3.13 Mathematical expressions:............................................................................................143 5.3.14 Comparison expressions: ..............................................................................................143 5.3.15 Zoom: ............................................................................................................................144

6 HAND PROGRAMMING UNITS: ........................................................................................146 7.1 GENERAL SPECIFICATION:......................................................................................................149 7.2 BASIC SPECIFICATION: ...........................................................................................................149

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Copyright Actron AB 1994 iii

7.3 PROCESS SYSTEM: ................................................................................................................ 150 7.3.1 In- and output update. .................................................................................................... 150

7.4 INTERRUPT :........................................................................................................................... 151 7.5 INSTALLATION: ....................................................................................................................... 154

7.5.1 Mounting in general:...................................................................................................... 154 7.5.2 Power connection:.......................................................................................................... 156 7.5.3 24V DC........................................................................................................................... 156 7.5.4 Cable connection:........................................................................................................... 156 7.5.5 Input connections: .......................................................................................................... 156 7.5.6 Output connections: ....................................................................................................... 157 7.5.7 The CPU-port:................................................................................................................ 157

7.6 ERROR CODES, COUNTERMEASURES AND MAINTENANCE:................................................... 158 7.6.1 Error messages: ............................................................................................................. 158 7.6.2 Error messages for syntax errors (program errors): ..................................................... 159 7.6.3 Error during program execution:................................................................................... 159

8.1 TYPES OF COMPONENTS: ...................................................................................................... 161 8.1.1 HB, link model (HL) ....................................................................................................... 162 8.1.2 Series HB in remote version (HR- expansion racks) ...................................................... 162

8.2 COMPONENT LIST: ................................................................................................................. 164 8.2.1 Base units and expansion modules:................................................................................ 164 8.2.2 H200 expansion units ..................................................................................................... 165

8.3 ADDRESSING: ........................................................................................................................ 167 8.4 EXPLANATIONS OF THE COMPONENTS: ................................................................................ 170 8.5 SETTING OF JUMPERS AND SWITCHES OF HB: ..................................................................... 171

8.5.1 The function of the RUN/ERROR contact: ..................................................................... 171 8.5.2 Mounting of series HB.................................................................................................... 171

8.6 INPUT SPECIFICATIONS: ......................................................................................................... 172 8.7 HIGH SPEED COUNTER SPECIFICATION: ................................................................................ 174 8.8 OUTPUT SPECIFICATIONS - RELAY OUTPUT: ........................................................................ 176 8.9 OUTPUT SPECIFICATIONS - TRANSISTOR: ............................................................................ 177 8.10 SPECIFICATION OF EXPANSION MODULES:.......................................................................... 178 8.11 WIRING: ............................................................................................................................... 178

8.11.1 Power wiring:............................................................................................................... 178 8.11.2 Input connection:.......................................................................................................... 179

8.12 FUN-INSTRUCTIONS FOR SERIES HB: ............................................................................ 182 9.1 DESCRIPTION OF EXTERNAL PARTS: ..................................................................................... 188 9.2 START ADDRESSES IN SLOTS: ............................................................................................... 190 9.3 CONFIGURATION:................................................................................................................... 190 9.4 MOUNTING OF H200: ............................................................................................................ 191 9.5 MODULE SPECIFICATION H200-H252: ................................................................................. 193 9.6 SPECIFICATION OF THE MODULES: ........................................................................................ 194

9.6.1 Voltage supply:............................................................................................................... 194 9.6.2 Input modules:................................................................................................................ 194 9.6.3 Output modules: ............................................................................................................. 196 9.6.4 Analog modules Current: ............................................................................................... 197 9.6.5 Analog modules Voltage: ............................................................................................... 197 9.6.6 Isolated mixed Analog modules: .................................................................................... 199

9.6.6.1 ACTANA-S modules mixed voltage and current.................................................................... 199 9.6.6.1.1 Digital inputs /outputs using mode 1............................................................................... 201 9.6.6.1.2 Programming and addresses:........................................................................................... 203 9.6.6.1.4 Filter time:....................................................................................................................... 203 9.6.6.1.4 Conversion factor: ........................................................................................................... 203 9.6.6.1.5 Error information: ........................................................................................................... 203

9.6.6.2 ACTANA-F module................................................................................................................ 206 9.6.6.2.1 Quick update logic. ......................................................................................................... 206 9.6.6.2.2 Analog inputs sample and hold: ...................................................................................... 219 9.6.6.2.3 Repeated sampling control with high precision: (Mode 3).............................................. 219 9.6.6.2.4 Repeated sampling control without stopping other functions: (Mode 3)........................ 221 9.6.6.2.5 Filter time: (Mode 2 and 3) ............................................................................................. 224 9.6.6.2.6 Sampling interval: (mode 3)............................................................................................ 224 9.6.6.2.7 Conversion factor: (mode 2 and 3).................................................................................. 224

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iv Copyright Actron AB 1994, 2009

9.7 OPERATOR TERMINALS:.........................................................................................................226 9.7.1 Actterm-H........................................................................................................................226

9.7.1.1 Start up.....................................................................................................................................228 9.7.1.1.1 Start the program..............................................................................................................228 9.7.1.1.2 Connecting (adding) Actterm-H to an existing project. ...................................................228 9.7.1.1.3 How to configure the System...........................................................................................229

9.7.3.3 Programming ...........................................................................................................................230 9.7.3.3.1 How to use the function keys...........................................................................................230 9.7.3.3.2 How to use the LEDs ......................................................................................................232 9.7.3.3.3 How to use the Buzzer ....................................................................................................232 9.7.3.3.4 How to use the DISPLAY................................................................................................232 9.7.3.3.5 How to type the texts and transfer the texts to the terminal .............................................232 9.7.3.3.6 Transfer the texts.............................................................................................................234 9.7.3.3.7 Documentation:...............................................................................................................234 9.7.3.3.8 Display with only Text.....................................................................................................234 9.7.3.3.9 Text typing......................................................................................................................234 9.7.3.3.10 How to program a pure text Display .............................................................................234

9.7.3.4 Display with text and values...................................................................................................235 9.7.3.4.1 How to make a display with text and values...................................................................236 9.7.3.4.2 How to program a display with text and values ..............................................................236 9.7.3.4.3 How to show values with separation characters..............................................................238 9.7.3.4.4 Rolling text: (Scroll) .......................................................................................................239

9.7.3.5 How to preset a value .............................................................................................................241 9.7.3.5.1 Texts that move and change............................................................................................241 9.7.3.5.2 How to write in the expansion memory ...........................................................................244 9.7.3.5.3 How to read in the expansion memory.............................................................................244

9.7.4 ActTerm-H with printer port ..........................................................................................246 9.7.4.1 Start the program ....................................................................................................................246

9.7.4.1.1 Typing printer text ..........................................................................................................246 9.7.4.1.2 Text print out ..................................................................................................................246 9.7.4.1.3 Programming of a text printout .......................................................................................248 9.7.4.1.4 Programming of mixed text and value ............................................................................248 9.7.4.1.5 Connection of a printer ...................................................................................................249

9.7.4.2 Mounting ................................................................................................................................250 9.7.4.2.1 Typical mounting of the PLC in a housing .....................................................................250 9.7.4.2.2 Power supply of ActTerm-H..........................................................................................250 9.7.4.2.3 Measurements .................................................................................................................251 9.7.4.2.4 Hints when using ACTTERM-H.....................................................................................252

9.8 COMMUNICATION MODULES: ................................................................................................253 9.8.1 Remote communication (Remote modules): ...................................................................253 9.8.2 Current consumption RIOH and IOLH-T ......................................................................253 9.8.3 General specification RIOH and IOLH-T.....................................................................253 9.8.4 Link communication ......................................................................................................255 9.8.5 CTH High speed counter module:.................................................................................257 10.1.1 Differences between H300-H2000 and H302-H2002 ..................................................264 10.1.2 Expansion of I/O-modules............................................................................................265

10.2 COMMUNICATION: ...............................................................................................................265 10.2.1 Link modules: ...............................................................................................................265 10.2.2 COMM2-H ...................................................................................................................265 10.2.3 Modules to H300-H2002..............................................................................................267 10.2.4 H300-H2002 Circuit diagram input modules: .............................................................269 10.2.5 Circuit diagram output modules ..................................................................................269

11.1 PID-INSTRUCTIONS:............................................................................................................271 11.2 TRIGONOMETRIC FUNCTIONS:.............................................................................................272 11.3 SEARCH INSTRUCTIONS: ....................................................................................................274 11.4 ASCII-CONVERSION INSTRUCTIONS: .................................................................................274 11.5 DIVERSE INSTRUCTIONS: ...................................................................................................274 11.6 SAMPLING (TROUBLE SHOOTING) INSTRUCTIONS:.............................................................274 11.7 OTHER INSTRUCTIONS: ......................................................................................................274 11.8 SERIAL COMMUNICATION INSTRUCTIONS: ..........................................................................274 12.1 SPECIAL MEMORIES (DETAILED):......................................................................................277 12.2 INSTRUCTION TIME: ...............................................................................................................279

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Copyright Actron AB 1994 v

INDEX:......................................................................................................................................... 282

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vi Copyright Actron AB 1994, 2009



1 How to read this manual:

MANUAL serie H

This manual contains information which is common for all PLC types in the H family.

X002 TD15

TD15 Y102

3.5 S

- History, Background (page 3) A short history and presentation of Actron, Lighthouse PLCs, and Hitachi PLC’s in general is described here.

- Symbols, abbreviations, etc. (page 6) The basic contents of a PLC, the common abbreviations and principles of addressing and the memory areas (e.g. Special memories) are described here.

- Programming (page 20) The basic ladder programming is described first. Thereafter Timers, Counters and comparing is described. The arithmetic instructions are first given in a comprehensive way together with page references to the more detailed description. Thereafter the instructions are described , which are in common for the different system types. This is followed by logic instruction programming. This is needed if the small hand held programming unit is used. The chapter ends with mixed program examples.

- Handling in practice (page 114) Here is a description of how to plan a project, choice of PLC type, configuration, installation, computer programming, start up and documentation

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POWRUNERR

R.CL

0 1 2 3 4 5 6 7 8 9 10 11

100 101 102 103 104 105 106 107 108 109 110 111

INPUT

OUTPUT

8 9 10 11 8 9 10 11 8 9 10 11

106 107 108 109 110 111106 107 108 109 110 111

POWRUNERR

R.CL

0 1 2 3 4 5 6 7 8 9 10 11

100 101 102 103 104 105 106 107 108 109 110 111

INPUT

OUTPUT

8 9 10 11 8 9 10 11 8 9 10 11

106 107 108 109 110 111106 107 108 109 110 111

POWRUNERR

R.CL

0 1 2 3 4 5 6 7 8 9 10 11

100 101 102 103 104 105 106 107 108 109 110 111

INPUT

OUTPUT

POWRUNERR

R.CL

0 1 2 3 4 5 6 7 8 9 10 11

100 101 102 103 104 105 106 107 108 109 110 111

INPUT

OUTPUT

FUN1 PID control . FUN15 ARC TAN function .

- Common hardware description (page 149) Here are common specifications, the common installation principles, common error codes and trouble shooting principles are described The processing system is also described. The differences between the different PLC types are described in separate parts.

- Addition to H20-H64 (page 161) The different hardware units that belong to H20-H64 are described here as well as the specific programming instructions for H20-H64 and the addressing in detail.

- Addition to H200-H252 (page 188) The different hardware units that belong to H200-H252 are described here as well as the specific programming instructions for H200-H252. - Addition to H300-H2002 (page 264) The different hardware units that belong to H300-H2002 are described here as well as the specific programming instructions for H300-H2002 and the addressing in detail. - Extra programming instructions for H252, H302-H2002: (page 271) The special programming instructions, which are implemented in the most powerful PLCs are described here, e.g. PID-instructions and trigonometric function. - Appendix (page 276) The basic definitions such as Hexadecimal, binary etc. are described here. Complete tables of the special memories, error codes etc. are also given here.

General: For programming procedure, start with the common parts of the manual and refer to the additional part when references are given. For description of the special modules (hardware, connection, addressing and programming) go directly to the special additional chapter.

References to the different PLC types are often made, e.g. H302-H2002. (which refers to the CPUs H302, H702, H1002 and H2002) or e.g. HB-H250 (which refers to the CPU:s H20, H28, H40, H64, H200 and H250) as the following order is valid: H20, H28, H40, H64, H200, H250, H252, H300, H700, H2000, H302, H702, H1002, H2002. H20-H64 are also called HB (for H Board type) Example The grey field in the bottom of the table says that it is only valid for some CPUs, while the instructions in the white field are common for all PLC-types in the H-family and it is described on page 20 in the common part of the manual.

d=S1 == S2 Comparison equal

If S1 = S2 then d=1 else d=0

66

d=S1 S == S2 -"- with +/- sign


Not valid for HB-H200

66



2 History, background:

2.1 Short history about Lighthouse PLCs, Inc.: Lighthouse PLCs, Inc. was formalized and incorporated in January 2000 in Eugene, Oregon. The President/Owner has 40 years in the electrical business. His experience began first with an electrical apprenticeship and then an apprenticeship in instrumentation. He was able to utilize his experience becoming the Chief Electrical and Instrumentation Inspector for Exxon USA (Midland, TX ) in 1985. He has been a Senior member of the International Society of Automation (ISA) for over 25 years, and likewise an Active member of the International Association of Electrical Inspectors for over 25 years. Currently, he holds Master Electrican Licenses in two states, and a General Journeyman’s License in a third. In addition to qualifying as a Senior Instrumentation Tech, he also passed certification as an Inspector by the American Society for Testing and Inspection (ASTI, Tulsa, OK). In 1988 he was granted a Diploma in Business Management from Trend College (Salem, OR). A dynamic leader is important, but a company is only as good as the people it employs (and empowers). Lighthouse PLCs, Inc. is fortunate to be able to draw on the resoures of some very talented people, essential to meeting customer needs. One important thing has always remained a constant; the company's committment to people and conviction to provide extraordinary service and quality products through knowledge and teamwork.

Lighthouse PLCs, Inc. is proud to be the sole authorized distributor for Hitachi programmable logic controllers and Actron programming software for North America.

2.2 Short history about Hitachi:

Hitachi Ltd was started in 1910. The original business was based on electro-mechanical products. Today Hitachi is the largest company in Japan manufacturing electronic and electro-mechanical products. It also belongs to the largest companies world wide, all categories. Today Hitachi is known for a number of products (all the way from manufacture of integrated circuits, consumer electronics to nuclear power generators). In common for all product ranges is the quality approach, which been Hitachi’s priority for many years. The PLC product range from Hitachi is a good example of this. Thanks to the availability of Hitachi’s own integrated circuit development Hitachi is in the front line of PLC development.

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2.3 Short history about PLCs:


“PLC” stands for “Programmable Logic Controller”. The PLCs have today almost completely replaced the older generations of control systems. The relay systems belong to this group. The relays were connected in order to form a logic combination between inputs and outputs. When the micro

processor was invented this technique was used in products to replace the relays. These products were different from other micro processor solutions as the user programming structure was designed to be similar to the logic relay combinations and the way of running through the program was made such that all logic circuits seem to run simultaneously. To replace the relays in hard physical environment these product also had to be better prepared to withstand noise, vibrations etc.

In the beginning these products only took care of logic combinations, as the relay technique. Therefore the word ”Logic” was placed in-between "Programmable" and "Controller". As the micro processor technique itself offered more possibilities than to handle pure logic it was natural to introduce arithmetic instructions. Many countries decided therefore to delete the word ”Logic” in the name. (this happened in the beginning of the 1980s). The abbreviation ”PC” very soon came into a conflict with another abbreviation. That was ”PC” for personal computer. Therefore most countries returned to ”PLC” even if this abbreviation is not perfect. The PLC systems are built around standardised modules. These are manufactured in very large quantities. Often it is an advantage economically to use this technique instead of special designed products even if it is possible to optimise the amount of components in the special solution. The units are well tested and the failure frequency is low. The documentation is standardised and it can be understood by many people. There are also spare parts available in most countries.


Symbols, abbreviations, etc.

Symbols, Abbreviations, Etc.

3 Symbols, abbreviations, etc.:

3.1 Symbolic picture of an H series PLC: Inputs/ Outputs memories etc.

X002 X013 R034

Y102 M002

Y102

PROGRAM

16 outputs in a row e.g. an analog output

Copyright Actron AB 1994, 2009

INPUTS

L-memories/ WL-memories

DIF- memories

DFN- memories MCS/MCR-memories

TC-memories

Memories for master control start

Memories for master control stop

R-memories M-memories/ WM-memories WR-memories

Link-memories (common for othere linked units)

Mixed Bit- and Word memories

Separate Word memories

Memories for positive edge

Memories for negative edge

16 inputs in a row e.g. an analog input

OUTPUTS

Separate Bit memories

Bit memories for counters and timers

Timer/Counter current values


Copyright Actron, A.B. 1994 7

3.2 Abbreviations: b bit In-/Output or memory ("1" or "0")

X Input (The inputs can be treated as WX- Words, see below)

Y Output (The outputs can be treated as WY- Words, see below)

W Word (16 bits in a row) *1

D Double words (32 bits in a row). Not valid for HB-H200 *2

M Bit memory, which is inside the area shared between Bits and Words

(M-memories and WM-memories are in the same memory area.)

R Memory bit in an area with only bit memories.

WR Memory word in an area with only word memories

L Memory area, which are shared between two or more Link connected CPUs.

(L-memories and WL-memories are in the same memory area.)

TC Timers and Counters current values.

TD,CU etc Different types of Timers and Counters *1 16 bits in a row gives a decimal value 0-65,535. The value in Hexadecimal is 0-FFFF *2 32 bits in a row gives a decimal value 0-4,294,967,295. The value in Hexadecimal is 0-FFFFFFFF


3.3 Program symbols: (for more information, see under Programming page 20)

Type in function (contact)

out function ( coil)

Note

Input

not possible Input, which is physically connected to the system, e.g. a Photo switch

Output

Output, which is physically connected to the system, e.g. a. Contactor. The status of the output can be detected.

Internal memory

Memories, which keep the status ”On/Off” or "1/0".

Special internal memory some

Memories with decided functions, e.g. time periods.

Timer

timer output timer activation

Counter

counter out counter activation

Comparison

not possible Box in which a comparison between two values is done. The comparison gives a contact function with "On/Off"-status.

Arithmetic box

not possible

Box in which calculations etc. is done, which can not done by logic.

Other definitions (like hexadecimal, binary etc., see appendix page 276)




3.4 Addressing:

3.4.1 In-/ and Outputs:

Type of address HB/H200

H250--H2002

External input

Bit X 0 U S b b X= input U=Unit no. 0-1 H250: 0-1 H252: 0-2 H300: 0 H700 : 0-1 H2000: 0-5

Word W X 0 U S W Y=output S=Slot no. 0-7 0-A (hex)

Double word

D X 0 U S W b b=bit nr. 0-15 0-95 (dec)

External output

Bit Y 0 U S b b W=Word (16 bits) W=Word no. 0-7 0-9

Word W Y 0 U S W WX=Word input

Double word

D Y 0 U S W WY=Word output

External input

Bit X R St S b b R=remote host station no

1-4 1-4

remote control

Word W X R St S W D=Double Word (32 bits)

Double word

D X R St S W (valid for H250-H2002)

St=Sub Station no 0-7 0-9

External output

Bit Y R St S b b

remote Word W Y R St S W b b=bit no 0-15 0-95

control Double word

D Y R St S W W=Word no 0-1 0-9

Principal overview of the addressing of in-/outputs: U Unit no. 1 S 0 1 2 etc.

U Unit no. 0 S 0 1 2 etc.

U Unit no. 2 S 0 1 2 etc.


R Remote Unit no. 1 St Station no. 1 S 0 1 2 etc.

R Remote Unit no. 2 St Station no. 0 S 0 1 2 etc.

R Remote Unit no. 1 St Station no. 0 S slot 0 1 2 etc.

CPU

etc.

W word no.

etc.

etc.

etc.

bb bit no.



Example: The start addresses on a HB type with expansion are described below. The inputs on the base unit corresponds to slot 0 (X0 - X39) and the outputs correspond to slot 1 (Y100 -Y123). An expansion unit corresponds to Unit no. 1. The inputs on the expansion unit get the slot no. 0 on unit 1 and become therefore number X1000 -X1039. The outputs on the expansion unit get the slot no. 1 on unit 1 and become therefore number Y1100 -Y1123.

X0- correspond to slot no. 0 X1000- correspond to slot no. 0 on unit 1

Y1100- correspond to slot no. 1 on unit 1 Y100- correspond to slot no. 1

When expansion units are used these slots get no. 3 and upwards. (Slot no. 2 is reserved on the basic unit for usage on the Link version of the HB called HL)

X400- or Y400- correspond to slot no 4

Example: The start addresses on a H200 are shown below. The bit addresses give the connection on the board. The third digit from the end gives the slot no. and the forth from the end gives the unit no. (0 for the base unit, 1 for the first expansion etc.). For a word address, e.g. an analog input the word no. is given as the last digit and the slot no. as number two from the end etc.

X0- correspond to slot no. 0

Y100- correspond to slot no. 1

X300- or Y300- correspond to slot no 3

Slot no. Unit no. Output Input

Unit no. Slot no. Input no. Output no.



3.4.2 Internal memories:

Memory address

HB/H200 H250-H252, H300-H2000

Bits /Words Bit M 0-FFF 0-3FFF

common Word WM 0-FF 0-3FF Hexa-

memory Double-word

DM - 0-3FE deci-

Bits /Words Bit R 0-7BF 0-7BF mal

Separate memory

Word WR 0-3FF 0-3FF (1024 ) RAM-04H, RAM-08H 0-43FF (17408 ) RAM-16H, ROM-16H 0-C3FF (50176 ) RAM-48H, ROM-48H

Double-word

DR - 0-3FE (512 ) RAM-04H, RAM-08H 0-43FE (8704 ) RAM-16H, ROM-16H 0-C3FE (25088 ) RAM-48H, ROM-48H

Special Bit R 7C0-7FF 7C0-7FF (64 )

memory Word WR F000-F1FF F000-F1FF (512 ) DR0-DR3FE and DR400-DR43FE are different areas. Therefor DR3FF is not possible. 3.4.3 Link memories:

Bit/ Memory address Word HB/H200 H250-H2002 Link memory Link area Bit L 0-7F 0-3FFF (16384) Hexa- (shared by no. 1 Word WL 0-7 0-3FF (1024) deci- other CPUs) Double word DL - 0-3FE (512) mal Bits /Words Link area Bit L 10000-1007F 0-13FFF (16384) common no. 2 Word WL 1000-1007 0-13FF (1024) memory Double word DL - 0-3FE (512)

Memory areas where the CPU reads information, which can be overwritten other CPUs

Link memory area: Bit (L)

Memory areas where the CPU writes information, which can be read by other CPUs Link connected

or Word (WL)

CPUs

CPU 0 CPU 1 CPU 2 CPU 3




Start and end addresses for the write area of the PLCs are defined during the programming. You will do this definition under <Setup-PLC>, see page 94 ,. See also under the additional part for HB page 161, H200 page 188, H300-H2002 page 264.


3.4.4 Edge memories: Memory address Page HB/H200 H250-H2002 Edge Positive edge

DIF 0-127 0-511 29 Decimal

memories Negative edge

DFN 0-127 0-511 29 addressing

3.4.5 Timers and Counters: Word/ Memory address Page /bit HB/H200 H250-H2002 On Delay Timers

Bit TD 0-255 0-255 34 Timers

Off Delay Timers, 36 can be Single Shot timer

Bit SS 0-255 0-255 36 addressed up to

Monostable timer

Bit MS - 0-255 36 255

Integrating timer

Bit TMR - 0-255 38

Watch Dog timer Bit WTD - 0-255 38 Counters can be

Up Counters

Bit CU 0-511 0-511 40 addressed up to 511

Up-/Down Counters (Up)

Bit CTU 0-511 0-511 41

Up-/Down Counters (Down)

Bit CTD 0-511 0-511 41

Up-/Down Counters (Output)

Bit CT 0-511 0-511 41 Decimal

Ring Counter

Bit RCU - 0-511 42 addressing

Reset of Counter and integrating timer

Bit CL 0-511 0-511 38

Current value timers/counters Word TC 0-511 0-511 43



3.4.6 Master Control: HB/H200 H250-H2002 Page

Master Start

MCS 0-49 0-49 27 decimal

Control End

MCR 0-49 0-49 27 addressing

3.4.7 Constant values:

Word/b

it HB/H200 H250-H2002

Constant Decimal Word 0-65,535 0-4,294,967,295

values Hexadecimal Word H0-HFFFF H0-HFFFFFFFF

Bit Bit 0, 1 0, 1

3.4.8 Battery backup (retentive areas) of memories: When the system is started or when it starts after power down, all memories are reset if they are not defined as ”retentive memories”. During the programming you can specify any area of R-,WR-,WM-,TD-,DIF-,DFN-memories. These areas will then keep the old status when the PLC is turned On. This is defined under the menu "Setup-PLC" in Actsip or ActGraph. (See Short description of Actsip-H page 116 or ActGraph page 132)



3.5 Special memories: 3.5.1 Special memories, Words:

The most important special words (Complete list of special memory words, see page 277)

WRF00B

Year Real time Clock

WRF00C

Month, Day Real time Clock

Valid for HB, H200-H252, H302-H2002

WRF00D

Weekday Real time Clock

(not H300,H700,H2000)

WRF00E

Hour, Minute Real time Clock

WRF00F

Second Real time Clock

WRF010 Max.

Maximum measured cycle time

WRF011 Time

Current cycle time

WRF012 Min.

Minimum measured cycle time

WRF013 CPU

CPU Status

WRF015

Calculation error code

WRF016 Calculation expansion register (remainder )

WRF017 -"- during 32-bit calculations

WRF01B

Year Real time Clock , Preset

WRF01C

Month, Day Real time Clock, Preset

Valid for HB, H200, H302-H2002

WRF01D

Weekday Real time Clock, Preset

(not H300, H700, H2000)

WRF01E

Hour, Minute Real time Clock, Preset

To activate the preset, use the flag R7F9, see next page.

WRF01F

Second Real time Clock, Preset

see also separate program example

Remainder

Remainder



3.5.2 Special memories Bits: The most important special memories (Complete list, see appendix page 278)

R7C0

Stop of RUN when maximum time is exceeded in a normal program scan

"1" →Stop if the maximum time is exceeded "0"→ No stop if the maximum time is exceeded

R7C1

Stop of RUN when maximum time is exceeded in a periodic program scan


R7C2

Stop of RUN when maximum time is exceeded in an interrupt program scan


R7C8

!!

Severe error on the processor

R7CA

Memory error

R7D1

Normal program scan exceeded the maximum time.

R7D2

Periodic program scan exceeded the maximum time.

R7D3

Interrupt program scan exceeded the maximum time.

R7D9 +-

Battery error

R7DA

Power supply error Valid H300-H2002

R7E3 ON during the first program scan after start

R7E4 =1

Always ON

R7E5 0.02 sec clock pulse 0.01 s ON and 0.01 s OFF

R7E6 0.1 sec clock pulse

R7E7 1.0 sec clock pulse

R7E8

CPU occupied CPU is occupied e.g. of communication with another equipment

R7E9

STOP or RUN "1" stops the CPU, "0" makes RUN possible

R7F0 C Carry Used in arithmetic instructions

R7F1 COflw Overflow -"-

R7F2 0 Shift data Used in shift instructions

Normal scan

Periodic scan

Interrupt scan

Normal scan

Periodic scan

Interrupt scan



R7F3

Error in calculation during RUN See detailed information in the word WRF015

R7F4 100110101100011101

Data Error Register (DER) Discovered during execution of arithmetic instructions.

R7F8

Transfer of the clock to the preset registers

When the flag goes high, the clock values are transferred to WRF01B-WRF01F

R7F9

Flag, which presets the real time clock

When the flag goes high, the values in WRF01B-WRF01F are transferred to the real time clock.

R7FA

30 s adjustment of the real time clock.

When the flag goes high the clock is adjusted forward 30 s

R7FB

Error during preset of the Real time clock



Programming

Programming

4 Programming :

X002 R034 Y102

X002 R034

X002 X013 R034

Y102 M002

Y102

4.1 Basic ladder programming: Series H is internally built to interpret the ladder symbols in an optimal way. The most natural way of programming therefore is to draw ladder diagram in Actsip-H (or on the graphic hand programmer). The other main alternative is Grafcet programming with ActGraph. This generates ladder diagram automatically, which is interpreted by the PLC.

It is also possible to symbolise the logic with instruction code. But as the internal storage in the PLC is ladder code the instruction code causes limitations as in other PLC brands, which utilise instruction code as the internal program storage. Therefore ladder- or grafcet programming is recommended. When programming in ladder it is enough to draw closing or breaking contacts and to connect these with lines.

4.2 Symbols: 4.2.1 Block With "block" is meant a Ladder Block, which is a complete unit and ended by one or more output functions or an arithmetic box. The program consists of a number of such blocks. Normally you can regard these blocks as they are working in parallel with each other. There are of course exceptions to this rule. There are two examples of blocks below. Block 1

Block 2

Inverted Output Closing contact (coil) contact


Programming

4.2.2 Branch A block can consist of one or more branches.

Branch 3 Branch 1

Branch 4 Branch 2

Serial connection:

Parallel connection:

Contacts or branches connected after each other. It can also be symbolised by AND or as below.

Contacts or branches connected in parallel with each other. It can also be symbolised by OR or as below.

AND

OR

For further comparisons with Logic boxes and Boolean algebra, see appendix.


Programming

4.2.3 Contact symbols

Closing contact. Logic active when the contact is ON

X,Y,R,L.M TD,SS,CU

Inverted contact. Logic active when the contact is OFF

WTD,MS,TMR,RCU (Valid for H250-H2002)

Output (coil) Y,R,L,M TD,SS,CU,CT CTU,CTD,CL

WDT,MS,TMR,RCU (Valid for H250-H2002) Example: (Highlighted contacts symbolise "logic flow" ON.)

X002 X013 R034

Y102 M002

Y102

Contact Logic

flow before

Memories status

Function: (Inverted/ Closing)

Status: (ON/ OFF)

Logic flow after

Output Status

X002 ON ON Closing ON ON Y102 OFF X013 ON ON Closing ON ON R034 ON ON Inverted OFF OFF Y102 ON ON Closing ON ON M002 OFF OFF Closing OFF OFF

Example: (Marked contacts symbolise a ”logic flow”, which is TRUE)

R034X013X002 Y102

Y102 M002


Programming


Contact Logic

flow before

Memories status


Status: (ON/ OFF)

Logic flow after

Output Status

X002 ON ON Closing ON ON Y102 ON X013 ON OFF Closing OFF OFF R034 ON OFF Inverted ON ON Y102 ON ON Closing ON ON M002 ON OFF Closing OFF OFF

Programming

4.2.4 Inverting:

Inverting. Changes the logic condition. ON becomes OFF / OFF becomes ON

NOT

Contact Logic

flow before

Memories status


Status: (ON/ OFF)

Logic flow after

Output Status

X002 ON ON Closing ON ON Y102 ON X013 ON OFF Closing OFF OFF R034 OFF ON Inverted OFF OFF Y102 ON ON Closing ON ON

After Y102

ON

OFF

M002 OFF OFF Closing OFF OFF

After R034 OFF

ON

X002 X013

Y102 M002

Y102R034


Programming

Contact Logic flow

before Memories status


Status: (ON/ OFF)

Logic flow after

Output Status

X002 ON ON Closing ON ON Y102 OFF X013 ON OFF Closing OFF OFF R034 ON OFF Inverted ON ON Y102 ON OFF Closing OFF OFF

After Y102 OFF

OFF

ON

M002 ON OFF Closing OFF OFF

After R034 ON

OFF


Programming

4.2.5 Set, Reset

Sets Output/Memory ON when the logic in the block is TRUE. Keeps the ON-status also when the logic in the block is OFF.

Y,R,L,M

Resets Output/Memory to OFF when the logic in the block is TRUE

Y,R,L,M

The memory, which is addressed as the SET output is OFF as long as the condition is OFF. When the condition is TRUE the memory is set ON and remains ON until the corresponding RST- output is active.

A B C

M066 is OFF and the condition (or SET-input) X002 is OFF.

The SET-input (X002) goes ON and M066 is set ON.

The SET- input (X002) goes OFF but M066 remains ON.

X002 M066

SET

A B C

M066 is ON and the condition (or RESET-input) X003 is OFF.

The RESET-input (X002) goes ON and M066 is reset to OFF.

The RESET-input (X002) goes OFF but M066 remains OFF.

X003

X003 M066

RST

X003 M066

RST If both SET and RESET are active, then the last executed instruction decides the status. 4.2.6 Master Control Set (MCS) and Reset (MCR)

MCS Master Control Set Start of Common control of the following ladder blocks.

MCR Master Control Reset End of Common control of the following ladder blocks.

Instead of repeating the same condition, which is in common for several blocks you can create the common condition and let it end with a MCS-output. the condition will be valid as a super condition for all following blocks until a MCR-output is found.


Programming

4.2.7 Master Control Set.

X002 X003 MCS4

4.2.8 Master Control Reset.

MCR4

The common logic condition for a part of a program is written before the MCS-output. Every MCR has to correspond to a MCS with the same number. The MCR-output shall be given without logic condition.

A part of a program with a super condition

This is transformed as described below, where MCS2 corresponds to MCR2.

MCS and MCR are identified:

MCS and MCR can be programmed in up to 8 levels (a MCS-MCR pair within another MCS-MCR pair).


Programming


The same number of MCS-MCR can be used again later in the program (when the previous usage is ended with a MCR)

Programming

4.2.9 Edge detection (DIF and DFN-Contacts)

Positive edge makes the condition ON during one program scan

Negative edge makes the condition ON during one program scan

Negative

Positive edge edge

DIF contact ON

DFN contact ON

Example

Y102

Y102DIF10X002

X013

X013

DIF10X002 Y102

Y102

X013DIF10X002 Y102

Y102

Y102DIF10X002

Y102

Y102DIF10

Y102

X013

X013

X002

Y102

Y102DIF10X002 X013

1

2

3

4

5

6


Programming

X002

X013

DIF10

Y1021 23 4 5 6

The address on the DIF- (DFN-) function is unique and it must not be used more than once.


Programming

4.2.10 Comparison contacts

Comparisons can be a part of the block in the same way as contact symbols. The result of a comparison will always be true (ON) or false (OFF). (see also Comparison instructions page 44.)

X002S1=S2

R034 Y102

Contact

Logic flow before

The memory status

Inverted/ Closing

ON/ OFF

Logic flow

Output

X002 ON ON Closing ON ON Y102 OFF S1=S2 ON OFF (Closing) OFF OFF R034 OFF OFF Inverted ON OFF

X002S1=S2

Y102R034

Contact

Logic flow before

The memory status

Inverted/ Closing

ON/ OFF

Logic flow

Output

X002 ON ON Closing ON ON Y102 ON S1=S2 ON OFF (Closing) ON ON R034 ON OFF Inverted OFF ON

4.2.11 Arithmetic box: The instructions in the box are executed when the logic flow is ON. Otherwise the instructions are not executed. (see also under arithmetic instructions below) X002

S1=S2

R034WR010 = WM000 + 45WM000 = WR100 (WM001)SHL ( WM20 , 4 )

Contact

Logic flow before

The memory status

Inverted/ Closing

ON/ OFF

Logic flow

Output

X002 ON ON Closing ON ON Arithmetic box

Executed

S1=S2 ON ON (Closing) ON ON R034 ON OFF Inverted ON ON


Programming

4.2.12 Timer programming: Example of usage of a timer (ON Delay timer) Output Y102 goes ON 3.5 s after input X002 goes ON. See also under "Timers" page 34.

X002 TD15

TD15 Y102

3.5 S

4.2.13 Counter programming: Example of usage of a counter (up counter). Output Y102 goes ON when input X002 has counted 25 pulses and the counter is reset by input X014. See also under "Counter" page 40.

Y102

25CU16X002

CL16X014

CU16

4.2.14 Complex logic Series H allows logic, which can not be symbolised with instruction code. e.g.


Programming

4.2.15 Self hold: Self hold of memories can be created in different ways: Partly through "traditional self hold", which consists of a block with a Set condition and a Breaking condition as described below.


X002 X003

R014

R014

Breaking Condition

Set Condition

Self hold memory

Self hold contact The self hold can also be generated with a SET and a RESET function, see page 26. 4.2.16 Sequence programming with self hold:

4.2.17 Output control in sequence programming:

Graphic sequence Sequence part in ladder Output control in ladder

continuing

Programming

4.2.18 Timers :

page TD ON Delay Timer

(Off Delay timer, see page 36)

0-255 34

SS Single Shot timer

0-255 36

MS Monostable timer

Not valid for

0-255 36

TMR Integrating timer

HB/ H200

0-255 38

WTD Watch Dog timer - 0-255 38

When you are programming a timer you have to decide the preset time. You type this as a decimal number. If you type 1.23 it is shown as 123 x 0.01, (12.3 is shown as 123 x 0.1) etc. For H300-H2000 (not for HB-H252 and H302-H2002) the time base 0.01 can only be used on timer 0-63. ON Delay Timer TD When the input of the timer is activated the timer begins to run. When the timer has reached its preset value the timer output goes High. This output can be used as a contact function by other circuits. When the timer input goes off the timer returns to its original status.


Programming

Above, time chart. On the right, the actions according to the time chart. (The time continues to run in the timer after the timer has reached its preset value and the value is reset to zero when the timer input goes low.)


Programming

Off delay timer:

To generate an Off Delay timer you can use an On Delay timer in the following way::

Single Shot Timer SS

When the timer input is activated the preset time starts to run. If the timer already runs in this moment it starts from the beginning. The activation occurs only in a short moment when the timer input goes high. It does not matter if the timer input goes low directly after. The timer output goes ON directly and goes Off when the preset time is reached.

0 s

3.5 s

0 s 0 s

SS12 Y102

3.5 SSS12

Y102

X002

X002

Monostable timer MS


Programming


Not valid for: HB/ H200

When the timer input is activated the preset time starts to run. If the time already has run out in this moment the timer continues to run as nothing happened. Activation comes only in the moment when the timer input goes high. Therefore it does not matter if the timer goes low directly after. The timer output goes high directly and goes Off when the timer has reached the preset value.

0 s

3.5 s

0 s

Y102

X002

3.5 s

X002 MS15

MS15 Y102

Programming

Integrating Timer TMR


This timer runs when the input is activated and freezes the timer value when it is not activated. When the accumulated time has reached its preset value the output is activated. The timer is reset and returns to zero when the CLEAR (CL with the same number as the timer itself) input of the timer is activated.

X002 TMR16

TMR16 Y102

X004 CL16

45753 S

45753 S

65535 S

X002

Y102

X004

0 S

Watch Dog Timer (WTD)


Programming



The purpose of a Watch Dog timer is to watch that actions, which shall come in a certain time interval. The time is measured from the timer input is activated and the CL pulse (with the corresponding number) is activated. The timer has two preset values. If the CL pulse comes before the lower preset time is out the output of the timer is activated. This is also activated when the CL pulse comes after the higher preset is out or if it does not come at all.

X002 WDT12

Y102

X004 CL12

X002

X004(CL12)

WTD12(Y102)

WDT12

20,000 s (Min value) 40,000 s (Max value)

Programming

4.2.19 Counters:

Page

CU Up counters

0-511 40

CTU Up-/Down counters

(Up)

0-511 41

CTD Up-/Down counters (Down)

-0-511 41

CT Up-/Down counters (Output)

-0-511 41

RCU Ring counter

Not valid for HB/H200

0-511 42

CL Reset of Counter

-0-511 38

Up Counter CU

The up counter counts up on the positive edge of the input pulse and it is reset with a CL pulse with the corresponding number. As long as the CL pulse is ON the counter remains on zero. When it has reached its preset value the counter output goes high. (The counter continues to count after the activation and it is reset when the CL input goes high.)

X002 CU11

Y102

CL11

X002

X005(CL11)

CU11(Y102)

CU11

X005

4


6543210

The counter is reset and stopped and the counter output goes low.

The counter is equal to its preset and the output goes high

The counter is reset and stopped

Programming

Up-/Down Counter

An Up-/Down Counter consists of a up counting input, a down counting input and a reset input. When the counter reaches its preset value the output goes high. The output is called CT with the same number as the counter. As long as the reset input is high the counter remains reset.

Up counting and down counting at the same time . This means no counting

Preset value=4

The counter has been reset and stopped and the counter output is reset. The counter has

reached its preset value and goes high


Programming

Not valid for HB/ H200

A Ring counter counts up to its preset value. But instead

of becoming this value it returns to zero. In the same

moment it gives a short pulse on the output. This

pulse stays only one program scan.

As long as the reset input is

high the counter stays on zero.

X002 RCU9

Y102

CL9

X002

X005(CL11)

RCU9(Y102)

X005

43210

4

RCU9


Ring counter

The counter is reset and stopped and the counter output goes low.

The counter reaches its preset value and returns to zero. The counter output goes high during one program scan

Programming

4.2.20 Set value (The preset value) of Timers /Counters When the timer or the counter is programmed the programming software asks for the preset value ( the value it will run to before the time or counting has expired) of the timer or counter. The preset of a timer is from 0.01 s to 65535 s and for a counter from 0 to 65535 pulses. This can be written as a constant value, e.g. ”123.5 s” for a timer or 12312 for a counter. When a timer is written with decimals it is shown in the following way: 1235 x 0.1 s in stead of 123.5 s or 1235 x 0.01 s in stead of 12.35 s If a higher preset value is wanted. use cascade connection. See program example 4.2.21 Variable preset value of timers/counters. To vary the preset value during run you must write a word instead of a constant as the preset value. Here you can use WX, WY, WR, WM or WL.

The input word WX001 (16 inputs ) is connected to a binary coded thumb wheel or similar When the counting starts the preset is ”4”, but it is changed during run to ”2”, which causes the counter output to be active earlier.

The preset value is changed from 4 to 2 because the input word WX1 is changed.

4.2.22 Timer/Counter read of current value:

TC Current value of Timers/Counters The current value (the running value) of a timer or a counter can always be detected and used in a comparison box or in an arithmetic box during run if you are using a type of word, called TC. The number of the TC corresponds to the number of the timer or counter. (See also under separate program examples.)


Programming

4.2.23 Comparison instructions: Create the "comparison contact" in ladder diagram and type the comparison expression The comparison contact can be inserted and used in a ladder diagram in the same way as contact symbols. The comparison box compares integers. In H250-H2002 there is also a possibility to compare "Signed" integers, which means that the comparison can be done with signs (+ or -). ("Signed" is only possible on double words)

Result of Comparison Word/Bit

= S1=S2 ON if S1=S2 OFF if S1 not = S2

16-bit words: WX,WY,WR,WM,TC and constants

<> S1<>S2 ON if S1 not =S2 OFF if S1 = S2

0-65535 H0-HFFFF

< S1<S2 ON if S1 < S2 OFF if S1 >or = S2

32-bit words: DX,DY,DR,DM, TC and constants

<= S1<=S2 ON if S1< or =S2 OFF if S1 >S2

0-429496729565535 H0-HFFFFFFFF

S= S1 S=S2 ON if S1=S2 OFF if S1 not = S2


32-bit words: DX,DY,DR,DM, TC and constants

S<> S1 S<>S2 ON if S1=S2 OFF if S1 not = S2

0-429496729565535 H0-HFFFFFFFF

S< S1 S<S2 ON if S1=S2 OFF if S1 not = S2

S<= S1 S<=S2 ON if S1=S2 OFF if S1 not = S2

Example: (Status when e.g. WX11=1702, WM200=1234, WR22=1235, WR223=2000)

Y102

X002WM200<WR22

WX11=1802

2000<=WR223

X013


Programming


Contact

Logic flow before

Memory ON/ OFF

Inverted/ Closing

Value of the words

ON/ OFF

Logic flow after

Output

X013 ON ON Closing ON ON Y102 ON WX11=1802 ON OFF (Closing) WX11 1702 OFF OFF X002 ON ON Closing ON ON WM200<WR22

ON ON (Closing)

WM200: 1234 WR22: 1235

ON

ON

2000<=WR223 ON ON (Closing) WR223: 2000 ON ON

Programming

4.3 Arithmetic instructions reference: application instructions, control instructions (instructions in the arithmetic boxes.)

"d" means ”destination” or where the result is stored. "S" means "source" or where the calculation is made from. (S1 and S2 are Source value 1 and Source value 2) "P" stands for ”pointer”. 4.3.1 Array variables and indexed addressing

Instruction Name Explanation Bit/Word Possible type Page

d=S Copy the content of ”S” is copied to ”d”

Bit d: Y,R,L,M *1 S: X,Y,R,L, M, Constant

57

d=S(P)

d(P)=S

Indexed addressing

The content of ”S” + ”P” is copied to ”d” The content of ”S” is copied to the address ”d” + ”P”

Word d: WY,WR,WL, WM,TC *1 S,P: WX,WY,WR, WL,WM,TC, Constants

57

d(P1)=S(P2) The content of ”S”+ ”P2” is copied to the address ”d” + ”P1”

Double Word Not valid for HB/H200

d: DY,DR,DL, DM *1 S: DX,DY,DR,DL, DM, Constant.

*1 External I/O are not valid for HB-H252


Programming

Indexed addressing is used to address relative in an address area of words or bits. BASE ADDRESS(INDEX ADDRESS) If the addressing is outside the allowed area the error bit DER (address R7E4) ”1” and the operation will not occur.

WR100(WX10)

WR100WR101WR102WR103WR104WR105WR106WR107

WR1FEWR1FF

WX10

WX10=6


Programming


4.3.2 Summary of arithmetic instructions, and application instructions, control instructions (instructions in the arithmetic boxes.) (See also under the detailed explanation of these instructions) 4.3.3 Arithmetics Symbol Instruction

name Explanation Bit/

Word * 1 Page

d=S1 + S2 Binary addition

d is the binary sum of S1 and S2

W d: WY,WR,WL,WM

60

d=S1 B + S2 BCD addition d is the BCD sum of the BCD values S1 and S2

62

d=S1 - S2 Binary subtraction

d is the binary difference between S1 and S2

S1, S2: WX,WY,WR,

63

d=S1 B - S2 BCD subtraction

d is the BCD difference between the BCD values S1 and S2

WL,WM,TC, Constant

64

d=S1 * S2 Binary multiplication

d is the binary product of S1 and S2

64

d=S1 S* S2 -"- with +/- signs

-"- with +/- signs S = "Sign"

not HB /H200

D : 66

d=S1 B * S2 BCD multiplication

d is the BCD product of the BCD values S1 and S2

Not valid for

d: DY,DR,DL,DM

65

d=S1 / S2 Binary division

d is the binary quotation between S1 and S2

HB/ H200

S1, S2: DX,DY,DR,

66

d=S1 S/ S2 -"- with +/- signs

-"- with +/- signs S = "Sign"

Not valid for HB/ H200

DL,DM, Constant

68

d=S1 B / S2 BCD division d is the BCD quotation between the BCD values S1 and S2

67

Programming


4.3.4 Logic expressions Instruction Instruction name Explanation Bit/

Word Page

d= S1 OR S2 OR d =S1 + S2 b 69

d=S1 AND S2 AND d = S1 * S2 W 69

d=S1 R S2 EXCLUSIVE OR

d = S1 exclusive or S2 D not valid for HB/ H200

69

*1 b = bit W=Word (16 bits) D=Double Word (32 bits)

Programming


4.3.5 Comparison expressions

Instruction Instruction name Explanation Bit/ Word

Page

d=S1 == S2 Comparison equal


70

d=S1 S == S2 -"- with +/- signs If S1 = S2 then d=1 else d=0


72

d=S1 <> S2 Comparison not equal

If S1 < > S2 then d=1 else d=0

70

d=S1 S <> S2 -"- with +/- signs If S1 < > S2 then d=1 else d=0

W Not valid for HB/H200

72

d=S1 < S2 Comparison less than

If S1 < S2 then d=1 else d=0

D 70

d=S1 S < S2 -"- with +/- signs If S1 < S2 then d=1 else d=0


72

d=S1 <= S2 Comparison less than or equal

If S1 < = S2 then d=1 else d=0

not for 70

d=S1 S <= S2 -"- with +/- signs If S1 < = S2 then d=1 else d=0

HB/ H200


72

4.3.6 Bit operations

Instruction Instruction name Explanation Bit/Word Page

BSET (d,n) Bit set "1" is set in bit no "n" in the word "d" W 73

BRES (d,n) Bit Reset "0" is set in bit no "n" in the word "d" D 74

BTS (d,n) Bit test The value ("1" or "0" in bit no "n" in the word "d" is copied to C (Carry bit)

not for HB H200/

75

Programming


4.3.7 Shift and rotation expressions

Instruction Instruction name Explanation Bit/Word Page

SHR (d,n) Shift Right The word d is shifted n bits to the right 76

SHL (d,n) Shift Left The word d is shifted n bits to the Left 77

ROR (d,n) Rotate Left d rotates n bits right with C-flag W 78

ROL (d,n) Rotate Right d rotates n bits left with C-flag 78

LSR (d,n) Logic Right shift d is shifted n bits right "0" is shifted in D- 80

LSL (d,n) Logic Left shift d is shifted n bits left "0" is shifted in 80

BSR (d,n) BCD shift Right Shifts d n times 4 bits to the right not HB/ 81

BSL (d,n) BCD shift Left Shifts d n times 4 bits to the left H200 81

Programming

4.3.8 Moving data


Page

WSHR (d,n) Block shift right Shifts n words or bits one position Not valid

83

WSHL (d,n) Block shift left Shifts n words or bits one position b for HB/ 84

WBSR (d,n) BCD shift right Shifts n BCD-digits one position H200 85

WBSL (d,n) BCD shift left Shifts n BCD-digits one position W 85

MOV (d,S,n) Move data n words or bits from S to d 86

COPY (d,S,n) Copy data The content in S to n words or bits from d and upwards

87

XCG (d1,d2,n) Exchange The content in n bits or words from d1 is exchanged to d2 and n bits up

88

4.3.9 Negations, absolute value etc.

Instruction Instruction name Explanation Bit/

Word Page

NOT (d) Inverting of words every bit in the word d is inverted b/W/D 89

NEG (d) make negative d becomes negative (+ to -, - to +) W/D 89

ABS (d,S) Absolute value Absolute value of S is put in d 90

SGET (d,S) "Sign Get" Make negative if C=1 Not valid for

90

EXT (d,S) "Extent" Extend the sign to double word D HB/H200 91

4.3.10 Conversions


Programming


Page

BCD (d,S) BIN BCD Coverts a binary word to BCD 91

BIN (d,S) BCD BIN Coverts a BCD word to binary 93

DECO (d,S,n) Decode Decoding of S (with n bits) W 93

ENCO (d,S,n) Encode Coding of n bits to word 94

SEG (d,S) 7-Segment Decoding to a 7-segment display Not valid for HB/H200

95


Programming

4.3.11 Application commands

Instruction Instruction name

Explanation Bit/ Word

Page

SQR (d,S) Square root The square root of d to S W not HB/ H200

96

BCU (d,S) Bit count The amount of "1"-bits in S to d W/D 96

SWAP (d) Exchange bytes

8 highest and lowest bits exchange place. 96

FIFIT (P,n) FIFO Init. Defines the size ”n” of the FIFO from start ”P” not 97

FIFWR (P,S) FIFO Write S is written in the FIFO with start on P W HB/ 97

FIFRD (P,d) FIFO Read d is read from the FIFO with start on P H200 98

UNIT (d,S,n) Unit 4-bit data from n words starting from S to d 100

DIST (d,S,n) Distribute n 4-bit data to words starting from d from S 100 4.3.12 Control commands (jump etc.)

Instruction Instruction name Explanation Page

END End End of normal program cycle 101

CEND (S) Condition END Conditional program end with condition S 101

JMP n Jump Unconditional jump to Label 102

CJMP n(S) Condition Jump Conditional jump to Label 102

LBL(n) Label End address of jump 102

RSRV n Reserve Command to the BASICH-module Not valid 104

FREE Command to the BASICH-module for 104

START n Command to the BASICH-module HB-H252 104

FOR n (S) For-loop Repeating of program loop n times. Start Not 104

NEXT n Repeating of program loop n times. Stop HB/H200 104

CAL n CALL Subroutine call to routine no. n 106

SB n Subroutine Subroutine no. n Start 106

RTS Return Subroutine no. n End 106

INT n Interrupt Interrupt routine type n Start 107

RTI Return Interrupt routine End 107

4.3.13 FUN-instructions for series HB:


Programming


Instruction Instruction name

Explanation Page

FUN 70 (S) Mode set Specifies the function on the inputs Only 182

FUN 71 (d) Reads the current value of the High speed counter for 184

FUN 72 (S) Sets the current value of the High speed counter HB 184

FUN 73 (d) Reads the preset value of the High speed counter 184

FUN 74 (S) Sets the preset value of the High speed counter 185 4.3.14 FUN-instructions for H252, H302-H2002:

Instruction Instruction name Explanation Page FUN 0 PID-init Decides the addresses of the PID-functions 271 FUN 1 PID Check Checks the execution of the PID-functions 271 FUN 2 PID calculation Executes the PID function 271 FUN 10 Sin function 271 FUN 11 Cos function 271 FUN 12 Tan Function 271 FUN 13 Arc Sin function 271 FUN 14 Arc Cos function 271 FUN 15 Arc Tan function 271 FUN 20 Data search Search number and address for specified data 274 FUN 21 Table search Search the value of block data from specified table. 274 FUN 30 ASCII conversion 16 bit binary data to decimal ASCII data 274 FUN 31 ASCII conversion 32 bit binary data to decimal ASCII data 274 FUN 32 ASCII conversion 16 bit binary data to hexadecimal ASCII data 274 FUN 33 ASCII conversion 32 bit binary data to hexadecimal ASCII data 274 FUN 34 ASCII conversion 16 bit BCD data to decimal ASCII data 274 FUN 35 ASCII conversion 32 bit BCD data to decimal ASCII data 274 FUN 36 ASCII conversion Decimal ASCII data to 16 bit binary data 274 FUN 37 ASCII conversion Decimal ASCII data to N 32 bit binary data 274 FUN 38 ASCII conversion Hexadecimal ASCII data to 16 bit binary data 274 FUN 39 ASCII conversion Hexadecimal ASCII data to 32 bit binary data 274 FUN 40 ASCII conversion Decimal ASCII data to 16 bit BCD data 274 FUN 41 ASCII conversion Decimal ASCII data to 32 bit BCD data 274 FUN 42 ASCII conversion Specifies 16 bit binary data to decimal ASCII data 274 FUN 43 ASCII conversion Specifies ASCII data to 16 bit binary data 274 FUN 44 Combine characters 274 FUN 45 Compare characters 274 FUN 46 Convert Word -Byte 274 FUN 47 Convert Byte-Word 274 FUN 48 Shift one byte right 274 FUN 49 Shift one byte left 274 FUN 50 Sets the sampling Enables trace with sampling 274 FUN 51 Sampling Execution of sampling 274 FUN 52 Resets sampling Disables trace with sampling 274 FUN 60 Binary square root 274 FUN 61 Pulse generating 274

Programming


TRNS Transmit and receive data 10 ms . (Is used for ASCII, SIO, POSIT,CLOCK) 274 RECV Receive data 10 ms . (Is used for ASCII, SIO, POSIT,CLOCK) 274 QTRNS Transmit and receive data 1 scan . (Is used for ASCII, SIO, POSIT,CLOCK) 274 QRECV Receive data 1 scan . (Is used for ASCII, SIO, POSIT,CLOCK) 274 ADRPR Address program 274 ADRIO Address I/O 274

Programming

4.4 Detailed description of arithmetic instructions: 4.4.1 Copy

d=S Copy The content of S is copied to d d and S can be Bits, Word or for H250-H2002 double words.

Example: When X100 goes high the value of WX000 is copied to WR010 and the status of input X101 is copied to the bit M10

X100

WR010 = WX000M10 = X101

DIF10

4.4.2 Indexed (relative) addressing

d=S(P) Indexed The content of the address S+P is copied to d

d(P)=S addressing The content of the address S is copied to d+P

d(P1)=S(P2) The content of S+P2 is copied to d+P1 (not valid for H200 CPUs manufactured before May 1992) Indexed addressing is used to perform relative addressing in an area of Words or Bits. Indexed addressing can only be used in Copy instructions. BASE ADDRESS(INDEX ADDRESS) If the addressing is outside the allowed address area DER (Data Error Register address R7F4) goes High and the operation is not performed.

. Example: when input X200 goes high the content of input word WX000 shall be copied to the WR address 100 + the content of input word WX10. If the content of WX10 is ”6” the value of WX00 is copied to WR106.

X200WR100(WX10) = WX000

DIF10


WR1FEWR1FF

WX01WX02WX03WX04WX05

WX00

WX0FWX10

54132

54132

6

HB-H252 can not use external I/O as base address.


Programming

Example: When input X200 goes high the input word WX address 0 + the content of WR101 is copied to WR100. If WR101 is ”4” then the content of WX04 is copied to WR100.

X200WR100 = WX000(WR101)

DIF10


WR1FEWR1FF


WX00

WX0FWX10

54132

541324

Example: When input X200 goes high the input word WX address 0 + the content of WR1FF is copied to the WR address 100 + the content of WR1FE. If WR1FF is ”3” and WR1FE is ”5” then the content of WX03 is copied to WR105.

X200WR100(WR1FE) = WX000(WR1FF)

DIF10


WR1FEWR1FF


WX00

WX0FWX10

54132

54132

53


Programming

4.4.3 Arithmetics Series H works normally binary. This means that a normal Word gets a value 0-65535. decimal, (0-FFFF hexadecimal or 0-1111 1111 1111 1111 binary). This is more effective than BCD arithmetics as it is only possible to represent the BCD values as 0-9999 and the instruction time will be longer. If e.g. you are reading from a BCD coded thumb wheel or if you are connecting BCD coded display segments on the outputs, it is practical to use BCD arithmetics to avoid two conversions. There are three flags, which give information about how the operations went: "C" (address R7F0) Carry flag gives information about an extra bit in the calculation which e.g. can be used to count up or down a significant digit. "Of" (address R7F1) Overflow gives information about that the operation is wrong. "DER"(address R7F4) Data Error Register

.

Signed (or arithmetics with +/-sign) means that instead of interpreting 0000 - FFFF as 0-65535, 0000-7FFF means 0- +32767 and 8000-FFFF means -32768- -1

Not valid for HB / H200

In this way it is possible to count with both positive and negative values. In double word handling this means that: 0000 0000 -7FFF FFFF corresponds to 0 - +2147483647 and 8000 0000- FFFF FFFFcorresponds to - 2147483648 - -1.

0 0 0 0 0 0 1 0

F F F F F F F E+

-2 (-2 dec)

+10 (16 dec)

0 0 0 0 0 0= + E (14 dec)E0F

Example of binary arithmetics: The addition is internally made binary and the result will be a binary number.

0

WX000

WX001c

WR100001E

0

X200

0 0

0 0 0 F

F

X200WR100 = WX000 +WX001

DIF10

W X 0 0 0

W X 0 0 1

W R 1 0 0

1 5

3 0 =

00000000000001111

00000000000001111

00000000000011110

1 5 +

Example of BCD arithmetics: The addition is internally made as BCD and the result will be a BCD number.

0

WX000

WX001c

WR1000030

0

X200

0 1

0 0

5

1 5

X200WR100 = WX000 B +WX001

DIF10

W X 0 0 0

W X 0 0 1

W R 1 0 0

1 5

3 0 =

00000000000010101

00000000000110000

1 5 + 00000000000010101


Programming

d=S1 + S2 Binary addition d is the binary sum of S1 and S2 If the sum S1 +S2 >FFFF hexadecimal or S1+S2 > 65535 decimal, the carry flag "C" is set. This bit is on address R7F0. This can later on be used in the program to indicate if the addition went well or not. Example of binary addition: If the sum of WX000 and WX001 > 65535 the carry flag (R7F0) goes High. Then output Y201 also goes High and indicates that the addition went wrong. WX0=0999 and WX1=2345 WR100 becomes 2CDE , C becomes 0 WX0=FFFF and WX1=0002 WR100 becomes 0001 , C becomes 1

WR100 = WX000 +WX001

Y201 = R7F0

WX000WX001

WR100

+

C =

C=R7F0

32 4 5

WX000

WX001c

WR1002CDE

0

9 9 90

F

WX000

WX001c

WR1000001

10 0 0 2

F F F


For double word addition, "C" goes High if S1+S2 >FFFFFFFF or decimal S1+S2> 4294967295. If Signed addition is used and S1+S2 gives a significant result another flag called "Of" (Overflow, on the address R7F1 ), goes High. If double word addition is made without using the +/-, the Of flag is insignificant.If S1m is the most significant bit in S1, S2m is the most significant bit in S2 and dm is the most significant bit in d, following Boolean expression is valid:

C (R7F0) =S1m*S2m+S1m*dm+S2m*dm

Of (R7F1) =S1m*S2m*dm+S1m*S2m*dm


Programming


Example of binary double word addition: If the sum of DX000 and DX002 > FFFFFFFF hexadecimal the carry flag (R7F0) goes High. Then output Y201 goes High and indicates that the sum is > the maximum capacity of DR100. If DX0 and DX2 are positive values and DR100 becomes negative or if DX0 and DX2 are negative numbers and DR100 becomes positive the Of-flag will indicate. Then the output Y202 goes High. 7FFF FFF is the highest positive value. When this is added to ”1” the result is 80000000, which is the lowest negative value. The Overflow flag indicates that the addition when wrong.

DR100 = DX000 + DX002Y201 = R7F0Y202 = R7F1

WX000WX001

WR100

+

C =

C=R7F0Of

Of=R7F1

F

DX000

c

DR10080000000

0 0 0

F F FF F F

0

DX002Of

1000

7

10

Programming

d=S1 B + S2 BCD addition d is the BCD sum of S1 and S2 If the sum S1 +S2 >9999 decimal the carry flag "C" is set. This bit is on address R7F0. This can later on be used in the program to indicate if the addition went well or not. If the content in S1 or S2 is outside the BCD area the DER flag (R7E4) goes High and the operation is not executed. This happens e.g. if S1 is ”9A55” hexadecimal. ”A” or ”1010” binary is not allowed as BCD value. Example of BCD addition: If the sum of WX000 and WX001 > 9999 the carry flag (R7F0) goes High. Then output Y201 also goes High and indicates that the addition went wrong. WX0=1111 and WX1=2345 WR100 becomes 3456 , C becomes 0 WX0=9999 and WX1=0001 WR100 becomes 0000 , C becomes 1

WR100 = WX000 B + WX001

Y201 = R7F0

WX000WX001

WR100C =

C=R7F0 +

32 4 5

11 1 1

WX000

WX001c

WR1003456

0

9

WX000

WX001c

WR1000000

10 0 0

9 9 9

1


Programming

d=S1 - S2 Binary subtraction d is the binary difference between S1 and S2 When the difference S1 - S2 < 0 the carry flag ”C” is set. This is found on address R7F0. This can be used later in program to decide if the subtraction went well. Example of a binary subtraction: If the difference between WX001 and WX000 difference >0 ( WX000 is greater than WX001) the carry flag (R7F0) goes High. Then output Y201 goes High and indicates that the subtraction has gone wrong.

WR100 = WX000 - WX001

Y201 = R7F0

WX000WX001

WR100

-

C =

C=R7F0

6

WX000

WX001c

WR1004444

0

9 9 A9

555

WX000

WX001c

WR100FFFF

10 0 0 2

0 0 0 1


If Signed subtraction is executed and S1-S2 gives a non significant result another flag called "Of" (Overflow, on the address R7F1) is goes High. (If S1m is the most significant bit in S1, S2m is the most significant bit in S2 and dm is the most significant bit in d, following Boolean expression is valid:

C (R7F0) =S1m*S2m+S1m*dm+S2m*dm

Of (R7F1) =S1m*S2m*dm+S1m*S2m*dm


Programming

d=S1 B - S2 BCD subtraction d is the BCD difference between S1 and S2 If the difference S1 - S2 < 0 decimal the carry flag "C" is set. This bit is on address R7F0. This can later on be used in the program to indicate if the subtraction went well. If the content in S1 or S2 is outside the BCD area the DER flag (R7E4) goes High and the operation is not executed. This happens e.g. if S1 is ”9A55” hexadecimal. ”A” or ”1010” binary is not allowed as BCD value.

E.g. if S1 is "999A" hexadecimal. "A" or "1010" is not allowed as a BCD value. C will be high if the sum is greater than 9999

6

WX000

WX001c

WR100xxxx

0

9 9 A9

555 1DF

d=S1 * S2 Binary multiplication d is the binary product of S1 and S2 S1 and S2 are multiplied binary and the result will go to two words , where d1 (the least significant part of the result) is identical to the word, which is specified and d2, which is the next higher word (d+1). Therefore d cannot be the highest word in any memory area. It can not e.g. be WM3FF as d2 then will be outside the memory area. If so DER (address R7FE) will indicate error.

S1

S2

d1d2= The product of 999A and 5556 in binary multiplication will be 3333BBBC. When the result will be placed in the highest word the DER flag goes High.

WR100 = WX000 * WX001

6

WX000

WX001DF

WR100BBBC

0

9 9 A9

555

WR1013333

6

WX000

WX001DF

WM3FFBBBC

1

9 9 A9

555

DER = R7F4

DER


Programming

No valid for HB / H200

If double words are used, the result will be disposed in the following way:

DR10 = DX000 * DX002

WX0WX1

WX3 WX2

WR10WR11WR13 WR12=DR12 DR10

DX2

DX0

d=S1 B* S2 BCD multiplication d is BCD product of S1 and S2 S1 and S2 are BCD multiplied and the result will go to two words , where d1 (the least significant part of the result) is identical to the word, which is specified and d2, which is the next higher word (d+1). Therefore d cannot be the highest word in any memory area. It can not e.g. be WM3FF as d2 then will be outside the memory area. If so DER (address R7FE) will indicate error unless d2 is not equal to 0. If the content in S1 or S2 is outside the BCD area the DER flag (R7E4) goes High and the operation is not executed.

S1

S2

d1d2= If S1 is "999A" hexadecimal. "A" or "1010" is not allowed as a BCD value or when the result is placed in the highest word, the DER flag goes High.

WR100 = WX000 B * WX001

WX000WX001

WR100=

X

WR101

6

WX000

WX001DF

WR100xxxx

1

9 9 A9

555

WR101xxxx

6

WX000

WX001DF

WM3FF6666

1

9 90

555

9

DER = R7F4

DER



DR10 = DX000 B * DX002

WX0WX1

WX3 WX2

WR10WR11WR13 WR12=

DR12 DR10

DX2

DX0


Programming

Not HB / H200

d=S1 S * S2

Binary multiplication with +/- signs

d is the binary product of S1 and S2

This is only valid for double words. Two words where the content is interpreted as Signed (+/- sign) are multiplied and the result is written as a Signed value. See also binary multiplication.

d=S1 / S2 Binary division d is the binary quotient between S1 and S2 S1 is divided binary with S2 and the quotient is written to d. The remainder is written to WRF016. If the divisor S2 is 0, the DER (address R7FE) is set to "1" and no operation is performed.

=

S2

S1d WRF016

The quotient of 9999 and 2222 in binary division will be 0004 and the remainder will be 1111. When the division is done by zero the operation is not performed and the DER flag is set High.

WR100 = WX000 / WX001

WX000

WX001

WR1000004

9 99

WRF01611119

2 2 2 2 0

WX000

WX001

WR100xxxx

9 99

WRF016xxxx9

10 0 0 0

DER=R7F4

DER

DER DER



DR100 = DX000 / DX002

=WX000WX001

WX003 WX002WR100WR101

WRF016WRF017

DR100

DRF016

DX002

DX000

DER=R7F4 DER


Programming


d=S1 B / S2 BCD division d is the BCD quotient between S1 and S2 S1 is BCD divided BCD with S2 and the quotient is written to d. The remainder is written to the address WRF016. If the divisor S2 is 0 the DER flag (address R7FE) is set to "1" and no operation is performed. If the content in S1 or S2 is outside the BCD area the DER flag (R7E4) goes High and the operation is not executed. This happens e.g. if S1 is ”9A55” hexadecimal. ”A” or ”1010” binary is not allowed as BCD value.

Programming

=

S2

S1d WRF016

If S1 is "9999" and S2 is 32 the quotient will be 312 and the remainder will be 15. If S2 is 0 or if a digit in the operation is no real BCD digit, the DER flag goes High and the operation is not performed.

WR100 = WX000 B / WX001

WR100=

WRF016

WX001

WX000

WX000

WX001

WR1000312

9 99

WRF01600159

2 030 0

WX000

WX001

WR100xxxx

99

WRF016xxxx9

10 0 0 0

9

WX000

WX001

WR100xxxx

A9

WRF016xxxxE

10 0 0

9

1

Quotient

DER= R7F4

DER Remainder

DER DER DER

Not HB/ H200

d=S1 S / S2

Binary division with +/- sign

d is the binary quotient between S1 and S2

This is only valid for double words. Two words, where the content is interpreted as Signed (+/- sign) are divided and the result is written as a Signed value. See also Binary division.


Programming

4.4.4 Logic expressions S1, S2 and d can either be bits or words.


S1, S2 and d can also be double words

d=S1 OR S2 Logic OR on Word d is the logic sum of S1 and S2 A logic "or" is done between S1 and S2 on each bit in the words. This means that "1" and "1", "1" and "0" , "0" and "1" gives "1" while "0" and "0" gives "0"

.

1 1 1 1 0 0 0 0 0 0 0 0

0

1 1 1 1

11111 1110000000

1 1 1 1 0 0 0 0 1 1 1 11 1 1 1

S1

S2

d

OR

d=S1 AND S2 Logic AND on Word d is the logic product of S1 and S2 A logic "and" is done between S1 and S2 on each bit in the words. This means that "1" and "1" gives ”1” while "1" and "0" , "0" and "1" , "0" and "0" gives "0"

1 1 1 1 0 0 0 0 0 0 0 0

0

1 1 1 1

11111 1110000000

0 0 0 0 1 1 1 1

S1

S2

d

AND

0 0 0 00000

d=S1 R S2 Logic R on Word d is Exclusive Or on S1 and S2 A logic "exclusive or" is done between S1 and S2 on each bit in the words. This means "1" and "1", "0" and "0" gives ”0” while "0" and "1" , "1" and "0" gives "1"

1 1 1 1 0 0 0 0 0 0 0 0

0

1 1 1 1

11111 1110000000

0 0 0 0

S1

S2

d

XOR

000011111111


Programming


4.5 Comparison expressions: d is a bit S1 and S2 are words


S1 and S2 can be double words. In comparisons with +/-signs S1 and S2 are always double words.

d=S1 == S2

Compare equal If S1 = S2 then d=1 else d=0

d=S1 <> S2

Compare not equal If S1 < > S2 then d=1 else d=0

d=S1 < S2

Compare less than If S1 < S2 then d=1 else d=0

d=S1 <= S2

Compare less than or equal


Programming

Example: A counter value is compared with a preset value on a thumb wheel When the value is < the preset value, the flag R100 is High. When the value is <= the preset value, the flag R101 is High. When the value is < > the preset value, the flag R102 is High. When the value is equal to the preset value, the flag R103 is High.

RESET

WX200

X002

0 956

X005

X002 CU11

CL11X005

R100 = TC11 < WX200R101 = TC11 <= WX200R102 = TC11 <> WX200R103 = TC11 == WX200

X002

661660659658657656655654653652651650

TC11

R100

R101

R102

R103


Programming

Not HB / 200

d=S1 S == S2

Compare equal to with +/- sign


Not HB / 200

d=S1 S <> S2

Compare not equal to with +/- sign

If S1 < > S2 then d=1 else d=0

Not HB / 200

d=S1 S < S2

Compare less than with +/- sign

If S1 < S2 then d=1 else d=0

Not HB / 200

d=S1 S <= S2

Compare less than or equal to with +/- sign


Not for HB / 200

Example. A 32 bit up - and down counter is created in an arithmetic box. This will count with + and - signs and compares its position to the preset of the thumb wheel on the inputs DX200.

0 0 0

RESET

DX200

X002

0

X005

0 0

X003

X002

X003

R100 = DR100 S < DX200R101 = DR100 S <= DX200R102 = DR100 S <> DX200R103 = DR100 S == DX200

DIF10

DIF11

DR100 = DR100 + 1

DR100 = DR100 - 1

X005DR100 = 0

0

2

Dec. 5 4 3 2 1 0-1-2-3-4

DR100

R100

R101

R102

R103

Hexadec.000000050000000400000003000000020000000100000000FFFFFFFFFFFFFFFEFFFFFFFDFFFFFFFC

X002

X003


Programming

4.6 Bit operations: d is a word (WY, WR, WL, WM, TC) n is specified by the 4 least significant bits (0-15) in a word (WY,WX,WR,WL, WM, TC) or a constant. S is a word (WY,WR,WL, WM, TC)

BSET (d,n) Bit set "1" is set in bit no. "n" in the word "d" d is a word (WY, WR, WL, WM, TC) n is specified by the 4 least significant bits (0-15) in a word (WY,WX,WR,WL, WM, TC) or a constant.

1d


d can be a double word (DY, DR, DL, DM) n is specified by the 5 least significant bits (0-31) in a word (WY,WX,WR,WL, WM, TC) or a constant.

Example: The four least significant bits in WM000 is ”9”. With other words, bit no. 9 in the word WY100 is set. (Output Y1009 is set High).

BSET(WY100,WM000)

0 1111110000000

0 111000000 WY100

WM000001

00000

9 (1001)1

1


Programming

BRES (d,n) Bit Reset "0" is set in bit no. "n" in the word "d" d is a word (WY, WR, WL, WM, TC) n is specified by the 4 least significant bits (0-15) in a word (WY,WX,WR,WL, WM, TC) or a constant.

d

0




Programming

BTS (s,n)

Bit test

The value ("1" or "0") in bit no "n" in the word "d" is copied to C (R7F0)

S is a word (WY, WR, WL, WM, TC) n is specified by the 4 least significant bits (0-15) in a word (WY,WX,WR,WL, WM, TC) or a constant.

C

S

Example: Input no n on the input word WX200 is tested and the result copied to the output Y100 (n =13, so Y100 =X2013.

BTS(WX200,WM000)Y100 = R7F0

0 1111110000000

0 111000000 WX200

WM00001

00000

13 (1101)C1

1

0


S can be a double word (DY, DR, DL, DM) n is specified by the 5 least significant bits (0-31) in a word (WY,WX,WR,WL, WM, TC) or a constant.


Programming

4.6.1 Shift and rotation expressions

SHR (d,n) Shift Right The word d is shifted n bits to the right d is a word (WY, WR, WL, WM, TC) n is specified by the 4 least significant bits (0-15) in a word (WY,WX,WR,WL, WM, TC) or a constant. The C-flag (R7F0) becomes the content of the shifted bit. The content of the SD-flag "Shift Data" (R7F2) is copied to all bits, which are shifted in.

XXXX ZZZZZC

SD

C

SD

SD Y

YXXXXXX

SD

Z

XXXXXXXXXXSDSDSDSDSDSD

Example: The output word WY10 is shifted the amount of bits to the right as the content of register WM000 specifies. WM 000 specifies 1 position. The content of WY10 before the shift then is 5A1F and after AD0F (hexadecimal)

SHR(WY10,WM000)

0 11110000000 WM0001

0 11100 00010 11WY10

111 01C

0 0

SD

0 1100 00010 111111 1

0 1

1

n = 1 position (0001)




Programming

SHL (d,n) Shift Left The word d is shifted n bits to the left d is a word (WY, WR, WL, WM, TC) n is specified by the 4 least significant bits (0-15) in a word (WY,WX,WR,WL, WM, TC) or a constant. The C-flag (R7F0) becomes the content of the shifted bit. The content of the SD-flag "Shift Data" (R7F2) is copied to all bits, which are shifted in.

XXXXYZZZZZZZZZZZC S

SDXD

ZZZZZZZZZZZC S

SDSDSDSDSDSD

DY Example: The output word WY10 is shifted the amount of bits to the left as the content of register WM000 specifies. WM000 specifies 6 positions. The content of WY10 before the shift then is 5A1F and after 87C0 (hexadecimal)

SHL(WY10,WM000)

0 11110000000 WM0001 1

0 11100 00010 11WY10

111

0 1110001 11

0

00000000

1C

0 10

SD




Programming

ROR (d,n) Rotate Right d rotates n bits to the right together with the C flag

d is a word (WY, WR, WL, WM, TC) n is specified by the 4 least significant bits (0-15) in a word (WY,WX,WR,WL, WM, TC) or a constant. The C-flag (R7F0) is a part of the rotation. It becomes the status of the last bit shifted out and delivers this bit in the next shift to the most significant bit.

C

CZZZZZZZZZZZ

CY

CX1X2X3X4

X1X2X3X4 ZZZZZZZZZZZ

Y



ROL (d,n) Rotate Left d rotates n bits to the left together with the C flag

d is a word (WY, WR, WL, WM, TC) n is specified by the 4 least significant bits (0-15) in a word (WY,WX,WR,WL, WM, TC) or a constant. The C-flag (R7F0) is a part of the rotation. It becomes the status of the last bit shifted out and delivers this bit in the next shift to the least significant bit.

YZZZZZZZZZZZC

ZZZZZZZZZZZCY

C

CX1X2X3X4

X1X2X3X4


Programming




Programming

LSR (d,n) Logic shift Right d is shifted n bits to the right. "0" is shifted in

d is a word (WY, WR, WL, WM, TC) n is specified by the 4 least significant bits (0-15) in a word (WY,WX,WR,WL, WM, TC) or a constant. The C-flag (R7F0) becomes the status of the last bit shifted out. ”0” is shifted in to the most significant bit.

XXXX ZZZZZC

CY

YXXXXXX Z

XXXXXXXXXX0

0

000000



LSL (d,n) Logic shift left d is shifted n bits left. "0" is shifted in d is a word (WY, WR, WL, WM, TC) n is specified by the 4 least significant bits (0-15) in a word (WY,WX,WR,WL, WM, TC) or a constant. The C-flag (R7F0) becomes the status of the last bit shifted out. ”0” is shifted in to the least significant bit.

XXXXYZZZZZZZZZZZCX

ZZZZZZZZZZZCY 000000

0




Programming

BSR (d,n) BCD shift right Shifts d n times 4 bits d is a word (WY, WR, WL, WM, TC) n is specified by the 2 least significant bits (0-3) in a word (WY,WX,WR,WL, WM, TC) or a constant.

X1X2X3X4

X2X1000

0

Example: WR110 is BCD-shifted to the right. WM000 specifies the amount of positions to ON 2. Before the shift the content of the register WR110 =7382 and after =0073.

0 0 7 3

37 8 2

0 11110000000WM000 10 010

BSR(WR110,WM000)

WR110



BSL (d,n) BCD shift left Shift d n times 4 bits d is a word (WY, WR, WL, WM, TC) n is specified by the 2 least significant bits (0-3) in a word (WY,WX,WR,WL, WM, TC) or a constant.

X1X2X3X4

00

0

X3X4 0


Programming




Programming

4.7 Moving data:

Not HB/H200

WSHR (d,n) Block shift right Shifts n words or bits one position

d can be a word (WR, WL, WM). Then the words d+1 to d+n-1 are shifted to the right. "0000" is written into the word d+n-1 and the content of d is overwritten. d can also be a bit (R, L, M). Then the bits d+1 to d+n-1 are shifted to the right. "0" is written into the bit d+n-1 and the content of d is overwritten. n is specified by the 8 least significant bits (0-255) in a word (WY, WX, WR, WL, WM, TC) or a constant.

d+n-1 d

0

If d+n-1 points at a word outside the area, the flag DER (R7F4) is set to ”1”. Otherwise it is ”0” after the operation. Example:: The word WM3F0 to WM3F7 is shifted to the right. 0 is written into WM3F7 and the content in WM3F0 disappears. The word d+n-1 is inside the memory area. DER remains therefore ”0”. Otherwise DER goes High. Here d+n-1 will be WM400, which is outside the memory area. DER goes high.

WSHR(WM3F0,WR000)

0

WM3F0WM3F5WM3F7

12AFEEF36721 2AD3456A10EF


17F0

0000 xxxx

00000000WR000 1 000

d+n-1 d

0000

0

0

WM3F0WM3FF



17F0

0000 xxxx

00000000WR000 100

d+n-2 d

000 0

16F0

16F0

1

1

DER

DER


Programming

Not HB/H200

WSHL (d,n) Block shift Left Shifts n words or bits one position

d can be a word (WR, WL, WM). Then the words d+1 to d+n-1 are shifted to the left. "0000" is written into the word d and the content of d+n-1 is overwritten. d can also be a bit (R, L, M). Then the bits d+1 to d+n-1 are shifted to the left. "0" is written into the bit d and the content of d+n-1 is overwritten. n is specified by the 8 least significant bits (0-255) in a word (WY, WX, WR, WL, WM, TC) or a constant.

d+n-1 d

0

If d+n-1 points at a word outside the area, the flag DER (R7F4) is set to ”1”. Otherwise it is ”0” after the operation. Example:: The word WM3F0 to WM3F7 are shifted to the left. 0 is written into WM3F0 and the content in WM3F7 disappears. The word d+n-1 is inside the memory area. DER remains therefore ”0”. Otherwise DER goes High.

WSHL(WM3F0,WR000)

0

WM3F0WM3F5WM3F7

12AFEEF36721 2AD3456A10EF17F0

0000

00000000WR000 1 000

d+n-1 d

0000

0

EEF36721xxxx 456A10EF17F0

DER


Programming

Not HB/H200

WBSR (d,n) BCD shift right Shifts n BCD-digits one position

d can be a word (WR, WL, WM). Then the words d+1 to d+n-1 are shifted to the right 4 bits. (one BCD position) "0" is written into the most significant BCD position d+n-1 and the content of the least significant BCD position d is overwritten. n is specified by the 8 least significant bits (0-255) in a word (WY, WX, WR, WL, WM, TC) or a constant.

d+n-1 d

0

d+1

If d+n-1 points at a word outside the area, the flag DER (R7F4) is set to ”1”. Otherwise it is ”0” after the operation.

Not HB/H200

WBSL (d,n) BCD shift left Shifts n BCD-digits one position

d can be a word (WR, WL, WM). Then the words d+1 to d+n-1 are shifted to the left 4 bits. (one BCD position) "0" is written into the least significant BCD position d+n-1 and the content of the most significant BCD position d is overwritten. n is specified by the 8 least significant bits (0-255) in a word (WY, WX, WR, WL, WM, TC) or a constant.

d+n-1 d

0

d+1

If d+n-1 points at a word outside the area, the flag DER (R7F4) is set to ”1”. Otherwise it is ”0” after the operation.


Programming

Not HB/H200

MOV (d,s,n) Move data n words or bits from s to d

d can be a word (WR, WL, WM) d can also be a bit (R, L, M). n is specified by the 8 least significant bits (0-255) in a word (WY, WX, WR, WL, WM, TC) or a constant.

d+n-1 d

ss+n-1

If d+n-1 or if s+n-1 points at a word outside the area, the flag DER (R7F4) is set to ”1”. Otherwise it is ”0” after the operation. Example: A memory area (the size is specified by WR000) from WM010 and upwards is copied to WR100 and upwards. WR000 specifies that 8 words shall be copied.

00000000WR000 1 0000000

DF 0

d+n-1 d

ss+n-1

2AD3456A10EF17F09999 222244445555FDD6

44449999 2222FAD3FAD3 FAD3FAD3FAD3FAD3

WR100WR101

WR107

WM10WM11WM17

MOV(WR100,WM010,WR000)

WM

WR


Programming

Not HB/H200

COPY (d,s,n)

Copy data

The content of S to n words or bit from d and upwards

d can be a word (WR, WL, WM) d can also be a bit (R, L, M). n is specified by the 8 least significant bits (0-255) in a word (WY, WX, WR, WL, WM, TC) or a constant.

d+n-1 d

s

If d+n-1 points at a word outside the area, the flag DER (R7F4) is set to ”1”. Otherwise it is ”0” after the operation. Example:: The content of WM10 is copied to the 7 words WR100 to WR106. Here ”0000” is written into the words.

0

d+n-1 d

FAD3FAD3 FAD3FAD3FAD3FAD3WR100WR10

1WR106

WR

0000

0000 00000000

s

COPY(WR100,WM010,7)

WM10

DER


Programming

XCG (d1,d2,n)

Exchange of words

n words or bits from d1 changes place with n words from d2

d1 and d2 can be words. (WR, WL, WM). d1 and d2 can also be bits(R, L, M). n is specified by the 8 lowest bits (0-255) in a word (WY, WX, WR, WL, WM, TC) or a constant.

d2+n-1 d2

d1d1+n-1

If d1+n-1 or d2+n-1 points at a word outside the area, the flag DER (R7F4) is set to ”1”. Otherwise it is ”0” after the operation. The exchange will only take place on the words within the allowed area. If the areas d1 to d1+n-1 and d2 to d2+n-1 are overlapping, only the part of the area, which is not overlapping will change place and the flag DER (R7F4) is set to ”1”. Example: The word WM201 to WM204 change place with the words WM207 to WM20A WR000 specifies that 4 word shall be involved in the exchange.

0000000100020003000400050006000700080009000A000B000C

0001000200030004 000700080009000A00060005 0000000B000C

00000000WR000 1 00 00000

0

XCG(WM201,WM207,WR000)

DER


Programming

4.7.1 Negations, absolute value etc.

NOT (d) Inverting of words The word d is inverted bit by bit Inverting of all bits in a word ("1" becomes "0" and "0" becomes "1"). d can be a bit, word (or double word)

0 1111 00 00 10 10011 0

10 1001 110 0011110

d

NEG (d) Make negative Two complement of d (+ to -,- to +) The two complement of the word d is calculated and returned to the word d This mean that H10000 (the hexadecimal value 10000) minus the content of d is returned to d.

0

F

NEG(d)

0

F

02

EF 0

F

0

F

02

EF+2

-2

-2

+2

(for double words H100000000 - the content of d is returned to d)


Programming

ABS (d,S) Absolute value The absolute value of S to d If S is negative it will be converted to a positive value and written to d. If S is positive it will be written to d without conversion. The sign of S will go to C (R7F0). If S is negative C will be "1", otherwise "0".

0

F

0

F

02

EF

ABS(WY10,WM000)

00 02WM000

WY10

WM000

WY10 00 02

C C1 0

+2

-2 +2

+2


SGET (d,s) Sign Get Make negative if C =1

If C (R7F0) =1 the two complement of the word S is calculated and written to d. (see NEG(d)) Otherwise S is copied to d.

SGET(d,s)

C 10

F

0

F

02

EF 0

F

0

F

02

EF

C 000 02 FF EF

00 02 FF EF

2

-2 2

-2

-2

-2

2

2


Programming

Not HB/H200

EXT (d,s) Extend Extend sign to double word

S is copied to d and the most significant bit (bit 15) in S is copied to all bits in the word d+1 This is done if you want to convert a word to a double word and keep the sign.

0 000 000 1011111 1 11 1

0 000 0 1011111 1 11

00000000000000d+1

1

d

s

000 0 1011111 1 11 1

000 0 1011111 1 11

d+1

1

d

s

1

1

1111111111111111

4.7.2 Converting.

BCD (d,S) BIN BCD Converts a binary word to BCD If S and d are words. the binary value in S is converted to BCD and written to d. If S > the hexadecimal value H270F the BCD value will be >9999. Then the DER (R7F4) flag goes high and d is left unchanged.

1 7 5 9

5 9 740

7 59

5 9 741

E

s

s

d

d

DER

DER


Programming



If S and d are double words. the binary value in S is converted to BCD and written to d. If S > the hexadecimal value H5F5E0FF the BCD value will be >99999999. Then the DER flag goes high and d is left unchanged.

Programming

BIN (d,S) BCD BIN Converts a BCD word to binary. If S and d are words. the BCD value in S is converted to binary and written to d. If any digits in S are outside the correct BCD area (0-9 the DER (R7F4) flag goes high and d is left unchanged.

1 7 5 9

5 9 74

0

59

1

E

s

s

d

d 1 7 5 9

5

BCD

DER binary only 0 - 9 allowed binary

DER

s and d can also be double words.

DECO(d,s,n) Decode Decoding of s (with n bits) The content of the least significant part of the word s (with the width of n bits) defines which bit shall be set to ”1”. This is calculated from the bit d. Other bits counted from the bit d and up to the bit 2n -1 are set to "0".

00 00 0000 0 000 00000 00 00000 0 1

Bs

00 0 0

000 0 011111 1 1

0 0000 0 000 0

1

0000 00000 0

000B=17

001 001

S=WX10DECO(M100,WX10,6)

If d+ 2n -1 is > than the highest bit in the memory area the flag DER is set high but the operation will be executed. If d+B in this case is outside the memory area all bits from d and upwards are set to ”0”.


Programming

ENCO (d,S,n) Encode Coding of n bits to words. n bits counted from the bit S are coded to a value. The order in the area of S to S+2n -1 of the most significant bit with the ”1” status is coded to a binary value and written to the word d.

00 0s

0 0000 0 000 000000 00000 0

s+2 -1

n

00B=2 WY100=2

1 00

ENCO(WY100,M100,5)

118 16 14 12 10 8 6 4 2 0

0

s+B

00 0s

0 0 0 0 000 000000 00000 0 00B=14 WY100=14

1 00 118 16 14 12 10 8 6 4 2 0

0

s+B

1 1

If all bits within the area S to S+ 2n -1 are "0" the C-flag (R7F0) is set high and d becomes the value "0000" If S+ 2n -1 is > the highest bit in the memory area the DER flag is set high but the operation is executed on the bits within the memory area.


Programming

Not HB/H200

SEG (d,S) 7-Segment Decoding to 7-segment display.

The content in the word S is decoded and written to double word d. Each digit in S is decoded to seven bits, (which represent a segment in a seven segment display) according to the following:

a

b

c

d

e

fg

0 0 11111 0 0 111 1 11

71

0 0 0 1

0 F

001000 1000110

0 1 2 3 4 5 6 7 8 9 A B C D E F

Outputs In data g f e d c b a 0 0 0 1 1 1 1 1 1 1 0 0 0 0 0 1 1 0 2 0 1 0 1 1 0 1 1 3 0 1 0 0 1 1 1 1 4 0 1 1 0 0 1 1 0 5 0 1 1 0 1 1 0 1 6 0 1 1 1 1 1 0 1 7 0 0 1 0 0 1 1 1 8 0 1 1 1 1 1 1 1 9 0 1 1 0 1 1 1 1 A 0 1 1 1 0 1 1 1 B 0 1 1 1 1 1 0 0 C 0 0 1 1 1 0 0 1 D 0 1 0 1 1 1 1 0 E 0 1 1 1 1 0 0 1 F 0 1 1 1 1 0 0 1


Programming

4.8 Application commands:

Not HB / H200

SQR (d,S) Square root Square root of d to S. d is the square root of S. S must be BCD data. If S is not BCD data e.g. 74A6 the flag DER (R7F4) goes high.

s

d

SQR(WM020,DR030)

BCU (d,S) Bit Count Counting "1"-bits in S to d The number of bits in the word S, which are "1" are counted and the result is written to d. 0 - 16 (hexadecimal 0000 - 0010) is written to d

0 11100 0001 11111

000B

1

s can also be a double word (not for HB/H200) Then 0 - 32 (hexadecimal 00000000 - 00000020) is written to d.

11 ”1”s (hexadecimal 000B)

SWAP (d) Swap bytes The 8 most and the 8 least significant bits exchange place in a word

The 8 most and the 8 least significant bits exchange place in a word.

Example:

SWAP(WY20)

d=WY20 0B17 170B

the 8 most significant bits

the 8 least significant bits

after before


Programming

4.9 FIFO (Queue register): The FIFO-instructions are divided into three instructions. - FIFIT defines the size of the FIFO register. - FIFWR reads data into the queue. - FIFRD reads data from the queue. FIFO is a short form for First In First Out.

Not HB/H200

FIFIT (P,n) Defines the size of the FIFO in P n is written into P and defines the size of the FIFO the maximum length of the queue. n has a maximum of 256. If n is > 256 the value 256 will be written into P anyway. The address above P (P+1) contains the counter, which keeps the information about how many data words the FIFO contains for the moment. This is reset to zero when the instruction FIFIT is executed. The FIFO itself starts at address P+2. If P+n+1 points outside the memory area, the DER flag (R7F4) goes high and the highest address, which is not outside the area will be stored instead.

P

0n

P+1P+2

P+n+1

A Counter queue

Size of the FIFO

Position 1

Position 2 Maximun size of the FIFO

Position n

Not HB/H200

FIFWR (P,S) FIFO Write S is written into FIFO with start on P

Writes data from the word S into the FIFO on the address, which the counter queue keeps track of.. S is written to the address P +2+A, where A is the temporary amount of data words in the FIFO. A is automatically increased by 1. If A>= n (the queue is full) S is not stored and the DER flag (R7F4) goes high. If A=0 (the queue is empty) S is not stored and the DER flag (R7F4) goes high.

p

p+n+1

A

p+A+2

AS

Size of the FIFO

Counter queue

Position 1

Position 2

Position n


Programming

Not HB/ H200

FIFRD (P,d) FIFO Read d is read from the FIFO starting on P Reads the queue register, which starts on the address P. The content of the address P+2 is written to d. A is automatically decreased by 1. The contents of the addresses P+3 to the last address in the shift register are shifted one position. (P+3 → P+2, P+4 → P+3 etc.) If A>= n (the queue is full) S is not stored and the DER flag (R7F4) goes high. If A=0 (the queue is empty) S is not stored and the DER flag (R7F4) goes high.

p

p+n+1

A

A d

Example: Using the FIFO-instructions.

FIFIT(WR100,5)

FIFWR(WR100,WX010)

R7E3

X200

FIFRD(WR100,WY100)

X201 DIF2

DIF1

Size of the FIFO

Counter queue

Position 1

Position 2

Phase 1 Phase 2 Phase 3

WR100

005

WR102

5

WR106

R7E3

WR100

1WR102

5

WR106

X200

WX010 5556

5556

WR100

2WR102

5

WR106

X200

WX010 7EA3

7EA35556

Phase 4 (data shifted 2 times between phase 3 and 4)

Phase 5 Phase 6

Not defined Not defined Not defined Not defined Not defined

Not defined Not defined Not defined Not defined

Not defined Not defined Not defined


Programming

WR100

WR102

5

WR106

X200

WX010 1111

7EA35556

1111

5

77772222

R7F4=0

WR100

WR102

5

WR106

X200

WX010 6666

7EA35556

1111

5

77772222

R7F4=1

WR100

WR102

5

WR106

X201

WY030

7EA3

1111

4

77772222

R7F4=0

5556

Not defined


Programming

UNIT (d,S,n) Unit 4 bit data 4-bit data from n words from S to d The last 4 bits in n words with start from the word S are copied into the word d according to the picture. n is 0-4. If n < 4 the rest of the word d is filled with "0". If S+n+1 points outside the memory area, the DER flag (R7F4) goes high and the operation is not executed on the words, which are outside the address area, while the other positions are filled with "0".

B1B2B3B4

B1B2B3B4S

S+n-1

d

LSD LSDMSD

Example: The last digit in the word s from WR100 and upwards are written to the output word WY20.

UNIT(WY20,WR100,4)

1234A67F78D5998B

4F5BWR100

WR103

WY20

1234A67F78D5998B

4F0WR100

WR103

WY20

UNIT(WY20,WR100,2)

0

0 0

DIST (d,S,n) Distribute 4-bit data to d from n words starting from S The last 4 bits in n words with start from the word d are copied from the word S according to the picture. n is 0-4. If d+n+1 points outside the memory area, the DER flag (R7F4) goes high and the operation is not executed on the words, which are outside the address area, while the other positions are not copied.

B1B2B3B4

B1B2B3B4

d

d+n-1

sLSD LSDMSD

000000000000 .

Example: An input word shall be read and divided so every digit is stored in a separate word in the memory.

DIST(WM100,WX10,4)

0004000F0005000B

4F5B WX10

998B

4F0

DIST(WM100,WX10,3)

5WM100

WM103

0004000F0005

WM100

WM103

WX10


Programming

4.10 Control commands (jump etc.):

END End End of a normal program cycle. Ends a normal program cycle (or scan) and causes restart from the beginning of the program. It is only necessary to use this instruction if sub routines or interrupt routines are written after the main program. It should not be used more than once in a program.

END

If alternative Ends of the program is wanted, see the instruction CEND.

CEND (S) Condition END Conditional program End, on condition S Ends a normal program cycle (or scan) and causes restart from the beginning of the program if the condition S is true. It is used to create alternative program Ends and therefore shorten down the scan time of the program. CEND must not be used outside the main program (not in sub routines or interrupt routines)

CEND(X100)

END

Example: The second part of the main program could e.g. be a debug part of the program, which only shall be executed when X100 is High.

Begining of program Normal program Normal program


Programming

JMP n Jump Unconditional jump to label

CJMP n(S) Cond. Jump Conditional jump to label

LBL n Label End address of jump Performs a jump in the program to the corresponding Label. Every JMP n or CJMP n has to correspond to a LBL n where n is identical. n is a number between 0 and 255. JMP n performs an unconditional jump. That means if the condition for the arithmetic box is true. CJMP n performs a conditional jump. That mean that the jump take place if the condition S is true (and if the condition for the arithmetic box is true)

JMP n

LBL n

CJMP n (s)

LBL n

condition unconditional

Program

condition condition

Program

CJMP 10 (X204)

X202

LBL 11

JMP 10

X201

JMP 10

X203

LBL 10

JMP 11

X203

Several jumps to the same label is allowed. Jumps with different labels are independent from each other and they are allowed to nest A jump is done directly to the label address and it will shorten the scan time. Jump backwards are allowed but you must be careful so you will not stop in endless loops. If a jump passes a timer it will run anyway. But the timer can not effect anything before the program part is executed.

Program

Program

Program


Programming

Jumps are not allowed outside its own program area. It is not allowed to jump between main program and sub routines or interrupt routines or between sub routines and interrupt routines.

Main program OK

Not OK

Sub routin

Interupt routin


Programming

RSRV n Reserve Command for the BASICH-module see

FREE Command for the BASICH-module separate

STAR n Command for the BASICH-module description

Not HB/H200

FOR n (S)

Repeated program part start

NEXT n Repeated program part end

Repeated program part between FOR n and NEXT n (where n is identical) S times. When S becomes 0 the loop is interrupted. S must be a word (WM, WR or WL). It will decrease by 1 every loop. (it is possible to change the content of n during the execution of the loop.) n is a number between 0 and 49. Every FOR must correspond to a NEXT with the same number FOR must come before NEXT. FOR or NEXT can only be used once with the same number (n).

FOR n (s)

NEXT n

FOR and NEXT can be used up to 5 levels. (see drawing) This is also valid if one or more subroutines are in a sub routine. This kind of programming easily causes very long program scan times, which must not exceed the maximum time in the setup. E.g. WR100-WR104 all are 10 the program part between FOR 5 and NEXT 5 will be repeated 10 x 10 x 10 x 10 x 10 =100000 times. If this part of the program is 1 ms, the total program scan time will be > 100 s, which is not possible..

FOR 5 (WR104)

NEXT 5

NEXT 4

NEXT 3

NEXT 2

NEXT 1

FOR 4 (WR103)

FOR 3 (WR102)

FOR 2 (WR101)

FOR 1 (WR100)

FOR 5 (WR104)

NEXT 5

NEXT 4

FOR 4 (WR103)

It is not allowed to nestle FOR-loops.

n -1 n Program times times

Not allowed


Programming

It is allowed to jump from a FOR loop without completing the loop. When the loop is entered again it will start from the beginning. It is possible to have a condition for the execution of FOR and NEXT. This condition must be identical as FOR and NEXT otherwise do not correspond to each other. Do e.g. not use an input which can be changes during the scan.

FOR 5 (WR104)

NEXT 5

JMP 12


Programming

CAL n CALL Subroutine call to routine no. n

SB n Subroutine Subroutine no. n start

RTS Return Subroutine no. n end and return

CALL n calls a subroutine. SB n defines the start of a subroutine. RTS means that return to the instruction after the CALL n shall take place. A sub routine is used because it will not be necessary to repeat this program part in the program. n is a value between 0 and 99 and specifies the number of the sub routine. The sub routines are placed directly after the main program. (after the END-instruction) They can be written before or after the interrupt routines.

SB n

RTS

END

CAL n

X203

Program

Program

Sub routine


Programming

The sub routines can be called in 5 levels. (for HB/H200 only 1 level) This means that the routines can call each other and the system remembers the order of the return jumps. It is possible to have different start addresses of a sub routine. (the same RTS instruction corresponds to more than one SB n instruction) In this case you have to use JMP to pass the SB instructions, which are not used.

a

a

a

a

a

a

a

a

a

a

b

b

INT n Interrupt Interrupt type n start

RTI Return Return from Interrupt routine

INT n specifies the start of an interrupt routine. RTI specifies that return to the place where the jump to interrupt occurred, shall take place.. n is a number between 0 and 31 and specifies the type of interrupt (see page 153) INT and RTI have to be unconditional. (No logics before the arithmetic box.)

INT n

RTI

END

Program

Interup routine


Programming

If one of the possible interrupt reasons occur and an interrupt routine is programmed to take care of this, the normal program scan will be interrupted and the interrupt routine will be executed. INT 1

INT 2

RTI

RTI

INT 1

INT 2

RTI

RTI

INT 1

INT 2

RTI

RTI

INT 1

INT 2

RTI

RTI

INT 1

INT 2

RTI

RTI

Main program

Main program

Main program

Main program

Main program

Interupt type 2

Interupt type 1


Programming

4.11 Logic instruction programming: (not necessary to use if ladder or grafcet programming is used with Actsip/Actgraph) It is also possible to symbolise the logic with instruction code. But as the internal storage in the PLC is ladder code, it means that there are limitations when using instruction code (like in other PLC types). Therefore ladder- and Actgraph programming is recommended. Start Contact symbol Defines start of block or a branch in a ladder block.

Symbol Instruction Short from Description Address type

LD LoaD Start of a block or a branch , closing contact

X,Y,R,L,M

LDI LoaD

Invert

Start of a block or a branch , inverted contact

TD,SS,CU,CT

X002 X013 R034

Y102 M002

Y102

LD X002 AND X013 OR Y102 LDI R034 OR M002 ANB OUT Y102

As the two parallel connected contacts (R034 and M002) are alone on the branch it is not necessary to create a new branch. You can instead describe the parallel connection with an ”OR contact”, see below.


AND AND Serial connection,

closing WDT,MS

TMR (not all CPUs)

ANI ANd

Invert

Serial connection, inverted

OR OR Parallel connection,

Closing DIF, DFN

ORI OR

Invert

Parallel connection, Inverted

X002 X013 R034

Y102 M002

Y102R01A

LD X002 AND X013 OR Y102 LDI R034 OR M002 ANB ANI R01A

OUT Y102


Programming

As the last contact (R01A) is alone on the branch it is not necessary to create a new branch. You can instead describe the serial connection with an ”ANI contact”. Serial connection and parallel connection of blocks:


ANB AND

BLOCK Serial connection of logic blocks

-

ORB OR

BLOCK

Parallel connection of logic blocks

-

Combine the branches one by one with ANB (Serial connection) or ORB (Parallel connection) so they will form larger and larger units..

X002 X013 R034

Y102 M002

Y102R01A

M012

A

B

C

D

E FLD X002 AND X013 LD Y102 ANI M012 ORB

LDI R034 OR M002 ANB ANI R01A OUT Y102

Branch A Branch B Parallel connection of A and B to C.

Branch D Serial connection of C and D to E. F is serial connected to E Output control


NOT NOT Inverting of the logic in the block

-


OUT OUT Output (coil) Y,R,L,M

TD,SS,CU,CT

CTU,CTD,CL

WDT,MS

TMR,RCU (not all CPUs)


Programming


SET Sets an output or a memory High

Y,R,L,M

RST Sets an output or a memory Low (Reset)

Y,R,L,M

MCS Master Control Set

Master Control of the coming program blocks Start.

MCS

MCR Master Control Reset

Master Control of the coming program blocks End.

MCR


AND DIF Serial connected positive edge.

DIF

OR DIF Parallel connected positive edge.

AND DFN Serial connected negative edge.

DFN

OR DFN Parallel connected negative edge.


MPS

MRD

MPP

Push

Read

Pull

Stores the current logic result

Reads back the logic result stored by MPS

Reads back the logic result stored by MPS and restores the level

--


Programming


OUT TD Time base, Time

Time Delay On delay timer -

OUT SS Time base, Time

Single Shot Timer, which starts when it is activated and continues.

-

OUT CU Preset

Count Up Up counter -

OUT CTU Preset

CounT Up Up- and Down Counter Up count input

-

OUT CTD CounT Down Up- and Down Counter

Down count input -

OUT CL CLear Clear of Counter/Timers -


( ) Compare box Start/ End

The result of the comparison gives On/Off function as a ladder contact

WR, WY, WX, TC, WL, WM, constant

Create the "compare contact" through pressing [AND], [ANI], [OR] or [ORI] and thereafter [ ( ] and [comparison expression]. e.g. AND (S1=S2), ORI (S1<S2) or LD (S1<>S2)

Symbol Instruction Name Description Address type

[ ] Box start/end In the box there are

programmed arithmetic instruction etc.

WR, WY, WX, TC, WL, WM, constant

Create the arithmetic box through pressing "[" and thereafter the arithmetic instructions in the box and finally "]" to end the box. E.g. [ WR00=WX00 SHL (WM101 , 5) ]



Practical Handling

Practical handling


5 Practical Handling :

5.1 To run through a complete project: 5.1.1 Choice of PLC -Start to estimate the distances in the installation. -If they are long: -If the units are going to work more or less independent from each other: -It can be wise to divide the installation into two or more CPUs. In this way you can save installation cost and get units working if something happens to another unit.. -If the units are going to communicate with lots of information: -then it is recommend to use a link connection. -If the distances are long and the units are going to work like one unit: -Then it is recommendable to plan one central CPU with remote units, which are distributing the In/Outputs. It is now time to choose the PLC type. Here is given some leading information (see also the list of modules in the additional parts)

Suitable for size of installation

Suitable interval/ /Max. amount I/O

Module range

Link- and remote communi-cation

Best advantage (cost effective) for different types of installations.

Small 0-120/208 Limited No Small with majority digital I/O

Small 0-120/208 Limited Yes Small with majority digital I/O and link

0 Small to medium 0-230/512 Large Yes Small/medium with mix of modules

0 Small to medium 0-230/512 Large Yes several Small/medium with mix of modules and more power

2 Small to medium 0-450/928 Large Yes several Small/medium with mix of modules and more power

0 Medium 0-250/576 Large Yes several Small/medium with mix of modules and module system H300-H2002 is preferred

2 Medium 0-250/576 Large Yes several Small/medium with mix of modules and module system H300-H2002 is preferred and more power

2 Medium 0-600/1280 Large Yes several Medium with mix of modules and module system H300-H2002 is preferred and more power

02 Large

0-2000/2688 Large Yes several Medium/large with mix of modules and module system H300-H2002 is preferred and more power

02 Large 0-4000/4096 Large Yes several Large with mix of modules and module system H300-H2002 is preferred and more power

Estimate the memory size: When you have chosen the type of PLC, you should estimate the memory size. A practical rule is that each digital I/O causes 10 program steps when it is basically a logic program. Above this you should add the program amount caused by calculations etc. (see steps/instruction page 279) Reserve a good spare capacity. If you are close to the maximum memory it is recommendable to select a larger size if available. If it is not available select next PLC size. Select modules: Search in the module list in the additional part of PLC type or in the price list.

Practical handling


Configuration of rack system Go to the additional part for each PLC and decide how to connect the base unit (and expansion units) Add the total current consumption per unit (see additional part for the. PLC-type) and select a suitable power supply. If the power supply is not enough, rearrange the modules. Order: Place the order as early as possible. That is the best guarantee that we can meet the delivery time you want. (Even if you order normal stock equipment it could be temporarily out of stock.) Receiving the delivery: Check that all units are delivered according to the order and no transport damage has occurred. If that is the case, inform the supplier immediately so the problem can be corrected. Save the package for a time, (at least until the machine is tested and delivered.) Assemble the system as planned and mount the system according to the installation directions on page 154. Installation, Power and I/O-connection: Install the PLC according to the description in the Common hardware description page 154. Install power supply, expansion cables and I/O cables according to the description in the additional part for the PLC type. Check that the signals from every sensor reaches the inputs through checking the LED’s on the front of the PLC. Install your computer software: Unpack the diskettes, turn on the computer and place the first diskette in drive A: (or B:) Type: A: <Enter> and thereafter Install <Enter> and answer the questions, which follow. The system will suggest that you install the software in a sub-directory, which is called "ACTSIP". Normally you should press <Enter> (Which means Yes). Continue with the second diskette and so on. Connection for computer programming: For Off-line programming you do not need anything more than the loaded software. (We recommend that you bring the special software manual, masks for the key board. When you are going to communicate with the PLC (ON Line programming) you have to use the cable which was designed for the software. Connect this between the computer serial port and the serial port on the PLC CPU.

Practical handling

5.2 Computer programming.: (Short description, You can find a more detailed description in the Actsip-H or ActGraph manual): 5.2.1 Actsip-H Start with the command < H >. (or for Actgraph <GPLUS>) Remember the information in the Welcome window. Press F1 for Help wherever you are in the program and <Alt>+F1 for Help in ON-LINE programming. Press thereafter <Enter> and you will see following window.:

Start

System Program Allocation Printout Files Communication Setup │ │ │ │ │ │ │ ╔════════════ No project was specified ════════════╗ │ │ ║Load project from file ║ │ │ ║Load project from PLC ║ │ │ ║New project, go to setup menu ║ │ │ ╚══════════════════════════════════════════════════╝ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ DRAW mode (0000) OFFLINE H-200 Intern 7.5 Ks

Choose between the alternatives "New project", "Load project from file" and " Load project from PLC". If the alternative ” new project" is chosen you will get a setup menu for the PLC system. Here you can select CPU-type, Memory type, In- Output configuration etc. If the PLC-system is connected via the serial port, you will press <Enter> when you get the alternative ” Read PLC- Setup” and these setups will be performed automatically.


Practical handling

PLC- Setup

System Program Allocation Printout Files Communication Setup │ │ │ ╔═══════════════════════════ PLC setup ════════════════════════════╗ │ │ ║Read PLC configuration ║ │ │ ║CPU type H-250 ║ │ │ ║Memory type Intern 7.5 Ks ║ │ │ ║Capacity HIFLOW (steps) 00000 HILADDER 07552 ║ │ │ ║I/O assignment ║ │ │ ║Link parameters 1 Top=* End=* ║ │ │ ║Link parameters 2 Top=* End=* ║ │ │ ║Retentive area ║ │ │ ║Project name ║ │ │ ║Run conditions ║ │ │ ║Run control input * ║ │ │ ║Password * ║ │ │ ║Max scan time [ms] 100 ║ │ │ ║Communication setup ║ │ │ ╚══════════════════════ Press <F1> for HELP ═══════════════════════╝ │ │ │ │ │ │ │ │ │ │ │ │ │ DRAW mode (0000) OFFLINE H-200 Intern 7.5 Ks

For manual setup the setup of in- /output configuration will look like:


In-/ Output- configuration

System Program Allocation Printout Files Communication Setup ╔══════════════════════════════════════════════════════════════════════════════╗ ║ Base/exp I/O Assignment ┌─ PgDn=More ─┐║ ║ Points: 208 │0 = W IO 4/4W│║ ║ Slot: 0 1 2 3 4 5 6 7 8 9 A │1 = INTERRUPT│║ ║┌──────┬────┬────┬────┬────┬────┬────┬────┬────┬────┬────┬────┐│2 = REMOTE │║ ║│Unit 0│ X16│ X16│ Y16│ Y16│ X8W│ X16│LINK│ │ │ │ ││3 = CPU LINK │║ ║│ 1│ │ │ │ │ │ │ │ │ │ │ ││4 = COMM │║ ║│ 2│ │ │ │ │ │ │ │ │ │ │ ││5 = BASIC │║ ║│ 3│ │ │ │ │ │ │ │ │ │ │ ││6 = GPIB │║ ║│ 4│ │ │ │ │ │ │ │ │ │ │ ││7 = I/O 16/16│║ ║│ 5│ │ │ │ │ │ │ │ │ │ │ ││8 = I/O 16/32│║ ║│ 6│ │ │ │ │ │ │ │ │ │ │ ││9 = I/O 32/16│║ ║│ 7│ │ │ │ │ │ │ │ │ │ │ ││Q = I/O 32/32│║ ║│ 8│ │ │ │ │ │ │ │ │ │ │ ││W = FUN0 5/3W│║ ║│ 9│ │ │ │ │ │ │ │ │ │ │ ││E = FUN1 3/5W│║ ║└──────┴────┴────┴────┴────┴────┴────┴────┴────┴────┴────┴────┘│R = FUN2 6/2W│║ ║ SPACE = Toggle Standard/Remote │T = FUN3 2/6W│║ ║ Arrows = Move │Y = FUN4 7/1W│║ ║ Numbers = Select module │U = FUN5 1/7W│║ ║ INS = Copy real assignment │I = FUN6 2/2W│║ ║ ESCAPE = Leave └─────────────┘║ ║ ║ ╚════════════════════════════ Press <F1> for HELP ═════════════════════════════╝ DRAW mode (0000) OFFLINE H-200 Intern 7.5 Ks

Here you can choose modules for each slot from the list on the right: (Press F1 for Help and you will get information about how all modules will be addressed.) In this example 32-input modules have been chosen on slot 0 and 1, 32-output modules on slot 2 and 3, a 8-word input module (e.g. an analog input module) on slot no. 5 and a link module on slot 6 and 7.

Press F1 for Help. A list over available modules will appear also telling how to define these.

E.g. LINK module

Practical handling


Setup of retentive memories

System Program Allocation Printout Files Communication Setup │ │ │ ╔═══════════════════════════ PLC setup ════════════════════════════╗ │ │ ║Read PLC configuration ║ │ │ ║CPU type H-250 ║ │ │ ║Memory type Intern 7.5 Ks ║ │ │ ║Capacity HIFLOW (steps) 00000 HILADDER 07552 ║ │ │ ║I/O assignment ║ │ │ ║Link parameters 1 Top=* End=* ║ │ │ ║Li╔════════════ Retentive area ════════════╗nd=* ║ │ │ ║Re║R Top=0200 End=0300 ║ ║ │ │ ║Pr║WR Top=0100 End=0200 ║ ║ │ │ ║Ru║WM Top=* End=* ║ ║ │ │ ║Ru║T/C Top=0100 End=0511 ║ ║ │ │ ║Pa║DIF Top=* End=* ║ ║ │ │ ║Ma║DFN Top=* End=* ║ ║ │ │ ║Co╚════════════════════════════════════════╝ ║ │ │ ╚══════════════════════ Press <F1> for HELP ═══════════════════════╝ │ │ │ │ │ │ │ │ │ │ │ │ │ DRAW mode (0000) OFFLINE H-200 Intern 7.5 Ks

You can define the link areas (the memory areas, where the CPUs in a network talk to each other.) The setup of retentive memories is also done here. ”Top” stands for Lowest address and ”End” stands for Highest address. When the setup is ready, press <Esc> and you are ready to program.

The status row at the bottom of the screen gives information about the current setup.

DRAW mode (0000) OFFLINE H-250 Intern 7.5 Ks Edit mode ( line draw) Can be Draw and Erase (and possibly. Move)

Amount of program blocks

ON-Line/ OFF-Line- status

CPU-type

Memory type

You are now in the drawing screen, where the program will be created. From the screen you can always enter the menu bar (pull down menus) at the top of the screen by pressing <Esc>

System Program Allocation Printout Files Communication Setup You can also get some options, e.g. Search, as extra choices at the bottom of the screen through pressing <F2>.

Mark Search Hor-exp Ver-exp Goto + comm - comm Erase comm ACTTERM

Practical handling

Other setups

System Program Allocation Printout Files Communication Setup │ ┌──────────────────┐ │ │PC (Computer) │ │ │PLC │ │ │Printout │ │ │Communication │ │ │Ladder programming│ │ └──────────────────┘ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ DRAW mode (0000) OFFLINE H-250 Intern 7.5 Ks

If this is the first time Actsip/ActGraph is started it could be necessary to setup the PC and the communication. (In such case, press <Esc> and go with the arrow keys to ”Setup”. Go down to the choice ”PC (Computer) or ”Communication”.

Allocation of memories

System Program Allocation Printout Files Communication Setup │ ┌───────────────────┐ │ │ │Enter/Change │ │ │ │Allocation pointers│ │ │ │Move │ │ │ │Exchange │ │ │ │Print │ │ │ │Print packed │ │ │ └───────────────────┘ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ DRAW mode (0000) OFFLINE H-250 Intern 7.5 Ks

If some addresses already from the beginning are known (e.g. Inputs and Outputs, which already are connected) you should go to the ”Allocation menu” and under ”Enter/Change” type these on the decided address. In the ”Allocation menu” you can also move and exchange addresses (e.g. if a I/O slot is moved.

Enter comments (symbols)

System Program Allocation Printout Files Communication Setup │ │ │ ┌────────────────────── Allocation ───────────────────────┐ │ │ │ X00000 PHOTO SW1 Photo switch before conveyor 1 │ │ │ │ X00001 IND SENS2 Metal sensor at input feeder │ │ │ │ X00002 START BUT Panel start button │ │ │ │ X00003 STOP BUT Panel stop button │ │ │ │ X00004 │ │ │ │ X00005 │ │ │ │ X00006 │ │ │ │ X00007 │ │ │ │ X00008 │ │ │ │ X00009 │ │ │ │ X00010 │ │ │ │ X00011 │ │ │ │ X00012 │ │ │ │ X00013 │ │ │ │ X00014 │ │ │ │ X00015 │ │ │ └─────────────────────────────────────────────────────────┘ │ │ │ │ │ │ │ │ │ DRAW mode (0000) OFFLINE H-250 Intern 7.5 Ks


Practical handling

Enter the ”Short comments” or ”Symbols”, maximum 10 characters. These can be used afterwards instead of physical addresses in the programming as it is easier to remember these. A long comment of max. 30 characters can be added to make the final documentation better.

¦ ¦ Address Short com. Long comment ¦ ¦ ¦ ¦ X00000 PHOTO SW 1 Photo switch in front of feeder 1 ¦ ¦

It is now ready for programming: The function keys have the following meaning, For Actsip-H:

RES

SET

Word Debug Monitor Monitor Start Stop ON- OFF- +<Alt> monitor ON OFF PLC PLC LINE LINE Help Show +<Shift> ACT Redraw Draw/ ShortCom

Draw a Ladder block, e.g..: Use the Function keys and the arrow keys. You can use the arrow keys for moving, drawing lines (together with <Shift> or <Alt>) You can also use the arrow keys for erasing if you change to Erase mode with the <Spacebar> (See the left part of the bottom line) Our first example will be to create a start circuit with self hold, where a photo switch is a condition for start.

r am

System Program Allocation Printout Files Communication Setup │START PHOTO │ │ BUT SW1 │


├──┤ ├────┤ ├─ │ │X00002 X00000 │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ DRAW mode (0000) OFFLINE H-250 Intern 7.5 Ks

Start from the left line, Press the symbol for the first contact and type the address (X2) or the Symbol ”START BUT”. Make a serial connection through repeating the procedure.

│START PHOTO │ │ BUT SW1 │ ├──┤ ├────┤ ├─ │ │X00002 X00000 │ │

Practical handling

Automatic allocation

System Program Allocation Printout Files Communication Setup │ │ │ │ │ │ │ │ │╔═ Short Comment/Addr. ═╗ │ │║START MEM ║ │ ╔════════════════════════════ Automatic allocation ════════════════════════════╗ ║START MEM ║ ║M0000 DX DY DL DM DR ║ ║ WX WY WL WM WR TC ║ ║ X Y L M R DIF DFN MCS MCR TD SS WDT MS TMR CU RCU CTU CTD CT CL ║ ║───────────────────────────────────────┬──────────────────────────────────────║ ║<F2> Allocation pointer: M0000 │Data area, Bit ║ ╚══════════════════════════════════════════════════════════════════════════════╝ │ │ │ │ │ │ │ │ │ │ DRAW mode (0000) OFFLINE H-250 Intern 7.5 Ks

Draw a line down through pressing <Shift>+<down arrow> (or <Alt>+<down arrow>). Go to the left line and start the parallel connection. If we have not already allocation ”START MEM” to an address, we can write ”START MEM” anyway instead of the address. The system will show the automatic allocation window and ask you what ”START MEM” is. In this window you can choose between the different kinds of memories. The system will always suggest a free address. In this way the double use of addresses can be avoided, which otherwise is one of the most common programming errors.

│START PHOTO │ │ BUT SW1 │ ├──┤ ├────┤ ├─┬ │ │X00002 X00000│ │ │ │ │ │START │ │ │ MEM │ │ ├──┤ ├── │

M

Let us accept that "START MEM” becomes the address M0, as the system suggests. Press <Enter>

Completing the block

Sy│

stem Program Allocation Printout Files Communication Setup

│ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ DRAW mode (0000) OFFLINE H-250 Intern 7.5 Ks

Draw thereafter the rest of the block with the same method as we started.

│START PHOTO STOP START │ │ BUT SW1 BUT MEM │ ├──┤ ├────┤ ├─┬──┤/├────( )─ │ │X00002 X00000│ │


│ │ │

│START │ │ │ MEM │ │ ├──┤ ├────────┘ │ │M0000 │

Practical handling

t block

System Program Allocation Printout Files Communication Setup │START PHOTO STOP START │ │ BUT SW1 BUT MEM │ ├──┤ ├────┤ ├─┬──┤/├─────────────────────────────────────────────────────( )─┤ │X00002 X00000│X00003 M0000 │ │ │ │ │START │ │ │ MEM │ │ ├──┤ ├────────┘ │ │M0000 │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ DRAW mode 0001 (0001) OFFLINE H-250 Intern 7.5 Ks

During the drawing the block is inverted to show that it is not yet a part of the program. When the block looks like what you want, press <Ins>. The block will now be a part of the program. It will be redrawn and it is not inverted anymore. You can also see that the status row shows one more block in the program.


Practical handling

5.2.2 Change of an existing block: E.g. an inductive sensor shall be added as a condition in series with the photo switch to activate the start memory. .

Horizontal expansion

System Program Allocation Printout Files Communication Setup │START PHOTO STOP START │ │ BUT SW1 BUT MEM │ ├──┤ ├────┤ ├─┬──┤/├─────────────────────────────────────────────────────( )─┤ │X00002 X00000│X00003 M0000 │ │ │ │ │START │ │ │ MEM │ │ ├──┤ ├────────┘ │ │M0000 │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │


Place the cursor where the expansion shall start.. Press <F2> and the status line shows a number of extra alternatives.

Modify block

System Program Allocation Printout Files Communication Setup │START IND S PHOTO STOP START │ │ BUT ENS2 SW1 BUT MEM │ ├──┤ ├────┤ ├────┤ ├─┬──┤/├──────────────────────────────────────────────( )─┤ │X00002 X00001 X00000│X00003 M0000 │ │ │ │ │START │ │ │ MEM │ │ ├──┤ ├───────────────┘ │ │M0000 │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │

DRAW mode 0001 (0001) OFFLINE H-250 Intern 7.5 Ks

Go to "Hor-Exp" (Horizontal Expansion) using the arrow keys or press only "H", as the first character in the choice. Now there will be a space where the new contact can be written.

Observe that when the block is modified the change is still not a part of the program code. You have to press <Ins> or <*> to update the program.


Practical handling

5.2.3 Comparison contacts:

pariso

System Program Allocation Printout Files Communication Setup │START IND S PHOTO STOP START │ │ BUT ENS2 SW1 BUT MEM │ ├──┤ ├────┤ ├────┤ ├─┬──┤/├──────────────────────────────────────────────( )─┤ │X00002 X00001 X00000│X00003 M0000 │ │ │ │ │START │ │ │ MEM │ │ ├──┤ ├───────────────┘ │ │M0000 │ │ │ │START ┌ ┐ │ │ MEM │TEMPERATURE │ │ ├──┤ ├──┤ ├ │ │M0000 │ │ │ │ └ ┘ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ DRAW mode (0001) OFFLINE H-250 Intern 7.5 Ks

Continue with the next block. When the machine is started and the temperature is less than 30 Centigrade, the output ”HEAT” shall go High. Start to connect ”START MEM” in series with a Compare box. Create this through pressing the symbol on ”F7” Write ”TEMPERATURE” and allocate this to the first word input on the analog module (address WX40)


pare k

System Program Allocation Printout Files Communication Setup │START IND S PHOTO STOP START │ │ BUT ENS2 SW1 BUT MEM │ ├──┤ ├────┤ ├────┤ ├─┬──┤/├──────────────────────────────────────────────( )─┤ │X00002 X00001 X00000│X00003 M0000 │ │ │ │ │START │ │ │ MEM │ │ ├──┤ ├───────────────┘ │ │M0000 │ │ │ │START ┌ ┐ HEAT │ │ MEM │TEMPERATURE WX0040│ │ ├──┤ ├──┤ < ├─────────────────────────────────────────────( )─┤ │M0000 │30 │ Y00200│ │ └ ┘ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ DRAW mode 0002 (0002) OFFLINE H-250 Intern 7.5 Ks

A box will appear with the comparison alternatives. Choose ”<” (less than) and then type the constant ”30” as a comparison reference. Connect the output ”HEAT” (Y200) in the same way as above.

│START ┌ ┐ │ │ MEM │TEMPERATURE │ │ ├──┤ ├──┤ ├ │ │M0000 │ │ │

│ └ ┘ │ │ │

Practical handling

5.2.4 Arithmetic expressions: Let us program a last block, which contains an arithmetic box and an edge condition. When PHOTO SW 1 goes high, a register shall be increased by 7 and the result shall be shown on display segments, which are connected to the first 16 outputs on the first output module. At the same time another register shall be shifted to the right.

Arithmetics

System Program Allocation Printout Files Communication Setup │START IND S PHOTO STOP START │ │ BUT ENS2 SW1 BUT MEM │ ├──┤ ├────┤ ├────┤ ├─┬──┤/├──────────────────────────────────────────────( )─┤ │X00002 X00001 X00000│X00003 M0000 │ │ │ │ │START │ │ │ MEM │ │ ├──┤ ├───────────────┘ │ │M0000 │ │ │ │START ┌ ┐ HEAT │ │ MEM │TEMPERATURE WX0040│ │ ├──┤ ├──┤ < ├─────────────────────────────────────────────( )─┤ │M0000 │30 │ Y00200│ │ └ ┘ │ │PHOTO EDGE1 │ │ SW1 │ ├──┤ ├────┤ ├─ │ │X00000 DIF0 │ │ │ │ │ │ │ │ │ DRAW mode (0002) OFFLINE H-250 Intern 7.5 Ks

The photo switch is serial connected to the edge memory (DIF memory). Press the symbol for arithmetic box ( <Shift>+F7 ) and an empty box appears.


Choice of instruction

System Program Allocation Printout Files Communication Setup │┌────────────────────────┐ START │ ││ = S* S/ │ MEM │ ├│ + - * / │──────────────────────────────────────────────( )─┤ ││ B+ B- B* B/ │3 ┌──────────────────────────────────────────────┐│ ││ AND OR R │ │ ││ ││ == <> < <= │ │ ││ ││ S== S<> S< S<= │ │ ││ ├│ SHR SHL ROR ROL │ │ ││ ││ LSR LSL BSR BSL │ │ ││ ││ WSHR WSHL WBSR WBSL │ │ ││ ││ MOV COPY XCG │┐ │ ││ ││ BCD BIN DECO ENCO ││ │ ││ ├│ SEG SQR BCU SWAP │├─│ │┤ ││ FIFIT FIFWR FIFRD FUN ││ │ ││ ││ BSET BRES BTS NOT │┘ │ ││ ││ ABS SGET EXT NEG │ │ ││ ││ JMP CJMP LBL │ │ ││ ├│ END CEND FOR NEXT │ │ ││ ││ CAL SB RTS START│ │ ││ ││ INT RTI RSRV FREE │ │ ││ ││ UNIT DIST ADRIO ADRPR│ │ ││ ││ TRNS RECV QTRNS QRECV│ │ ││ │└────────────────────────┘ │ ││ DRAW mode (00└─────────── <Space> toggles window ───────────┘

The most common instructions( =, +, -, etc.) can written directly only through typing the variable name. But if you need a full list of the instructions, press <Spacebar> and the complete list will appear on the left side. From this box you can choose the instructions. Choose "+" through moving the cursor to the instruction and pressing <Enter> or just through typing "+".

│PHOTO EDGE1 │ │ SW1 │ ├──┤ ├────┤ ├─ │ │X00000 DIF0 │

=

Practical handling

metic

System Program Allocation Printout Files Communication Setup │START IND S PHOTO STOP START │ │ BUT ENS2 SW1 BUT MEM │ ├──┤ ├────┤ ├────┤ ├─┬──┤/├──────────────────────────────────────────────( )─┤ │X00002 X00001 X00000│X00003 ┌──────────────────────────────────────────────┐│ │ │ │ d = s + s ││ │START │ │ ││ │ MEM │ │ ││ ├──┤ ├───────────────┘ │ ││ │M0000 │ ││ │ │ ││ │START ┌ ┐ │ ││ │ MEM │TEMPERATURE WX0040│ │ ││ ├──┤ ├──┤ < ├─│ │┤ │M0000 │30 │ │ ││ │ └ ┘ │ ││ │PHOTO EDGE1 │ ││ │ SW1 │ ││ ├──┤ ├────┤ ├─ │ ││ │X00000 DIF0 │ ││ │ │ ││ │ │ ││ │ │ ││ │ │ ││ DRAW mode (00└─────────── <Space> toggles window ───────────┘

Type the address for the sum (”d” in the box). The address shall be the first output word (WY20). Lets call this word ”DISPLAY”. Thereafter the address of the first term. Let us call this REGISTER1 and place it on address WR0. The second term is the constant 7. Then return to the box with the list of instructions through pressing <Spacebar>. Choose the instruction ”SHR”. Type ”POSITION” as ”d” and let ”n” be 1 (to shift 1 position right every time) Press <Ins> The box gets its normal shape. But the circuit itself is still not inserted in the program. Therefore press <Ins> once more.

wing ress

t ment

System Program Allocation Printout Files Communication Setup │START IND S PHOTO STOP START │ │ BUT ENS2 SW1 BUT MEM │ ├──┤ ├────┤ ├────┤ ├─┬──┤/├──────────────────────────────────────────────( )─┤ │X00002 X00001 X00000│X00003 M0000 │ │ │ │ │START │ │ │ MEM │ │ ├──┤ ├───────────────┘ │ │M0000 │ │ │ │START ┌ ┐ HEAT │ │ MEM │TEMPERATURE WX0040│ │ ├──┤ ├──┤ < ├─────────────────────────────────────────────( )─┤ │M0000 │30 │ Y00200│ │ └ ┘ │ │PHOTO EDGE1 ┌──────────────────────────────────────────────┐│ │ SW1 │DISPLAY = REGISTER1 + 7 ││ ├──┤ ├────┤ ├────────────────┤SHR (POSITION , 1 ) ││ │X00000 DIF0 │ ││ │ └──────────────────────────────────────────────┘│ │ │ │ │ │ │ DRAW mode 0003 (0003) OFFLINE H-250 Intern 7.5 Ks

We have now made a small program. In normal mode you can not see the addresses in the arithmetic box. Press <F5> and toggle between ”Show address” and ”Show Comment”. For the arithmetic box the ”Show Comment” mode will look as below. │PHOTO EDGE1 ┌──────────────────────────────────────────────┐│ │ SW1 │WR0000 = WR0001 + 7 ││ ├──┤ ├────┤ ├────────────────┤SHR (WR0002 , 1 ) ││ │X00000 DIF0 │ ││ │ └──────────────────────────────────────────────┘│


Practical handling


5.2.5 Syntax check:

Program menu

System Program Allocation Printout Files Communication Setup │START ┌────────────────────┐ START │ │ BUT │Ladder │ MEM │ ├──┤ ├──│Instruction │───────────────────────────────────────────( )─┤ │X00002 │ACTTERM-H text │ M0000 │ │ │Other module/program│ │ │START │Syntax check │ │ │ MEM │Info about project │ │ ├──┤ ├──│Delete block(s) │ │ │M0000 │Undo │ │ │ │New project │ │ │START └────────────────────┘ HEAT │ │ MEM │TEMPERATURE WX0040│ │ ├──┤ ├──┤ < ├─────────────────────────────────────────────( )─┤ │M0000 │30 │ Y00200│ │ └ ┘ │ │PHOTO EDGE1 ┌──────────────────────────────────────────────┐│ │ SW1 │DISPLAY = REGISTER1 + 7 ││ ├──┤ ├────┤ ├────────────────┤SHR (POSITION , 1 ) ││ │X00000 DIF0 │ ││ │ └──────────────────────────────────────────────┘│ │ │ │ │ │ │ DRAW mode 0003 (0003) OFFLINE H-250 Intern 7.5 Ks

The program syntax check can be done under the menu "Program" You should also write here the information about the project which shall be included in the final documentation printout. You can also toggle between ladder- and instruction programming or change to another programming method, like grafcet according to ActGraph. You can also delete a larger program area or start a new project. We have so far been working OFF-Line. Let us go ON-Line, transfer and test the program in the control system. You can now go through following procedure: Start to connect the PLC to the serial port of the computer and check inside the menu ”Setup-Communication” that the setup is correct. (The right serial port, right baud rate etc.) Normally select ”Standard values”.

Comm unication menu

System Program Allocation Printout Files Communication Setup │START IND S PHOTO STOP ┌───────────────────────┐START │ │ BUT ENS2 SW1 BUT │To PLC │ MEM │ ├──┤ ├────┤ ├────┤ ├─┬──┤/├───────────────────│From PLC │──( )─┤ │X00002 X00001 X00000│X00003 │Verify against PLC │M0000 │ │ │ │ACTTERM-H text to PLC │ │ │START │ │Monitor PLC │ │ │ MEM │ │Trace/Trigg │ │ ├──┤ ├───────────────┘ │PLC status │ │ │M0000 │Set PLC clock │ │ │ │Data memory transfer │ │ │START ┌ ┐ │Force free occupation │HEAT │ │ MEM │TEMPERATURE WX0040│ │Clear PLC │ │ ├──┤ ├──┤ < ├──────────────────│Clean-up Communications│──( )─┤ │M0000 │30 │ │(Terminal) │Y00200│ │ └ ┘ │Setup │ │ │PHOTO EDGE1 ┌────────────────└───────────────────────┘─────┐│ │ SW1 │DISPLAY = REGISTER1 + 7 ││ ├──┤ ├────┤ ├────────────────┤SHR (POSITION , 1 ) ││ │X00000 DIF0 │ ││ │ └──────────────────────────────────────────────┘│ │ │ │ │ │ │ DRAW mode 0003 (0003) OFFLINE H-250 Intern 7.5 Ks

Practical handling


Go to the communication menu. (You can here, beside transferring the program to or from the PLC system, create a monitor box, where free choice of memories and registers etc. can be shown and controlled during run. You can also get a status window, showing all information from the PLC to simplify trouble shooting etc. You can also adjust the real time clock. You can also copy the memory content of the PLC (for recipe handling, logging etc.) Transfer the program to the PLC system. The program and all PLC parameters are now transferred.

Practical handling

5.2.6 ON-Line programming

Go ON-Line through pressing <Alt>+F9 Start the PLC through pressing <Alt>+F7 Turn on monitor (show status) through pressing <Alt>+F5 (There is a short way through. Press only <Alt>+F5, which takes us through the complete chain (as this choice is ”highest up in the hierarchy”) It is now possible to program ON-Line. The changes are done in the same way as in OFF-Line When a block is changed or inserted, the PLC stops for a very short moment. But it will keep the status of memories and outputs.

Monitor

System Program Allocation Printout Files Communication Setup │START IND S PHOTO STOP START │ │ BUT ENS2 SW1 BUT MEM │ ├──┤ ├────┤ ├────┤ ├─┬──┤/├──────────────────────────────────────────────( )─┤ │X00002 X00001 X00000│X00003 M0000 │ │ │ │ │START │ │ │ MEM │ │ ├──┤ ├───────────────┘ │ │M0000 │ │ │ │START ┌ ┐ HEAT │ │ MEM │TEMPERATURE WX0040│ │ ├──┤ ├──┤ < ├─────────────────────────────────────────────( )─┤ │M0000 │30 │ Y00200│ │ └ ┘ │ │PHOTO EDGE1 ┌──────────────────────────────────────────────┐│ │ SW1 │DISPLAY = REGISTER1 + 7 ││ ├──┤ ├────┤ ├────────────────┤SHR (POSITION , 1 ) ││ │X00000 DIF0 │ ││ │ └──────────────────────────────────────────────┘│ │ │ │ │ │ │ DRAW mode 0003 (0003) ON LINE RUN H-250 Intern 7.5 Ks

Now the program can be checked through the function and through showing status on the screen. (the inverted fields are active or true). Monitor: The main monitor function is to show status in the ladder diagram on the screen. Here the true contacts (active lines) are shown through inverted colour. This makes it easy to detect errors etc. Monitor in arithmetic boxes: Monitor of values on the addresses in the arithmetic boxes is shown if you press <Alt>+<F3>. You will first see decimal monitor. Next time you will see hexadecimal monitor and finally ”Short Comment/address” again. │PHOTO EDGE1 ┌──────────────────────────────────────────────┐│ │ SW1 │ 332 = 325 + 7 ││ ├──┤ ├────┤ ├────────────────┤SHR ( 10 , 1 ) ││ │X00000 DIF0 │ ││ │ └──────────────────────────────────────────────┘│ │PHOTO EDGE1 ┌──────────────────────────────────────────────┐│ │ SW1 │H014C = H0145 + H0007 ││ ├──┤ ├────┤ ├────────────────┤SHR ( H000A , H0001 ) ││ │X00000 DIF0 │ ││ │ └──────────────────────────────────────────────┘│

You can also effect status on each contact through pressing <1> or <0> on a contact or typing a new value of a register. Through pressing <Alt>+F5 once more a larger monitor box will show on the screen. Here you can define what addresses and bit memories you want to monitor and control. (You can move the box on the screen with the arrow keys.)

──┤/├─────────────────────────────────────────────( )─ ┤ ├────

├──┤ ├───────────────┘

Decimal Hexa decimal


Practical handling

5.2.7 Store the program:


e,

System Program Allocation Printout Files Communication Setup │START IND S PHOTO STOP ┌────────────────────────┐ START │ │ BUT ENS2 SW1 BUT │List projects │ MEM │ ├──┤ ├────┤ ├────┤ ├─┬──┤/├────────────│Load a project from file│────────( )─┤ │X00002 X00001 X00000│X00003 │Store a project in file │ M0000 │ │ │ │Insert macro from file │ │ │START │ │Save macro in file │ │ │ MEM │ │Delete file │ │ ├──┤ ├───────────────┘ │Rename file │ │ │M0000 │Generate EPROM files │ │ │ └────────────────────────┘ │ │START ┌ ┐ HEAT │ │ MEM │TEMPERATURE WX0040│ │ ├──┤ ├──┤ < ├─────────────────────────────────────────────( )─┤ │M0000 │30 │ Y00200│ │ └ ┘ │ │PHOTO EDGE1 ┌──────────────────────────────────────────────┐│ │ SW1 │DISPLAY = REGISTER1 + 7 ││ ├──┤ ├────┤ ├────────────────┤SHR (POSITION , 1 ) ││ │X00000 DIF0 │ ││ │ └──────────────────────────────────────────────┘│ │ │ │ │ │ │ DRAW mode 0003 (0003) OFFLINE H-250 Intern 7.5 Ks

It is recommended to save the project repeatedly during the development. Use a project name or a series of names so you can go back to the latest version. You can do this under the menu ”Files”. You can load and save projects. You can also load and save ”Macros”, which is a program part, which can be used multiple times as it is stored under a unique name. Choose ”Save project in file” and specify project name. If you have several projects on your computer you should create a ”user library” and choose this in the menu ”Setup-PC”. It will then be easier to keep track of the projects.

5.2.8 Documentation:

t ments

System Program Allocation Printout Files Communication Setup │* Start cirquit with self hold │ │* │ │* Condition for start: Photo Switch 1 and Inductive sensor 2 │ │* │ │ │ │START IND S PHOTO STOP START │ │ BUT ENS2 SW1 BUT MEM │ ├──┤ ├────┤ ├────┤ ├─┬──┤/├──────────────────────────────────────────────( )─┤ │X00002 X00001 X00000│X00003 M0000 │ │ │ │ │START │ │ │ MEM │ │ ├──┤ ├───────────────┘ │ │M0000 │ │ │ │* Check of heating │ │* Analog input 1 senses that the temperature goes on when │ │* the temperature is below 30 Centigardes │ │ │ │ │ │START ┌ ┐ HEAT │ │ MEM │TEMPERATURE WX0040│ │ ├──┤ ├──┤ < ├─────────────────────────────────────────────( )─┤ DRAW mode 0002 (0003) OFFLINE H-250 Intern 7.5 Ks

To make the program even more easy to read, you can write a comment belonging to every ladder block. Place the cursor on each block and press <Enter>. A window will open, where you can write text. The first five lines of this text will always be visible in the program. Press <Esc> when you are ready.

Practical handling


5.2.9 Printout:

Print out

System Program Allocation Printout Files Communication Setup │* Start cirquit with self ho┌──────────────────────┐ │ │* │Ladder │ │ │* Condition for start: Photo│Instruction │sensor 2 │ │* │Ladder and Instruction│ │ │ │Ladder and Allocation │ │ │START IND S PHOTO STOP │Allocation │ START │ │ BUT ENS2 SW1 BUT │Allocation packed │ MEM │ ├──┤ ├────┤ ├────┤ ├─┬──┤/├──│PLC Setup │────────────────────( )─┤ │X00002 X00001 X00000│X00003 │Cross reference │ M0000 │ │ │ │Block comments │ │ │START │ │ACTTERM-H texts │ │ │ MEM │ │Setup │ │ ├──┤ ├───────────────┘ └──────────────────────┘ │ │M0000 │ │ │ │* Check of heating │ │* Analog input 1 senses that the temperature goes on when │ │* the temperature is below 30 Centigardes │ │ │ │ │ │START ┌ ┐ HEAT │ │ MEM │TEMPERATURE WX0040│ │ ├──┤ ├──┤ < ├─────────────────────────────────────────────( )─┤ DRAW mode 0002 (0003) OFFLINE H-250 Intern 7.5 Ks

When the program is ready you ought to make documentation. This is done under the choice ”Printout” Start to check so the printout setup is correct in ”Setup-Printout”. Thereafter choose the printout types you want.

5.2.10 End of project: When the program works, you have saved the project, you have made documentation and printout, you can leave the programming.

Exit

System Program Allocation Printout Files Communication Setup ┌──────────────────┐h self hold │ │DOS command │ │ │Exit from Actsip-H│rt: Photo Switch 1 and Inductive sensor 2 │ │About Actsip-H │ │ └──────────────────┘ │ │START IND S PHOTO STOP START │ │ BUT ENS2 SW1 BUT MEM │ ├──┤ ├────┤ ├────┤ ├─┬──┤/├──────────────────────────────────────────────( )─┤ │X00002 X00001 X00000│X00003 M0000 │ │ │ │ │START │ │ │ MEM │ │ ├──┤ ├───────────────┘ │ │M0000 │ │ │ │* Check of heating │ │* Analog input 1 senses that the temperature goes on when │ │* the temperature is below 30 Centigardes │ │ │ │ │ │START ┌ ┐ HEAT │ │ MEM │TEMPERATURE WX0040│ │ ├──┤ ├──┤ < ├─────────────────────────────────────────────( )─┤ DRAW mode 0002 (0003) OFFLINE H-250 Intern 7.5 Ks

You can here also get information about version number etc. and make a temporary exit to DOS (if you want to make DOS commands).

Practical handling

5.3 Programming with ActGraph: For a detailed description of grafcet, see separate description. Start the programming with <G>. You will get a welcome window. ╔════════════════════════ ActGraph ═════════════════════════╗ ║ ║ ║ Welcome to the Actron ActGraph development software for ║ ║ Hitachi series J/E/EM/EB/HB/H200/H300+ PLC systems. ║ ║ ║ ║ <F1> is the HELP key. ║ ║ ║ ║ <Alt> + <F1> is the HELP key for ON-LINE and monitor. ║ ║ ║ ║Press <ENTER> ║ ╚═══════════════════════════════════════════════════════════╝

Press <Esc> and you will come into a drawing screen. (You can start programming without deciding what type of PLC to connect and decide when the project is ready and the information about size is available. You can also change PLC afterwards and code the project for the new type.) As we in this case know that we are going to use an H series PLC (a H250 CPU) we can decide from the beginning. . Go to "Setup-PLC". The setup menu is identical to the one we saw in Actsip-H (see the previous chapter). Choose "Series H250", 8 k memory and in the I/O configuration we choose two 16 input modules, and two 16 output modules. All other setups are also identical to the setups in Actsip-H. 5.3.1 Programming:

Word Debug Monitor Monitor Start Stop ON- OFF- +<Alt> monitor ON OFF PLC PLC LINE LINE Branch Start Activity Reset- Parallel Return Boxes +<Shift> Help ACT Redraw down step cond. cond. (Extra) screen up Step Transi- Altern. tion branch branch jump


Practical handling


You can also get a number of new choices, e.g. Search, in the bottom of the screen through pressing <F2>.


Practical handling


5.3.2 Start step:

┌──┐ │╔═╧═╗ │║000║ │╚═█═╝ └──┘ +. Off-line Series H $

Press <Shift>+F5 and create a start step.

5.3.3 Actions:

┌──┐ │╔═╧═╗ │║000║ │╚═╤═╝ └──┘ ╔═══════════════════════════ Actions ═══════════════════════════╗ ║ GREEN LAMP█ ║ ║ ║ ║ ║ ║ ║ ║ ║ ║ ║ ║ ║ ║ ║ ╚═══════════════════════════════════════════════════════════════╝ +. Off-line Series H $

Press <Enter> and open an action box.

Practical handling

Insert the first action. ┌──┐ │╔═╧═╗ │║000║ │╚═╤═╝ └──┘ ╔═══════════════════════════ Actions ═══════════════════════════╗ ║ GREEN LAMP ║ ║ ║ ║ ║ ║ ║ ║ ║ ║ ║ ║ ║ ╔═══════════════════════════════ Allocation ═══════════════════════════════╗ ║GREEN LAMP ║ ║[ Y00200 ] ║ ║ ║ ║Word ║ ║Bit Output Marker Timer Counter U/D-Cnt ShiftRg Macro ║ ╚══════════════════════════════════════════════════════════════════════════╝ +. Off-line Series H $

If the address is not defined before, the automatic allocation will appear. Choose type of address and address. Press <Enter> , The allocation window will disappear and the Cursor will go to the left of ”GREEN LAMP”. Here you can write a ”detailed action” (see below).


5.3.4 Transitions:

┌──┐ │╔═╧═╗┌─────────────┐ │║000╟┤ GREEN LAMP │ │╚═╤═╝└─────────────┘ │ ┼ START BUT └──█ +. Off-line Series H $

If you do not want a detailed action, press <Enter> and the action box will close. Create a transition through pressing <F6>. Press <Enter> and write the transition condition. The transition can be a Boolean expression where "+" stands for a parallel connection and "*" stands for serial connection. E.g. ”START BUT * PHOTO SW * IND SENS2" See more detailed grafcet description. It can also be a comparison, see below.

Output Bit

Practical handling


5.3.5 Detailed Actions:

┌──┐ │╔═╧═╗┌─────────────┐ │║000╟┤ GREEN LAMP │ │╚═╤═╝└─────────────┘ │ ┼ STA╔═══════════════════════════ Actions ═══════════════════════════╗ │┌─┴─┐ ║ FEEDER 1 ║ ││001│ ║ D CYLINDER 2 D=2.5s ║ │└─┬─┘ ║ S RUN LAMP =1 ║ └──┘ ║ █ ║ ║ ║ ║ ║ ║ ║ ║ ║ ╚═══════════════════════════════════════════════════════════════╝ +. Off-line Series H $

Write the new actions in this step. After each completed action, the cursor will go to the left of the action. Here you can define a detailed action. "D" stands for Time delay of the action. "L" stands for limited duration of the action . "C" stands for an extra condition to activate the action "S" stands for SET and RESET. "P" stands for a very short pulse (impulse) Type ”D” and set the time delay to 2.5 s. ┌──┐ │╔═╧═╗┌─────────────┐ │║000╟┤ GREEN LAMP │ │╚═╤═╝└─────────────┘ │ ┼ START BUT │┌─┴─┐┌──────────────────────┐ ││001├┤ FEEDER 1 │ │└─┬─┘│D CYLINDER 2 [D=2.5s]│ │ │ │+ RUN LAMP │ │ │ └──────────────────────┘ │ ┼ CYL 2 OUT │┌─┴─┐┌────────────┐ ││002├┤ LIFT DOWN │ │└─┬─┘└────────────┘ │ ┼ LIFT LOW │┌─┴─┐┌───────────┐ ││003├┤ FEEDER 1 │ │└─┬─┘└───────────┘

┼│ PHOTO SW 2 └──█ +. Off-line Series H $

Continue in the same way and build the graph with one step, one transition, one step etc. In this way you can build a straight sequence of any length on the screen.

Practical handling

5.3.6 Alternative branch:

Normally the sequences are not completely straight. Therefore we have to use branches.. Let us start with an alternative branch, which is an alternative way to pass step 2 and 3 in the graph.

A B C Place the Cursor on step 1 (after which the branch shall start). Press F7.

Place the Cursor on the lower horizontal part of the branch and pull down with the F4 key.

Place the Cursor on the new branch start and create the new steps and transitions as before.

┌──┐ │╔═╧═╗┌─────────────┐ │║000╟┤ GREEN LAMP │ │╚═╤═╝└─────────────┘ │ ┼ START BUT │┌─┴─┐┌──────────────────────┐ ││001├┤ FEEDER 1 │ │└─█─┘│D CYLINDER 2 [D=2.5s]│ │ │ │+ RUN LAMP │ │ │ └──────────────────────┘ │

─────────────────────────┐ ├──│ ├───────────────────────────┘ │ ┼ CYL 2 OUT │┌─┴─┐┌────────────┐ ││002├┤ LIFT DOWN │ │└─┬─┘└────────────┘ │ ┼ LIFT LOW │┌─┴─┐┌───────────┐ ││003├┤ FEEDER 1 │ │└─┬─┘└───────────┘ │ ┼ PHOTO SW 2 └──┘

┌──┐ │╔═╧═╗┌─────────────┐ │║000╟┤ GREEN LAMP │ │╚═╤═╝└─────────────┘ │ ┼ START BUT │┌─┴─┐┌──────────────────────┐ ││001├┤ FEEDER 1 │ │└─┬─┘│D CYLINDER 2 [D=2.5s]│ │ │ │+ RUN LAMP │ │ │ └──────────────────────┘ │ ├───────────────────────────┐ │ ┼ CYL 2 OUT │ │┌─┴─┐┌────────────┐ │ ││002├┤ LIFT DOWN │ │ │└─┬─┘└────────────┘ │ │ ┼ LIFT LOW │ │┌─┴─┐┌───────────┐ │ ││003├┤ FEEDER 1 │ │ │└─┬─┘└───────────┘ │


│ ┼ PHOTO SW 2 │ │ █───────────────────────────┘ └──┘

┌──┐ │╔═╧═╗┌─────────────┐ │║000╟┤ GREEN LAMP │ │╚═╤═╝└─────────────┘ │ ┼ START BUT │┌─┴─┐┌──────────────────────┐ ││001├┤ FEEDER 1 │ │└─┬─┘│D CYLINDER 2 [D=2.5s]│ │ │ │+ RUN LAMP │ │ │ └──────────────────────┘ │ ├───────────────────────────┐ │ ┼ CYL 2 OUT ┼ PHOTO SW 2 │┌─┴─┐┌────────────┐ ┌─┴─┐┌────────────┐ ││002├┤ LIFT DOWN │ │004├┤ CYL 3 OUT │ │└─┬─┘└────────────┘ └─┬─┘└────────────┘ │ ┼ LIFT LOW ┼ CYL 3 END │┌─┴─┐┌───────────┐ ┌─┴─┐┌────────────┐ ││003├┤ FEEDER 1 │ │005├┤ LIFT DOWN │ │└─┬─┘└───────────┘ └─┬─┘└────────────┘ │ ┼ PHOTO SW 2 ┼ LIFT LOW

│ ├───────────────────────────█ └──┘

5.3.7 Parallel branch: We will now create a parallel branch., which shall work in parallel to step 1.

A B Place the cursor on the transition between step 0 and step 1, where the branch shall begin. Press F8 and an embryo of a branch will occur.

Pull the lower part of the branch down passed step 1 with F4. Create thereafter the parallel steps in the normal way.

┌──┐ │╔═╧═╗┌─────────────┐ │║000╟┤ GREEN LAMP │

│╚═╤═╝└─────────────┘ │ █ START BUT │ ╪═══════════════════════════╤ │ ╪═══════════════════════════╧ │┌─┴─┐┌──────────────────────┐ ││001├┤ FEEDER 1 │ │└─┬─┘│D CYLINDER 2 [D=2.5s]│ │ │ │+ RUN LAMP │ │ │ └──────────────────────┘ │ ├───────────────────────────┐ │ ┼ CYL 2 OUT ┼ PHOTO SW 2 │┌─┴─┐┌────────────┐ ┌─┴─┐┌────────────┐ ││002├┤ LIFT DOWN │ │004├┤ CYL 3 OUT │ │└─┬─┘└────────────┘ └─┬─┘└────────────┘ │ ┼ LIFT LOW ┼ CYL 3 END │┌─┴─┐┌───────────┐ ┌─┴─┐┌────────────┐ ││003├┤ FEEDER 1 │ │005├┤ LIFT DOWN │ │└─┬─┘└───────────┘ └─┬─┘└────────────┘ │ ┼ PHOTO SW 2 ┼ LIFT LOW │ ├───────────────────────────┘ ──┘ └

┌──┐ │╔═╧═╗┌─────────────┐ │║000╟┤ GREEN LAMP │ │╚═╤═╝└─────────────┘ │ ┼ START BUT │ ╪═══════════════════════════╤ │┌─┴─┐┌──────────────────────┌─┴─┐┌──────────┐ ││001├┤ FEEDER 1 │006├┤ LIFT UP │ │└─┬─┘│D CYLINDER 2 [D=2.5s]└─┬─┘└──────────┘ │ │ │+ RUN LAMP │ ┼ LIFT HIGH │ │ └──────────────────────┌─┴─┐ │ │ │007│ │ │ └─█─┘ │ ╪═══════════════════════════╧ │ ├───────────────────────────┐ │ ┼ CYL 2 OUT ┼ PHOTO SW 2 │┌─┴─┐┌────────────┐ ┌─┴─┐┌────────────┐ ││002├┤ LIFT DOWN │ │004├┤ CYL 3 OUT │ │└─┬─┘└────────────┘ └─┬─┘└────────────┘ │ ┼ LIFT LOW ┼ CYL 3 END │┌─┴─┐┌───────────┐ ┌─┴─┐┌────────────┐ ││003├┤ FEEDER 1 │ │005├┤ LIFT DOWN │ │└─┬─┘└───────────┘ └─┬─┘└────────────┘ │ ┼ PHOTO SW 2 ┼ LIFT LOW │ ├───────────────────────────┘ └──┘

Practical handling

5.3.8 Return branch: Finally we will create a return branch. When the inductive sensor "IND SENS 2" is effected before ”PHOTO SW 2”, after step 3, a new sequence shall be activated and thereafter step 2 and step 3 shall be repeated.

B e Cursor on step 3 and press F9. Pull up the upper part of the branch with <Shift>+F4 above

step 2. Create the return steps in the normal way. ╧═╗┌─────────────┐ 0╟┤ GREEN LAMP │ ╤═╝└─────────────┘ ┼ START BUT ╪═══════════════════════════╤ ┴─┐┌───────────────────── ┌─┴─┐┌──────────┐ 1├┤ FEEDER 1 ││006├┤ LIFT UP │ ┬─┘│D CYLINDER 2 [D=2.5s]│└─┬─┘└──────────┘ │+ RUN LAMP │ ┼ LIFT HIGH └───────────────────── ┌─┴─┐ │007│ └─┬─┘ ╪═══════════════════════════╧ ├───────────────────────────┐ ┼ CYL 2 OUT ┼ PHOTO SW 2 ┴─┐┌────────────┐ ┌─┴─┐┌────────────┐ 2├┤ LIFT DOWN │ │004├┤ CYL 3 OUT │ ┬─┘└────────────┘ └─┬─┘└────────────┘ ┼ LIFT LOW ┼ CYL 3 END ┴─┐┌───────────┐ ┌─┴─┐┌────────────┐ 3├┤ FEEDER 1 │ │005├┤ LIFT DOWN │ ┬─┘└───────────┘ └─┬─┘└────────────┘ ┼ LIFT LOW │


┼ PHOTO SW 2 │ ├───────────────────────────┘

┌────────────────────┐ │ ╔═╧═╗┌─────────────┐ │ ║000╟┤ GREEN LAMP │ │ ╚═╤═╝└─────────────┘ │ ┼ START BUT │ ╪═══════════════════════════╤ │ ┌─┴─┐┌───────────────────── ┌─┴─┐┌──────────┐ │ │001├┤ FEEDER 1 ││006├┤ LIFT UP │ │ └─┬─┘│D CYLINDER 2 [D=2.5s]│└─┬─┘└──────────┘ │ │ │+ RUN LAMP │ ┼ LIFT HIGH │ │ └───────────────────── ┌─┴─┐ │ │ │007│ │ │ └─┬─┘ │ ╪═══════════════════════════╧ │ ├───────────────────────────┐ │ ┼ CYL 2 OUT ┼ PHOTO SW 2 │ ┌─────────────────┤ ┌─┴─┐┌────────────┐ │ ┼ OUT 4 ┌─┴─┐┌────────────┐ │004├┤ CYL 3 OUT │ │┌─┴─┐┌───────────┐│002├┤ LIFT DOWN │ └─┬─┘└────────────┘ ││008├┤ FEEDER 4 │└─┬─┘└────────────┘ ┼ CYL 3 END │└─┬─┘└───────────┘ ┼ LIFT LOW ┌─┴─┐┌────────────┐ │ ┼ LIFT HIGH ┌─┴─┐┌───────────┐ │005├┤ LIFT DOWN │ │┌─┴─┐┌──────────┐ │003├┤ FEEDER 1 │ └─┬─┘└────────────┘ ││009├┤ LIFT UP │ └─┬─┘└───────────┘ ┼ LIFT LOW │└─┬─┘└──────────┘ │ │ │ ┼ IND SENS 2 │ │ │ └─────────────────┤ │ │ ┼ PHOTO SW 2 │ │ ├───────────────────────────┘ └────────────────────┘

5.3.9 Super conditions: We are now going to create a super condition for the graph.. There are two types: -"Activity condition", which is a logic condition for the graph to be activated. -"Reset condition", which is a logic condition, which resets the graph and makes the graph return to the start step.

B <Shift>+F6 and the window for activity condition will appear. he condition and press <Enter>. choose the panel switch ”AUTO” as an activity condition, enables Auto/manual control of the graph.

The condition is now shown above the graph (after "A:") Press <Shift>+F7 to write the Reset condition. This will also stay above the graph.

Practical handling

┌────────────────────┐ │ ╔═╧═╗┌─────────────┐ │ ║000╟┤ GREEN LAMP │ │ ╚═╤═╝└─────────────┘ │ ┼ START BUT │ ╪═══════════════════════════╤ │ ┌─┴─┐┌──────────────────────┌─┴─┐┌──────────┐ │ │001├┤ FEEDER 1 │006├┤ LIFT UP │ │ └─┬─┘│D CYLINDER 2 [D=2.5s]└─┬─┘└──────────┘ │ │ │+ RUN LAMP │ ┼ LIFT HIGH ╔═════════════════════════ Boolean expression ══════════════════════════╗ ║ActivCond: AUTO ║ ╚═══════════════════════════════════════════════════════════════════════╝ │ ╪═══════════════════════════╧ │ ├───────────────────────────┐ │ ┼ CYL 2 OUT ┼ PHOTO SW 2 │ ┌─────────────────┤ ┌─┴─┐┌────────────┐ │ ┼ OUT 4 ┌─┴─┐┌────────────┐ │004├┤ CYL 3 OUT │ │┌─┴─┐┌───────────┐│002├┤ LIFT DOWN │ └─┬─┘└────────────┘ ││008├┤ FEEDER 4 │└─┬─┘└────────────┘ ┼ CYL 3 END │└─┬─┘└───────────┘ ┼ LIFT LOW ┌─┴─┐┌────────────┐ │ ┼ LIFT HIGH ┌─┴─┐┌───────────┐ │005├┤ LIFT DOWN │ │┌─┴─┐┌──────────┐ │003├┤ FEEDER 1 │ └─┬─┘└────────────┘ ││009├┤ LIFT UP │ └─┬─┘└───────────┘ ┼ LIFT LOW │└─┬─┘└──────────┘ │ │ │ ┼ IND SENS 2 │ │ │ └─────────────────┤ │ │ ┼ PHOTO SW 2 │ │ ├───────────────────────────┘ └────────────────────┘

R:RESTART A:AUTO ┌────────────────────┐ │ ╔═╧═╗┌─────────────┐ │ ║000╟┤ GREEN LAMP │ │ ╚═╤═╝└─────────────┘ │ ┼ START BUT │ ╪═════════════════════ │ ┌─┴─┐┌────────────────── │ │001├┤ FEEDER 1 │ └─┬─┘│D CYLINDER 2 [D=2 │ │ │+ RUN LAMP │ │ └────────────────── │ │ │ │ │ ╪═════════════════════ │ ├───────────────────── │ ┼ CYL 2 OUT │ ┌─────────────────┤ │ ┼ OUT 4 ┌─┴─┐┌────────────┐ │┌─┴─┐┌───────────┐│002├┤ LIFT DOWN │ ││008├┤ FEEDER 4 │└─┬─┘└────────────┘ │└─┬─┘└───────────┘ ┼ LIFT LOW │ ┼ LIFT HIGH ┌─┴─┐┌───────────┐ │┌─┴─┐┌──────────┐ │003├┤ FEEDER 1 │ ││009├┤ LIFT UP │ └─┬─┘└───────────┘ │└─┬─┘└──────────┘ │ │ ┼ IND SENS 2 │ │ └─────────────────┤ │ ┼ PHOTO SW 2 │ ├───────────────────── └────────────────────┘


Practical handling

5.3.10 Logic boxes: It is not natural everywhere to describe all the application with graphs. Specially where it is a question of a pure logic problem it is more natural to place the logic in a ”Logic box”. A logic box is general. Therefore it is described in Boolean expressions.

B C F10 and choose Box”. Press >.

Here the output side of the expressions are written on the left side. Thereafter the cursor goes to the right and a Boolean expression can be written. Thereafter a new expression can be written and so on.

When all expressions are written, press <Enter> once more and the box will be closed with the inputs on the left side and the outputs to the right side of the box. Press <Shift>+F6 and define the activity condition ”/AUTO”. (which means NOT AUTO (which is the same as ”manual”.

┌─────────────┐ ┤ GREEN LAMP │ └─────────────┘ TART BUT ════════════════════════ ┌──────────────────────┌ ┤ FEEDER 1 │ │D CYLINDER 2 [D=2.5s]└ │+ RUN LAMP │ └──────────────────────┌ │ └ ════════════════════════ ──────────────────────── YL 2 OUT ┌ ┌────────────┐ │ ┤ LIFT DOWN │ └ └────────────┘ IFT LOW ┌ ┌────────╔═══════════╗ │ ┤ FEEDER║Graph ║ └ └────────║Logical box║ ║Action box ║ ║Macro box ║ ╚═══════════╝ HOTO SW 2 ────────────────────────

┌────────┐ │ │ └────────┘ ════════╤ ─────╔═════════════════════════════ Logical box ═ ║LIFT DOWN =PUSHB 1*/LIFT LOW =2.5s║LIFT UP =PUSHB 2*/LIFT HIGH ║ ─────║ ║ ║ ═════║ ─────║ ╚═══════════════════════════════════════════ ┌─┴─┐┌────────────┐ │004├┤ CYL 3 OUT │ └─┬─┘└────────────┘ ┼ CYL 3 END ┌─┴─┐┌────────────┐ │005├┤ LIFT DOWN │ └─┬─┘└────────────┘ ┼ LIFT LOW │ │ │ │ ───────┘ ─

A:/AUTO ┌────────┐ PUSHB 1┤ ├LIFT DOWN LIFT LOW┤ ├LIFT UP PUSHB 2┤ │ LIFT HIGH┤ │ └────────┘ ═══╤ ─┌─┴─┐┌──────────┐ │006├┤ LIFT UP │ ]└─┬─┘└──────────┘ │ ┼ LIFT HIGH ─┌─┴─┐ │007│ └─┬─┘ ═══╧ ───┐ ┼ PHOTO SW 2 ┌─┴─┐┌────────────┐ │004├┤ CYL 3 OUT │ └─┬─┘└────────────┘ ┼ CYL 3 END ┌─┴─┐┌────────────┐ │005├┤ LIFT DOWN │ └─┬─┘└────────────┘ ┼ LIFT LOW │ │ │ │ ───┘

5.3.11 Macro boxes: In some cases it is necessary to use specific PLC instructions. These can be programmed in another type of box called ”Macro Box”. In this box you can use the special instructions of the H series and the programming is done exactly as in Actsip-H. You can store a macro under a special name and you can use this macro in other projects.


Practical handling


A B Press F10 and choose ”Macro box”. An empty box will occur. Write a name and press <Enter>

Now a drawing screen will open, which looks like in Actsip-H. Make the programming as in Actsip-H. The addresses which are programmed here are different from the addresses in the graph programming. (The programming of the macro boxes is isolated)

A:/AUTO ┌────────┐ PUSHB 1┤ ├LIFT

DOWN LIFT LOW┤ ├LIFT UP PUSHB 2┤ │ LIFT HIGH┤ │ └────────┘ ════════╤ ──────┌─┴─┐┌──────────┐ ╒════════╕ │006├┤ LIFT UP │ │▒CALC1▒▒│ =2.5s]└─┬─┘└──────────┘ └────────┘ │ ┼ LIFT HIGH ──────┌─┴─┐ │007│ └─┬─┘ ════════╧ ────────┐ ┼ PHOTO SW 2 ┌─┴─┐┌────────────┐ │004├┤ CYL 3 OUT │ └─┬─┘└────────────┘ ┼ CYL 3 END ┌─┴─┐┌────────────┐ │005├┤ LIFT DOWN │ └─┬─┘└────────────┘ ┼ LIFT LOW │ │ │ │ ────────┘

======================== CALC2 =========== =================

│ ┌───────────────────────────────────────┐│ │ │PROD = FACT1 * FACT2 ││ ├────────────────┤WSHR (PROD , 2 ) ││ │ │SGET (RESULT , PROD ) ││ │ └───────────────────────────────────────┘│ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ DRAW mode 0001 (0001) OFFLINE

C When the Macro is ready, press <Esc> Approve (or change) the new addresses, which are suggested. Thereafter the new macro is shown.

A:/AUTO ┌────────┐ PUSHB 1┤ ├LIFT DOWN LIFT LOW┤ ├LIFT UP PUSHB 2┤ │ LIFT HIGH┤ │ └────────┘ ════════╤ ──────┌─┴─┐┌──────────┐ ╒════════╕ │006├┤ LIFT UP │ FACT1╡▒CALC2▒▒╞PROD =2.5s]└─┬─┘└──────────┘ FACT2╡▒▒▒▒▒▒▒▒╞RESULT │ ┼ LIFT HIGH PROD╡▒▒▒▒▒▒▒▒│ ──────┌─┴─┐ └────────┘ │007│ └─┬─┘ ════════╧ ──────── ┐

5.3.12 Action boxes: In some cases there is a need to make calculations and control, which is completely independent from a graph. There is a third type of box for this purpose. This is called ”Action box”. It is treated in the same way as the action window inside a graph. Press F10 and choose ”Action box”. An empty box will occur. Here you can write mathematical expressions together with logic and comparisons. A:/AUTO ┌────────┐ PUSHB 1┤ ├LIFT DOWN

Practical handling


LIFT LOW┤ ├LIFT UP ╔═══════════════════════════ Actions ═══════════════════════════╗ ║ VALUE1 = COUNTER1*18 ║ ║ ANALOGOUT3 =ANALOGIN2/RESULT+34 ║ ════════║ G = F*H/(I+J)-K*15 ║ ──────┌─║ ║ │0║ ║ =2.5s]└─║ ║ │ ║ ║ ──────┌─║ ║ │0╚═══════════════════════════════════════════════════════════════╝ └─┬─┘ ┌───┴────┐ ════════╧ │ │ ────────┐ └───┬────┘ ┼ PHOTO SW 2 ┌─┴─┐┌────────────┐ │004├┤ CYL 3 OUT │ └─┬─┘└────────────┘ ┼ CYL 3 END ┌─┴─┐┌────────────┐ │005├┤ LIFT DOWN │ └─┬─┘└────────────┘ ┼ LIFT LOW │ │ │ │ ────────┘

+. Off-line Series H $

Practical handling

When this is ready, press <Enter> and the box will close. You can see the difference between a logic box and an action box as an action box has a vertical line on the top and on the bottom. (It can also have double lines on the side. These will symbolise values.) A:/AUTO

┌────────┐ PUSHB 1┤ ├LIFT DOWN LIFT LOW┤ ├LIFT UP PUSHB 2┤ │ LIFT HIGH┤ │ └────────┘ ════════╤ ──────┌─┴─┐┌──────────┐ ╒════════╕ │006├┤ LIFT UP │ FACT1╡▒CALC2▒▒╞PROD =2.5s]└─┬─┘└──────────┘ FACT2╡▒▒▒▒▒▒▒▒╞RESULT │ ┼ LIFT HIGH PROD╡▒▒▒▒▒▒▒▒│ ──────┌─┴─┐ └────────┘ │007│ └─┬─┘ ┌───┴────┐ ════════╧ │ ╞VALUE1 ────────┐ │ ╞ANALOGOUT3 ┼ PHOTO SW 2 │ ╞G ┌─┴─┐┌────────────┐ └───┬────┘ │004├┤ CYL 3 OUT │ └─┬─┘└────────────┘ ┼ CYL 3 END ┌─┴─┐┌────────────┐ │005├┤ LIFT DOWN │ └─┬─┘└────────────┘ ┼ LIFT LOW │ │ │ │ ────────┘ +. Off-line Series H $

5.3.13 Mathematical expressions: Mathematical expressions (calculations etc.), which are not connected directly to the specific PLC instructions can be written either in action boxes or actions connected to the graph. If the action, written on the left side in the box, e.g. ”VALUE1” is defined as a ”word” the expression will be treated as a mathematical expression instead of a normal logic action. The following symbols can be used:

E.g. C A = B*C/D+E*(F-G)+100 C=TEMP>100*PROG1 It is possible to write a detailed action also in front of a mathematical action. 5.3.14 Comparison expressions: In all logical expressions comparisons and logics can be freely mixed. (See above, where the condition ”C”, to let the mathematical expression be executed, is that ”TEMP” is > 100 (Centigrade) and PROG1 is chosen. These comparison can also be written as transitions between steps in graphs.

E.g.

The condition for a transition from one step to another is that the level is below 100 and that the timer ”TIMER1” is out.

LEVEL < 100 * TIMER1


Practical handling

5.3.15 Zoom: To achieve maximum overview of during the work, you can both amplify and minimise the objects on the screen during the programming. Press < + > to increase. Press < - > to decrease. You will get the question:


ELEMENT BRANCH GRAPH

This means that you can choose different zooming for different parts of a project and different for different parts of a graph. If you choose ”ELEMENT” the step where the cursor is will decrease or increase. If you choose ”BRANCH” the branch where the cursor is will decrease or increase. The same thing happens if you choose GRAPH. Size 1 You will here see all significant information simultaneously in action boxes and transitions. This size is default. (Size 2 All boxes will have the same width. ) Size 3 This size will give a rough structure of the project. If is still possible to show the flow in a project during monitoring. This is practical when you want as much of the project as possible on the screen simultaneously. Example: ┌───────┐ ┌──┐ A:/AUTO │ ╔╧╗ │ ╔╧╗ ┌────────┐ │ ╚╤╝ │ ╚╤╝ PUSHB 1┤ ├LIFT DOWN │ ╪════╤ │ ┌┴┐ LIFT LOW┤ ├LIFT UP │ ┌┴┐ ┌┴┐ │ └┬┘ PUSHB 2┤ │ │ └┬┘ └┬┘ │ ┌┴┐ LIFT HIGH┤ │ │ │ ┌┴┐ │ └┬┘ └────────┘ │ │ └┬┘ │ ┌┴┐ │ ╪════╧ │ └┬┘ ╒════════╕ │ ├────┐ │ ┌┴┐ FACT1╡▒CALC2▒▒╞PROD │ ┌────┤ ┌┴┐ │ └┬┘ FACT2╡▒▒▒▒▒▒▒▒╞RESULT │ ┌┴┐ ┌┴┐ └┬┘ │ ┌┴┐ PROD╡▒▒▒▒▒▒▒▒│ │ └┬┘ └┬┘ ┌┴┐ │ └┬┘ └────────┘ │ ┌┴┐ ┌┴┐ └┬┘ │ ┌┴┐ │ └┬┘ └┬┘ │ │ └┬┘ ┌───┴────┐ │ └────┤ │ │ ┌┴┐ │ ╞VALUE1 │ ├────┘ │ └┬┘ │ ╞ANALOGOUT3 └───────┘ │ ┌┴┐ │ ╞G │ └┬┘ └───┬────┘ └──┘ +. Off-line Series H $

The different sizes can be used freely together. The printouts you order will show the same size as you have chosen on the screen.


6 Hand programming units: There are two types of hand programmers: - PGM-GPH Portable graphic programmer. - PGM-CHH Instruction word programmer. For more information, see Hitachi manuals.

Common description of the hardware





7 Common description of the hardware:

7.1 General specification:

Operation temperature 0 to 55 ° C Storage temperature -10 to 75 ° C Operation humidity 20% to 90% (non condensing) Storage humidity 10% to 90% (non condensing) Allowable instantaneous power failure time 20 ms Vibration resistance Frequency 16.7 Hz, multi amplitude 3 mm in X, Y and Z directions. Noise resistance 1500 V p-p in 100 ns with a pulse width of 1 μs.

Based on NEMA ICS2-230-42 to 45 (except for inputs) Static noise 3000 V applied to exposed metal.

Insulation resistance 20 MΩ or more between external AC terminals and FG (ground) terminal. Dielectric strength 1500 VAC in 1 minute between AC terminals and FG (ground) terminal. Grounding 100 Ω Atmosphere Must be free from corrosive gases such as ammonium, hydrogen sulphide etc. Cooling Natural air cooling

7.2 Basic specification: HB H200 H250 H252 H300-H2002 Max. amount modules

- 16 (with BSM-9) max. 29 (with BSH)

64 (for H2000/2)

Amount of I/O up to 128 exclusive 8-I/O modules up to 128 up to 128 up to 232 remote I/O 16-I/O modules up to 256 up to 256 up to 464 up to 1024 32-I/O modules up to 512 up to 512 up to 928 up to 2048 64-I/O modules up to 4096 Process system Cyclic program scan procedure. Cycle time Logic

instructions 1.5 μs/ instruction

1.5 μs/ instruction



min 0.4 μs/ instruction

Arithmetic instructions

>10 μs/ instruction

>10 μs/ instruction

>5 μs/ instruction

>3 μs/ instruction

>5 μs/ instruction

Program memory 7.6 k steps 7.6 k steps 15.7 k steps 15.7 k steps up to 48 k steps Instructions Logic 17 17 17 17 17 Arithmetic 54 49 73 124 up to 124 I/O updating direct direct,

I/O-copying direct, I/O-copying

I/O-copying direct

Bit memories (R) 1984 Word memories (WR)

1 k words (WR0-3FF)

1 k words (WR0-3FF)

1 k / 17 k words

1 k / 17 k words

1 k / 17 k / 50 k words

Special memories bits 64 words 64 CPU-Link 128 x 2 (256)

bits 128 x 2 (256) bits

1024 words /16384 bits

Remote 128 x 4 (512) bits 512 bits/ /32 words x 4

Bit/Word (M/WM) 4092/256 16384/1024 Timers/Counters 512 (TD+CU etc.) 0-255 for timers Timer Preset 0 to 65535 s with time base 0.01, 0.1 and 1 s Counter Preset 0 to 65535 Edge detection 128 positive/128 negative 512 positive/512 negative Real time clock Year, month,day, week day, hour, minute and second (not H300-H2000)


7.3 Process system: 7.3.1 In- and output update. All H CPUs can work with direct update. The H200 CPU *1 can also work with I/O copying. I/O-copying (or Refresh): The input status is read before the program scan and the outputs are written directly after the program scan. During the program scan the status of the inputs and outputs are only available in a memory area, which reflects the I/O status. Direct update: This means that the physical status of the inputs are read every time the address is used in the program. Every time an output is effected by the logic in the program it will also be updated physically.

I/O copying (refresh) Direct I/O update

Y200 Program scan Logic


Practical differences: with direct update you will get a faster response time between in- and outputs. (Max. 1 program cycle, while I/O copying can cause max. 2 program cycles, see drawing above) *1 To change between I/O copying (refresh) and direct updating on the H200 CPU, change dip switch 3 on the component side of the CPU board. Direct update = OFF (factory setting) I/O copying (refresh) = ON

Program scan 3

Program scan 2

Program scan 1

Program scan

Program

Y202

Scan Scan Scan

Max 2 program scans Max 1 program scan X115 X115 Y202 Y202

Min 1 program scan Min filter time and time for logic



To be sure that the contact has the same status during all the scan, do as follows:

WARNING! It can be different status of the contact during the same program scan.

7.4 Interrupt : There are different types of interrupts in a normal scan program. - Periodic interrupt. Occurs every 10 ms and updates timer values etc. - 10 ms interrupt. Program part executed every 10 ms. - 20 ms interrupt. Program part executed every 20 ms. - 40 ms interrupt. Program part executed every 40 ms. - External interrupts. interrupt from input signals.

Periodic update

10 ms interrupt

20 ms interrupt

40 ms interrupt External interrupt

Normal program


INT 1

RTI

END

INT 17

RTI

The periodic interrupt has the highest priority. It will interrupt an external interrupt. After a completed interrupt routine the program returns to the program line where it was interrupted. The periodic interrupt comes without any action from the user. If the rest of the interrupt routines shall be executed you have to specify this with the instructions INT n" and RTI and write a program in-between, which shall be executed when it is an interrupt.

20 ms interrupt

External interrupt

For more information about the INT- and RTI-instructions, see page 107.



Types of interrupts:

Interrupt no. HB H200 H250-H2002

INT0 Interrupt with 10 ms interval Yes Yes Yes INT1 Interrupt with 20 ms interval Yes Yes Yes INT2 Interrupt with 40 ms interval Yes Yes Yes INT16 Interrupt input no. 0 X0+base address

for module (X0 for HB)

Yes Yes

INT17 Interrupt input no. 1 X1+ " Yes Yes INT18 Interrupt input no. 2 X2+ " Yes Yes INT19 Interrupt input no. 3 X3+ " Yes Yes INT20 Interrupt input no. 4 X4+ " Yes Yes INT21 Interrupt input no. 5 X5+ " Yes Yes INT22 Interrupt input no. 6 X6+ " Yes Yes INT23 Interrupt input no. 7 X7+ " Yes Yes INT24 HB: High speed counter = Preset Yes INT24 Interrupt input no. 8 X8+ " Yes INT25 Interrupt input no. 9 X9+ " Yes INT26 Interrupt input no. 10 X10+ " Yes INT27 Interrupt input no. 11 X11+ " Yes INT28 Interrupt input no. 12 X12+ " Yes INT29 Interrupt input no. 13 X13+ " Yes INT30 Interrupt input no. 14 X14+ " Yes INT31 Interrupt input no. 15 X15+ " Yes

Interrupt with a lower number has a higher priority. This means e.g. that a 10 ms update will interrupt a routine, which takes care of a interrupt input..

Observe that each interrupt takes time from the normal program scan. You can use a Watch Dog timer to check if the program execution takes too long time. (The Watch dog timer is 100 ms if nothing else is defined) The preset of this timer is defined under ”Setup- PLC” in the programming software. You can define a value between 10 ms and 2550 ms.

Periodic interrupt 10 ms interrupt 20 ms interrupt 40 ms interrupt

Input interrupt, high priority - ” - , low priority Normal scan



7.5 Installation: 7.5.1 Mounting in general: (All PLC types) The control system has to be mounted vertically because of the ventilation. It is also possible to mount the system upside down if there is a reason for this.

Correct mounting Correct mounting

Incorrect mounting !

Incorrect mounting !



-Reserve a distance of 50 mm from top and bottom of the PLC- -Be careful, so no dirt, metal from hole drilling etc. falls into the PLC. -Avoid installing the PLC directly above a heat producing object, e.g. a transformer or power resistor. - Keep a good distance from high voltage wiring etc. - Avoid installation directly in sun shine and where condensation, dust, oil smoke, corrosive gas can occur. - Avoid installation of the PLC where there is a risk of too much vibrations or shaking .

min 10 mm

Cable channels

min 50 mm

min 50 mm

min 10 mm



7.5.2 Power connection: 220 VAC /110 VAC The system can work either with 220 VAC or 110 VAC as a standard

HB H200-H252 H300-H2002 Flexible power supply

Jumper on the power supply board

Jumper on the front

7.5.3 24V DC Series H200-H252 has a 24 V DC power supply module, which is called PSM-D. Series H300-H2002 has a 24 V DC power supply module, which is called AVR-04DH or AVR-08DH. 7.5.4 Cable connection: Use if possible a wire with the area 2 mm2 for the power supply an ground. The ground can be shared with a relay panel etc. But it should not be shared with equipment, which produces noise (e.g. tyristor equipment, electric welding machines). It should be a maximum of 100 Ω to ground . If there is much noise on the power connection, you should connect a noise filter.

220/110 VAC noice filter

7.5.5 Input connections: DC Inputs: HB and H200-H252 have external 24 V terminal connections.



7.5.6 Output connections:

RELAY Output TRANSISTOR Output TRIAC Output

PLC Outputs

PLC Outputs

PLC Outputs

AC or DC supply AC supply DC supply

Relay output: If the load is inductive and increases 10 VA, connect a RC circuit of 0.1 μF + 100Ω in parallel to the load. If the load is fed by direct current, connect a diode in parallel to the load. Transistor outputs: Connect a diode in parallel to the load. Triac output: If the load is inductive or the load is very small, connect a RC- circuit of 0.1 μF + 100Ω in parallel to the load. 7.5.7 The CPU-port:

The CPU-port has a protocol, which can be used to communicate between the computer and the PLC. This can e.g. be used to connect SCADA system like Turbolink, Wizcon, etc. It is also used by Actsip and ActGraph. The protocol is also used for special communications. There are two products for this purpose:

H-COMM: Software routines written in Microsoft C, containing the task code handling and communication routines. It is using the ”Green leaf library”. This can be implemented by the user in the special project. ActServ: DDE server for the H family PLCs This means that Microsoft Windows programs, which support DDE, can communicate directly with the PLC. (DDE means Dynamic Data Exchange and is supported e.g. by Excel and Visual Basic. Some very interesting applications are possible together with Excel, where the data can be collected automatically into Excel, calculated and presented in graphics. It is also possible to set values and control the PLC from Excel. For more detailed information, see separate description of ActServ.




7.6 Error codes, countermeasures and maintenance: 7.6.1 Error messages: On the front of the CPU is an error indicating LED. On H300-H2002 there is a display, which shows the error code. Using Actsip-H, Actgraph+ (or the hand programmers) you can read the error code. In Actsip you can get the reason for the error in clear text. (Go to the menu "Communication-Show status"). Otherwise you can go to the table below and read out the reason for the error. The error code is presented in the word WRF000 Following error codes are valid for HB/H200. For error code 14, 15, 21, 22, 24, 25, 26, 28, 29, 2A, 2C, 41, 43, 47, 51-59, 72, 88, - -, Ff and All lamps, see separate description.

Error code

Error type Priority Reason for the error Counter measure etc.. Error lamp

RUN/ Stop

Memory indication

1 System ROM error

High Check sum showed error. The CPU can not read correct.

The CPU hardware is wrong. If this is discovered again, you must change the CPU.

light Stop -

2 System RAM error

High Check sum showed error. The CPU can not read correct.

light Stop -

3 Micro processor error

High Tried to read an undefined instruction

Check if there is a bad noise in the surrounding.

light Stop R7C8

23 Undefined instruction

Medium Tried to read an undefined instruction

light Stop R7C9

27 Data memory error

Medium Error detection discovered at memory check

light Stop -

31 Program memory error

Medium Discovered at check sum control. Try to transfer the program again. The battery can be bad. If it is a ROM , check the mounting. It could be bad ROM programming.

light Stop R7CA

33 Memory size error

Medium Memory is of a smaller size than told in the setup.

Initiate the system with correct information. If this is not enough , change CPU.

light Stop R7CC

34 Syntax error Medium User program contains an error. (Detailed information is in memory word WRF001)

See table of user program errors.

light Stop R7D4 and WRF001

44 Time error during normal scan

Low The execution time in the normal program > max. time in setup.

Change the program so it will take shorter time or prolong the max. time.

light Stop R7D1

45 Time error, periodic scan

Low The periodic interrupt routine is called during its own execution

Change the program in the periodical interrupt routine so the time decreases

light Stop R7D2

46 Time error, interrupt scan

Low The interrupt routine is called during its own execution

It must be longer intervals between the interrupts.

light Stop R7D3

61 Communication error

Warning Error during communication with PC (parity error)

-Check cables. -Check communication parameters

no light

RUN


Warning Error during communication with PC (handshake error)

-Shield possible external noise no light

RUN


Warning Error during communication with PC (time out)

no light

RUN


Warning Error during communication with PC (protocol error)

no light

RUN


Warning Error during communication with PC (data receive error)

no light

RUN

71 Battery error Warning The charge of the Battery is below specified level.

Change battery flashes RUN R7D9



7.6.2 Error messages for syntax errors (program errors): There is an error indicator LED on the front of the CPU: Using Actsip-H, ActGraph (or the hand programming unit) you can read out the error code. In Actsip you will get the error code in clear text (Go to the menu ”Communication- Show Status” ) Otherwise you can go to the table below and read the reason for the error. The error code is presented in the memory word WRF001

Error code

Error Description Action

01 Double Label (LBL) definition

LBL- instruction with the same number is used more than once.

Remove an LBL- instruction or change the number

Double FOR definition FOR- instruction with the same number is used more than once

Remove a FOR- instruction or change the number

Double NEXT definition NEXT- instruction with the same number is used more than once

Remove a NEXT- instruction or change the number

04 Double Subroutine (SB) definition

SB- instruction with the same number is used more than once

Remove an SB- instruction or change the number

05 Double Interrupt routine (INT) definition

INT- instruction with the same number is used more than once

Remove an INT- instruction or change the number

0F Undefined instruction An Undefined instruction is used Remove it. 10 END Undefined An END instruction has not been

preceding a SB or INT instruction. Write an END instruction before all SB and INT instructions but after the main program.

11 RTS Undefined An RTS instruction is missing after a SB-instruction

Write a RTS-instruction after the SB-instruction

12 RTI Undefined An RTI instruction is missing after a INT-instruction

Write a RTI-instruction after the INT-instruction

13 SB Undefined An SB instruction is missing before a RTS instruction

Write a SB-instruction before the RTS-instruction

14 INT Undefined An INT instruction is missing before a RTI instruction

Write a INT-instruction before the RTI-instruction

16 I/O number error There is a block in the program containing an address outside the area.

Correct the I/O address or remove it.

20 RTS area error The RTS-instruction is used in the main program or in an interrupt routine

Move the RTS-instruction to a sub routine or remove it.

21 RTI area error The RTI-instruction is used in the main program or in an interrupt routine

Move the RTI-instruction to an interrupt routine or remove it.

22 END area error The END-instruction is used in a sub routine or in a interrupt routine

Move the END-instruction to the main program or remove it.

23 CEND area error The CEND-instruction is used in a sub routine or in an interrupt routine

Move the CEND-instruction to the main program or remove it.

30 RTS logic condition error A logic condition is written before the arithmetic box with the RTS instruction.

Remove the logic before the instruction.

31 RTI logic condition error A logic condition is written before the arithmetic box with the RTI instruction.


32 END logic condition error A logic condition is written before the arithmetic box with the END instruction.


7.6.3 Error during program execution: If a error occurs during program execution because an instruction is wrong, it is indicated in the following way: The Flag ERR (R7F3) =1. The error code is presented in the word (WRF015). R7F3 and WR015 must be reset by instructions in the program.

Error code

Error Description Error instruction

H0013 SB undefined Subroutine which is referred to by CAL n is missing CAL H0015 LBL undefined Label n, which is referred to by JMP or CJMP is missing JMP or CJMP H0040 LBL nest Label n, which is referred to by JMP or CJMP in wrong area JMP or CJMP H0041 SB nest Subroutine which is nested in 2 or more levels CAL H0042 CAL undefined The RTS-instructions executed without corresponding CAL-

instruction has been executed RTS

160

Additional part H20 to H64 (HL40-HL64)

Additional part H200 -H252

8 Additional part for H20 to H64 (HL40-HL64):

8.1 Types of components: Series HB consists of 4 different sizes of basic units.

POWRUNERR

R.CL

0 1 2 3 4 5 6 7 8 9 10 11

100 101 102 103 104 105 106 107 108 109 110 111

INPUT

OUTPUT

8 9 10 11 8 9 10 11 8 9 10 11

106 107 108 109 110 111106 107 108 109 110 111

POWRUNERR

R.CL

0 1 2 3 4 5 6 7 8 9 10 11

100 101 102 103 104 105 106 107 108 109 110 111

INPUT

OUTPUT

8 9 10 11 8 9 10 11 8 9 10 11

106 107 108 109 110 111106 107 108 109 110 111

POWRUNERR

R.CL

0 1 2 3 4 5 6 7 8 9 10 11

100 101 102 103 104 105 106 107 108 109 110 111

INPUT

OUTPUT

POWRUNERR

R.CL

0 1 2 3 4 5 6 7 8 9 10 11

100 101 102 103 104 105 106 107 108 109 110 111

INPUT

OUTPUT

H20 with 12 inputs and 8 outputs H28 with 16 inputs and 12 outputs H40 with 24 inputs and 16 outputs H64 with 40 inputs and 24 outputs It can also be delivered with a two wire link function: HL40 HL64

The HB can be expanded in three different ways:

0 8 1 92 103 114 125 136 147 15C1 C2

0

1

2

3

4

5

6

7

C

0

1

2

3

5

5

6

7

8

9

10

11

12

13

14

15

0

1

2

3

5

5

6

7

POW

RUN

ERR

STOP

RUN

RCL 0 8 1 92 103 114 125 136 147 15C1 C2

0

1

2

3

4

5

6

7

C

0

1

2

3

5

5

6

7

8

9

10

11

12

13

14

15

0

1

2

3

5

5

6

7

0 1 2 3 4 5 6 7 8 9 10 11

10 0 1 01 10 2 1 03 10 4 105 106 10 7 1 08 109 110 111

INPUT

OUTPUT

8 9 10 11 8 9 10 11 8 9 10 11

106 107 108 109 11 0 11 1106 107 108 109 11 0 11 1

POW

RUNERR

R.CL

0 1 2 3 4 5 6 7 8 9 10 11

100 101 102 103 104 105 106 107 108 109 110 111

INPUT

OUTPUT

8 9 10 11 8 9 10 11 8 9 10 11

106 107 108 109 110 111106 107 108 109 110 111

POW

RUNERR

R.CL

0 1 2 3 4 5 6 7 8 9 10 11

100 101 102 103 104 105 106 107 108 109 110 111

INPUT

OUTPUT

8 9 10 11 8 9 10 11 8 9 10 11

106 107 108 109 110 111106 107 108 109 110 111

POW

RUN

ERR

R.CL

0 1 2 3 4 5 6 7 8 9 10 11

100 101 102 103 104 105 106 107 108 109 110 111

INPUT

OUTPUT

POW

RUN

ERR

R.CL

0 1 2 3 4 5 6 7 8 9 10 11

100 101 102 103 104 105 106 107 108 109 110 111

INPUT

OUTPUT

Through the expansion units: H-20Z with 12 inputs and 8 outputs H-40Z with 24 inputs and 16 outputs H-64Z with 40 inputs and 24 outputs. Expansion blocks (H-16) or through using the expansion system of the H200 units.

Name of the products:

The basic units and the expansion units are available with relay outputs. These have the extension "DRP". (E.g. H-64DRP is a basic unit with 40 inputs and 24 relay outputs) Units are also available with transistor outputs. These have the extension "DTP". (E.g. H-64DTP is a basic unit with 40 inputs and 24 transistor outputs)

Series H (H Board) HL stands for H Link 40 I/O addresses

D is basic unit Z is expansion unit

R is relay outputs T is transistor outputs

P is PNP version (Source type) can also be used for NPN (Sink type)

©Copyright Actron AB 1994, 2009 161


8.1.1 HB, link model (HL)

HL is available in the sizes HL40 (24 in / 16 out) and HL64 (40 in / 24 out). It can be used in three different ways, which is decided with one dip switch and two rotary switches. (see page)

Host Link connected with H300-H2002 Dip switch 3 ON Rotary switches = channel no.

CPU link Dip switch 3 OFF Rotary switch 4 = station no. Rotary switch 5 = No. of stations

Master in a remote connection. Dip switch 3: Data hold=ON Rotary switches = ”FF”

twisted pair (max 300 m) max. 8 stations

Dip switch 3 OFF + station no.



8.1.2 Series HB in remote version (HR- expansion racks) HR are available in the sizes HR20 (12 in / 8 out) , HR40 (24 in / 16 out) and HR64 (40 in / 24 out). It can be used together with all other H series types. It can also be connected to a Link module from the H200 series.

©Copyright Actron AB 1994, 2009



twisted pair (max 300 m) max. 4 stations if only HR is used




8.2 Component list: 8.2.1 Base units and expansion modules:

Type of module Name Description H-20DR(P) 12 in, 24 V DC, 8 out, Relay H-20DT(P) 12 in, 24 V DC, 8 out, Transistor Base units H-28DR(P) 16 in, 24 V DC, 12 out, Relay H-28DT(P) 16 in, 24 V DC, 12 out, Transistor (P) stands for PNP H-40DR(P) 24 in, 24 V DC, 16 out, Relay H-40DT(P) 24 in, 24 V DC, 16 out, Transistor H-64DR(P) 40 in, 24 V DC, 24 out, Relay H-64DT(P) 40 in, 24 V DC, 24 out, Transistor Base units with link HL-40DR(P) 24 in, 24 V DC, 16 out, Relay HL-40DT(P) 24 in, 24 V DC, 16 out, Transistor HL-64DR(P) 40 in, 24 V DC, 24 out, Relay HL-64DT(P) 40 in, 24 V DC, 24 out, Transistor HR-20DR(P) 12 in, 24 V DC, 8 out, Relay HR-20DT(P) 12 in, 24 V DC, 8 out, Transistor Remote unit HR-40DR(P) 24 in, 24 V DC, 16 out, Relay HR-40DT(P) 24 in, 24 V DC, 16 out, Transistor HR-64DR(P) 40 in, 24 V DC, 24 out, Relay HR-64DT(P) 40 in, 24 V DC, 24 out, Transistor H-20ZR 12 in, 24 V DC, 8 out, Relay H-20ZT 12 in, 24 V DC, 8 out, Transistor Expansion units H-40ZR 24 in, 24 V DC, 16 out, Relay H-40ZT 24 in, 24 V DC, 16 out, Transistor H-64ZR 40 in, 24 V DC, 24 out, Relay H-64ZT 40 in, 24 V DC, 24 out, Transistor H-16BD 16 in 24 V DC Expansion block H-16BR 16 out, Relay H-16BT 16 out, Transistor CNM-01 0.1 m Expansion cables CNEB-06 0.6 m CMN-10 1.0 m MPBH-4E EEPROM 3.5 k steps Memory cassette MPBH-8E EEPROM 7.6 k steps MPBH-8R EPROM 7.6 k steps Others LIBAT-H Battery CAPBH Load capacitor for the memory Operator terminals ACTTERM-H Bus connected, the PLC is the master Different types serial connected, commercially available



8.2.2 H200 expansion units Type of module Name Description BSM-3A Rack for 3 slots inclusive CPU Racks for module BSM-4A Rack for 4 slots inclusive CPU mounting BSM-5A Rack for 5 slots inclusive CPU (Base or BSM-6A Rack for 6 slots inclusive CPU expansion units) BSM-7A Rack for 7 slots inclusive CPU BSM-9B Rack for 9 slots inclusive CPU Power supply PSM-A2 220/110 V AC Power supply modules PSM-B -"- with more power PSM-D 24 V DC Voltage supply PIM-A 8 inputs 220/110 V AC Input modules PIM-AH 16 inputs 220/110 V AC PIM-AW -"- with removable screw terminal PIM-D 8 inputs 24 V DC, NPN PIM-DH 16 inputs 24 V DC, NPN PIM-DW -"- with removable screw terminal PIM-DP 8 inputs 24 V DC, PNP PIM-DPH 16 inputs 24 V DC, PNP PIM-DPW -"- with removable screw terminal PIH-DM 32 inputs 24 V DC POM-R 8 relay outputs, 2 A POM-RC 8 relay outputs, 2 A, separate outputs Output modules POM-RH 16 relay outputs, 2 A POM-RW -"- with removable screw terminal POM-S 8 triac outputs POM-SH 16 triac outputs POM-SW -"- with removable screw terminal POM-T 8 transistor outputs, NPN POM-TH 16 transistor outputs, NPN POM-TW -"- with removable screw terminal POM-TP 8 transistor outputs, PNP POM-TPH 16 transistor outputs, PNP POM-TPW -"- with removable screw terminal POH-TM 32 outputs Mixed PHH-DT 8 in, 8 out transistor modules PHM-TT 16 in, 16 out TTL level RIOM Link to large H-series (H300-H2002) IOLH-T Link to H200 or HL Communication RIOH-TM Remote master RIOH-TL Remote slave RIOH-DT Remote sub station 32 I/O REM-LH2 Remote module, Com. with H300-H2002 Special modules ACTANA-F Quick logic, Analog sampling/ 4 analog inputs/

2 analog outputs (12 bit) Counter module CTH High speed counter module, 10 k Hz Analog AGH-I 8 channels in, 4-20 mA, 8 bit resolution in modules AGH-IV 8 channels in, 0-10 V, 8 bit resolution AGH-IV2 8 channels , 12 bits in Current/ voltage ACTANA-S1 4 isolated channels, 12 bits in Current/ voltage Analog AGH-O 4 channels out, 4-20 mA, 8 bit resolution out modules AGH-OD 2 channels out, 4-20 mA, 8 bit resolution



AGH-OV 4 channels out, 0-10 V, 8 bit resolution AGH-ODV 2 channels out, 0-10 V, 8 bit resolution

ACTANA-S2 4 analog channels 12 bits in Current/ voltage 2 analog channels 12 bits out Current/ voltage


8.3 Addressing: Addressing of base units and expansion units: UNIT 0 UNIT 1

Slot 0 (X000 - X039) Slot 0 (X1000 - X1039

Slot 2 Dummy 16

Slot 2 Dummy 16 Slot 1 (Y1100 - X1123 Slot 1 (Y100 - X123

Unit 0 Unit 1 Slot Corresponds

to board type Slot Corresponds

to board type 0 X48 0 X48 1 Y32 1 Y32 2 Dummy16 2 Dummy16 Base unit and expansion modules: UNIT 0

The base unit is addressed according as above, while the expansion modules are addressed as a further connection to unit 0. (the first slot no for an expansion module is 3, the second is 4 and so on.)

Slot 0 (X000 - X039)

Slot 4 Slot 3 (X400-) alternative

(Y400-)

(X300-) alternative

(Y300-)

Slot 2 Dummy 16

Slot 1 (Y100 - X123



Base unit and H200 expansion system: UNIT 0 UNIT 1

Slot 0 (X000 - X039)

Slot 2 Dummy 16

0 1 2 3 4 = slot no. Slot 1 (Y100 - X123

The base module is addressed to above while the H200 expansion is addressed either as unit 1 in the table above or as further connection to unit 0. (the first slot no. for the first expansion module is 3, the second is 4 and so on.) Addressing of Remote modules: Slot 2 is reserved for this addressing. Therefore remote inputs and outputs are addressed as X200- and Y200-.




THIS PAGE INTENTIALLY LEFT BLANK


8.4 Explanations of the components:

Series HB CPU unit seen from the front side with cover mounted:

Protection cover for the screw terminals Voltage indication Error indication

UN Protection cover for the expansion port

ication

tion for the mming

rnal t of tive

mories

switch RUN/ P

Protection cover for the screw terminals

Series HB CPU seen from the front side with covers removed and a view through the front cover. The covers on the sides and the screw terminal covers can be turned up. The front cover can be removed.

Screw terminal for inputs Jumper for 24 V / 12 V DC supply of X0 - X3

Switch for baud rate For HL also switch no. 3 Serial port for

programming Contact for expansion

Contact for extra memory

RUN / Error indication on contact output


Contact for battery and connection of capacitor

Front cover

Screw terminal for outputs RUN contact Power supply


8.5 Setting of jumpers and switches of HB: Baud rate: lift the cover. Below this you can find a dip switch. See drawing

Is valid if the On- Line cable is connected


8.5.1 The function of the RUN/ERROR contact: (the function is decided by the jumper shown above.) This closing relay contact can be used as an indication that the PLC is in RUN or as error indication (closed when the ERR lamp indicates) If it is battery error the contact goes On and Off in high frequency 8.5.2 Mounting of series HB

Type L1

mm

L2 mm

Weight kg

H-20 155 145 1.2

H-28 155 145 1.2

H-40 190 180 1.4

H-64 270 260 1.8

DIN mounting

If the On-Line cable is wired for 19200 bps, then 19200 is only available. (see Actsip/ActGraph manuals)

Hole distance 130 mm

Depth 105 mm

The RUN/ERR contact

Width L1 mm

The function of the RUN/ERR

Error RUN

Hole distance L2 mm

Dip sw3 (For HL): For HL:

(rotary switches) OFF= CPU LINK Remote master: set FF CPU Link: Station no.

ON= Host Link or Host link: Channel no. Remote master


8.6 Input specifications: On series HB you can program some extra functions on the first 8 inputs. On the four first inputs you can also use flexible input voltage. (see table below)

Input X4 and upwards Input X0 - X3

Input type DC input

Nominal voltage 24 V DC 5 - 24 V DC

Input voltage 21.6 to 26 V DC 4 to 27 V DC

Input current ca 10 mA ( 24 V DC) at an impedance of about 2.4 kΩ

6 mA (at 5 V DC) 12 mA (at 24 V DC)

Voltage range ON at 19 V DC or more OFF at 7 V DC or less

1/2 x Vs (Vs = Input voltage from S terminal)

Max. input delay ON to OFF 5 ms +/- 2.5 ms OFF to ON 5 ms +/- 2.5 ms

0.02 ms /5 ms/ 16 ms for X0 - X7

Polarity on X4 - PNP (Positive logic): If COM on the terminal is connected to 0V

(X0-X3 always PNP) NPN (Negative logic): If COM on the terminal is connected to 24V

Voltage supply for 24 V DC: 450 mA - (10 mA) x amount of inputs activated simultaneously.

external usage 12 V DC: 50 mA - (9 mA) x amount of inputs (X0-X3) activated simultaneously.

Circuit diagram inputs



External connection inputs X4 -

Feeding external units PNP transistor

continues



Continued input specification:

External connection of input X0-X3

External voltage supply 4- 27 V DC

Internal voltage supply

PLC PLC

8.7 High speed counter specification:

1 Phase input pulse 2 Phase input pulse

Input number X0 to X2

Counter frequency 10 k Hz

Function on terminal X0 Up counting Phase A

Function on terminal X1 Down counting Phase B

Function on terminal X2 Reset

Counting range 0-65535 (16 bits binary)

Usage method Depending on how the FUN-instructions are used



External connection Reset from pulse encoder:

External reset:

Power supply (red) 2 phase pulse encoder with open collector output

Phase B (green) Phase A (white) Reset (black)

PLC

Power supply (red) 2 phase pulse encoder with open collector output

Phase B (green) Phase A (white)

PLC



8.8 Output specifications - Relay output: Type Model Basic units Expansion units H20DRP H28 DRP H40 DRP H64 DRP H20ZRP H40ZRP H64ZRP

utput type Relay contact ominal voltage 100/220 V AC, 24 V DC utput voltage 85 to 250 V AC, 21 to 27 V DC

1 circuit 2 A (COS φ = 1), 1 A ( COS φ= 0.4) ax. load current 2 circuit - 2 A 2 A 2 A - 2 A 2 A

4 circuit - 4 A - 4 A - - 4 A 6 circuit - 4 A 4 A 4 A - 4 A 4 A 8 circuit - - 4 A 4 A - 4 A 4 A

in leakage current 10 mA ( 5V DC) ax. leakage current - ax. top current 6 A, 0.1 s or less ax. delay OFF ON 10 ms

ON OFF 10 ms mount of output- Independent 8 - - - 8 - - oups with 2 out - 1 1 1 - 1 1 ommon 4 out - 1 - 2 - - 2 pply 6 out - 1 1 1 - 1 1

8 out - - 1 1 - 1 1

larity Free choice

sulation method Relay

ft time Electric More than 200 k times at 120 V AC and 2 A resistive load

Mechanical More than 20 million times

rcuit diagram

ternal connection

Power supply Power supply

Power supply



8.9 Output specifications - Transistor: Type Model Basic units Expansion units H20DTP H28DTP H40DTP H64DTP H20ZTP H40ZTP H64ZTP Output type Transistor output Nominal voltage 24 V DC Output voltage 3 to 26 V DC 1 circuit 0.5 A Max. load current 2 circuit - 1.0 A 1.0 A 1.0 A - 1.0 A 1.0 A 4 circuit - 1.25 A - 1.25 A - - 1.25 A 6 circuit - 1.9 A 1.9 A 1.9 A - 1.9 A 1.9 A 8 circuit - - 2.5 A 2.5 A - 2.5 A 2.5 A Min leakage current

10 mA

Max. leakage current

100 μA at 24 V DC

Max. top current 3 A, 10 ms or less Max. delay OFF ON 1 ms ON OFF 1 ms Amount of output- Independent 8 - - - 8 - - groups with 2 out - 1 1 1 - 1 1 Common 4 out - 1 - 2 - - 2 supply 6 out - 1 1 1 - 1 1 8 out - - 1 1 - 1 1

Polarity Common +

Insulation method Opto coupler

External connection


20 I/O 28, 40, 64 I/O

Connect a diode to inductive load



8.10 Specification of expansion modules: See description of H200-H252 page 194.

8.11 Wiring: 8.11.1 Power wiring: see page 156.


8.11.2 Input connection: It is possible to choose between PNP (source) and NPN (sink) logic on all inputs without input X0-X3, which only are available for PNP. Input X0-X3 on the expansion units works as standard inputs ( NPN or PNP possible.)

Input X0-X3 Input X4 - Internal supply

24 V DC

12 V DC

External supply

Feeding of sensors on inputs X0-X3


Feeding of sensors on inputs X4 -


Example Internal supply with 24 V DC on all inputs. PNP (positive logic).


PNP

PNP (positive logic)

PLC basic unit


Internally connected (can e.g. be used to feed inputs in groups)




8.12 FUN-instructions for series HB:

FUN 70 (S) Mode set Specifies the function of the inputs The instruction specifies: - Time constant of the input filter. - The edge (positive/negative) of the interrupt inputs. - Two phase high speed counter. The instruction is executed when the PLC is turned on and the inputs keep thereafter these specifications. Place these instructions at the beginning of the program. S is in this instruction a word address. The value in the word is not essential and it is not effected when the instruction is executed; Only the word address is used in the instruction! More than one FUN 70 (S) instruction can be mixed in the same arithmetic box to achieve different functions on the different inputs, see program example


Type of spec. S Function Filter time for standard inputs

WR0

Changes the time constant on the inputs X0-X7 from 5 ms to 0.02 ms.

WR1

Changes the time constant on the inputs X0-X7 from 5 ms to 16 ms.

Filter time for special inputs

WR2

Changes the time constant on the inputs X0-X7 from 5 ms to 0.02 ms when they are used as interrupt or counter inputs.

WR3

Changes the time constant on the inputs X0-X7 from 5 ms to 16 ms when they are used as interrupt or counter inputs

WR4

Removes the filter function on input X0-X7.

WR10 INT16 for input X0 WR11 INT17 for input X1

Changing of edge condition

WR12 INT18 for input X2

for interrupt from positive to negative edge.

WR13

INT19 for input X3

WR14 INT20 for input X4 WR15 INT21 for input X5 WR16 INT22 for input X6 WR17 INT23 for input X7

High speed counter

WR20

Specifies that X0-X2 shall be used as a one phase counter where X0 counts up. X1 counts down and X2 resets

Interrupt INT24 is activated when the High speed Counter Preset= =Current value

WR21

Specifies that X0-X2 shall be used as a two phase counter where X0 is channel A, X1 is channel B and X2 resets.

Error others the flag R7F4 (error indication) is set.

Filter

Filter

Filter

Filter

No filter

Interrupt

Up Down Reset

Chan A Chan B Reset



Example:

Y102

X006 CU10

FUN70 (WR1) changes the time constant on the inputs X0-X7 from 5 ms to 16 ms when they are used as standard inputs. FUN70 (WR2) Changes the time constant on the inputs X0-X7 from 5 ms to 0.02 ms when they are used as interrupt or counter inputs. FUN70 (WR14) changes the edge condition on X4 to negative edge (interrupt routine INT20 is executed when X4 goes from High to Low) Normal counter input. Reads the current value of the High speed Counter to WR8 Output Y102 goes High when the counter value (WR8) is > 345. End of the normal program. Interrupt is called when X4 goes from High to Low. End of interrupt routine. (Returns to normal program)

Interrupt routine (gives a faster response)

FUN 71 (d) Reads the current value of the High Speed Counter The current value of the High speed counter is stored in d, which is a 16 bit word. The content is a 16 bit binary value.. See example under FUN70.

FUN 72 (S) Sets the current value of the High Speed Counter The content in S is stored in (ie sets) the current value of the High speed counter. S is a 16 bit word.

FUN 73 (d) Reads the preset value of the High Speed Counter Reads the preset value (compare value) of the High speed counter to d.




FUN 74 (S) Sets the preset value of the High Speed Counter Sets the preset value (compare value) of the High speed counter with the value of S.


Symbolic picture of how the high speed counter is set or read. The fastest response from the counter will be obtained if an interrupt routine is used. You should then write the program which shall be executed when the counter reaches its preset value in an interrupt routine after the normal main program. This interrupt routine starts with the instruction INT24.

FUN70 (WR21) creates the High speed counter.

Preset value

Current value

Interrupt routine, which starts with INT24. It is run when the Preset value= Current value means a jump to the interrupt routine

PLC program

The program, which will be executed then is written in the routine. When the interrupt routine is ready then return back again




Additional part Series H200 - H 252


Slo9 Additional part Series H200 - H 252:

Slo9.1 Description of external parts: Slo Slo

LED for RUN indication

LED for power indication

LED for status indication

Handle to remove the module

Exp

Bit addresses for inputs have the type: X[r][u][s][b] Bit addresses for outputs have the type: Y[r][u][s][b] Word addresses for inputs have the type: WX[r][u][s][w] Word addresses for outputs have the type WY[r][u][s][w] Where X stands for input Y stands for output W stands for Word address (16 bits) r stands for remote (base has address 0) u stands for unit (base has address 0) s stands for slot ( starts on 0) b stands for bit no. ( decimal) w stands for word no (0-7) e.g. word 1 corresponds to bit 16-31.

Slo SloX0, Y0, WX0 or WY0

X100, Y100, WX10 or WY10 Slo

Slo Slo

X200, Y200, WX20 or WY20

X300, Y300, WX30 or WY30

X1000, Y1000, WX100 or WY100

X1100, Y1100, WX110 or WY110

X1200, Y1200, WX120 or WY120

X1300, Y1300, WX130 or WY130

Slo

X1400, Y1400, WX140 or WY140

X1500, Y1500, WX150 or WY150



Side view of expansion rack

LED for error indication

External reset of retentive memories

Start / Stop Key

External 24 V DC supply

Connection of 240 V AC supply

Connection Connection of expansion rack

to ground Base rack Serial port (computer connection etc. )

I/O modules for 8 or 16 in/outputs

I/O modules for 8 or 16 in/outputs

Srew terminals for connection of I/O.

Power supply CPU module module



9.2 Start addresses in slots:

9.3 Configuration: There are two different types of racks: - BSM-x . This can be used by all CPUs up to maximum 256 Inputs Outputs. - BSH-x. With this rack system the H250 and H252 can use the High function modules. e.g. the T-LINK module. The H252 can on top of this address more inputs/outputs if BSH-racks are used.. H200 H250 H252 BSM-racks Max. In-/Out (16 I/O-

modules) 256 In-/Out 256 In-/Out 256 In-/Out

New High function modules Not possible Not possible Not possible BSH-racks Max. In-/Out (16 I/O-

modules) Not possible 256 In-/Out 464 In-/Out

New High function modules Not possible Possible Possible The high function modules must be placed in a BSH rack. Do not mix BSM- and BSH-racks. For H200 CPU and expansion rack of H Board you can use all BSM-racks with following restrictions: For older BSM-racks type BSM-3 - BSM-7 (not BSM A or BSM B) max. amount of slots is 10. For older BSM-racks type BSM-9 (not BSM A or BSM B) max. slots is 15 and no word addressing in the last slot is allowed. For H250 and H252 CPU you can use BSH or BSM racks For BSM racks the restrictions are as above. For BSH racks you can use the High function models, which use the system bus (e.g. the T-LINK module) For the H252 you can also address up to 29 slots if BSH rack are used.

0 8 1 92 103 114 125 136 147 15C1 C2

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POW

RUN

ERR

STOP

RUN

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Maximum build up of In/Outputs. for H252-CPU. (29 slots) If 16 I/O modules are used, 464 In/Outputs can be connected. If 32 I/O modules are used, 928 In/Outputs can be connected. In both cases BSH-10 racks must be used.



9.4 Mounting of H200:

Hole distance L2 140 mm 110

mm

Connector for exp cable or Bus with connectors

for modules Actterm-H

110 mm L1 138 mm

Rack type L1 mm L2 mm Weight kg Rack type L1 mm L2 mm Weight kg

BSM-3 160 80 0.6 BSH-3 160 80 0.6

BSM-4 195 120 0.7 BSH-5 230 160 0.8

BSM-5 230 160 0.8 BSH-7 300 240 1.0

BSM-6 265 200 0.9 BSH-10 405 345 1.4

BSM-7 300 240 1.0

BSM-9 370 310 1.3

CNM-06 cable

10-70 mm CNM-01 cable



Warning. If the cable is mounted incorrectly, the units can be damaged

Not possible Not possible




9.5 Module specification H200-H252:

Component type Name Description CPUs CPU-02H for H200, max. 256 I/O (512 with 32 I/O-modules), 16 k memory, 1.5 μs/instr. CPU21-02H for H250 max. 256 I/O (512 with 32 I/O-modules), 16 k memory, 0.6 μs/instr, extended instr. CPU22-02H for H252 max. 464 I/O (928 with 32 I/O-modules), 16 k memory,

0.25 μs/instr, completely extended instruction set , 64 PID loops CPE-02H as CPU-02H, but requires EEPROM MPH-4E 4 k EEPROM- memory Memories MPH-8R 8 k EPROM- memory MPH2-4E 4 k EEPROM- memory MPH-8E 8 k EEPROM- memory MPH-16E 16 k EEPROM-memory (only for H250 and H252) MPH-16R 16 k EPROM-memory (only for H250 and H252) BSM-3A Rack for 3 slots inclusive CPU (max. 256 I/O) Racks for board BSM-4A Rack for 4 slots inclusive CPU (max. 256 I/O) mounting BSM-5A Rack for 5 slots inclusive CPU (max. 256 I/O) (Base or BSM-6A Rack for 6 slots inclusive CPU (max. 256 I/O) expansion units) BSM-7A Rack for 7 slots inclusive CPU (max. 256 I/O) BSM-9B Rack for 9 slots inclusive CPU (max. 256 I/O) BSH-3 Rack for 3 slots inclusive CPU (more I/O for H252, High Function modules) BSH-5 Rack for 5 slots inclusive CPU (more I/O for H252, High Function modules) BSH-7 Rack for 7 slots inclusive CPU (more I/O for H252, High Function modules) BSH-10 Rack for 10 slots inclusive CPU (more I/O for H252, High Function modules) Power - PSM-A2 220/110 V AC Voltage supply. see page 194. supply- PSM-B -"- with more current. see page 194. modules PSM-D 24 V DC Voltage supply. see page 194. PIM-A 8 inputs 220/110 V AC Input modules PIM-AH 16 inputs 220/110 V AC PIM-AW -"- with removable screw terminal PIM-D 8 inputs 24 V DC, NPN PIM-DH 16 inputs 24 V DC, NPN PIM-DW -"- with removable screw terminal PIM-DP 8 inputs 24 V DC, PNP PIM-DPH 16 inputs 24 V DC, PNP PIM-DPW -"- with removable screw terminal PIM-DM 32 inputs 24 V DC POM-R 8 relay outputs, 2 A POM-RC 8 relay outputs, 2 A, separate outputs Output modules POM-RH 16 relay outputs, 2 A POM-RW -"- with removable screw terminal POM-S 8 triac outputs POM-SH 16 triac outputs POM-SW -"- with removable screw terminal POM-T 8 transistor outputs, NPN POM-TH 16 transistor outputs, NPN POM-TW -"- with removable screw terminal POM-TP 8 transistor outputs, PNP POM-TPH 16 transistor outputs, PNP POM-TPW -"- with removable screw terminal POH-TM 32 transitor outputs Mixed modules PHH-DT 8 in, 8 out transistor PHM-TT 16 in, 16 out TTL level RIOM Link to large H-series (H300-H2002) IOLH-T Link to H200 or HL T-LINK-02H Two wire link to H250-H252 (needs BSH-racks), 16 k bits (1024 words) LINK-02H Coaxial link to H250-H252 (needs BSH-racks) 16 k bits (1024 words) BYP-02H Bypass module for LINK-02H Communication RIOH-TM Remote master RIOH-TL Remote slave RIOH-DT Remote sub station 32 I/O SIH Serial communication module (PLC program decides the protocol)


Special modules ACTANA-F Quick logic, Analog sampling/ 4 analog inputs/ 2 analog outputs (12 bit) Positioning/ POSH Positioning module Counter module CTH High speed counter module, 10 k Hz Analog AGH-I 8 channels in, 4-20 mA, 8 bit resolution in modules AGH-IV 8 channels in, 0-10 V, 8 bit resolution AGH-IV2 8 analog 12 bit in Current or voltage ACTANA-1 4 isolated analog 12 bit in Current or voltage Analog AGH-O 4 channels out, 4-20 mA, 8 bit resolution out modules AGH-OD 2 channels out, 4-20 mA, 8 bit resolution AGH-OV 4 channels out, 0-10 V, 8 bit resolution AGH-ODV 2 channels out, 0-10 V, 8 bit resolution ACTANA-S2 4 isolated analog 12 bit in Current or voltage / 2 analog 12 bit out Current or voltage

3 digital fast inputs/ 2 digital transistor outputs

9.6 Specification of the modules: 9.6.1 Voltage supply:

PSM-A PSM-A2 PSM-B PSM-D Voltage Nominal 100V/110V/120V AC, 200V/220V/240V AC (changed by switch P3 on the board) 24 V DC Allowed range 85V - 132 V AC, 170 V - 264 V AC 19.2 - 30 V

DC Frequency Nominal 50 / 60 Hz Allowed range 47 / 63 Hz Input current 0.6 A or less 1.6 A or less Output current CH1 (5V) 1 A 1 A 1.7 A 1 A CH2(24V) 300 mA totally internal 500 mA 300 mA CH3(24V) 450 mA supply 700 mA 250 mA 1 A External supply On CH3 (if jumper P4 on the

board is removed max. 750 mA.)

On CH3 (if jumper P4 on the board is removed max. 750 mA.)

CH2 is used for the outputs (digital and analog). CH3 is used externally to sensors (Terminal on PSM)

9.6.2 Input modules: PIM-DP, PIM-DPH/DPW PIM-D, PIM-DH/DW PIM-A, PIM-AH/AW

nput type DC input AC input Nominal voltage 24 V DC 110 V /220 V AC nput voltage 21.6 to 26 V DC 85 ON 264 V AC, 50/60 Hz nput current about 9 mA. 7 mA (at 110 VAC)

Voltage range ON at 19 V DC or more / OFF at 7 V DC or less ON at 85 V AC or more / OFF at 30 V AC or less

Max. input delay ON to OFF 4 ms or less / OFF to ON 4 ms or less 16 ms or less olarity PNP (Positive logic): NPN (Negative logic) -

Voltage CH1 0.5 mA+(X +1) 0.5 mA+(X +1) 1 mA onsump- CH2 - - - on CH3 X*9 mA (X* 9 mA at internal supply) -

External onnection f inputs

C1 and C2 connected internally

C1 and C2 connected internally C1 and C2 connected internally




Note.: -"H" in the model name stands for 16 inputs / outputs. Other modules have 8 - "X" in the table above stands for "amount of simultaneously active inputs".


9.6.3 Output modules:

POM-R, POM-RH, POM-RW

POM-S, POM-SH, POM-SW

POM-TP, POM-TPH, POM-TPW

Output type Relay Triac Transistor Nominal voltage 110 / 220 V ACC 110/220 V AC 24 V DC Output voltage 85-264 V AC

21-27 V DC 85-264 V AC 3 ON 26 V DC

Max. load 1 circuit 2 A 1 A 0.5 A current 8 circuits 4 A 4 A 1.25 A (four circuits) Min load current 10 mA (5 V DC) 50 mA 10 mA (24 V DC) Max. leakage current - 1 mA (220 V AC) 0.1 mA (24 V DC) Max. top current 6 A (100 ms) 20 A (20 ms) 3 A (20 ms) Max. 10 ms 11 ms 1 ms delay. 10 ms 11 ms 1 ms Amount of common outputs

8 per C screw terminal

8 per C screw terminal 8 per C screw terminal

Polarity - - Common - Insulation method Relay Opto coupler Opto coupler Current CH1 0.2 mA + Y * 0.2

mA 0.3 mA + Y * 0.2 mA 0.2 mA + Y * 0.2 mA

consumption

CH2 Y * 10mA Y * 6.5 mA Y * 6.5 mA

CH3 0 mA 0 mA 0 mA External connection of outputs


Voltage supply

Voltage supply

DC Voltage supply Voltage

supply DC Voltage supply

Voltage supply

Note.: -"H" in the module name stands for 16 in-/outputs. Other modules have 8 in-/outputs. - "Y" in table above stands for "amount of simultaneously active outputs".


9.6.4 Analog modules Current: AGH-I AGH-O AGH-OD I/O specification Current in Current out Current range 4-20 mA 4-20 mA Impedance In 220Ω Load 0-500Ω Resolution 8 bits 8 bits Update time 1 ms 1 ms Overall accuracy +- (1 % + 1 bit) +- 1 % Amount of channels 8 inputs 4 outputs 2 outputs Insulation method opto coupler not insulated from DC input Insulation between input no no Current CH1 25 mA 50 mA 50 mA consump- CH2 0 mA 0 mA 0 mA tion CH3 60 mA 250 mA 140 mA External connection

9.6.5 Analog modules Voltage:

AGH-IV AGH-OV AGH-ODV I/O specification Voltage in Voltage out Current range 0-10 V DC 0-10 V DC Impedance In 100 kΩ Load 10 kΩ min Resolution 8 bits 8 bits Update time 1 ms 1 ms Overall accuracy +- (1 % + 1 bit) +- 1 % Amount of channels 8 4 outputs 2 outputs Insulation method opto coupler not insulated from DC input Insulation between input no no Current CH1 25 mA 50 mA 30 mA consump- CH2 0 mA 0 mA 0 mA tion CH3 60 mA 140 mA 70 mA External connection


199

9.6.6 Isolated mixed Analog modules:

9.6.6.1 ACTANA-S modules mixed voltage and current. Actana-S1 has 4 analog inputs and ACTANA-S2 has 4 analog inputs and 2 analog outputs. ACTANA-S2 and Actana-F have 4 analog inputs, 2 analog outputs, 3 direct quick inputs and 2 direct outputs.

Connection description Actana-S1

IN 3 -

IN 3 +

IN 4 +

IN 4 -

IN 2 -

IN 2 +

IN 1 -

IN 1 +

ACTANA-S1

Connection description Actana-S2

IN 3 -

IN 3 +

IN 4 +

IN 4 -

IN 2 -

IN 2 +

IN 1 -

IN 1 +

OUT1 +

COM 1

COM 2

OUT2 +

ACTANA-S2

Connection description Actana-F

IN 3 -

IN 3 +

IN 4 +

IN 4 -

IN 2 -

IN 2 +

IN 1 -

IN 1 +

OUT1 +

COM 1

COM 2

OUT2 +

D IN 1

D IN 3

D IN 2

D COM

D OUT 1

D OUT 2

ACTANA-F

Digital inputs/outputs

5-27 V DC

Output loa d

Output loa d

DIN2

DIN3

DOUT1

DOUT2

DIN1

Outputs (short circuit protected) Max. output current 50 mA

Opto insulated Transistor inputs and or contact outputs inputs

IN 1IN 2IN 3IN 4

0-20 mA

4-20 mA

0-10 V

0-1 V

OUT 1OUT 2

0-20 mA

4-20 mA

0-10 V

-10 -+10 V

1H E

M 12 3

MO

DE

0

MO

DE

1

MO

DE

2

MO

DE

3

2 3

Jumpers and mode switches on the ACTANA board:


12

3

IN 1IN 2IN 3IN 4

0-20 mA

4-20 mA

0-10 V

0-1 V

OUT 1OUT 2

0-20 mA

4-20 mA

0-10 V

-10 -+10 V

1H EM 1

2 3 M

OD

E0

MO

DE

1

MO

DE

2

MO

DE

3

2 3

H or EM Mode switch ”

200 Copyright Actron AB 1994


1000

2000

3000

4000

0.5 V 1.0 V0 V

1000

2000

3000

40004095 (or 1000)

5 V 10 V0 V

0-10 V Input or Output

0-1 V Input

1000

2000

3000

4000

10 mA 20 mA0 mA

0-20 mA Input or Output

1000

2000

3000

4000

10 mA 20 mA0 mA 4 mA0

4-20 mA Input or Output

1000

2000

3000

40004095 (or 1000)

5 V 10 V0 V

Register value decimal

-10 to +10 V Output

-10 V -5 V

0 V =2047 (or 500)





4095 (or 1000)

4095 (or 1000)4095 (or 1000)

Analog inputs /outputs All inputs and outputs have got a resolution of 12 bits ( 0-4095 decimal) or represented as (0-1000 decimal)

9.6.6.1.1 Digital inputs /outputs using mode 1 (only available on Actana-S2 and Actana-F using mode 1) These inputs/outputs can operate on a voltage level 5-27 V DC ( see circuit diagram) The three digital inputs can be used in the PLC program as X0-X2. Normally these inputs have a 4 ms filter like the inputs on e.g. PIM-DPH. But you can disconnect the input filter if you set the analog IN1 to ”no filter”. The two digital outputs can be used in the PLC program as Y80-Y81.

Copyright Actron AB 1994 201


Application for ”no filter” inputs: Detection of short pulses, where the filter time and cycle time sets a limit for the length of the signal. (This is a very common problem, which normally is solved with external electronics)

DIN1

DIN2


DIN3

X2

Even short pulses less than one program cycle ( down to 200µs) will be detected by the three inputs. This status will be held until next I/O update. That means that the short signals will be detected by the normal PLC program.


9.6.6.1.2 Programming and addresses: Mode 0: (valid for Actana-S and Actana-F) Equal to the function of old Actana-1 and Actana-2 board: Address map:

H series (Module Setup 4WX/4WY)

Words (+ 10 x slot no.) Analog input 1 WX0 Analog input 2 WX1 Analog input 3 WX2 Analog input 4 WX3 Analog output 1 WY4 Analog output 2 WY5 Not used WY6 Not used WY7

Example: Read analog input 2 in the 2nd slot (slot no 1) and add the constant 100. The result will be stored in the word RESULT.


Mode 1: (valid for Actana-S and Actana-F)

9.6.6.1.4 Filter time: There are 4 different filter times available for each input channel. The filter is calculated as an average of analog values during a period of time. Channel 1 Channel 2 Channel 3 Channel 4 Y82 Y83 Y84 Y85 Y86 Y87 Y88 Y89 Filter time 0 0 0 0 0 0 0 0 4 ms 0 1 0 1 0 1 0 1 No filter (in practice approx. 50 μs) *1 1 0 1 0 1 0 1 0 20 ms (50/60 Hz filter. *2) 1 1 1 1 1 1 1 1 300 ms

*1 If channel 1 is set to ”no filter”, all digital inputs (DIN1 - DIN3) will work without filter. *2 Decreases the influence of frequencies >= 50 Hz

9.6.6.1.4 Conversion factor: The 12 bit signal is presented as a default as 0-4095. Very often the PLC program uses this value as a value between 0-100, 0-1000, 0-10000 etc. A conversion through multiplication and division gives a loss of information as there is no floating point arithmetics. If outputs Y88-Y91 are high, the value of analog inputs 1-4 will be presented as 0-1000 instead of 0-4095. If outputs Y92-Y93 are high, the value of analog outputs 1-2 will be given as 0-1000 instead of 0-4095. Analog Channels IN 1 IN 2 IN 3 IN 4 OUT 1 OUT 2 Y90 Y91 Y92 Y93 Y94 Y95 Presentation range of signal: 0 0 0 0 0 0 0 - 4095 1 1 1 1 1 1 0 - 1000

Example: H200-252. If the voltage range on analog input 2 is 0-10 V, than a 5.0 V input will be represented as 2048 if CONV IN 3 (Y90) is low and as 500 if CONV IN 3 (Y90) is high.

9.6.6.1.5 Error information: If the analog input is selected to 4-20 mA range the inputs X8-X11 gives input error information.. If the wire is cut the current will be below 2 mA. Then the error bit goes high. CPU ”Watch dog”: When the Actana-S is

IMPULSE CPU ALARM

X7 DIF IMPULSE

Delay TimerPreset 1.0 s

Proper function Bad function

WR0 = 100 + WX11 (RESULT = 100 + ANALOG 2)



working properly it will always send a 3 - 4 Hz signal on X7. If you want to use this you can e.g. add following program in the PLC:


Mode information: Input X12-X13 give the mode number (0-3) so the PLC can check if right mode, fitting to the program, is set on the ACTANA board. Only mode 0-1 are allowed for Actana-S. If the board is an Actana-F type mode 0-3 are available. X15 is high if the board is Actana-F. The choice of PLC type on the Actana board is indicated in bit X14. If X14 is high the board is adjusted for EM and low if it is H200.

Address map mode 1: H series (Setup as FUN00) Words (+ 10*slot no.) Bits (+ 100*slot no.) Digital inputs WX0 X0 - X15 Analog input 1 WX1 Analog input 2 WX2 Analog input 3 WX3 Analog input 4 WX4 Digital outputs WY5 Y80 - Y95 Analog output 1 WY6 Analog output 2 WY7

Digital Inputs (+100 * slot no) X0 Fast input DIN1 information hold X1 Fast input DIN2 information hold X2 Fast input DIN3 information hold X3 Not used X4 Not used X5 Not used X6 Not used X7 CPU Watch dog (3 -4 Hz) X8 Error on analog input 1 X9 Error on analog input 2 X10 Error on analog input 3 X11 Error on analog input 4 X12 Mode number information bit 0 (LSB) X13 Mode number information bit 1 X14 H series on switch X15 Actana-S / Actana-F info on switch

Digital Outputs (+100 * slot no) Y80 Control of direct output DOUT1 Y81 Control of direct output DOUT2 Y82 Filter time 1 definition analog input 1 Y83 Filter time 2 definition analog input 1 Y84 Filter time 1 definition analog input 2 Y85 Filter time 2 definition analog input 2 Y86 Filter time 1 definition analog input 3 Y87 Filter time 2 definition analog input 3 Y88 Filter time 1 definition analog input 4 Y89 Filter time 2 definition analog input 4 Y90 Conversion definition analog input 1 Y91 Conversion definition analog input 2 Y92 Conversion definition analog input 3 Y93 Conversion definition analog input 4 Y94 Conversion definition analog output 1 Y95 Conversion definition analog output 2

Example: Read analog input 3 in the 3rd slot (slot no 2) and show the value on the ACTTERM-H display (as a value in text display no 3). We want the value converted to 0-1000 and the analog signal shall have a 50 Hz filter (20 ms).


CONV IN3 = 1 (Y90) FILTER1 CH3 = 1 (Y86)

Condi- FILTER2 CH3 = 0 (Y87) tion

DISPLAY = 3 VALUE1 = ANALOG 3 (WX23)


9.6.6.2 ACTANA-F module Mode 2 and Mode 3: (Mode 0 and 1 equal to ACTANA-S board) Actana-F works for H200 and EM. In this description the H20 addresses are used. To convert to EM addresses and programming, see Actana-S description.

9.6.6.2.1 Quick update logic. ACTANA has a quick update function, which is partly programmable. Through direct Quick inputs , DIN1 and DIN2, you can combine the slower logic from the PLC through outputs Y80 and Y81. You can define a simple logic condition for the quick reaction of the direct Quick outputs. DOUT1 and DOUT2. The response time from the direct input, executing the logic and updating the result on the direct outputs is only 200 æs. The slower part of the logic and definition of the fast logic can be changed with a period of one PLC cycle.


Actana-F mode 3

Internal DIN1 PLC DIN2 program

Quick DOUT1 Logic PLC output

flags as

(Defined by PLC DOUT2

output flags) parts of the quick logic External Input information

quick inputs and

outputs signal hold The logic for DOUT1 and DOUT2 (the quick outputs) is a combination of the PLC program logic, which we here call the slower part and the status from the quick reaction inputs DIN1 and DIN2. The ”slow” logic will be programmed in the PLC program in a normal way (in Ladder or Grafcet). The outputs in this PLC program (Y80-Y83) are parts of the quick logic combination. See below. The logic combination can be chosen from the table ”Possible quick logic combinations....”. Such a combination is defined by the other PLC outputs. This means that this definition is also a part of the PLC program. E.g. if you want following logic for the quick output DOUT1: Quick logic PLC program you will find this in the ”Possible quick logic combinations for mode 3”. as alternative c/. │PLC DIN1 DOUT1 │ │COND1 │ ├──┤ ├────┤ ├─┬──────────( )─┤ │Y00080 │ │ │ │ │ │PLC DIN2 │

This means that you set Y84 high and Y85 low in the PLC program. (to set low is not necessary) │ │ │ │ ├──────────────────────( )─┤ │ Y84 │ │ slow logic 1 │

├───┤ ├────────────────( )─┤ │ Y80 │ │ slow lodic 2 │

├───┤ ├────────────────( )─┤ │ Y81 │



│ │COND2 │ │ ├──┤ ├────┤ ├─┘ │ │Y00081 │ │ │


PLC Program Actana-F module External

Y84 quick

Y85 Inputs and Defines the logic combination

Y86 Outputs Y87

Y88

Y89 DIN1

DIN2 Part of the logic (the ”slow” part)


Possible quick logic combinations for mode 3: a/ Y84=0 Y85=0

│ │ │PLC DIN1 PLC DIN2 DOUT1 │ │COND1 COND2 │ ├──┤ ├────┤ ├────┤ ├────┤ ├───────────( )─┤ │Y00080 Y00081 │ │ │ │ │ DOUT1 =Y80*DIN1*Y81*DIN2

e/ Y86=0 Y87=0

│ │ │PLC DIN1 PLC DIN2 DOUT2 │ │COND3 COND4 │ ├──┤ ├────┤ ├────┤ ├────┤ ├─────────( )─┤ │Y00082 Y00083 │ │ │

│ │ DOUT2 =Y82*DIN1*Y83* DIN11

b/ Y84=1 Y85=0

│ │ │PLC DIN1 PLC DIN2 DOUT1 │ │COND1 COND2 │ ├──┤ ├────┤/├────┤ ├────┤ ├───────────( )─┤ │Y00080 Y00081 │ │ │ DOUT1 =Y80*/DIN1*Y81*DIN2

f/ Y86=1 Y87=0

│ │ │PLC DIN1 PLC DIN2 DOUT2 │ │COND3 COND4 │ ├──┤ ├────┤/├────┤ ├────┤ ├─────────( )─┤ │Y00082 Y00083 │

│ │ DOUT2 =Y82*/DIN1*Y83*DIN2

c/ Y84=0 Y85=1

│ │ │PLC DIN1 DOUT1 │ │COND1 │ ├──┤ ├────┤ ├─┬───────────────────────( )─┤ │Y00080 │ │ │ │ │ │PLC DIN2 │ │ │COND2 │ │

g/ Y86=0 Y87=1

│ │ │PLC DIN1 DOUT2 │ │COND3 │ ├──┤ ├────┤ ├─┬─────────────────────( )─┤ │Y00082 │ │ │ │ │ │PLC DIN2 │ │ │COND4 │ │ ├──┤ ├────┤ ├─┘ │ │Y00083 │

│ │ DOUT2 =Y82*DIN1+Y83*DIN2

│ │PLC DIN1 PLC DIN2 DOUT1

│COND1 COND2 ├──┤ ├────┤ ├────┤ ├────┤ ├────( )│Y00080 Y00081

│ │ │ │PLC DIN1 DOUT2

Y80

│COND3 ├──┤ ├────┤ ├─┬────────────────( ) │Y00082 │ │ │ │PLC DIN2 │ │COND4 │ ├──┤ ├────┤ ├─┘ │Y00083

Y81 Y82 Y83 Y90 Y91 X3 X2 X1 X0

DOUT1 DOUT2

Quick logic processing

signal



├──┤ ├────┤ ├─┘ │ │Y00081 │ │ │ DOUT1 =Y80*DIN1+Y81*DIN2

d/ Y84=1 Y85=1

│ │ │PLC DIN1 DOUT1 │ │COND1 │ ├──┤ ├────┤/├─┬───────────────────────( )─┤ │Y00080 │ │ │ │ │ │PLC DIN2 │ │ │COND2 │ │ ├──┤ ├────┤ ├─┘ │ │Y00081 │ │ │ DOUT1 =Y80*/DIN1+Y81*DIN2

h/ Y86=1 Y87=1

│ │ │PLC DIN1 DOUT2 │ │COND3 │ ├──┤ ├────┤/├─┬─────────────────────( )─┤ │Y00082 │ │ │ │ │ │PLC DIN2 │ │ │COND4 │ │ ├──┤ ├────┤ ├─┘ │

0083 │ │Y0 │ DOUT2 =Y82*/DIN1+Y83*DIN2


Example (mode 2): Y84=0, Y85=1, gives c/ in the table

Y86=1, Y87=0 gives f/ in the table

DOUT1= Y80*DIN1+Y81*DIN2 DOUT2= Y82*/DIN1*Y83*DIN2


Seen out of the PLC program point of view the condition could be: PLC program:

The fast logic looks like: │ │ │PLC DIN1 DOUT1 │ │COND1 │ ├──┤ ├────┤ ├─┬───────────────────────( )─┤ │Y00080 │ │ │ │ │ │PLC DIN2 │ │ │COND2 │ │ ├──┤ ├────┤ ├─┘ │ │Y00081 │ │ │ │ │ │PLC DIN1 PLC DIN2 DOUT2 │ │COND3 COND4 │ ├──┤ ├────┤/├────┤ ├────┤ ├───────────( )─┤ │Y00082 Y00083 │

Totally, this is equivalent to:

DIN0 DOUT0

DIN1

DIN0 DIN1 DOUT1

Y80

Y81

Y83 Y82


As the PLC CPU is slower than the logic on the ACTANA the signals DIN1, DIN2, DOUT1 and DOUT2 connected to inputs X0, X1, X2 and X3. When these signals go high they will stay high until next PLC I/O update. Thereafter they are equal to the real status of DIN1-DOUT2 again. Therefore the PLC CPU can detect if something has happened. X0 and X1 could therefore be used as sample and hold of the digital inputs DIN1 and DIN2.

DIN1

DIN2

DOUT1

X2

DOUT2

Fast direct input 1

Fast direct input 1information hold

Fast direct input 2

Fast direct input 2information hold

Fast direct output 2

Fast direct output 2information hold

Fast direct output 2

Fast direct output 2information hold



General description of quick logic:

Mode 3 DOUT1 =Y80* a DIN1 b Y81*DIN2

DOUT2 =Y82* c DIN1 d Y83*DIN2

Where a is inverted (NOT) or normal function of DIN1: normal if Y84 is "0" and / (inverted) if Y84 is "1"

Where b is Boolean "*" (AND) or "+" (OR): "*" if Y85 is "0" and "+" if Y85 is "1".

Where c is inverted (NOT) or normal function of DIN1: normal if Y86 is "0" and / (inverted) if Y86 is "1"

Where d is Boolean "*" (AND) or "+" (OR): "*" if Y87 is "0" and "+" if Y87 is "1".

Extended function: Self hold /direct control function in mode 2:

DOUT1 =Y80* a DIN1 b Y81*DIN2 + Y90 * e

DOUT2 =Y82* c DIN1 d Y83*DIN2 + Y91 * f

Where e is output contact DOUT1 or TRUE ”DOUT1” if Y88=”1” and ”TRUE” if Y88 is ”0”

Where f is output contact DOUT2 or TRUE ”DOUT2” if Y89=”1” and ”TRUE” if Y89 is ”0” This term gives a possibility to make parallel connection of the above described fast logic. Y88 =0: Gives a possibility to make direct control of the output. If the upper branch is set false.

│ DOUT1 │ │ │ ├──┤ ├─┬───────( )─┤ │ │ │ │ │ │ │DOUT1 │ │ │HOLD │ │ ├──┤ ├──────────────────────┘ │ │Y00090 │

Y88 =1 Gives a possibility to make self hold function on DOUT1. In this case Y90 will be the breaking condition.

│ DOUT1 │ │ │ ├──┤ ├─┬───────( )─┤


│ │ │ │ │ │ │DOUT1 DOUT1 │ │ │HOLD │ │ ├──┤ ├───┤ ├────────────────┘ │ │Y00090 │

Y89 =0: Gives a possibility to make direct control of the output. If the upper branch is set false.

│ DOUT2 │ │ │ ├──┤ ├─┬───────( )─┤ │ │ │ │ │ │ │DOUT2 │ │ │HOLD │ │ ├──┤ ├──────────────────────┘ │ │Y00091 │

Y89 =1 Gives a possibility to make self hold function on DOUT1. In this case Y90 will be the breaking condition.

│ DOUT2 │ │ │ ├──┤ ├─┬───────( )─┤ │ │ │ │ │ │ │DOUT1 DOUT2 │ │ │HOLD │ │ ├──┤ ├───┤ ├────────────────┘ │ │Y00091 │

Y80* a DIN1 b Y81*DIN2

Y80* a DIN1 b Y81*DIN2

Y82* c DIN1 d Y83*DIN2

Y82* c DIN1 d Y83*DIN2



Possible quick logic combinations for mode 2: i/ Y84=0 Y85=0 Y88=0

│ │ │PLC DIN1 PLC DIN2 DOUT1 │ │COND1 COND2 │ ├──┤ ├────┤ ├────┤ ├────┤ ├─┬───────( )─┤ │Y00080 Y00081 │ │ │ │ │ │DOUT1 │ │ │HOLD │ │ ├──┤ ├──────────────────────┘ │ │Y00090 │ │ DOUT1=Y80*DIN1*Y81*DIN2+Y90 │

q/ Y86=0 Y87=0 Y89=0

│ │ │PLC DIN1 PLC DIN2 DOUT2 │ │COND3 COND4 │ ├──┤ ├────┤ ├────┤ ├────┤ ├─┬───────( )─┤ │Y00082 Y00083 │ │ │ │ │ │DOUT2 │ │ │HOLD │ │ ├──┤ ├──────────────────────┘ │ │Y00091 │ │ │ │ DOUT2=Y82*DIN1*Y83*DIN2+Y91

j/ Y84=0 Y85=0 Y88=1

│ │ │PLC DIN1 PLC DIN2 DOUT1 │ │COND1 COND2 │ ├──┤ ├────┤ ├────┤ ├────┤ ├─┬───────( )─┤ │Y00080 Y00081 │ │ │ │ │ │DOUT1 DOUT1 │ │ │HOLD │ │ ├──┤ ├────┤ ├───────────────┘ │ │Y00090 │ DOUT1=Y80*DIN1*Y81*DIN2+Y90*DOUT1

r/ Y86=0 Y87=0 Y89=1

│ │ │PLC DIN1 PLC DIN2 DOUT2 │ │COND3 COND4 │ ├──┤ ├────┤ ├────┤ ├────┤ ├─┬───────( )─┤ │Y00082 Y00083 │ │ │ │ │ │DOUT2 DOUT2 │ │ │HOLD │ │ ├──┤ ├────┤ ├───────────────┘ │

│ │Y00091 DOUT2=Y82*DIN1*Y83*DIN2+Y91*DOUT2

k/ Y84=1 Y85=0 Y88=0

│ │ │PLC DIN1 PLC DIN2 DOUT1 │ │COND1 COND2 │ ├──┤ ├────┤/├────┤ ├────┤ ├─┬───────( )─┤ │Y00080 Y00081 │ │ │ │ │ │DOUT1 │ │ │HOLD │ │ ├──┤ ├──────────────────────┘ │ │Y00090 │

│ │ DOUT1=Y80*/DIN1*Y81*DIN2+Y90

s/ Y86=1 Y87=0 Y89=0

│ │PLC DIN1 PLC DIN2 DOUT2 │ │COND3 COND4 │ ├──┤ ├────┤/├────┤ ├────┤ ├─┬───────( )─┤ │Y00082 Y00083 │ │ │ │ │ │DOUT2 │ │ │HOLD │ │ ├──┤ ├──────────────────────┘ │ │Y00091 │

│ │ DOUT2=Y82*/DIN1*Y83*DIN2+Y91

l/ Y84=1 Y85=0 Y88=1

│ │ │PLC DIN1 PLC DIN2 DOUT1 │ │COND1 COND2 │ ├──┤ ├────┤/├────┤ ├────┤ ├─┬───────( )─┤ │Y00080 Y00081 │ │ │ │ │ │DOUT1 DOUT1 │ │ │HOLD │ │ ├──┤ ├────┤ ├───────────────┘ │ │Y00090 │ DOUT1=Y80*/DIN1*Y81*DIN2+Y90*DOUT1

t/ Y86=1 Y87=0 Y89=1

│ │ │PLC DIN1 PLC DIN2 DOUT2 │ │COND3 COND4 │ ├──┤ ├────┤/├────┤ ├────┤ ├─┬───────( )─┤ │Y00082 Y00083 │ │ │ │ │ │DOUT2 DOUT2 │ │ │HOLD │ │ ├──┤ ├────┤ ├───────────────┘ │ │Y00091 │ DOUT2=Y82*/DIN1*Y83*DIN2+Y91*DOUT2

m/ Y84=0 Y85=1 Y88=0

│ │ │PLC DIN1 DOUT1 │ │COND1 │ ├──┤ ├────┤ ├─┬─────────────────────( )─┤ │Y00080 │ │ │ │ │ │PLC DIN2 │ │ │COND2 │ │ ├──┤ ├────┤ ├─┤ │ │Y00081 │ │ │ │ │ │DOUT1 │ │ │HOLD │ │ ├──┤ ├────────┘ │ │Y00090 │ DOUT1=Y80*DIN1+Y81*DIN2+Y90

u/ Y86=0 Y87=1 Y89=0

│ │ │PLC DIN1 DOUT2 │ │COND3 │ ├──┤ ├────┤ ├─┬─────────────────────( )─┤ │Y00082 │ │ │ │ │ │PLC DIN2 │ │ │COND4 │ │ ├──┤ ├────┤ ├─┤ │ │Y00083 │ │ │ │ │ │DOUT2 │ │ │HOLD │ │ ├──┤ ├────────┘ │ │Y00091 │ DOUT2=Y82*DIN1+Y83*DIN2+Y91

n/ Y84=0 Y85=1 Y88=1

│ │ │PLC DIN1 DOUT1 │ │COND1 │ ├──┤ ├────┤ ├─┬─────────────────────( )─┤ │Y00080 │ │ │ │ │ │PLC DIN2 │ │ │COND2 │ │ ├──┤ ├────┤ ├─┤ │ │Y00081 │ │ │ │ │ │DOUT1 DOUT1 │ │ │HOLD │ │ ├──┤ ├────┤ ├─┘ │ │Y00090 │ DOUT1=Y80*DIN1+Y81*DIN2+Y90*DOUT1

v/ Y86=0 Y87=1 Y89=1

│ │ │PLC DIN1 DOUT2 │ │COND3 │ ├──┤ ├────┤ ├─┬─────────────────────( )─┤ │Y00082 │ │ │ │ │ │PLC DIN2 │ │ │COND4 │ │ ├──┤ ├────┤ ├─┤ │ │Y00083 │ │ │ │ │ │DOUT2 DOUT2 │ │ │HOLD │ │ ├──┤ ├────┤ ├─┘ │ │Y00091 │ DOUT2=Y82*DIN1+Y83*DIN2+Y91*DOUT2

o/ Y84=1 Y85=1 Y88=0

│ │ │PLC DIN1 DOUT1 │ │COND1 │ ├──┤ ├────┤/├─┬─────────────────────( )─┤ │Y00080 │ │ │ │ │ │PLC DIN2 │ │ │COND2 │ │ ├──┤ ├────┤ ├─┤ │ │Y00081 │ │ │ │ │ │DOUT1 │ │ │HOLD │ │ ├──┤ ├────────┘ │

│ │Y00090 DOUT1=Y80*/DIN1+Y81*DIN2+Y90

w/ Y86=1 Y87=1 Y89=0

│ │ │PLC DIN1 DOUT2 │ │COND3 │ ├──┤ ├────┤/├─┬─────────────────────( )─┤ │Y00082 │ │ │ │ │ │PLC DIN2 │ │ │COND4 │ │ ├──┤ ├────┤ ├─┤ │ │Y00083 │ │ │ │ │ │DOUT2 │ │ │HOLD │ │ ├──┤ ├────────┘ │ │Y00091 │ DOUT2=Y82*/DIN1+Y83*DIN2+Y91

p/ Y84=1 Y85=1 Y88=1

│ │ │PLC DIN1 DOUT1 │ │COND1 │ ├──┤ ├────┤/├─┬─────────────────────( )─┤ │Y00080 │ │ │ │ │ │PLC DIN2 │ │ │COND2 │ │ ├──┤ ├────┤ ├─┤ │ │Y00081 │ │ │ │ │ │DOUT1 DOUT1 │ │ │HOLD │ │ ├──┤ ├────┤ ├─┘ │

z/ Y86=1 Y87=1 Y89=1

│ │ │PLC DIN1 DOUT2 │ │COND3 │ ├──┤ ├────┤/├─┬─────────────────────( )─┤ │Y00082 │ │ │ │ │ │PLC DIN2 │ │ │COND4 │ │ ├──┤ ├────┤ ├─┤ │ │Y00083 │ │ │ │ │ │DOUT2 DOUT2 │ │ │HOLD │ │ ├──┤ ├────┤ ├─┘ │



│Y00090 │ │ DOUT1=Y80*/DIN1+Y81*DIN2+Y90*DOUT1 │

│Y00091 │ DOUT2=Y82*/DIN1+Y83*DIN2+Y91*DOUT2


Application example: A machine producing products at a very high speed has to cut and punch at a very quick response when two detectors indicate the end of the product. But there are different types of products and only product B shall be punched when detector B indicates. When detector A indicates product A, B and D shall be punched. All products shall be cut when detector B indicates. The response time from the indication of the detector until the output signal starts to the knife has to be shorter than 400 and 300 μs.

Detector A (DIN1)

Detector B (DIN2)

50 ms hold Cut output (DOUT1)

Punch output (DOUT1) only product B product A, B and

max 400 μs max 300μs There is obviously no way to handle such a quick logic and response by the PLC program and ordinary inputs. (Even with interrupt handling we will have longer responses than 2 ms.) Therefore we use the quick logic on the Actana-F board and write following program:

Wanted function → Explanation → Break apart → │ │ │AUTO DIN2 DOUT1 │ │ │ ├──┤ ├────┤ ├─┬─────────────────────( )─┤ │R000 │ │ │ │ │ │HOLD DOUT1 │ │ │TIME │ │ ├──┤/├────┤ ├─┘ │ │TD0 │ │ │ │DOUT1 HOLD │ │ TIME │ ├──┤ ├──────────────────────────────( )─┤ │ 5 │ │ x0.01s│ │ │ │ │ │AUTO PROD DIN1 DOUT2 │ │ A │ ├──┤ ├─┬──┤ ├─┬──┤ ├─┬──────────────( )─┤ │R000 │R001 │ │ │ │ │ │ │ │ │ │PROD │ │ │ │ │B │ │ │ │ ├──┤ ├─┤ │ │ │ │R002 │ │

Find the corresponding quick logic block in the table on previous page. Alternative n/ fits if we remove the upper branch. (If Y80 is always false the upper branch is removed in practice.) Find the corresponding quick logic block in the table. Alternative u/ fits

│ │ │ │ │AUTO DIN2 DOUT1 │ │ │ ├──┤ ├────┤ ├─┬─────────────────────( )─┤ │R000 │ │ │ │ │ │HOLD DOUT1 │ │ │TIME │ │ ├──┤/├────┤ ├─┘ │ │TD0 │ │ │ │DOUT1 HOLD │ │ TIME │ ├──┤ ├──────────────────────────────( )─┤ │ 5 │ │ x0.01s│ │ │ │ │ │AUTO PROD DIN1 DOUT2 │ │ A │ ├──┤ ├─┬──┤ ├─┬──┤ ├─┬──────────────( )─┤ │R000 │R001 │ │ │ │ │ │ │ │ │ │PROD │ │ │ │ │B │ │ │ │ ├──┤ ├─┤ │ │ │ │R002 │ │ │ │ │ │ │ │ │ │PROD │ │ │ │ │D │ │ │ │ └──┤ ├─┘ │ │ │ R003 │ │ │ │ │ │AUTO PROD DIN2 │ │ │ B │ │ ├──┤ ├────┤ ├────┤ ├─┤ │ │R000 R002 │ │ │ │ │ │AUTO PUSH │ │ │ BUT │ │ ├──┤/├────┤ ├────────┘ │ │R000 X00100 │ │ │


Y81 Y80 always 0

Block n/ Y84=0 Y85=1 Y88=1 Y90

Block u/ Y86=0 Y82 Y87=1 Y89=0

Y83

Y91



│ │ │ │ │ │ │ │PROD │ │ │ │ │D │ │ │ │ └──┤ ├─┘ │ │ │ R003 │ │ │ │ │ │AUTO PROD DIN2 │ │ │ B │ │ ├──┤ ├────┤ ├────┤ ├─┤ │ │R000 R002 │ │ │ │ │ │AUTO PUSH │ │ │ BUT │ │ ├──┤/├────┤ ├────────┘ │ │R000 X00100 │ │ │

Continues on next page.



PLC program (Mode2 set on the board) Comments │ **** Definition of the quick logic *********** │ ┌──────────────────────────┐│ │ │LOGIC DEF1 = 0 (Y84) ││ ├────────────────────────────┤LOGIC DEF2 = 1 (Y85) ││ │ │LOGIC DEF3 = 0 (Y86) ││ │ │LOGIC DEF4 = 1 (Y87) ││ │ │DOUT1CONTR = 1 (Y88) ││ │ │DOUT2CONTR = 0 (Y89) ││

└──────────────────────────┘│ │ │ │ ***** PLC control of the cut output DOUT1 │ Input X002 indicates when DOUT1 is set.

Timer TD0 breaks the self hold after 50 ms. │ │ │AUTO PLC │ │ COND2 │ ├──┤ ├───────────────────────────────────────────────( )─┤ │R000 Y00081│ │ │ │HOLD DOUT1 │ │TIME HOLD │ ├──┤/├───────────────────────────────────────────────( )─┤ │TD0 Y00090│ │ │ │DOUT1 HOLD │ │INFO TIME │ ├──┤ ├───────────────────────────────────────────────( )─┤ │X00002 5 │ │ x0.01s│ │ │ │ ***** PLC control of the punch output DOUT2 │ The Pushbutton allows direct control in │ manual mode. │ │AUTO PROD PLC │ │ A COND3 │ ├──┤ ├─┬──┤ ├─┬──────────────────────────────────────( )─┤ │R000 │R001 │ Y00082│ │ │ │ │ │ │PROD │ │ │ │B │ │ │ ├──┤ ├─┤ │ │ │R002 │ │ │ │ │ │ │ │PROD │ │ │ │D │ │ │ └──┤ ├─┘ │

│ R003 ││ │ │AUTO PROD PLC │ │ B COND4 │ ├──┤ ├────┤ ├────────────────────────────────────────( )─┤ │R000 R002 Y00083│ │ │ │ │ │AUTO PUSH DOUT2 │ │ BUT CONTR │ ├──┤/├────┤ ├────────────────────────────────────────( )─┤ │R000 X00100 Y00091│ │ │

Define the type of quick logic. *1 Define the serial condition to DIN2 in the first quick logic block. Define the self hold condition in the first quick logic block. Make the self hold timer of DOUT1. (Input X2 gives the status of DOUT1) Define the serial condition to DIN1 in the second quick logic block. Define the serial condition to DIN2 in the second quick logic block. Define the direct control output of DOUT2 in the second quick logic block.

*1 Statements like ”LOGIC DEF1 = 0" can be excluded as the flag is "0" when it is unused. These outputs can be used as normal contact outputs and they can be changed during RUN. That means that the quick logic program itself can be changed during RUN as often as every PLC program cycle. To achieve a combination of fast response of position and logic you can combine the two modules CTH and Actana-F. Connect one of the external outputs of CTH to an input (DIN1 or DIN2) of Actana-F and combine the fast counter response with the rest of the quick logic on the Actana-F module. (see description of CTH, page 257 )


9.6.6.2.2 Analog inputs sample and hold: (Mode 2 and 3) There is one quick digital input ( DIN3) reserved as a sample input for the four analog input channels. Y90 =0 (Repeated high precision sampling control = Low) in case of mode 3: Y91=0 (Internal sampling control =Low) in case of mode 3:

When DIN3 goes high the current value of Analog inputs 1-4 are frozen and stay frozen until the next PLC I/O update. Thereafter they are equal to the real value of Analog input 1-4. When DIN3 goes high the input X4 stays high until the next I/O update. When input X4 is high the PLC can detect that a sample has occurred and the analog values can be taken care of. (X4 could also be used to detect the fast input signal, DIN3, separately from analog sampling.)

DIN3 X4

Y90 Y91

Program example. When the analog signal has been high the analog values of input 1-4 stay and they can be copied during the next PLC program cycle.

9.6.6.2.3 Repeated sampling control with high precision: (Mode 3) Y90 =1 (Repeated high precision sampling control = High): The function of analog input 2-4 are the same as above. When DIN3 goes high ACTANA will start to sample up to 170 values from analog input 1 with an interval which is chosen by setting of outputs Y88, Y89. When input X5 goes high the 170 values can be read from the PLC CPU each update cycle thereafter. When all values are read (170 I/O updates) input X5 goes low and the read values are the normal analog values again. During the sampling the read values are frozen on all analog inputs.




The sampling can also be started by the internal conditions. If output Y91 (internal sampling control) is set high, it gives the same result as when DIN3 goes high. In practice: Sampling start pulse is =DIN3 + Y91 (Boolean)


Sam

ple

no1

Sam

ple

no2

Sam

ple

no3

Sam

ple

no4

Sam

ple

no5

Sam

ple

no

170

I/O U

pd

ate

I/O U

pd

ate

I/O U

pd

ate

I/O U

pda

te

I/O U

pd

ate

I/O U

pd

ate

I/O U

pda

te

Read value 170


To achieve an interval between the samplings with small variation the value of analog input 2 to 4 will be frozen until the repeated sampling is ready. Even the quick logic is frozen during the sampling.

9.6.6.2.4 Repeated sampling control without stopping other functions: (Mode 3) Y90 =0 (Repeated high precision sampling control = Low): Y91=1 (Internal sampling control =High): If output Y91 goes high (and starts the sampling ) or if Y91 is high when DIN3 starts the sampling, the sampling will start to repeat on input channel. The sampling will go on until Y91 goes low or until 170 samples have been made. When the sampling stops, the values can be read as in the high precision sampling case. This means that the period of the sampling can be controlled and no other functions are stopped. On the other hand the precision of the sampling will decrease to a variation of the intervals of approx. 250 μs, which will cause a low precision specially in the short interval sampling areas, 250 μs and 500 μs. Program example. When X5 is high the collection of samples starts. The POINTER (Word) is reset. The PLC collects one value every PLC cycle until all values are stored in the PLC memory (X5 goes low) from memory position

DIN3 or Y91 X4 X5 Y90 (High) Analog value input 1 Analog value input 2-4

Frozen read value during sampling Last sampling no 170

Normal read value start

Read value 2

Read value 1

Read value 3 etc. etc.



MEMORY (word) and upwards via indirect addressing.


Application example: The result of an expansion process during a short time period (maximum 100 ms) will be analysed. The maximum will be detected (amplitude and time ). When the expansion starts a digital input goes high. Use mode 3. Connect the digital input to DIN3 and the analog signal to Channel 1. Set the sample rate to 1 ms. (That means that 170 samples will cover 170 ms) Set the filter time of channel 1 to ”no filter”.

10050 ms

Sampling interval

Max Amplitude

Input DIN3

Analog pressure during a short period

time for max. │ **** Set sampling interval to 1000 micro s. │ Set filter time channel 1 to "no filter" │ Set range of inputs to 0-1000. │ Set repeated High precision Control High. │ ┌────────────────────────────────────────────┐│ 1│ │SAMPL PER1 = 0 (Y88) ││ ├────────────────────────────┤SAMPL PER2 = 1 (Y89) ││ │ │FILT TIME1 = 1 (Y92) ││ │ │CONV IN = 1 (Y94) ││ │ │REPEAT CON = 1 (Y90) ││

└────────────────────────────────────────────┘│ │ │ │ │ **** X5 starts sample read.. │ The maximum value is stored in MAX VALUE │ After the samples are read (X5 is low)RESULT is set to MAX VALUE. │SAMP ┌────────────────────────────────────────────┐│ 2│READ EDGE1 │SAMPLE CNT = 0 ││ ├──┤ ├───┤ ├─────────────────┤MAX VALUE = 0 ││ │X00005 DIF0 │ ││ │ └────────────────────────────────────────────┘│ │ │ │SAMP ┌────────────────────────────────────────────┐│ 3│READ │NEW MAX = MAX VALUE < ANALOG1 ││ ├──┤ ├───────────────────────┤ ││ │X00005 │ ││ │ └────────────────────────────────────────────┘│ │ │ │NEW SAMP ┌────────────────────────────────────────────┐│ 4│MAX READ │MAX VALUE = ANALOG1 ││ ├──┤ ├───┤ ├─────────────────┤ ││ │R005 X00005 │ ││ │ └────────────────────────────────────────────┘│ │ │ │SAMP ┌────────────────────────────────────────────┐│ 5│READ │RESULT = MAX VALUE ││ ├──┤/├───────────────────────┤ ││ │X00005 │ ││ │ └────────────────────────────────────────────┘│




9.6.6.2.5 Filter time: (Mode 2 and 3) There is a default filter time of each analog input channel of 4 ms. This reduces noise and quick changes. The filter is calculated as an average of analog values during a period of time. If no filter time is wanted the filter can be removed through setting output Y92- Y93 high. Y92=0 standard filter time for analog input 1 (4 ms) Y92=1 no filter time for analog input 1 Y93=0 standard filter time for analog input 2-4 (4 ms) Y93=1 no filter time for analog input 2-4

9.6.6.2.6 Sampling interval: (mode 3) Y88 Y89 Sampling interval 0 0 250 μs 0 1 500 μs 1 0 1000 μs (1 ms) 1 1 5000 μs (5 ms)

9.6.6.2.7 Conversion factor: (mode 2 and 3) The 12 bit signal is presented as a default as 0-4095. Very often the PLC program uses this value as a value between 0-100, 0-1000, 0-10000 etc. A conversion through multiplication and division gives a loss of information as there is no floating point arithmetic. If outputs Y94 is high the value of analog inputs 1-4 will be presented as 0-1000 instead of 0-4095. If outputs Y95 is high the value of analog outputs 1-2 will be given as 0-1000 in stead of 0-4095. Analog Channels INPUTS OUT PUTS Y94 Y95 Presentation range of signal: 0 0 0 - 4095 1 1 0 - 1000

Mode information: Input X12-X13 give the mode number (0-3) so the PLC can check if right mode, fitting to the program, is set on the ACTANA board. X12 X13 Mode no. X14 PLC type X15 Type of board 0 0 Mode 0 0 Series H 0 Actana - S 0 1 Mode 1 1 Series EM 1 Actana - F 1 0 Mode 2 1 1 Mode 3



Digital Inputs (+100 * slot no) : mode 2 and 3 X0 Fast direct input 1 information hold X1 Fast direct input 2 information hold X2 Fast direct output 1 information hold X3 Fast direct output 2 information hold X4 (Analog) sample input information hold X5 Read Sampling Start info X6 Not used X7 CPU Watch dog , 3 - 4 Hz X8 Error on analog input 1 X9 Error on analog input 2 X10 Error on analog input 3 X11 Error on analog input 4 X12 Mode number information bit 0 (LSB) X13 Mode information bit 1 X14 H series on switch X15 Actana-S / Actana-F info on switch

Digital Outputs (+100 * slot no) : mode 2 Y80 Logic output 1 (condition 1 for DOUT1) Y81 Logic output 2 (condition 2 for DOUT1) Y82 Logic output 3 (condition 1 for DOUT2) Y83 Logic output 4 (condition 2 for DOUT2) Y84 Logic expression definition 1 Y85 Logic expression definition 2 Y86 Logic expression definition 3 Y87 Logic expression definition 4 Y88 Control of direct output DOUT1 Y89 Control of direct output DOUT2 Y90 Self hold definition DOUT1 (”1” = DOUT1, ”0”= TRUE) Y91 Self hold definition DOUT2 (”1” = DOUT2, ”0”= TRUE) Y92 Filter time definition analog input 1 Y93 Filter time definition analog input 2-4 Y94 Conversion factor definition analog input 1-4 Y95 Conversion factor definition analog outputs Mode 3 Y80 Logic output 1 (condition 1 for DOUT1) Y81 Logic output 2 (condition 2 for DOUT1) Y82 Logic output 3 (condition 1 for DOUT2) Y83 Logic output 4 (condition 2 for DOUT2) Y84 Logic expression definition 1 Y85 Logic expression definition 2 Y86 Logic expression definition 3 Y87 Logic expression definition 4 Y88 Sampling interval 1 Y89 Sampling interval 2 Y90 Repeated high precision sampling control Y91 Internal sampling control Y92 Filter time definition analog input 1 Y93 Filter time definition analog input 2-4 Y94 Conversion factor definition analog input 1-4 Y95 Conversion factor definition analog outputs

ACTANA-S1 / ACTANA-1 ACTANA-S2 / ACTANA-1 Inputs Outputs I/O-specification Current or voltage Current or voltage Range 0-10 V , 0-1 V DC, 0-20 mA, 4-20 mA 0-10 V , -10 ON +10 V DC, 0-20 mA, 4-20 mA Impedance Resolution 12 bits +/- 0.5% 12 bits +/- 1% Update time < 1 program cycle < 1 program cycle Min load current Amount of channels 4 inputs 2 outputs Max. top current Insulation inputs potential free (750 V between the channels) Current CH1 70 mA 70 mA consump CH2 - - tion CH3 180 mA 180 mA



9.7 Operator Terminals: There are basically two types of operator terminals: - Serial port operated terminals - Bus operated terminals. E.g. The Actterm-H terminal. The two types have advantages in different cases and sometimes suitable for different applications and customers.

Serial port terminals Bus terminals, (Actterm-H) Occupies the serial port of the CPU Yes No Long distance serial connection Yes, as long as RS232 is OK Limited to 3 m from the CPU. Fast response on key functions A small delay due to the serial

protocol Yes, Equivalent to normal inputs. (Proper machine hand control.)

Fast display update A small delay due to the serial protocol.

Yes, Display gives fast and LEDs give simultaneous update.

Works for other types (brands of PLC)

Yes, An advantage for end users, who run different PLCs

No, works only for H200-252 and H Board

Same programming tool, PLC and terminal

No, different programming Yes, Done by Actsip/ActGraph

Same documentation, PLC and terminal No, different documentation Yes, the documentation is not possible to mix up.

Extra memory for data storage No Yes, up to 32 k words. Main advantages End users with different PLC

brands using long distance between machine and terminal

Serial produced machines or when control comfort, proper hand control and documentation is important. Also when large extra memory is needed.

9.7.1 Actterm-H


4 5 6 F2

ENT F40CLR

F3

F1

321

ACTTERM-H TERMINALFOR HITACHI HB/H200

LIFTDown

LIFTUp

STOP START


87 9

4 5 6

321

CLEAR 0 ENTER

ACTTERM-H

987

PROG1

PROG2

PROG3

PROG4

CONVLEFT

CONVRIGHT

PROG5

LIFTUp

CONVLEFT

CONVRIGHT

PROG5

Texts are put in from back side


Features: -32 keys, all free to use as function keys. Out of these 12 are redefined as numeric keys and CLEAR, ENTER. All keys are reflected on bit memories and they can be used just like an input in the PLC program. - 16 LED's. Each one reflects a bit memory in the PLC memory. They can be used just like an output in the PLC program. - Text memory for 32 k alpha numeric characters, which is divided into different texts, to be shown on the display - Expansion memory. Memory with battery back up for storage of up to 16 k 16-bit words. (For Statistics, History storage, recipes etc.) Can be used as a large extension of the ordinary PLC memories. - Display for texts and values. The display is an intensive vacuum florescent type (high quality and very easy to read in any light). - Buzzer to call for attention or to amplify the response from the keys.

9.7.1.1 Start up

9.7.1.1.1 Start the program Start the programming with Actsip-H or Actgraph. Type "H ACTTERMH" in Actsip-H or "G ACTTERMG" in ActGraph (Store the project directly under another name.) A help project (ACTTERMH) is loaded. This consists of a number of program blocks, which handle the communication with ActTerm-H. As a standard these blocks are hidden as this is a ready function, which has nothing to do with the user project. These program blocks will follow the project and they must not be modified. (These will only load the project to a small extent.).

Ladder programming (Actsip-H) Grafcet programming (Actgraph) System Program Allocation Printout Files Communication Setup

DRAW MODE 0060 (0060) Offline H-200 Internal 7.5 Ks

Macro ACTTERMH(Ladder blocks.)

In the help program there are pre defined a number of inputs, outputs and internal memories of both bit and word type. These can directly be referred to as names in clear text. (See appendix A) E.g. DISPLAY Defines which text/value display to be shown. VALUE1 - VALUE6 Defines what values to be displayed.

9.7.1.1.2 Connecting (adding) Actterm-H to an existing project. If the project already is started, you can load a macro named ACTTERMH. (In Actsip-H, go to <Files-Load

Macro>. In ActGraph press F10 and choose Macro. Place the macro first in the program. Answer Yes to the proposed addressed if they are not already occupied. To get all short comments belonging to ActTerm-H, load the macro "TERMDEF" and remove it directly afterwards. (the comments will remain.)



9.7.1.1.3 How to configure the System The project is from the beginning configured for a HB (H20-H64). If ActTerm-H shall be connected directly to such a PLC type, the configuring can be skipped as it is configured already from the beginning in the pre defined project. Configuring. Not needed for H20-H60 without expansion.

Example Observe! Max. amount of slots used with H200/H252 is 15. (28 for H252). 2 x BSM9 is impossible.

If it shall be connected to a H200 unit or if it shall be connected to the expansion modules on series HB you must change the configuration. Go to "Setup-PLC", choose the right CPU and memory. Thereafter go to the I/O-configuration and set up the valid In- and Output modules. ActTerm-H is defined by "4/4W" and it is already placed on unit 5, slot 0 and it shall not be moved. (This can sound peculiar as there are not 5 units in the system but the H-series realises this by itself and it places internally the module on the right place.) The advantage is that you never have to move the module in the configuration. Thereafter you have to fill the empty slots in a rack which is used with "Dummy 16" in the configuration.

0123456789

0123456789

0123456789

0123456789

Upper left: Basic configuration. The configuration never need to be changed if you connect ActTerm-H to a HB without expansion unit.

Upper right: If you have a HB and you connect an expansion module between the base unit and ActTerm-H, the expansion module is defined in the configuration without changing anything else.

Lower left: If you connect ActTerm-H to a H200-system you have to configure the system in the usual way through changing and adding modules. Empty slots are filled with "Dummy 16".

Lower right: H200 base unit with 4 modules plus CPU in a BSU-7 with room for 4 modules exclusive CPU. Two empty slots must be filled up. In the expansion unit there are 2 slots but room for 4. Therefore 2 "Dummy-16" are defined in the last slots of the rack.



Now you can start to program:

9.7.3.3 Programming

9.7.3.3.1 How to use the function keys Each function key has a name when the system is started (F1 - F20). In the program these can be named by its relevant name.

4 5 6 F2

ENT F40CLR

F3

F1

321

87 9

4 5 6

321

CLEAR 0 ENTER

987

F6

F8

F7

F5 F9

F10

F11

F12

F13

F14

F15

F17

F18

F19

F20F16

Beside F1 -F20 there are the keys ENTER, CLR and "0" - "9". (Even these keys can be used as function keys. If you want an inverted key board set the flag KEY_INV high. The figures on the key board then change place.

1 2 3 4 5 6 7 8 9 0

Often it is suitable to rename the function keys in the project to more relevant names. This is done in the menu "Allocation-Enter/Change". E.g. specify "F5" and following allocation list occurs:

Original names: Change the names to: . F5 */ F6 F7 F8 */ Please avoid changing the name of F5 and LED 1 in Actgraph versions 2.20A-3.0

. START LIFT UP LIFT DOWN HEAT ON . .



LIFTDown

LIFTUp

STOP START

PROG1

PROG2

PROG3

PROG4

CONVLEFT

CONVRIGHT

PROG5

HEATOFF

HEATON

(When you have decided the function of the keys you can use a common design program and type texts and draw symbols on the new key board layer. If you have a laser printer available you can easily make a very proper layer. Cut it out and push it into a pocket under the transparent foil of the keyboard.) Now the keys have relevant names and these names can be used in clear text in the program.



9.7.3.3.2 How to use the LEDs

Each LED has a name when the system is started (LED 1 - LED 16, Observe that there is a space between "LED" its number). These can be used directly in the program by using these names.

START STOP

GRIP

LIFTUP

LIFTDOWN

HEATON

HEATOFF

Example: When you push the key "LIFT UP" the Lift motor shall start if the end position "LIFT TOP" in not closed. As long as the lift moves, the Light emitting diode (LED 2) on the keyboard will light.

M1LIFT+

LIFTUP

LED 2

LIFTTOP

9.7.3.3.3 How to use the Buzzer If you activate the flag BUZZER you will hear a sound from the terminal. A common use for this is to amplify the sound from a key. In this case, connect (in the program) the "coil" BUZZER directly to the "contact" KEYPRESS, which is activated when any key is pressed. Another common use is to call for alarm attention. In this case, connect the ALARM "contact" in serial with the internal time base "0.1 second" to BUZZER. You will then achieve a sound which calls for attention.

9.7.3.3.4 How to use the DISPLAY The principal is that each Display (the mix of texts and values, which are shown on the display in a certain moment) is allocated to a number. When "DISPLAY" changes value, the display on the terminal will change to the Display which has the new number.

9.7.3.3.5 How to type the texts and transfer the texts to the terminal Typing text:

The texts are written in Actsip-H or Actgraph through opening the text "Type In Window" (Press F2 and choose ACTTERMH and the window on the screen will open. (see next page) This is a short list of the existing texts and the number they have. Choose the text number from the list and type <Enter>. Reply "No" on the question "Is this text for printer?" A new window is opened with the same with as the display screen. Type the text as you want it to look like on the screen. When you are ready, press ESC and store your text. When you have created all the texts press ESC. If you are

Copyright Actron AB 1994

CONDITION

Nr. Text1 Text no. 1 ..... 2 Adjust the le....3 Alarm no. 2 .....4 Set value is....56789101112131415

Mark Search Hor-Exp Ver-Exp Goto + Comm - Comm Erase Comm ACTTERMH

System Program Allocation Printout Files Communication Setup

232



ON-line you will get a question if you want to transfer the texts to the terminal.


9.7.3.3.6 Transfer the texts You must be ON-Line and the PLC must be in RUN mode. Enter reply "Yes" to the question after typing the texts or choose "Communication-Texts to ActTerm-H" and the texts are transferred. The texts are transferred while your application is still running.

9.7.3.3.7 Documentation: Choose "Printout-Texts ActTerm-H" .

9.7.3.3.8 Display with only Text Example This display consists only text, namely the text: ACTTERM-H TERMINAL FOR HITACHI HB/H200

ACTTERM-H TERMINALFOR HITACHI HB/H200

9.7.3.3.9 Text typing Ladder programming (Actsip-H) Grafcet programming (Actgraph)

9.7.3.3.10 How to program a pure text Display If the number of the display is 12 it is called from the program in the following way: In ladder diagram programming, open an arithmetic box. The condition for showing the text is given in contact symbols in front of the box. Type "DISPLAY = 12" in clear text in the box. In grafcet programming, type "DISPLAY=12" in an action box in a graph or an independent action box.

Ladder programming (Actsip-H) Grafcet programming (Actgraph)



9.7.3.4 Display with text and values Example This display is a mixture of text and a value: The text is: Number of produced items is ---- pieces The value is a register or a counter in the PLC, which counts items.

Number of produceditems is 2341 pieces



9.7.3.4.1 How to make a display with text and values

Open the Type-In Window with <F2>, <ACTTERM>. On the position where you want the value you type "@" instead of the figures. Instead of the last figure you type "}". When you are ready, press ESC.

Display no 7 Number of produceditems is @@@} pieces

The symbols that are used to define where the values are on the display are @, } and ]. Normally you find these on your keyboard as second choice alternatives (the key together with the Alt-key). If they are not present on your keyboard, hold down the Alt-key and press following number combinations: <64> for @ <125> for } <93> for ]

9.7.3.4.2 How to program a display with text and values If this display e.g. has number 7 and the value is "ITEMCOUNT" (e.g. the register WR100) the PLC-program is activated in the following way:


The first value, from top to bottom (from left to right) is called "VALUE1". This name is already written into the help project (ACTTERMH) and therefore the name can be written directly in clear text.. The second value is called "VALUE2", the third is called "VALUE3" etc.

A value can consist of 1-5 figures, which are shown on the display. The amount of figures that are shown is decided from the number of "@" (together with the end character) that are written in the text. If the value is a binary value the end character is "}" and if the value is represented as a BCD value the end character is "]". (Most values in the H series are binary values. Some values, e.g. the real time clock are given as BCD values.) e.g. ... @@@@} ... means show a binary value with 5 digits. ... @@@] ... means show a BCD value with 4 digits. ... @@} ... means show a binary value with 3 digits.




... @} ... means show a binary value with 2 digits.

... } ... means show a binary value with 1 digit.


9.7.3.4.3 How to show values with separation characters If you want a separation character in a value, (e.g. "." for a decimal dot, ":" in a clock value etc.) the separation character is written between the "@"-characters. E.g. if you want to the text "THE TIME IS 18:35" where 18:35 is a value: THE TIME IS @@:@} If you want to show a five digit binary value with dash-characters in-between you will write: @-@-@-@-}

Temperature is 23 CThe Time is 17:35

Example. This display is a mixture of text and two values: The text is: Temperature is -- C The time is --:-- Value 1 is a register in the PLC, which contains the temperature and value 2 is a register, which contains the clock (Hours, Minutes)

Temperature is 23 CThe Time is 17:35


If this display has number 84 and the first value is Register WR101 "TEMP" and the second value is register "HOUR,MIN", which contains the hour/minute from the real time clock the PLC is activated in the following way:




Example:

Real Display Type in

*** ACTRON AB ***1992-11-30 14:35 34

*** ACTRON AB ***19@]-@@-@] @@:@] @]

YEAR and SECOND are two digit values. MON,DAY and HOUR, MIN are four digit values. MON, DAY are separated with "-" and HOUR, MIN are separated with ":". The values are represented as BCD values, thus the end character is a "]".

Programming

9.7.3.4.4 Rolling text: (Scroll) When two rows are not enough to show all the message, the display can scroll up and down. You can therefore write a text which is much longer than the size of the display. A text which is made scrolling should not contain any values.


When this text is called from the program it can move up and down (scroll) if you connect conditions to the pre defined flags "TEXT UP" and "TEXT DOWN" If you e.g. want to use F3 to scroll the text up and F4 to scroll the text down the program will look as follows:

1 2 3

4 5 6

7 8 9

CLR 0 ENT

F1

F2

TEXT

TEXT




9.7.3.5 How to preset a value

Level is 3361 mmSet maximum 6700 mm

Programming:


"KEYIN" contains always a value, which is typed in on the numerical key pad. The "CLR"-key resets KEYIN automatically. To give a value, which is displayed when you start the pre-set the word "KEYINIT" is available. If you connect KEYINIT to a value in the moment you change the display KEYIN will start with this value. In the example above you start the pre-set with the old value of MAX_LEVEL before you start to give in another value.

9.7.3.5.1 Texts that move and change

To enable changing of a part of a text on a display without changing the rest there is an alternative to the DISPLAY command. This consists of two commands: "TEXT" and "TEXTPOS" TEXT specifies as DISPLAY the number of the text. These texts are created exactly as the DISPLAY texts described above. TEXTPOS specifies the position on the display where the text shall start.

01234567890123456789

01234567890123456789

Example. If you want following display:



WATERLEVEL IS: 1245 mmThe level is xxxxxxxxxxxxxx



Where XXXXXXX either is "LOW", "NORMAL" , "HIGH" or "CRITICAL" If the DISPLAY no 68 looks as follows: "WATERLEVEL IS: 251 mm The level is " TEXT no 69 is "LOW" TEXT no 70 is "NORMAL" TEXT no 71 is "HIGH" and TEXT no 72 is "CRITICAL"

The position of the first X is 29, so TEXTPOS =29

Text that moves:

Let the text start and end with <space> and type e.g. " ACTRON AB ":

TEXT = noTEXTPOS = display counter

and count up or down the "display counter" within the area (0-40) Then the text moves on the display.

Extra updating of Display or Text: If you want an extra update of a complete Display or a Text in a display without changing the number of the DISPLAY or TEXT, you can use two flags: Activate DISPUPDATE to update the display. Activate TEXTUPDATE to update a text on the display.

Quick updating of the Display: When you have very large programs the display will update slower than for small or medium size programs. If you want a quick display update you can activate a flag which is called QUICKDISP. Then the display will be even faster than the normal update for a small program. Observe that if this flag is activated the program after the ActTerm-H macro will not be executed for approximately 100 ms. If the application needs a faster response you should either not use the QUICKDISP command, place the time critical part of the program before the ActTerm-H macro or use an interrupt routine for the critical part.

Control of the display: To control the special modes on the display use the command CONTROL. Set CONTROL equal to the display codes, which are:

(Cursor backwards = 8 ) (Cursor forwards =9 ) (Line feed =10 ) (Carriage return =13 ) Cursor Off = 14 Cursor On = 15 Reset =20 (Display goes back to default) Clear Home =21 (Clears display, Returns cursor to upper leftmost position) (Cursor Home =22 Returns cursor to upper leftmost position) Dimmest = 28 (12% intensity of the display) Dim = 29 (25% intensity of the display) Bright = 30 (50% intensity of the display) Brightest = 31 (100% intensity of the display) etc. (see special codes for the display)

Example. Set the CONTROL to this value for one program cycle.



DIF

This activates the cursor. There is also another flag, which is called CLEAR DISP. When this is high it turns off the display.

9.7.3.5.2 How to write in the expansion memory To write in the expansion memory you must put the value to be stored into the word WRITEVALUE and the address in the expansion memory in WRITEADDR. The writing is executed when the flag WRITEMEM is set high. WRITEMEM is reset automatically after writing. If only one value is to be written you should only activate WRITEMEM once (edge condition or similar)

Expansionmemory

WRITEADDRValuefrom the PLCWRITEVALUE

16888

Ladder programming (Actsip-H) Grafcet programming (Actgraph) writecondition WRITEADDR = address

WRITEVALUE = valueWRITEMEM = 1

WRITEADDR = addressWRITEVALUE = valueWRITEMEM = 1P

If you shall write a number of values, e.g. copy a recipe to the expansion memory you can do as follows:


Where "start address1" is the first address in the expansion memory, "start address2" is the lowest of the values that are going to be copied to the expansion memory. "pointer" is reset before writing and the write condition shall go false when POINTER has reached the maximum amount of values to be copied.

WR RD_VALINDIRECT WR RD_ADRWR WRI_ADRWR WRI_VAL WRITE IND

pointer = 0WR RD_ADR = start address2+ pointerWRITEVAL = WR RD_VALWRITEADR = start address1 + pointerWRITEMEMpointer =pointer+ 1

To make indirect addressing in Grafcet programming, load the macro INDIRECT. This performs reading in the WR area on address WR (0+WR RD_ADR) to the value WR RD_VAL.

9.7.3.5.3 How to read in the expansion memory



To read from the expansion memory you must put the read address in the expansion memory in the word READADDR and thereafter read from the word READVALUE. The reading is executed when the flag READMEM goes high. READMEM is reset automatically after reading. If only one value shall be read you should only activate READMEM once (edge condition or similar). The value you read is not available in the word READVALUE until one PLC program cycle after the READMEM command has been executed. Therefore a flag is available to indicate when it is OK to read. This is called READ READY. Thereafter it is automatically reset.

Expansionmemory

READADDRValueto the PLCREADVALUE

16888




If you want to read a number of values, e.g. copy a recipe from the expansion memory you can do as follows: Ladder programming (Actsip-H) Grafcet programming (Actgraph)

STARTADDR is the first address in the expansion memory, VALUE is the lowest of the values that will be copied from the expansion memory. POINTER shall be reset before the reading and the read condition shall be reset when the POINTER has reached the maximum value to be copied.

WR RD_VALINDIRECT WR RD_ADRWR WRI_ADRWR WRI_VAL WRITE IND

POINTER = MAX AMOUNT

READADDR = START ADDR + POINTERVALUE(POINTER) = READADDRREADMEM = 1POINTER = POINTER + 1

P POINTER = 0

To make indirect addressing in Grafcet programming, load the macro INDIRECT. This performs writing of the value WR WRI_VAL in the WR area on address WR (0+WR WRI_ADR) when the flag WRITE IND is set..

9.7.4 ActTerm-H with printer port

9.7.4.1 Start the program Start the programming with Actsip-H or Actgraph. Type "H ACTPRTH" in Actsip-H or type "G ACTPRTG" in ActGraph to start Actgraph for ActTerm-H programming.

9.7.4.1.1 Typing printer text The texts are written in Actsip-H or Actgraph through opening the text "Type In Window" (see "Typing text" above). Choose the text number from the list and type <Enter>. Reply "Yes" on the question "Is this a printer text?" A new window is opened with 78 character width. Type the text as you want it to look like on the printer. When you are ready, press ESC and your text will be stored. When you have created all the texts press ESC. The text will be marked in the text list with a "P" as in Printer. Therefore you can see from the list that this is a printer text.

CONDITION

Nr. Text1 Text no. 1 ..... 2 Adjust the le....3 Alarm no. 2 .....4 Set value is....5 Printer text....67 Time @@:@]......89101112131415

Mark Search Hor-Exp Ver-Exp Goto + Comm - Comm Erase Comm ACTTERMH


P

P

9.7.4.1.2 Text print out E.g. printer text no 15 OVER PRESSURE ALARM DAY- MONTH @@-@] TIME @@:@] Pressure level @@@} mBar Emergency call 026-7529290 The text is printed in the format you want the printout. The definition of values is done in the same way as for

the Display .




Up to 6 values can be printed in the same printout. If more values are needed, make two or more printer texts to be printed after each other.


9.7.4.1.3 Programming of a text printout Use the command "PRINT" instead of "DISPLAY". If the number of the print text is 12 it is called from the program in the following way: In ladder diagram programming, open an arithmetic box. The condition for showing the text is given in contact symbols in front of the box. Type "PRINT = 12" in clear text in the box. In grafcet programming, type "PRINT=12" in an action box in a graph or an independent action box. Ladder programming (Actsip-H) Grafcet programming (Actgraph)

PRINT = 12

PRINT = 12

9.7.4.1.4 Programming of mixed text and value If this text printout is no 15, value 1 is "MON,DAY" (month,day from the real time clock) , value 2 is

"HOUR,MIN" and value 3 is the register "PRESSURE" (e.g. analogue input WX100) you program in the following way:




CONDITION

+. Off-line Series H

OVER PRESSURE ALARM DAY- MONTH 03-04 TIME 14:32 Pressure level 1579 mBar Emergency call 026-7529290

Detecting when the printer is ready

Sometimes you need to know when the printer is ready to begin the next printout or when you can perform the next display. (The Display and the printout use the same values and do not work in parallel.) Therefore there is a flag available, called "PRINTING". This is high when the printer is active. On the right is a typical example, where printouts follow after each other.

PRINT = 7

PRINT = 15VALUE1 = MON,DAYVALUE2 = HOUR,MINVALUE3 = PRESSURE

PRINT = 12VALUE1 = TOT AMOUNT

/PRINTING

/PRINTING



How to avoid unnecessary updating of the display

After each printout the display is updated automatically. If you have several printouts in a row this could be unnecessary. Therefore you can use the flag. "DISP STOP" to freeze the display during the printouts.

PRINT = 7DISP STOP

PRINT = 15VALUE1 = MON,DAYVALUE2 = HOUR,MINVALUE3 = PRESSURE

PRINT = 12VALUE1 = TOT AMOUNTDISP STOP

/PRINTING

/PRINTING

+

- Updating of a printout (repeating):

If the last printout shall be repeated (with new values) e.g. in a logging application, you can use the flag "PRINTUPDAT". (As PRINT does not change number there will be no printout otherwise.) Reset the printer:

If the printer is OFF-Line, the paper is out or similar, most printers give a signal back to the terminal, which tells the terminal to wait for the printer. In many cases it is recommended to make a time check of the printout and after the time has expired reset the printer and give an alarm to call for attention. The reset flag is named "RES PRINT". E.g.


Quick updating of the Printer: When you have very large programs the printer will print slower than for small or medium size programs. If you want a quick printout you can activate a flag which is called QUICKPRINT. Observe that if this flag is activated the program after the ACTPRINT macro will not be executed during the printout. If the application needs a faster response you should either not use the QUICKPRINT command, place the time critical part of the program before the ActTerm-H macro or use an interrupt routine for the critical part.

TIME2



CONDITION

PRINTING

TIME2

10.0

PRINT = 15VALUE1 = MON,DAYVALUE2 = TIM,MINVALUE3 = PRESSURE

RES PRINT = 1DISPLAY = 18BUZZER = 1

8 Digit type in:

In some applications it is useful to type in more figures than 4 or 5. Though using two words "HIGH WORD" and "LOW WORD" and the flag "8 FIGURES" it is possible to type in 8 figures. The value is divided. The 4 most significant figures are in "HIGH WORD" and the 4 least significant in "LOW WORD". The value is represented in BCD-format and "]" must therefore be used as the end character when the text is typed in.

CONDITION

Where the text can e.g. look as follows following:

Text no 21: TYPE PRODUCT NO: @@@]@@@] Press ENTER

9.7.4.1.5 Connection of a printer If ActTerm-H is equipped with a printer option there is a 25 pin D sub connector on the back side of the

terminal. The printer cable is connected here. The printer port is Centronics compatible. This means that most desk top printers (all PC compatible) can be connected directly with a standard parallel printer cable. It is also possible to connect panel printers. These printers normally require a special cable. Actron can supply one standard panel printer, ACTPRINT. This is connected with a cable ACTCAB-4/1. This is a thermo printer with 24 characters per row. It must also be connected to external 5 V power supply.


9.7.4.2 Mounting ActTerm-H is connected to the PLC with an expansion cable, e.g. CNM-06. The total distance should not exceed 3.0m total, including the length of the rack backplane. The panel has 8 screws on the back housing. Remove the housing. Put the panel in from the front side and mount the housing from the back . The panel is now installed.

9.7.4.2.1 Typical mounting of the PLC in a housing

PLC (H200)

-

Inside housing

Back side of the door

Expansion cable

Back side of the terminal

Back side in a housing:

PLC (series HB)

-


Inside housing


Expansion cable

Back side in a housing:

-


Expansion cable

PLC (H200)


Inside of a housing door


PLC (series HB)

Expansion cable


Inside of a housing door

9.7.4.2.2 Power supply of ActTerm-H ActTerm-H has a screw connector on the back side for external power supply of 10-30 V AC or DC.

Power supply: The power could e.g. be supplied from the external 24 V supply on the PLC. If this already is heavily loaded a simple external 24 V power supply is recommended. The continuous 24 DC current consumption is max. 200 mA. This means that the external (on screw connector) power supply can be used as long as the total load does not exceed the total capacity. (400 mA for HB and H200).



9.7.4.2.3 Measurements


The hole in the panel shall be 187 mm (High) x 199 mm (Wide). The depth is 50 mm

199

187


9.7.4.2.4 Hints when using ACTTERM-H with Hitachi series H200 and Hitachi series H Board Type Cable length: For the H board and H200/H250/H252 you can always safely use a 1.0 m expansion cable. You can use up to 3.0 m expansions if you apply good shielding. (according to our tests) Observe that when you calculate this length it shall be the total distance from the CPU. (incl. bus and cable)

ACTTERM-H

PLC base rack

PLC expansion

total length 3.0 m

Slot occupation: ActTerm-H occupies one slot. (even if it is not connected in the slot space) That means that the maximum number of modules for H200 and H250 is 15. For a H252 the maximum will be 28. Set-up: The set-up is described in the manual. Please do not forget to define empty slots as "Dummy 16", which says "16" in the configuration and not "Dummy 0", which is blank in the configuration. A H board PLC is always X48,Y32,16 A HL board PLC is always X48,Y32,LINK or X48,Y32,REMOTE depending on the jumper position. Connection to H board + expansion module: If an ActTerm-H is connected to a H board type via an expansion module type H16, there should not be more than one expansion module and the expansion module and the ActTerm-H must have different power supplies.

ACTTERM-H



9.8 Communication modules: 9.8.1 Remote communication (Remote modules): RIOH-TM and RIOH-TL

Slave station 0 Slave station 1 Slave station 2

3 channels 3 channels 2 channels

Channel no Channel no Channel no

The remote units are connected with a twisted pair wire according to the drawing (for detailed connection description, see description which follows the module.) RIOH-TM is placed in the main unit and RIOH-TL in the slave units. Max. 8 slave units can be connected in a chain. The address area is divided into eight channels. Each channel correspond to a slot in the slave rack. The channels are numbered in order from the first rack to the last one and the switches on the modules are set according to this. On RIOH-TL there are two switches. The first specifies the first channel in the rack and the second specifies the number of channels (I/O modules) in the rack, The CPU in the master rack sees the inputs/outputs in the slave rack exactly as they where in the master rack with the difference that the address number tells that it is a remote module. E.g. output 12 in the second module ( channel 4) in the remote station 1 according to above: Y10112. See also addressing on page 9.

Twisted pair wire with a total lenght of 300 m

Each master rack can contain up to 4 remote chains.

Master station

9.8.2 Current consumption RIOH and IOLH-T RIOH-TM RIOH-TL IOLH-T CH1 (5 V) 130 mA 150 mA 150 mA CH3 (24V) 20 mA 20 mA 20 mA CH3 (24 V) 5 mA 5 mA 5 mA

9.8.3 General specification RIOH and IOLH-T RIOH-TM RIOH-TL IOLH-T Number of connections 8/Master station x 4 systems 8 modules/system x 2 Number in/ outputs 128 x 4 systems 128/8 bits/word x 2

systems Update time 5 ms 10 ms x amount of stations Baud rate 768 k bps




Error check Inverted double transmit.


9.8.4 Link communication IOLH-T:

Program example: PLC 1 shall read information from the two input modules on PLC 0 and reflect these on the two output modules. PLC 0 shall read the input module on PLC 1 and reflect this on memory word WR100. This shall also be reflected on the output module on PLC 2.

Read area Read area Write area Read area Read area Write area

Read area Write area Read area

Program in PLC 1 Program in PLC 2

Program in PLC 0

The link area for each PLC must be set under ”PLC- Setup” in the programming software. You can have two different link chains from a PLC.

CPU with 2 link chains

Link chain 1

Link chain 2 With the T-LINK-module (for H250-H252) the address area can be increased to 1024 words/ 16 k bits. It is also possible to program the PLC over the Link system. With LINK-02H you can connect to a net together with H300-H2002. The connection will be to a LINK-H-module.



9.8.5 CTH High speed counter module:

Red (Voltage supply) Two phase pulse encoder with open collector output

Green (Phase B)

White (Phase A)

Black (Reset)

PLC (CTH module)

Phase A and B decides the rotation direction. (Up- /down count) Reset is done with the M input.

Up counting Down counting Phase A

Phase B Phase B 90 degrees Phase A 90 degrees

When the encoder rotates in one direction (counts up) the phase A pulse comes 90 degrees before phase B. (see above). When the direction is turned (down count) phase B comes 90 degrees before A. Therefore the CTH can always keep track of the direction.

External Reset pulse

No Reset pulse (connected to 0 V) Reset pulse

from the encoder

CTH CTH CTH


Principal of the high speed counter: There is a counting register. This counts up and down according to the encoder pulses. To enable the counting there is an Enable bit E (Y88), which must be set high. To set the counter value there is a counter set register (WY2). This is copied to counter value when the Counter Preset bit CP (Y80) goes high. The counter value is always compared to the content of four Comparison registers (CU0, CU1, CU2, CU3, with addresses WY3, WY4, WY6, WY7). The result of these comparisons is in the eight bits CU0 = (X4), CU0 > (X5)..........,CU3 >, (X11).

Counter set register CP Counter set register is copied to

the counter when CP goes high E

Counter value Compares the values Result to the flags

Enables the Counter

Flags, which indicate the position

Comparison values



By using a jumper on the board you can choose between BCD counting and binary counting in the counter value (see instructions in delivery)


Disposition of in- and output words of the CTH:

The Area is divided into two input word and 6 output words. (shall be defined in <Setup-PLC> as FUN3) Input word 0 (WX0) and output word 5 (WY5) contains the output bits (flags). The most important output bits are E , which enables counting, ALL CLR, which resets the counter etc. and CP, which presets the counter value. The most important input flags are =CU0, >CU0,......., >CU3. which give the counter position in relation to the values in the compare registers. Only word WX0 (bit x0 -X15) and WY5 (bits Y80-Y95) can be used for bit addressing.

Input words

Output words

Example: A machine shall be reset in its home position (X100) When the counter in CTH has passed 1240 pulses an external output shall go high. When it has passed 5000 pulses the output shall go low again. (CTH is placed on slot 0)

│ ** Reset of High speed Counter and flags at Home (X100) position │ │HOME ALL C │ 1│ LR │ ├──┤ ├─────────────────────────────────────────────────────────────────( )─┤ │X00100 Y00089│ │ │ │

led compare values │ *** Preset of CTH control │ Comp value 0 = 1240

5000 │ Comp value 1 = │ *** Counter Enable │ ┌────────────────────────────────────────────┐│ 2│ │COMP. CU0 = 1240 ││ ├────────────────────────────┤COMP. CU1 = 5000 ││ │ │E = 1 ││ │

──────────────────────────────────────┘│ └────── │

OUT 1) │ ** When the counter is > the compare value 0 (1240) output 1 (EXT │ goes High and when it is > compare value 1 (5000) it goes low. │CU0 > CU1 > EXT │ 3│ OUT 1 │ ├──┤ ├────┤/├──────────────────────────────────────────────────────────( )─┤ │X00005 X00003 Y00200│ │ │

It takes some time for the PLC to read the flags CU0 > and CU1 > and make the logic combination. If this time delay is too long you have to use the external outputs of the CTH, which have a quick response. Then you must connect the outputs to an external logic to work as in block 3 in the example above. │OUT0 OUT1 EXT │ │ OUT 1 │ ├──┤ ├────┤/├──────────────────────────────────────────────────────────( )─┤ │ │ Principal for output control of the outputs OUT0-OUT3:

Out control (OUT0 to OUT3) Forced control

OUTE Status of CU0 > to CU3 >

Copyright Actron AB 1994 259 Status of External output terminals CU0= to CU3=



or you can connect the CTH outputs to the Actana-F Quick logic inputs DIN1 and DIN2 and let the Actana-F construct the logic. (see Actana-F description ) To achieve a combination of fast response of position and logics you can combine the two modules CTH and Actana-F. Connect one of the external outputs of CTH to an input (DIN1 or DIN2) of Actana-F and combine the fast counter response with the rest of the quick logic on the Actana-F module. (see description of Actana-F, page 199 ) The High speed counter in the CTH uses 16 bits. A jumper on the CTH board (see special CTH board description) decides if it counts binary (0-65535) or BCD (0-9999). This means that if the total distance is > 65535 pulses you have to make some PLC programming to extend the counter range. In such case it is easiest to use the BCD counting.

Example: Let us say that we have the same example as above but our positions are 11240 for ON and 135000 for of. We make an internal counter in the PLC program, which counts every 10000 pulses. The information about up count comes from the Overflow flag when the CTH counter passes from 9999 to 0 The information about down count comes from the Underflow flag when the CTH counter passes from 0 to 9999. This means that we shall also compare the position of the ”10000-counter” or ”High counter”.

│ Reset of High speed Counter and flags at Home (X100) position │ **

│ │HOME ALL C │ 1│ LR │ ├──┤ ├─────────────────────────────────────────────────────────────────( )─┤ │X00100 Y00089│ │ │ │ │ │HOME ┌────────────────────────────────────────────┐│ 2│ │HIGH COUNT = 0 ││ ├──┤ ├───────────────────────┤ ││ │X00100 │ ││

└────────────────────────────────────────────┘│ │ │ │ *** Preset of CTH controlled compare values │ Comp value 0 = 1240 (+ 1x10000, see compare box below) = 11240

5000 (+ 13x10000, see compare box below) =135000 │ Comp value 1 = │ *** Counter Enable │ ┌────────────────────────────────────────────┐│ 3│ │COMP. CU0 = 1240 ││ ├────────────────────────────┤COMP. CU1 = 5000 ││ │ │E = 1 ││

└────────────────────────────────────────────┘│ │ │ │ ** Count up and down of the High part of the counter. │OF ┌────────────────────────────────────────────┐│ 4│ │HIGH COUNT = HIGH COUNT + 1 ││ ├──┤ ├───────────────────────┤ ││ │X00007 │ ││ │ └────────────────────────────────────────────┘│ │ │ │OF OFC │ 5│ │ ├──┤ ├─────────────────────────────────────────────────────────────────( )─┤ │X00007 Y00087│ │ │ │ │ │UF ┌────────────────────────────────────────────┐│ 6│ │HIGH COUNT = HIGH COUNT - 1 ││ ├──┤ ├───────────────────────┤ ││ │X00006 │ ││ │ └────────────────────────────────────────────┘│ │ │ │UF UFC │ 7│ │ ├──┤ ├─────────────────────────────────────────────────────────────────( )─┤ │X00006 Y00086│

│ │ │ ** Compare position 1 and position 2

0) is reached │ The output (EXT OUT 1) goes on when position 1 (1124 │ and it goes off when position 2 (135000) is reached │┌ ┐ CU0 > POSIT │ 8││HIGH COUNT WR0000│ ION 1 │ ├┤ == ├───┤ ├────────────────────────────────────────────( )─┤ ││1 │ X00005 R000 │ │└ ┘ │ │ │ │┌ ┐ CU1 > POSIT │ 9││HIGH COUNT WR0000│ ION 2 │ ├┤ == ├───┤ ├────────────────────────────────────────────( )─┤ ││13 │ X00003 R010 │ │└ ┘ │ │ │ │POSIT POSIT EXT │ 10│ION 1 ION 2 OUT 1 │ ├──┤ ├─┬──┤/├──────────────────────────────────────────────────────────( )─┤ │R000 │R010 Y00200│ │ │ │ │EXT │ │ │OUT 1 │ │ ├──┤ ├─┘ │ │Y00200 │ │ │


Control bits OUT

Address+ base address

Short Name Description

Y80 CP Counter Preset

Copies the value in the counter preset register to the Counter value.

Y81 ME Marker Enable 0 Reset input, (M) not activated 1 Reset input, (M) activated Y84 = 0 =flag clear 0 ”= ” flags remain when they have gone high Y82 = 1 Y92 = 2 1 ”= ” flags are reset when the counter value

has Y90 = 3 passed the compare value. Y85 OUT0 OUT Control 0 The outputs OUT0 to OUT3 reflect Y83 OUT1 CU0 > to CU3 > flags Y94 OUT2 1 The outputs OUT0 to OUT3 reflect Y91 OUT3 CU0= to CU3= flags Y86 UFC Under Flow flag Clear 0 Resets the UF-flag. (under flow) Y87 OFC Over Flow flag Clear Resets the OF-flag. (over flow) Y88 E Enable (counter) Enables the counter. Y89 ALL CLR All Clear

Resets the counter and all other flags.

Y94 OUT E Forced outputs Enables forced output of the outputs OUT0-OUT3. (When OUT E is high the flags OUT0-OUT3 control the outputs individually)

Control flags IN Address+ base address

Short Name Description

X0 CPE Preset End flag Indicates when the counter value is preset. (hand shake after the CP flag has gone high)

X1 MCE Marker Enable End Indicates when the ME flag has gone high (hand shake after the ME flag has gone high)

Reset input (M) is active X4 =CU 0 = flags These flags goes high when the X2 =CU 1 (goes high when the counter = the compare value for each of the four X12 =CU 2 counter = the compare compare values. (CU0 to CU3). They remain high X10 =CU 3 values) until the ”= flag CLR” flags goes high. (”=0 to =3”) X5 >CU 0 > flags These flags goes high when the X3 >CU 1 (goes high when the counter > the compare value for each of the four X13 >CU 2 counter > the compare compare values. (CU0 to CU3) X11 >CU 3 values) X6 UF Under Flow BCD mode: goes high when the counter goes from 0 to 9999.

BIN mode: goes high when the counter goes from 0 to FFFF. It is not reset before the UFC-flag goes high.

X7 OF Over Flow BCD mode: goes high when the counter goes from 9999 to 0. BIN mode: goes high when the counter goes from FFFF to 0. It is not reset before the OFC-flag goes high.

X15, X16 A, B Phase input A,B Pulse inputs A and B X9 M Reset input Shows status of the reset counter input M input X8 Φ Phase Indicates rotation direction


263

Additional part H300-H2002


10 Addition part H300-H2002:

Error indication

Force indication

RUN indication Halt indication

I/O modules

Start / Remote/ Stop Key

Power supply module

Error code indication

Serial port (Computer connection)

Connection of 240 V AC

Choice of 240 / /110 V AC

Ground

RUN contact

LED for indication of in- or out signal

Connection of expansion unit

CPU module Memory cassette

Cover


10.1.1 Differences between H300-H2000 and H302-H2002

Extra RS232 connection

H302-H2002 have a faster cycle time than H300-H2000. It is the cycle time of H302-H2002 which is mentioned in the tables. H302-H2002 have a real time clock built in as a standard. H302-H2002 have an extended instruction set, see list of instructions page 271 There are built in functions like PID and trigonometric functions. See separate description H302-H2002 have an extra serial port on the front for communication with e.g. printers, instruments or computers. In order to program this you can use the TRNS-, QTRNS- ,RECV- and QRECV-instructions. See separate description. H302-H2002 offer the possibility of using faster On-Line programming. Then RAM3 -x memory modules are used according to the table.


10.1.2 Expansion of I/O-modules.

Max. for H300/H302 Max. for H700/H702

Max. for H2000/H2002

288 I/O (576 with 64 I/O modules)


BSU racks

EXU racks


10.2 Communication: Communication via the CPU port, see page 157. 10.2.1 Link modules:

With LINK-H and OLINK-H you can connect up to 64 PLCs. The memory area for the link is 1024 words or 16 k bits. Two modules such modules can be installed in one PLC. Then these modules will have different memory areas. The link memory is divided between the different PLCs in the ”Setup- PLC” menu in the programming. See also link communication page 255. 10.2.2 COMM2-H

Up to 32 stations

RS-422 shielded pair wire) Station 3 Station 1 Station 2




COMM-2H has a serial port which has the same protocol as the CPU port. Through defining in the program, which CPU you want to talk to you can program or control the one you want. See also the Actsip manual.



10.2.3 Modules to H300-H2002

Type of module Name Description Note CPU-20Ha 2048 (4096) In-/Outputs, max. 48 k steps H2000 CPU modules CPU-07Ha 640 (1280) In-/Outputs, max. 16 k steps H700 CPU-03Ha 288 (576) In-/Outputs, max. 8 k steps H300 CPU modules CPU2-20H 2048 (4096) In-/Outputs, max. 48 k steps H2002 incl. PID, real time CPU2-07H 640 (1280) In-/Outputs, max. 16 k steps H702 clock and serial port CPU2-03H 288 (576) In In-/Outputs, max. 8 k steps H302 RAM-04H 3.6 k steps RAM-08H 7.6 k steps Memory for RAM-16H 15.7 k steps H300-H2000 RAM-48H 48.5 k steps CPU-modules ROM-16H 15.7 k steps RAM2-04H 3.6 k steps RAM2-08H 7.6 k steps Memory for RAM2-16H 15.7 k steps H302-H2002 RAM2-48H 48.5 k steps CPU-modules RAM3-08H 7.6 k steps with fast On- Line RUN RAM3-16H 15.7 k steps with fast On- Line RUN RAM3-48H 48.5 k steps with fast On- Line RUN ROM2-16H 15.7 k steps ROM2-48H 48.5 k steps Expansion module IOC-01H used in all expansion units BSU-09H Base plate for 9 slots Base plates BSU-05H Base plate for 5 slots BSU-02H Base plate for 2 slots EXU-11H Expansion plate for 11 slots Expansion plates EXU-07H Expansion plate for 7 slots EXU-04H Expansion plate for 4 slots BEU-04H " where REM-MAH can be mounted Power supply AVRC-04H 220 VAC: 5 V DC gives 4 A 24 V DC gives 2 A modules AVRC-08H 220 VAC: 5 V DC gives 9 A 24 V DC gives 1 A AVR-04DH 24 VDC: 5 V DC gives 4 A 24 V DC gives 1.5 A AVR-08DH 24 VDC: 5 V DC gives 6 A 24 V DC gives 1.0 A CBL-05H 0.5 m Base unit to the expansion unit Expansion cables CBL-10H 1.0 m Base unit to the expansion unit CBL-20H 2.0 m Base unit to the expansion unit CBL-40H 4.0 m Base unit to the expansion unit CBE-05H 0.5 m expansions unit to expansion unit CBE-10H 1.0 m expansions unit to expansion unit CBE-20H 2.0 m expansions unit to expansion unit CBE-40H 4.0 m expansions unit to expansion unit CB-LEDH 4.0 m for external mounting of LED cover. XAC10AH 16 in 85-132 V AC XAC20AH 16 in 170-264 V AC Input modules XAC10BH 32 in 85-132 V AC XAC20BH 32 in 170-264 V AC XDC24AH 16 in 12/24 V AC/DC XDC48AH 16 in 48 V AC/DC XDC24BH 32 in 12/24 V AC/DC XDC48BH 32 in 48 V AC/DC XHS24BH 32 in 12/24 V AC/DC, fast inputs XDC12DH 64 in 12 VDC XDC24D2H 64 in 24 VDC XTT05BH 32 in 3-15 V DC TTL-level



YRY20AH 16 out 240 VAC, 24 VDC, 2A Relay YRY20BH 32 out 240 VAC, 24 VDC, 2A Relay Output modules YSR20AH 16 out 100-240 VAC 1.7A Triac YSR20BH 32 out 100-240 VAC 1.7A Triac YTR48AH 16 out 24/48 VDC 2A Transistor, NPN YTR48BH 32 out 24/48 VDC 0.7A Transistor, NPN YTR24DH 64 out 24/48 VDC 0.1A Transistor, NPN YTS48AH 16 out 24/48 VDC 2A Transistor, PNP YTS48BH 32 out 24/48 VDC 0.7A Transistor, PNP YTS24DH 64 out 24/48 VDC 0.1A Transistor, PNP YTT05BH 32 out 4-15 VDC, 20 mA TTL, PNP YDR20AH 16 insulated out 240 VAC, 24 VDC, 2A Relay XAGV08H 0-10 V DC, 8 bits, 8 channels Analog input XAGC08H 4-20 mA, 8 bits, 8 channels modules XAGV12H -10- +10 V DC 12 bits, 8 channels XAGC12H 4-20 mA, 12 bits, 8 channels YAGV08H 0-10 V DC, 8 bits, 4 channels Analog output YAGC08H 4-20 mA, 8 bits, 4 channels modules YAGV12H -10- +10 V DC 12 bits, 4 channels YAGC12H 4-20 mA, 12 bits, 4 channels XCU001H 2-phase counter, 50 kHz, 16 bits, 1 channel High function XCU232H 2- phase counter, 100/50 kHz, 32 bits, 2 channels modules POSIT-A2H 2 axes positioning, analog output POSIT-2H 2 axes positioning, pulse output POSIT-H 1 axes positioning, pulse output ASCII-1H ASCII-module for connection to CRT or printer BASIC-H Module for BASIC-programming XRTD01H RTD-input SIO-H 1 port RS232C , 1 port RS422 CLOCK-H Real time Clock module XINTOAH Interrupt module, 16 channels, 10-30 VDC ETH-LAN Ethernet communication module COMM-2H 1 port RS232C , 1 port RS422 Communications Kab RS-232 Cable for RS232-com. with COMM2H modules LINK-H Link module, Up to 64 CPUs , 1024 words REM-MAH Remote module, Up to 512 in/outputs per module,

(10 local modules), up to 4 modules per CPU

REM-LOH Local remote module, (Coaxial cable.) REM-MMH Remote module, Up to 1024 bits in and 1024 out

per module., Up to 12 local modules in series.

REM-LMH Local remote module. (Twisted pair cable) PGM-CHH Instruction code programming Hand PGM-GPH Graphic programming programming PGMIF1H PROM-programming and printer interface units PGCB02H 2 m cable between CPU and cable PGCB05H 5 m cable between CPU and cable Others LIBAT-H Battery to memory cassette DUMMY-H Covers an empty slot


10.2.4 H300-H2002 Circuit diagram input modules:


0

7

COM0

8

15

COM1XAC10AHXAC20AH

0

7

COM0

8

15

COM1XAC10BHXAC20BH

16

23

COM2

24

31

COM3

0

7

COM0

XDC24AHXDC48AH

8

15

COM1

0

7

COM0

XDC24BHXDC48BHXHS24BH

8

15

COM1

24

31

COM3

0

15

COM0

XDC12DHXDC24D2H

31

COM1

48

63

COM3

16

0

7

COM0

XINT0AH15

COM1

8

Internal logic

For more detailed description, see Hitachi manual. 10.2.5 Circuit diagram output modules

For more detailed description, see Hitachi manual.

270

Additional part Extra program instructions for series H252 and H302-H2002

Appendix

11 Extra instructions for H252 and H302-H2002:

11.1 PID-instructions: FUN 0 PID-init. Decides the addresses of the PID-functions FUN 1 PID control Execution management of PID operation FUN 2 PID calculation Execution of PID operation

FUN0 decides a table, which defines the amount of PIDs and where in the PLC memory area to find the addresses of these PIDs. E.g. FUN0 (WR400) defines following table:

WR400 Error code 0 WR401 Error code 1 WR402 Error code 2 WR403 FUN0 normal operation WR404 Loop count (amount of PIDs) 1 to 64 PIDs WR405 Real addess*1 of PID1 table WR406 Real addess*1 of PID2 table WR406 Real addess*1 of PID3 table WR n Real addess*1 of PID n table max. WR444 (64 PIDs)

*1 real address means the internal address number of the CPU. When the address is written you must therefore use the instruction ”ADRIO =(d,S)”, which converts the specified address to the internal format. Therefore if the PID1 table shall start on WR200 and PID2 table shall start on WR300 you shall write following instruction: Now the address area WR200 and following 48 words will contain the PID information about PID1 and WR300 and following 48 words will contain PID2 etc. There is also a bit table belonging to each PID (16 bits) The start of this table is defined by the first word in the PID table. Use also here e.g. ADRIO (WR200,R100)

ADRIO = (WR405,WR200) ADRIO = (WR406,WR300)

WR200 Address of the start of the bit table → R100 Execution flag WR201 Sampling time R101 Non-Bumbles flag WR202 Proportional Gain R102 PID constant change flag WR203 Integral constant R103 S Flag WR204 Differential constant R104 R Flag WR205 Differential delay constant R105 D-FREI flag WR206 High output limit R106 WR207 Low output limit R107 WR208 Initial value INIT R108 PID RUN Flag WR209 Set value address R109 PID in execution flag WR20A Measured value address R10A PID constant OK flag WR20B Output value address R10B Over High Limit flag WR20C Set value bit pattern R10C Under High Limit flag WR20D Measured value bit pattern R10D FUN2 Error flag WR20E Output value bit pattern R10E WR20F Not used (reserved) R10F WR210 Not used (reserved) WR211 Not used (reserved) WR22F Not used (reserved) These are all write addresses except R108-R10D, which are READ addresses.


Appendix


Example with 3 PIDs │ Initialisation of the parameters of PID 1 (address table WR200-) │ │INIT ┌────────────────────────────────────────────┐│ │ │ADRIO(WR0200 , R100 ) ││ ├──┤ ├───────────────────────┤WR0201 = TZ ││ │R7E3 │WR0202 = KP ││ │ │WR0203 = T1/TZ ││ │ │WR0204 = TD/TZ ││ │ │WR0205 = Tn/TZ ││ │ │WR0206 = UL ││ │ │WR0207 = LL ││ │ │WR0208 = INITIAL ││ │ │ADRIO(WR0209 , WX0000 ) ││ │ │ADRIO(WR020A , WX0010 ) ││ │ │ADRIO(WR020B , WY0030 ) ││ │ │WR020C = SET BITPAT ││ │ │WR020D = MEA BITPAT ││ │ │WR020E = OUT BITPAT ││ └────────────────────────────────────────────┘│ │

Initialisation of the parameters of PID 2 (address table WR250-) and parameters of PID 3 (address table WR300-)

PID definition table telling about amount of PIDs and Initialsation of the start adddress. │ │ │INIT ┌────────────────────────────────────────────┐│ │ │WR0404 = 3 ││ ├──┤ ├───────────────────────┤ADRIO(WR0405 , WR0200 ) ││ │R7E3 │ADRIO(WR0406 , WR0250 ) ││ │ │ADRIO(WR0407 , WR0300 ) ││ │ │FUN 0 (WR0400 ) ││

└────────────────────────────────────────────┘│ │ Normal program (setting of the bit outputs R100 - through normal logics. │ │ │ ┌────────────────────────────────────────────┐│ │ │END ││ ├────────────────────────────┤ ││ │ │ ││

└────────────────────────────────────────────┘│ │ Interrupt scan 20 ms.

ion, is 0 Exexcution of the 3 PIDs (if not WR403, error informat Then the jump passes the FUN1 and FUN2 instructions ) │ │ │ ┌────────────────────────────────────────────┐│ │ │INT 1 ││ ├────────────────────────────┤ ││ │ │ ││ │ └────────────────────────────────────────────┘│ │ │ │┌ ┐ ┌────────────────────────────────────────────┐│ ││WR0403 │ │JMP 0 ││ ├┤ == ├────────┤ ││ ││0 │ │ ││ │└ ┘ └────────────────────────────────────────────┘│ │ │ │ ┌────────────────────────────────────────────┐│ │ │FUN 1 (WR0400 ) ││ ├────────────────────────────┤FUN 2 (WR0200 ) ││ │ │FUN 2 (WR0250 ) ││ │ │FUN 2 (WR0300 ) ││ │ └────────────────────────────────────────────┘│ │ │ │ │ │ ┌────────────────────────────────────────────┐│ │ │LBL 0 ││ ├────────────────────────────┤RTI ││ │ │ ││ │ └────────────────────────────────────────────┘│

For more detailed information, see Hitachi Instruction manual (software)

11.2 Trigonometric functions: FUN 10 Sin function See short description below and separate detailed description FUN 11 Cos function " FUN 12 Tan Function " FUN 13 Arc Sin function " FUN 14 Arc Cos function " FUN 15 Arc Tan function "

Principal of programming these instructions:

Appendix

The Degree argument is fetched from S and the result goes to S+1 and S+2:

for the ARC functions it will the opposite:

E.g. to get SIN( 40) will be:

The integer (0) goes to WR101 and the decimal part goes to WR102.

WR, WM or WL words


Appendix


11.3 Search instructions: FUN 20 Data search Search number and address for specified data *1 FUN 21 Table search Search value of the block from specified table *1

11.4 ASCII-conversion instructions: FUN 30 ASCII conversion 16 bit binary data to decimal ASCII data *1 FUN 31 ASCII conversion 32 bit binary data to decimal ASCII data *1 FUN 32 ASCII conversion 16 bit binary data to hexadecimal ASCII data *1 FUN 33 ASCII conversion 32 bit binary data to hexadecimal ASCII data *1 FUN 34 ASCII conversion 16 bit BCD data to decimal ASCII data *1 FUN 35 ASCII conversion 32 bit BCD data to decimal ASCII data *1 FUN 36 ASCII conversion Decimal ASCII data to 16 bit binary data *1 FUN 37 ASCII conversion Decimal ASCII data to 32 bit binary data *1 FUN 38 ASCII conversion Hexadecimal ASCII data to 16 bit binary data *1 FUN 39 ASCII conversion Hexadecimal ASCII data to 32 bit binary data *1 FUN 40 ASCII conversion Decimal ASCII data to 16 bit BCD data *1 FUN 41 ASCII conversion Decimal ASCII data to 32 bit BCD data *1 FUN 42 ASCII conversion Specifies 16 bit binary data to decimal ASCII data *1 FUN 43 ASCII conversion Specifies ASCII data to 16 bit binary data *1

11.5 Diverse instructions: FUN 44 Combine characters *1 FUN 45 Compare characters *1 FUN 46 Convert Word-byte *1 FUN 47 Convert Byte-Word *1 FUN 48 Shift one byte right *1 FUN 49 Shift one byte left *1

11.6 Sampling (trouble shooting) instructions: FUN 50 See sampling Enable trace by sampling *1 FUN 51 Sampling Execution of sampling *1 FUN 52 Reset sampling Disable trace by sampling *1

11.7 Other instructions: FUN 60 Binary square root *1 FUN 61 Pulse generation *1

11.8 Serial communication instructions: TRNS Transmit and receive data 10 ms . (Used for ASCII, SIO, POSIT,CLOCK) *1 RECV Receive data 10 ms . (Used for ASCII, SIO, POSIT,CLOCK) *1 QTRNS Transmit and receive data 1 scan . (Used for ASCII, SIO, POSIT,CLOCK) *1 QRECV Receive data 1 scan . (Used for ASCII, SIO, POSIT,CLOCK) *1

ADRPR Address program *1 ADRIO Address I/O real address , see PID description above *1

*1 For more detailed information, see Hitachi Instruction manual (software)

Appendix


Appendix

Appendix

12 Appendix:

Bit

or Input, output or internal output, which can be represented by "ON/OFF" , "1/0" etc.

Word 16 bits, which form a value between 0 and 65535.

Double word

32 bits, which form a value between 0 and 4,294,967,295

Decimal (10 as base) Unit 0 to 9

Hexadecimal (16 as base) Unit 0 to F

Binary (2 as base) Unit 0 to 1

0 0 0000 1 1 0001 2 2 0010 3 3 0011 4 4 0100 5 5 0101 6 6 0110 7 7 0111 8 8 1000 9 9 1001 10 A 1010 11 B 1011 12 C 1100 13 D 1101 14 E 1110 15 F 1111

Binary Hexadecimal ( H before) Decimal

C 6 8 9 (is written HC689)

1*20+0*21+0*23.+1*24.....1*15 =50825

9*1+8*16+6*256+12*4096=50825

MSB Most Significant Bit The bit which represents the highest position (normally the left one)

LSB Least Significant Bit The bit which represents the lowest position (normally the right one)

MSD Most Significant Digit The digit (4 bits) which represents the highest position (normally the left one)

LSD Least Significant Digit The digit (4 bits) which represents the lowest position (normally the right one)


Appendix


12.1 Special memories (detailed): 12.2

WORDS BITS

WRF000 Self diagnostic error code R7C0 Program locked during program scan WRF001 Syntax error information R7C1 Program locked during periodic scan WRF002 In-/Output error in addressing R7C2 Program locked during interrupt scan WRF003 Communication module addressing

error R7C3 Remote ON enabled

WRF004 Communication module slot no error R7C4 Remote OFF enabled WRF005 In/Output slot no error R7C5 Debug enabled WRF006 Remote in wrong slot address R7C6 Simulation enabled WRF007 Link in wrong slot address R7C7 Modifications during RUN enabled WRF008 Number on program block with error R7C8 Severe error R7C9 Program step error WRF00B Year, Real time Clock R7CA Memory error PI/O usage WRF00C Month, Real time Clock R7CB PI/O bus error WRF00D Weekday, Real time Clock R7CC Addressing outside memory area (by user) WRF00E Hour/minute, Real time Clock R7CD Error on In-/Output information WRF00F Second, Real time Clock R7CE Error on Communication module information WRF010 Maximum measured cycle time R7CF - WRF011 Current cycle time R7D0 Error on remote module WRF012 Minimum measured cycle time R7D1 Cycle time too long during normal scan. WRF013 CPU Status R7D2 Cycle time too long during periodic scan. WRF014 Amount of word internal outputs R7D3 Cycle time too long during interrupt scan. WRF015 Calculation error code. R7D4 Syntax error WRF016 Calculation expansion register

(remainder) R7D5 Error on I/O-module

WRF017 -"- for 32-bit calculations R7D6 Addressing non existing I/O WRF018 Communication module start flag R7D7 Communication module error R7D8 System bus error WRF01B Year, Real time Clock Preset R7D9 Battery error WRF01C Month, Real time Clock Preset R7DA Power supply error WRF01D Weekday, Real time Clock Preset R7DB Self diagnostic error WRF01E Hour/minute, Real time Clock Preset R7DC Simulation error WRF01F Second, Real time Clock Preset R7DD Addressing of non existing communication

module WRF020 Communication module on R7DE Link module error WRF021 slot 0 error R7DF - etc. R7E0 Key in STOP position WRF030 Communication module on R7E1 Key in REMOTE position WRF031 slot 8 error R7E2 Key in RUN position R7E3 ON during the first program scan after program

start (INIT) WRF03F Member registration area 1 R7E4 Always ON WRF040 R7E5 0.02 s clock pulse WRF041 R7E6 0.1 s clock pulse etc. R7E7 1.0 s clock pulse WRF049 Member registration area 4 R7E8 CPU occupied WRF04A R7E9 STOP of RUN WRF04B R7EA Indication of modification during RUN WRF04C Trouble shooting information area R7EB-7EF - WRF04D (Debug) R7F0 Carry WRF04E R7F1 Overflow R7F2 Shift data WRF080-097 Remote error information, chain 1 R7F3 Computation error WRF098-0AF Remote error information, chain 2 R7F4 Data error WRF0B0-0C7 Remote error information, chain 3 R7F5-7 - WRF0C8-0DF Remote error information, chain 4 R7F8 Time reading request WRF0E0-13F Link chain 1 error information R7F9 Time setting request WRF140-19F Link chain 2 error information R7FA + / - 30 s adjust

Appendix


WRF1A0-1FF Not used R7FB Time setting error R7FC-7FF -

279

12.2 Instruction time: (Number of steps per instruction)

Instruction Steps/ instruc-tion

1

1

1

2

1

1

3

2

3-4

3-4

5-6

TD 5 SS 5 MS 5 TMR 5 WTD 5 CU 5 CTU 5 CTD 3 CT 5 RCU 5 CL 1 d=S 3 d=S(P) d(P)=S d(P1)=S(P2)

4-5

d=S1 + S2 4 d=S1 B + S2 4 d=S1 - S2 4 d=S1 B - S2 4 d=S1 * S2 4 d=S1 S* S2 4 d=S1 B * S2 4 d=S1 / S2 4

d=S1 S/ S2 4 d=S1 B / S2 4 d= S1 OR S2 4 d=S1 AND S2 4 d=S1 R S2 4 d=S1 == S2 4 d=S1 S == S2 4 d=S1 <> S2 4 d=S1 S <> S2 4 d=S1 < S2 4 d=S1 S < S2 4 d=S1 <= S2 4 d=S1 S <= S2 4 BSET (d,n) 3 BRES (d,n) 3 BTS (d,n) 3 SHR (d,n) 3 SHL (d,n) 3 ROR (d,n) 3 ROL (d,n) 3 LSR (d,n) 3 LSL (d,n) 3 BSR (d,n) 3 BSL (d,n) 3 WSHR (d,n) 3 WSHL (d,n) 3 WBSR (d,n) 3 WBSL (d,n) 3 MOV (d,S,n) 4 COPY (d,S,n) 4 XCG (d1,d2,n) 4 NOT (d) 2 NEG (d) 2 ABS (d,S) 3 SGET (d,S) 3 EXT (d,S) 3 BCD (d,S) 3 BIN (d,S) 3 DECO (d,S,n) 4 ENCO (d,S,n) 4 SEG (d,S) 3 SQR (d,S) 4 BCU (d,S) 3 SWAP (d) 2 FIFIT (P,n) 3 FIFWR (P,S) 3 FIFRD (P,d) 3 UNIT (d,S,n) 4 DIST (d,S,n) 4 END 1 CEND (S) 2 JMP n 2 CJMP n(S) 3 LBL(n) 1 RSRV n 2 FREE 1 START n 2 FOR n (S) 3 NEXT n 2 CAL n 2 SB n 1 RTS 1 INT n 1 RTI 1 FUN 70 (S) 3 FUN 71 (d) 3 FUN 72 (S) 3 FUN 73 (d) 3

FUN 74 (S) 3 FUN 0 FUN 1 FUN 2 FUN 10 FUN 11 FUN 12 FUN 13 FUN 14 FUN 15 FUN 20 FUN 21 FUN 30 FUN 31 FUN 32 FUN 33 FUN 34 FUN 35 FUN 36 FUN 37 FUN 38 FUN 39 FUN 40 FUN 41 FUN 42 FUN 43 FUN 44 FUN 45 FUN 46 FUN 47 FUN 48 FUN 49 FUN 50 FUN 51 FUN 52 FUN 60 FUN 61 TRNS 5 RECV 5 QTRNS 5 QRECV 5 ADRPR 3 ADRIO 3

280

INDEX

Index


282

INDEX:

7

7-Segment, 95

8

8 Digit type in, 250

A

abbreviations, 5 Absolute value, 90 ACTANA-F module, 207 ACTANA-S, 200 ActGraph, 132 Action boxes, 141 Actions, 134 Activity condition, 138 ActServ, 157 Actsip-H, 116 Actterm-H, 227 Actterm-H, Start up, 229 Address map, 204 addressing, 9 Addressing, 9, 168 Addressing of Remote modules, 169 Allocation of memories, 119 Alternative branch, 137 Analog inputs sample and hold, 220 Analog modules, 200 Analog modules Current, 198 Analog modules Voltage, 198 Application commands, 54, 96 Arithmetic, 126 Arithmetic box, 8, 31 Arithmetic instructions, 46 Arithmetics, 48, 59, 125 ASCII-conversion instructions, 275

B

BASICH-module, 104 Battery backup, 15 BCD addition, 62 BCD division, 67 BCD multiplication, 65 BCD shift, 81, 85 BCD subtraction, 64 BCDBIN, 93 Binary, 277 Binary addition, 60 Binary division, 66, 68 Binary multiplication, 64 Binary multiplication with +/- signs, 66 Binary subtraction, 63 bit, 7 Bit Count, 96 bit nr, 9 Bit operations, 50, 73

Bit Reset, 74 Bit set, 73 Bit test, 75 Block, 20 Block shift, 83 branch, 137 Branch, 21 BSH-racks, 191 BSM-racks, 191 Buzzer, Actterm-H, 233

C

Cable connection, 156 Cable length, Actterm-H, 253 CALL, 106 Change of an existing block, 123 Choice of PLC, 114 Circuit diagram, H300-H2002, 270 COMM2-H, 266 comments, 119 Compare block, 124 Comparison, 8, 124 Comparison contacts, 31 Comparison expressions, 50, 70, 143 Comparison instructions, 44 Complex logic, 32 Computer programming, 116 Condition END, 101 configuration, 117 configure the System, Actterm-H, 230 Contact symbols, 22 Control commands, 54 Conversion factor, 204 Conversion factor, Actana-F, 225 Conversions, 52 Converting, 91 Copy, 57 Copy data, 87 Counter programming, 32 countermeasures, 158 Counters, 14, 40 CPU link, 163 CPU-port, 157 CTH High speed counter module, 258 current value, 43

D

D, 7 DDE server, 157 Decimal, 277 Decode, 93 Detailed Actions, 136 Detection of short pulses, 203 DFN-Contacts, 29 DIF, 29 Direct update, 150 DISPLAY, Actterm-H, 233 Distribute, 100 Documentation, 130

Index


Double words, 7 Draw, 118 Draw a Ladder block, 120

E

Edge detection, 29 Edge memories:, 14 Encode, 94 End, 101 Error codes, 158 Error information, 204 Excel, 157 Exchange of words, 88 expansion, 123 expansion memory, 245 Extend, 91 External, 9 External output, 9 Extra instructions for H252 and H302-H2002, 272

F

FIFO, 97 Filter time, 204 Filter time, Actana-F, 225 FOR n, 104 function keys, 231 FUN-instructions for H252, H302-H2002, 55 FUN-instructions for series HB, 54, 183

H

H20 to H64, 162 H300-H2002, 265 HB, 162 HB in remote version, 163 HB, link model, 163 H-COMM, 157 Hexadecimal, 277 High speed counter specification, 175 History, 3 history about PLC, 4 Hitachi, 3 HL40-HL64, 162 Host Link, 163 HR- expansion racks, 163

I

I/O-copying, 150 Indexed (relative) addressing, 57 indexed addressing, 46 Input, 7, 8 Input connection, 180 Input connections, 156 input filter, 183 Input modules:, 195 Input specifications:, 173 Insert block, 122 Installation, 154 Integrating Timer TMR, 38 Internal memories, 12

Internal memory, 8 Interrupt, 107, 151 Interrupt program scan, 17 Inverting, 24 Isolated mixed Analog modules, 200

J

Jump, 102 jumpers and switches of HB, 172

L

L, 7 Label, 102 ladder programming, 20 Least Significant, 277 LEDs, Actterm-H, 233 Link communication, 256 Link memories:, 12 Link modules, 266 LINK-H, 266 Logic AND on Word, 69 Logic boxes, 140 Logic expressions, 69 Logic instruction programming, 109 Logic OR on Word, 69 Logic R on Word, 69

M

M, 7 Macro boxes, 140 Make negative, 89 Master Control, 15 Master Control Set, 26 Mathematical expressions, 143 memory, 7 Memory address, 12 memory size, 114 Mode set, 183 Modules to H300-H2002, 268 Monitor, 129 Monostable timer MS, 36 Most Significant, 277 Mounting, 154 Mounting of H200, 192 Mounting of series HB, 172 Mounting, Actterm-H, 251 Move data, 86 Moving data, 52

N

Negations, absolute value, 52, 89 Normal program scan, 17

O

Off delay timer, 36 OLINK-H, 266 ON Delay Timer TD, 34

Index


ON-Line programming, 129 Operator Terminals, 227 Output, 7, 8 Output connections, 157 Output modules, 197 Output specifications - Transistor:, 178

P

Parallel branch, 137 Parallel connection:, 21 Periodic program scan, 17 PIDs, 272 Power connection, 156 power supply, 156 preset a value, Actterm-H, 242 preset value, 43 print out text, 247 printer port, Actterm-H, 247 printer text, typing, 247 Printout, 131 Process system, 150 program scan, 17 pulse encoder, 176

Q

quick logic combinations, 209, 214 Quick update logic., 207

R

R, 7 read of current value, 43 Real time Clock, 16 Refresh, 150 Relay output, 157 Relay output:, 177 remote, 9 Remote communication, 254 Repeated sampling control, 220 Reset, 26 Reset condition, 138 response of position and logic, 218 response of position and logics, 262 retentive areas, 15 retentive memories, 118 Return, 106 Return branch, 138 Return from Interrupt routine, 107 Ring counter, 42 RIOH-TL, 254 RIOH-TM, 254 Rotate Right, 78 RUN/ERROR contact:, 172

S

sample and hold, 220 Sampling interval, 225 Scroll, Actterm-H, 240 Search instructions, 275 Self hold, 33

Self hold /direct control function, 213 Sequence programming, 33 Serial communication instructions, 275 Serial connection, 21 Series H200 - H 252, 189 Set, 26 Set value, 43 Setup, 117 Shift and rotation expressions, 76 Shift Left, 77 short pulses, 203 Sign Get, 90 Signed" integers, 44 Slot no, 9 Special memories, 16 Special memories Bits:, 17 Special memories detailed, 278 specification, 149 Square root, 96 Start step, 134 status row, 118 Store the program, 130 Sub Station no, 9 Subroutine, 106 Super conditions, 138 Swap bytes, 96 Symbols, 5, 6 Syntax check, 127 syntax errors, 159

T

TC, 7 texts, typing of, 233 Timer programming, 32 Timers, 14, 34 T-LINK-module, 256 transfer the texts, Actterm-H, 233 Transistor outputs, 157 Transitions, 135 Triac output, 157 Trigonometric functions, 273 Two phase high speed counter, 183

U

Unit 4 bit data, 100 Unit no, 9 Up Counter CU, 40 Up-/Down Counter, 41 updating, Actterm-H, 244

V

values with separation characters, 239 values, Actterm-H, 237 Variable preset value, 43 Voltage supply:, 195

W

W, 7

Index


Watch Dog Timer (WTD), 38 Word, 7 Word no., 9 WR, 7

X

X, 7

Y

Y, 7

Z

Zoom, 144

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