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Transcript of “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
Table of contents
vi Copyright Actron AB 1994, 2009
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Copyright Actron AB 1994-2009 1
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
Table of contents
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
If S1 = S2 then d=1 else d=0
Not valid for HB-H200
66
2 Copyright Actron AB 1994, 2009
Copyright Actron AB 1994-2009 3
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.
Table of contents
2.3 Short history about PLCs:
4 Copyright Actron AB 1994, 2009
“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.
Copyright Actron AB 1994-2009 5
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
Symbols, Abbreviations, Etc.
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
Symbols, Abbreviations, Etc.
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)
Copyright Actron AB 1994, 2009
Symbols, Abbreviations, Etc.
Copyright Actron, A.B. 1994 9
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.
Symbols, Abbreviations, 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.
Copyright Actron AB 1994, 2009
Symbols, Abbreviations, Etc.
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.
Copyright Actron, A.B. 1994 11
Symbols, Abbreviations, Etc.
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
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Symbols, Abbreviations, Etc.
Copyright Actron, A.B. 1994 13
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.
Symbols, Abbreviations, Etc.
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
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Symbols, Abbreviations, Etc.
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)
Copyright Actron, A.B. 1994 15
Symbols, Abbreviations, Etc.
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
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Symbols, Abbreviations, Etc.
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
"1" →Stop if the maximum time is exceeded "0"→ No stop if the maximum time is exceeded
R7C2
Stop of RUN when maximum time is exceeded in an interrupt program scan
"1" →Stop if the maximum time is exceeded "0"→ No stop if the maximum time is exceeded
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
Copyright Actron, A.B. 1994 17
Symbols, Abbreviations, Etc.
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
Copyright Actron AB 1994, 2009
Copyright Actron AB 1994-2009 19
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
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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.
Copyright Actron, A.B. 1994 21
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
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Programming
Copyright Actron, A.B. 1994 23
Contact Logic
flow before
Memories status
Function: (Inverted/ Closing)
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
Function: (Inverted/ Closing)
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
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Programming
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 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
Copyright Actron, A.B. 1994 25
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.
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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).
Copyright Actron, A.B. 1994 27
Programming
Copyright Actron AB 1994, 2009
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
Copyright Actron, A.B. 1994 29
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.
Copyright Actron AB 1994, 2009
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
Copyright Actron, A.B. 1994 31
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.
Copyright Actron AB 1994, 2009
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.
Copyright Actron, A.B. 1994 33
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.
Copyright Actron AB 1994, 2009
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.)
Copyright Actron, A.B. 1994 35
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
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Programming
Copyright Actron, A.B. 1994 37
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
Not valid for: HB/ H200
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)
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Programming
Copyright Actron, A.B. 1994 39
Not valid for: HB/ H200
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
Copyright Actron AB 1994, 2009
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
Copyright Actron, A.B. 1994 41
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
Copyright Actron AB 1994, 2009
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.)
Copyright Actron, A.B. 1994 43
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
Not valid for HB/H200
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
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Programming
Copyright Actron, A.B. 1994 45
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
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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
Copyright Actron, A.B. 1994 47
Programming
Copyright Actron AB 1994, 2009
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
Copyright Actron, A.B. 1994 49
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
Copyright Actron AB 1994, 2009
4.3.5 Comparison expressions
Instruction Instruction name Explanation Bit/ Word
Page
d=S1 == S2 Comparison 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
Not valid for HB/H200
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
Not valid for HB/H200
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
Not valid for 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
Copyright Actron, A.B. 1994 51
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
Instruction Instruction name Explanation Bit/ Word
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
Copyright Actron AB 1994, 2009
Programming
Instruction Instruction name Explanation Bit/ Word
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
Copyright Actron, A.B. 1994 53
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:
Copyright Actron AB 1994, 2009
Programming
Copyright Actron, A.B. 1994 55
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
Copyright Actron AB 1994, 2009
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
WR100WR101WR102WR103WR104WR105WR106WR107
WR1FEWR1FF
WX01WX02WX03WX04WX05
WX00
WX0FWX10
54132
54132
6
HB-H252 can not use external I/O as base address.
Copyright Actron, A.B. 1994 57
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
WR100WR101WR102WR103WR104WR105WR106WR107
WR1FEWR1FF
WX01WX02WX03WX04WX05
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
WR100WR101WR102WR103WR104WR105WR106WR107
WR1FEWR1FF
WX01WX02WX03WX04WX05
WX00
WX0FWX10
54132
54132
53
Copyright Actron AB 1994, 2009
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
Copyright Actron, A.B. 1994 59
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
Not valid for HB / H200
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
Copyright Actron AB 1994, 2009
Programming
Copyright Actron, A.B. 1994 61
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
Copyright Actron AB 1994, 2009
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
Not valid for HB / H200
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
Copyright Actron, A.B. 1994 63
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
Copyright Actron AB 1994, 2009
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
Not valid for HB / H200
If double words are used, the result will be disposed in the following way:
DR10 = DX000 B * DX002
WX0WX1
WX3 WX2
WR10WR11WR13 WR12=
DR12 DR10
DX2
DX0
Copyright Actron, A.B. 1994 65
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
Not valid for HB / H200
If double words are used, the result will be disposed in the following way:
DR100 = DX000 / DX002
=WX000WX001
WX003 WX002WR100WR101
WRF016WRF017
DR100
DRF016
DX002
DX000
DER=R7F4 DER
Copyright Actron AB 1994, 2009
Programming
Copyright Actron, A.B. 1994 67
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.
Copyright Actron AB 1994, 2009
Programming
4.4.4 Logic expressions S1, S2 and d can either be bits or words.
Not valid for HB / H200
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
Copyright Actron, A.B. 1994 69
Programming
Copyright Actron AB 1994, 2009
4.5 Comparison expressions: d is a bit S1 and S2 are words
Not valid for HB / H200
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
If S1 < = S2 then d=1 else d=0
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
Copyright Actron, A.B. 1994 71
Programming
Not HB / 200
d=S1 S == S2
Compare equal to with +/- sign
If S1 = S2 then d=1 else d=0
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
If S1 < = S2 then d=1 else d=0
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
Copyright Actron AB 1994, 2009
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
Not valid for HB/H200
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
Copyright Actron, A.B. 1994 73
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
Not valid for HB/H200
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.
Copyright Actron AB 1994, 2009
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
Not valid for HB/H200
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.
Copyright Actron, A.B. 1994 75
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)
Not valid for HB/H200
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.
Copyright Actron AB 1994, 2009
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
Not valid for HB/H200
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.
Copyright Actron, A.B. 1994 77
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
Not valid for HB/H200
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.
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
Copyright Actron AB 1994, 2009
Programming
Copyright Actron, A.B. 1994 79
Not valid for HB/H200
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.
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
Not valid for HB/H200
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.
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
Not valid for HB/H200
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.
Copyright Actron AB 1994, 2009
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
Not valid for HB/H200
d can be a double word (DY, DR, DL, DM) n is specified by the 3 least significant bits (0-7) in a word (WY,WX,WR,WL, WM, TC) or a constant.
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
Copyright Actron, A.B. 1994 81
Programming
Copyright Actron AB 1994, 2009
Not valid for HB/H200
d can be a double word (DY, DR, DL, DM) n is specified by the 3 least significant bits (0-7) in a word (WY,WX,WR,WL, WM, TC) or a constant.
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
12AFEEF3 2AD3456A10EF
17F0
0000 xxxx
00000000WR000 1 000
d+n-1 d
0000
0
0
WM3F0WM3FF
12AFEEF36721 2AD3456A10EF
12AFEEF3 2AD3456A10EF
17F0
0000 xxxx
00000000WR000 100
d+n-2 d
000 0
16F0
16F0
1
1
DER
DER
Copyright Actron, A.B. 1994 83
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
Copyright Actron AB 1994, 2009
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.
Copyright Actron, A.B. 1994 85
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
Copyright Actron AB 1994, 2009
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
Copyright Actron, A.B. 1994 87
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
Copyright Actron AB 1994, 2009
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)
Copyright Actron, A.B. 1994 89
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
Not valid for HB/H200
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
Copyright Actron AB 1994, 2009
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
Copyright Actron, A.B. 1994 91
Programming
Copyright Actron AB 1994, 2009
Not valid for HB/H200
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”.
Copyright Actron, A.B. 1994 93
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.
Copyright Actron AB 1994, 2009
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
Copyright Actron, A.B. 1994 95
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
Copyright Actron AB 1994, 2009
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
Copyright Actron, A.B. 1994 97
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
Copyright Actron AB 1994, 2009
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
Copyright Actron, A.B. 1994 99
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
Copyright Actron AB 1994, 2009
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
Copyright Actron, A.B. 1994 101
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
Copyright Actron AB 1994, 2009
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
Copyright Actron, A.B. 1994 103
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
Copyright Actron AB 1994, 2009
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
Copyright Actron, A.B. 1994 105
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
Copyright Actron AB 1994, 2009
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
Copyright Actron, A.B. 1994 107
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
Copyright Actron AB 1994, 2009
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.
Symbol Instruction Short from Description Address type
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
Copyright Actron, A.B. 1994 109
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:
Symbol Instruction Short from Description Address type
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
Symbol Instruction Short from Description Address type
NOT NOT Inverting of the logic in the block
-
Symbol Instruction Short from Description Address type
OUT OUT Output (coil) Y,R,L,M
TD,SS,CU,CT
CTU,CTD,CL
WDT,MS
TMR,RCU (not all CPUs)
Copyright Actron AB 1994, 2009
Programming
Symbol Instruction Short from Description Address type
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
Symbol Instruction Short from Description Address type
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.
Symbol Instruction Short from Description Address type
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
--
Copyright Actron, A.B. 1994 111
Programming
Symbol Instruction Short from Description Address type
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 -
Symbol Instruction Short from Description Address type
( ) 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) ]
Copyright Actron AB 1994, 2009
Copyright Actron AB 1994-2009 113
Practical Handling
Practical handling
Copyright Actron AB 1994, 2009
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
Copyright Actron, A.B. 1994 115
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.
Copyright Actron AB 1994, 2009
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:
Copyright Actron, A.B. 1994 117
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
Copyright Actron AB 1994, 2009
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
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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 │
Copyright Actron AB 1994, 2009
├──┤ ├────┤ ├─ │ │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│ │
Copyright Actron, A.B. 1994 121
│ │ │
│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.
Copyright Actron AB 1994, 2009
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 │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │ │
Mark Search Hor-exp Ver-exp Goto + comm - comm Erase comm ACTTERM
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.
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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)
Copyright Actron AB 1994, 2009
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.
Copyright Actron, A.B. 1994 125
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 │ ││ │ └──────────────────────────────────────────────┘│
Copyright Actron AB 1994, 2009
Practical handling
Copyright Actron, A.B. 1994 127
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
Copyright Actron AB 1994, 2009
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
Copyright Actron, A.B. 1994 129
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5.2.7 Store the program:
Copyright Actron AB 1994, 2009
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
Copyright Actron, A.B. 1994 131
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
Copyright Actron AB 1994, 2009
Practical handling
Copyright Actron, A.B. 1994 133
You can also get a number of new choices, e.g. Search, in the bottom of the screen through pressing <F2>.
Mark Search Hor-exp Ver-exp Goto + comm - comm Erase comm ACTTERM
Practical handling
Copyright Actron AB 1994, 2009
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).
Copyright Actron, A.B. 1994 135
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
Copyright Actron AB 1994, 2009
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 │ │ │└─┬─┘└───────────┘ │
Copyright Actron, A.B. 1994 137
│ ┼ 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 │
Copyright Actron AB 1994, 2009
┼ 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 │ ├───────────────────── └────────────────────┘
Copyright Actron, A.B. 1994 139
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.
Copyright Actron AB 1994, 2009
Practical handling
Copyright Actron, A.B. 1994 141
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
Copyright Actron AB 1994, 2009
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
Copyright Actron, A.B. 1994 143
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:
Copyright Actron AB 1994, 2009
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.
Copyright Actron AB 1994-2009 145
Copyright Actron AB 1994-2009 146
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.
Copyright Actron AB 1994-2009 147
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Common description of the hardware
Copyright Actron AB 1994, 2009
Common description of the hardware
Common description of the hardware
Copyright Actron, A.B. 1994 149
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
0.6 μs/ instruction
0.25 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)
Common description of the hardware
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
Copyright Actron AB 1994, 2009
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
Common description of the hardware
Copyright Actron, A.B. 1994 151
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
Common description of the hardware
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.
Copyright Actron AB 1994, 2009
Common description of the hardware
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
Copyright Actron, A.B. 1994 153
Common description of the hardware
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 !
Copyright Actron AB 1994, 2009
Common description of the hardware
-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
Copyright Actron, A.B. 1994 155
Common description of the hardware
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.
Copyright Actron AB 1994, 2009
Common description of the hardware
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.
Copyright Actron, A.B. 1994 157
Common description of the hardware
Copyright Actron AB 1994, 2009
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
62 Communication error
Warning Error during communication with PC (handshake error)
-Shield possible external noise no light
RUN
63 Communication error
Warning Error during communication with PC (time out)
no light
RUN
64 Communication error
Warning Error during communication with PC (protocol error)
no light
RUN
65 Communication error
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
Common description of the hardware
Copyright Actron, A.B. 1994 159
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.
Remove the logic before the instruction.
32 END logic condition error A logic condition is written before the arithmetic box with the END instruction.
Remove the logic before the 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
Additional part H200 -H252
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.
twisted pair (max 300 m) max. 8 stations
twisted pair (max 300 m) max. 8 stations
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
Additional part H200 -H252
twisted pair (max 300 m) max. 12 stations
twisted pair (max 300 m) max. 4 stations if only HR is used
©Copyright Actron AB 1994, 2009 163
Additional part H200 -H252
©Copyright Actron AB 1994, 2009
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
Additional part H200 -H252
©Copyright Actron AB 1994, 2009 165
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
Additional part H200 -H252
©Copyright Actron AB 1994, 2009
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
Additional part H200 -H252
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
©Copyright Actron AB 1994, 2009 167
Additional part H200 -H252
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-.
©Copyright Actron AB 1994, 2009
Additional part H200 -H252
©Copyright Actron AB 1994, 2009 169
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Additional part H200 -H252
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
©Copyright Actron AB 1994, 2009
Contact for battery and connection of capacitor
Front cover
Screw terminal for outputs RUN contact Power supply
Additional part H200 -H252
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
©Copyright Actron AB 1994, 2009 171
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
Additional part H200 -H252
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
©Copyright Actron AB 1994, 2009
Additional part H200 -H252
External connection inputs X4 -
Feeding external units PNP transistor
continues
©Copyright Actron AB 1994, 2009 173
Additional part H200 -H252
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
©Copyright Actron AB 1994, 2009
Additional part H200 -H252
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
©Copyright Actron AB 1994, 2009 175
Additional part H200 -H252
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
©Copyright Actron AB 1994, 2009
Additional part H200 -H252
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
©Copyright Actron AB 1994, 2009 177
20 I/O 28, 40, 64 I/O
Connect a diode to inductive load
Additional part H200 -H252
©Copyright Actron AB 1994, 2009
8.10 Specification of expansion modules: See description of H200-H252 page 194.
8.11 Wiring: 8.11.1 Power wiring: see page 156.
Additional part H200 -H252
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 X0-X3
Feeding of sensors on inputs X4 -
Feeding of sensors on inputs X0-X3
Example Internal supply with 24 V DC on all inputs. PNP (positive logic).
©Copyright Actron AB 1994, 2009 179
PNP
PNP (positive logic)
PLC basic unit
Additional part H200 -H252
Internally connected (can e.g. be used to feed inputs in groups)
©Copyright Actron AB 1994, 2009
Additional part H200 -H252
©Copyright Actron AB 1994, 2009 181
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Additional part H200 -H252
©Copyright Actron AB 1994, 2009
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
Additional part H200 -H252
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
©Copyright Actron AB 1994, 2009 183
Additional part H200 -H252
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.
©Copyright Actron AB 1994, 2009
Additional part H200 -H252
©Copyright Actron AB 1994, 2009 185
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.
Additional part H200 -H252
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
©Copyright Actron AB 1994, 2009
Additional part H200 -H252
©Copyright Actron AB 1994, 2009 187
Additional part Series H200 - H 252
Additional part H200 -H252
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
©Copyright Actron AB 1994, 2009
Additional part H200 -H252
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
©Copyright Actron AB 1994, 2009 189
Additional part H200 -H252
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.
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6
7
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.
©Copyright Actron AB 1994, 2009
Additional part H200 -H252
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
©Copyright Actron AB 1994, 2009 191
Additional part H200 -H252
Warning. If the cable is mounted incorrectly, the units can be damaged
Not possible Not possible
©Copyright Actron AB 1994, 2009
Additional part H200 -H252
©Copyright Actron AB 1994, 2009 193
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)
Additional part H200 -H252
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
©Copyright Actron AB 1994, 2009
Additional part H200 -H252
©Copyright Actron AB 1994, 2009 195
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".
Additional part H200 -H252
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
©Copyright Actron AB 1994, 2009
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".
Additional part H200 -H252
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
©Copyright Actron AB 1994, 2009 197
Additional part H200 -H252
©Copyright Actron AB 1994, 2009
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:
Additional part H200 -H252
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
Additional part H200 -H252
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)
Register value decimal
Register value decimal
Register value decimal
Register value decimal
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
Additional part H200 -H252
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
202 Copyright Actron AB 1994
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.
Additional part H200 -H252
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.
Copyright Actron AB 1994 203
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)
Additional part H200 -H252
204 Copyright Actron AB 1994
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:
Additional part H200 -H252
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).
Copyright Actron AB 1994 205
CONV IN3 = 1 (Y90) FILTER1 CH3 = 1 (Y86)
Condi- FILTER2 CH3 = 0 (Y87) tion
DISPLAY = 3 VALUE1 = ANALOG 3 (WX23)
Additional part H200 -H252
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.
206 Copyright Actron AB 1994
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 │
Additional part H200 -H252
Copyright Actron AB 1994 207
│ │COND2 │ │ ├──┤ ├────┤ ├─┘ │ │Y00081 │ │ │
Additional part H200 -H252
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)
208 Copyright Actron AB 1994
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
Additional part H200 -H252
Copyright Actron AB 1994 209
├──┤ ├────┤ ├─┘ │ │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
Additional part H200 -H252
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
210 Copyright Actron AB 1994
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
Additional part H200 -H252
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
Copyright Actron AB 1994 211
Additional part H200 -H252
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 │ │ │ ├──┤ ├─┬───────( )─┤
212 Copyright Actron AB 1994
│ │ │ │ │ │ │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
Additional part H200 -H252
Copyright Actron AB 1994 213
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 │ │ ├──┤ ├────┤ ├─┘ │
Additional part H200 -H252
214 Copyright Actron AB 1994
│Y00090 │ │ DOUT1=Y80*/DIN1+Y81*DIN2+Y90*DOUT1 │
│Y00091 │ DOUT2=Y82*/DIN1+Y83*DIN2+Y91*DOUT2
Additional part H200 -H252
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 │ │ │
Copyright Actron AB 1994 215
Y81 Y80 always 0
Block n/ Y84=0 Y85=1 Y88=1 Y90
Block u/ Y86=0 Y82 Y87=1 Y89=0
Y83
Y91
Additional part H200 -H252
216 Copyright Actron AB 1994
│ │ │ │ │ │ │ │PROD │ │ │ │ │D │ │ │ │ └──┤ ├─┘ │ │ │ R003 │ │ │ │ │ │AUTO PROD DIN2 │ │ │ B │ │ ├──┤ ├────┤ ├────┤ ├─┤ │ │R000 R002 │ │ │ │ │ │AUTO PUSH │ │ │ BUT │ │ ├──┤/├────┤ ├────────┘ │ │R000 X00100 │ │ │
Continues on next page.
Additional part H200 -H252
Copyright Actron AB 1994 217
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 )
Additional part H200 -H252
218 Copyright Actron AB 1994
Additional part H200 -H252
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.
Copyright Actron AB 1994 219
Additional part H200 -H252
220 Copyright Actron AB 1994
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)
Additional part H200 -H252
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
Copyright Actron AB 1994 221
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.
Additional part H200 -H252
222 Copyright Actron AB 1994
MEMORY (word) and upwards via indirect addressing.
Additional part H200 -H252
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 │ ││ │ └────────────────────────────────────────────┘│
Copyright Actron AB 1994 223
Additional part H200 -H252
224 Copyright Actron AB 1994
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
Additional part H200 -H252
Copyright Actron AB 1994 225
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
Additional part H200 -H252
226 Copyright Actron AB 1994
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
Additional part H200 -H252
4 5 6 F2
ENT F40CLR
F3
F1
321
ACTTERM-H TERMINALFOR HITACHI HB/H200
LIFTDown
LIFTUp
STOP START
Copyright Actron AB 1994 227
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
Additional part H200 -H252
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.)
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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.
Copyright Actron AB 1994 229
Additional part H200 -H252
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 . .
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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.
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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
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ON-line you will get a question if you want to transfer the texts to the terminal.
Additional part H200 -H252
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)
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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
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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:
Ladder programming (Actsip-H) Grafcet programming (Actgraph)
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.
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... @} ... means show a binary value with 2 digits.
... } ... means show a binary value with 1 digit.
Additional part H200 -H252
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
Ladder programming (Actsip-H) Grafcet programming (Actgraph)
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:
Ladder programming (Actsip-H) Grafcet programming (Actgraph)
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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.
Ladder programming (Actsip-H) Grafcet programming (Actgraph)
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
Ladder programming (Actsip-H) Grafcet programming (Actgraph)
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9.7.3.5 How to preset a value
Level is 3361 mmSet maximum 6700 mm
Programming:
Ladder programming (Actsip-H) Grafcet programming (Actgraph)
"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:
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WATERLEVEL IS: 1245 mmThe level is xxxxxxxxxxxxxx
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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.
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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:
Ladder programming (Actsip-H) Grafcet programming (Actgraph)
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
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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
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Additional part H200 -H252
Ladder programming (Actsip-H) Grafcet programming (Actgraph)
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
System Program Allocation Printout Files Communication Setup
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 .
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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.
Additional part H200 -H252
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:
Ladder programming (Actsip-H) Grafcet programming (Actgraph)
DRAW MODE 0060 (0060) Offline H-200 Internal 7.5 Ks
System Program Allocation Printout Files Communication Setup
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
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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.
Copyright Actron AB 1994 249
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
DRAW MODE 0060 (0060) Offline H-200 Internal 7.5 Ks
System Program Allocation Printout Files Communication Setup
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.
Additional part H200 -H252
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)
-
Back side of the door
Inside housing
Back side of the terminal
Expansion cable
Back side in a housing:
-
Back side of the terminal
Expansion cable
PLC (H200)
Back side of the door
Inside of a housing door
Back side of the door
PLC (series HB)
Expansion cable
Back side of the terminal
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).
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9.7.4.2.3 Measurements
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The hole in the panel shall be 187 mm (High) x 199 mm (Wide). The depth is 50 mm
199
187
Additional part H200 -H252
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
252 Copyright Actron AB 1994
Additional part H200 -H252
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
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Additional part H200 -H252
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Error check Inverted double transmit.
Additional part H200 -H252
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.
Copyright Actron AB 1994 255
Additional part H200 -H252
256 Copyright Actron AB 1994
Additional part H200 -H252
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
Copyright Actron AB 1994 257
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
Additional part H200 -H252
258 Copyright Actron AB 1994
By using a jumper on the board you can choose between BCD counting and binary counting in the counter value (see instructions in delivery)
Additional part H200 -H252
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=
Additional part H200 -H252
260 Copyright Actron AB 1994
Additional part H200 -H252
Copyright Actron AB 1994 261
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 │ │ │
Additional part H200 -H252
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
262 Copyright Actron AB 1994
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Additional part H300-H2002
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
Copyright Actron AB 1994
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.
Additional part H300 -H2002
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)
640 I/O (1280 with 64 I/O modules)
BSU racks
EXU racks
2048 I/O (4096 with 64 I/O modules)
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
Copyright Actron AB 1994 265
Additional part H300 -H2002
Copyright Actron AB 1994
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.
Additional part H300 -H2002
Copyright Actron AB 1994 267
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
Additional part H300 -H2002
Copyright Actron AB 1994
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
Additional part H300 -H2002
10.2.4 H300-H2002 Circuit diagram input modules:
Copyright Actron AB 1994 269
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.
Copyright Actron AB 1994 271
Appendix
Copyright Actron AB 1994
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
Copyright Actron AB 1994 273
Appendix
Copyright Actron AB 1994
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
Copyright Actron AB 1994 275
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)
Copyright Actron AB 1994
Appendix
Copyright Actron AB 1994 277
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
Copyright Actron AB 1994
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
Copyright Actron AB 1994 281
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
Copyright Actron AB 1994 283
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
Copyright Actron AB 1994
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
Copyright Actron AB 1994 285
Watch Dog Timer (WTD), 38 Word, 7 Word no., 9 WR, 7
X
X, 7
Y
Y, 7
Z
Zoom, 144
i