Toshiba Network Card PROSEC T3H User Manual

UM-TS03∗∗∗-E032

PROGRAMMABLE CONTROLLER

^PROSECT3H

USER’S MANUAL

TOSHIBA CORPORATION

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Safety Precautions

This manual is prepared for users of Toshiba’s Programmable Controller T3H.

Read this manual thoroughly before using the T3H. Also, keep this manual and related manuals

so that you can read them anytime while the T3H is in operation.

General Information

1. The T3H has been designed and manufactured for use in an industrial environment.

However, the T3H is not intended to be used for systems which may endanger human

life. Consult Toshiba if you intend to use the T3H for a special application, such as

transportation machines, medical apparatus, aviation and space systems, nuclear

controls, submarine systems, etc.

2. The T3H has been manufactured under strict quality control. However, to keep safety

of overall automated system, fail-safe systems should be considered outside the T3H.

3. In installation, wiring, operation and maintenance of the T3H, it is assumed that the

users have general knowledge of industrial electric control systems.

If this product is handled or operated improperly, electrical shock, fire or damage to this

product could result.

4. This manual has been written for users who are familiar with Programmable Controllers

and industrial control equipment. Contact Toshiba if you have any questions about this

manual.

5. Sample programs and circuits described in this manual are provided for explaining the

operations and applications of the T3H. You should test completely if you use them as

a part of your application system.

Hazard Classifications

In this manual, the following two hazard classifications are used to explain the safety

precautions.

Indicates a potentially hazardous situation which, if not avoided, could

result in death or serious injury.

WARNING

CAUTION

Indicates a potentially hazardous situation which, if not avoided, may

result in minor or moderate injury. It may also be used to alert

against unsafe practices.

Even a precaution is classified as CAUTION, it may cause serious results depending on

the situation. Observe all the safety precautions described on this manual.

^{User’s Manual}1

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Safety Precautions

Installation:

CAUTION

1. Excess temperature, humidity, vibration, shocks, or dusty and corrosive gas

environment can cause electrical shock, fire or malfunction. Install and use the T3H

and in the environment described in the T3 User’s Manual - Hardware.

2. Improper installation directions or insufficient installation can cause fire or the units to

drop. Install the T3H in accordance with the instructions described in the T3 User’s

Manual - Hardware -.

3. Turn off power before installing or removing any units, modules or terminal blocks.

Failure to do so can cause electrical shock or damage to the T3H and related

equipment.

4. Entering wire scraps or other foreign debris into to the T3H and related equipment

can cause fire or malfunction. Pay attention to prevent entering them into the T3H

and related equipment during installation and wiring.

Wiring:

CAUTION

1. Turn off power before wiring to minimize the risk of electrical shock.

2. Exposed conductive parts of wire can cause electrical shock. Use crimp-style

terminals with insulating sheath or insulating tape to cover the conductive parts. Also

close the terminal covers securely on the terminal blocks when wiring has been

completed.

3. Operation without grounding may cause electrical shock or malfunction. Connect the

ground terminal on the T3H to the system ground.

4. Applying excess power voltage to the T3H can cause explosion or fire. Apply power

of the specified ratings described in the T3 User’s Manual - Hardware.

5. Improper wiring can cause fire, electrical shock or malfunction. Observe local

regulations on wiring and grounding.

2 ^{PROSEC T3H}

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Safety Precautions

Operation:

WARNING

1. Configure emergency stop and safety interlocking circuits outside the T3H.

Otherwise, malfunction of the T3H can cause injury or serious accidents.

CAUTION

2. Operate the T3H and the related modules with closing the terminal covers. Keep

hands away from terminals while power on, to avoid the risk of electrical shock.

3. When you attempt to perform force outputs, RUN/HALT controls, etc. during

operation, carefully check for safety.

4. Turn on power to the T3H before turning on power to the loads. Failure to do so may

cause unexpected behavior of the loads.

5. Set operation mode switches of the T3H and I/O modules. Improper switch settings

may cause malfunction of the T3H and related equipment.

6. Do not use any modules of the T3H for the purpose other than specified. This can

cause electrical shock or injury.

7. Configure the external circuit so that the external power required for output modules

and power to the loads are switched on/off simultaneously.

Also, turn off power to the loads before turning off power to the T3H.

8. Install fuses appropriate to the load current in the external circuits for the relay output

modules. Failure to do so can cause fire in case of load over-current.

9. Check for proper connections on wires, connectors and modules. Insufficient contact

can cause malfunction or damage to the T3H and related equipment.

10.Turn off power immediately if the T3H is emitting smoke or odor. Operation under

such condition can cause fire or electrical shock.

Also unauthorized repairing will cause fire or serious accidents. Do not attempt to

repair. Contact Toshiba for repairing.

^{User’s Manual}3

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Safety Precautions

Maintenance:

CAUTION

1. Do not charge, disassemble, dispose in a fire nor short-circuit the batteries. It can

cause explosion or fire. Observe local regulations for disposal of them.

2. Turn off power before removing or replacing units, terminal blocks or wires. Failure to

do so can cause electrical shock or damage to the T3H and related equipment.

3. Replace a blown fuse with a specified one. Failure to do so can cause fire or damage

to the T3H.

4. Perform daily checks, periodical checks and cleaning to maintain the system in

normal condition and to prevent unnecessary troubles.

5. Check by referring “Troubleshooting” section of the T3 User’s Manual - Hardware,

when operating improperly. Contact Toshiba for repairing if the T3H or related

equipment is failed. Toshiba will not guarantee proper operation nor safety for

unauthorized repairing.

6. The contact reliability of the relays used in the relay output module will reduce if the

switching exceeds the specified life. Replace the module if exceeded.

7. Replace the battery every 2 years to maintain the T3H’s program and data normally.

8. Do not modify the T3H and related equipment in hardware nor software. This can

cause fire, electrical shock or injury.

9. Pay special attention for safety if you attempt to measure circuit voltage at the T3H’s

terminal.

10. Turn off power before replacing modules. Failure to do so can cause electrical shock

or damage to the T3H and related equipment.

If you attempt to replace an I/O module while power on (by using on-line I/O

replacement function), carefully check for safety.

4 ^{PROSEC T3H}

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Safety Precautions

Safety Label

The safety label as shown on the right is

attached to the power terminal of the T3H.

CAUTION

Do not touch terminals

while power on.

Remove the mount paper before wiring.

Peel off the label from the mount paper

and stick it near the power terminals

where it can be readily seen.

Hazardous voltage can shock, burn or cause death.

Do not touch terminals while power on.

Read related manual thoroughly for safety.

Stick this seal on unit or near unit.

Take off this sheet before wiring.

Contact Toshiba if the label is damaged.

^{User’s Manual}5

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About This Manual

The T3H is a high speed and large capacity version of the T3. All the hardware

components used for the T3 system, i.e. rack, power supply module, I/O modules, etc.,

are used with the T3H CPU. Regarding software function, the T3H has all the T3’s

functions and has some expanded functions.

This manual explains the expanded functions of the T3H and functional differences

between the T3H and the T3. Therefore, for your better understanding of the T3H, read

the following T3 manuals at first to understand the T3 system, then read this manual.

T3 manuals:

T3 User’s Manual − Hardware

T3 User’s Manual − Function

UM-TS03∗∗∗-E002

UM-TS03∗∗∗-E003

UM-TS03∗∗∗-E004

UM-TS03∗∗∗-E008

UM-TS03∗∗∗-E016

UM-TS03∗∗∗-E017

UM-TS03∗∗∗-E018

UM-TS03∗∗∗-E020

T-series Instruction Set

T-series Computer Link Operation Manual

T3 Analog Input Module (AD368)

T3 Analog Output Module (DA364/DA374)

T3 Pulse Input Module (PI312)

T3 ASCII Module (AS311)

Terminology

The following is a list of abbreviations and acronyms used in this manual.

µs

microsecond

ASCII

AWG

BCC

CPU

American Standard Code For Information Interchange

American Wire Gage

Block Check Code

Central Processing Unit

EEPROM Electrically Erasable Programmable Read Only Memory

hexadecimal (when it appears in front of an alphanumeric string)

I/O

Input/Output

LED

LSB

Light Emitting Diode

Least Significant Bit

millisecond

MSB

RAM

ROM

SFC

Vac

Vdc

Most Significant Bit

Random Access Memory

Read Only Memory

Sequential Function Chart

AC voltage

DC voltage

6 ^{PROSEC T3H}

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Contents

Safety Precautions

About This Manual ......................................................................................

..................................................................................

T3H Overview .................................................................................

1.1

1.2

1.3

1.4

Introducing the T3H .......................................................................... 10

Differences between T3H and T3 .................................................... 11

T3H components .............................................................................. 12

Specifications ................................................................................... 20

Expanded Functions ..................................................................... 27

2.1

System operation ............................................................................. 28

Auto-RUN / Standby selection ....................................................... 28

Timer interrupt interval ................................................................... 28

Saving the sampling trace condition .............................................. 29

Expanded registers ........................................................................... 30

External I/O register ...................................................................... 30

Auxiliary register ............................................................................ 30

Timer ............................................................................................. 31

Link register ................................................................................... 31

File register .................................................................................... 34

Special register .............................................................................. 34

Network support function .................................................................. 38

IC memory card data access through computer link ...................... 38

TOSLINE-S20LP (loop) support .................................................... 41

Ethernet support ........................................................................... 42

Instructions ....................................................................................... 43

2.1.1

2.1.2

2.1.3

2.2

2.2.1

2.2.2

2.2.3

2.2.4

2.2.5

2.2.6

2.3

2.3.1

2.3.2

2.3.3

2.4

2.4.1

2.4.2

2.4.3

2.4.4

2.4.5

2.4.6

Double-word multiplication and division (D∗/)

.............................. 44

Essential PID (PID3) .................................................................... 46

Floating point essential PID (FPID3) ............................................. 51

Expanded data transfer (XFER) .................................................... 56

Network data send (SEND)

.......................................................... 62

Network data receive (RECV) ....................................................... 66

^{User’s Manual}7

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8 ^{PROSEC T3H}

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Section 1

T3H Overview

1.1 Introducing the T3H, 10

1.2 Differences between T3H and T3, 11

1.3 T3H components, 12

1.4 Specifications, 20

^{User’s Manual}9

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1. T3H Overview

1.1 Introducing the T3H

The T3H is a high performance large scale programmable controller.

Program memory capacity:

The T3H is available in two CPU types, PU325H and PU326H. Each type has the

following user program memory capacity.

PU325H: 32 k steps

PU326H: 64 k steps

I/O points:

The T3H can handle up to 76 I/O modules in its local configuration. And the T3H has

512 words of external I/O register (data memory).

If all the I/O modules are discrete I/Os, the T3H can control up to 4864 points.

(64 points × 76 = 4864 points)

If all the I/O modules are analog I/Os, the T3H can control up to 512 channels of

analog signals.

High speed processing:

A standard 16-bit micro processor and a special designed language processor are

used in the T3H CPU. This dual-processor architecture provides high speed

processing.

0.09 µs/contact

0.54 µs/16-bit transfer

0.18 µs/coil

0.90 µs/16-bit addition

Multitasking:

The T3H supports the multitask processing. By using this function, suitable control

interval for a target application can be obtained.

1 × internal timer interrupt (interval setting: 1 to 1000 ms, 1 ms units)

8 × I/O interrupts (activated by external events)

1 × main program (core of the user program)

4 × sub-programs (activated from other tasks and executed as back-ground job)

Multiple programming languages:

The T3H supports two types of programming languages, i.e. ladder diagram and SFC

(Sequential Function Chart). The ladder diagram is suited for logic control, and the

SFC is suited for sequential control. These languages can be used in mixture.

High performance software:

The T3H supports 24 basic ladder instructions and 204 function instructions. Floating

points data processing is also available. The T3H can be applied to complex control

applications.

Network support:

The T3H can be connected to work-stations/personal-computers through Ethernet.

Peer-to-peer communications between two T3H’s via Ethernet is also available.

For high-speed control-data linkage, TOSLINE-S20/F10 can be used.

10 ^{PROSEC T3H}

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1. T3H Overview

1.2 Differences between T3H and T3

The table below summarizes the differences between the T3H and T3. All other

functions supported by the T3 can also be supported by the T3H as same.

Item

T3H

32 k steps (PU325H)

64 k steps (PU326H)

Yes

(PU325H and PU326H)

All T3’s instructions plus

FUN042 D∗/

Program memory capacity

32 k steps

(PU315 and PU325)

No (PU315)

Yes (PU325)

−

Built-in EEPROM

Programming instructions

FUN156 PID3

FUN232 FPID3

FUN239 SEND

FUN240 RECV

0.09 / contact

0.15 / contact

0.3 / coil

Execution speed (µs)

0.18 / coil

0.9 / addition

1.5 / addition

Max. number of I/O modules

supported in local

76 modules

(when IF321 is used)

43 modules

System

operation setting

Auto-RUN / standby

Timer interrupt interval 1 to 1000 ms, 1 ms units

2 to 1000 ms, 1 ms units

Software setting

Hardware switch

selection

User data External I/O

(X/XW, Y/YW)

Auxiliary register

(R/RW)

(system information)

8192 points / 512 words

(RAM/ROM switch)

4096 points / 256 words

16000 points /

1000 words

4096 points / 256 words

8192 points / 512 words

Same as left

Special register

(S/SW)

Timer (T./T)

1000 points

512 points

(proportion of 0.1s and

0.01s timer is user

definable)

(T000 - T063: 0.1s)

(T064 - T511: 0.01s)

Counter (C./C)

512 points

Same as left

Data register (D)

Link register (Z/W)

(for TOSLINE-S20)

8192 words

16000 points /

2048 words

Same as left

8192 points /

1024 words

(bit access available for

leading 1000 words)

4096 points / 256 words

(bit access available for

leading 512 words)

Same as left

Link register (L/LW)

(for TOSLINE-F10)

File register (F)

Index register

32768 words

3 words

8192 words

Same as left

(I, J, K)

Programming tool

Networking

T-PDS

Ethernet,

T-PDS and HP911

TOSLINE-S20,

TOSLINE-F10,

RS-485 computer link

TOSLINE-F10,

RS-485 computer link

^{User’s Manual}11

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1. T3H Overview

1.3 T3H components

(1) CPU module

Two types of T3H CPU modules are available.

Type

PU325H

Description

EEPROM + RAM (battery backed), User program 32 k steps,

Ladder diagram and SFC

PU326H

EEPROM + RAM (battery backed), User program 64 k steps,

Ladder diagram and SFC

Product identification

PU325H

RUN

FAULT

Status LEDs

BATT

I/O

RAM

RAM/ROM switch

ROM

RUN

HALT

P-RUN

Mode control switch (HALT/RUN/P-RUN)

BATTERY

Battery cover

PROG

Programmer port

CARD

(RS-232C, D-Sub 9-pin female connector)

IC memory card slot

LINK

Computer link port

(RS-485, D-Sub 15-pin female connector)

EJECT

Module fixing screw

The external feature of the T3H CPU is the same as the T3 CPU except for the

product identification.

12 ^{PROSEC T3H}

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1. T3H Overview

Status LEDs:

RUN

Lit

User program is being executed (RUN mode)

(green) Blink

Not lit

FAULT Lit

User program execution is stopped (HOLD mode)

User program execution is stopped (HALT or ERROR mode)

CPU or program error

(red)

Blink

Not lit

Lit

Hardware initialization error

Normal

I/O error

I/O

(red)

Blink

Not lit

Lit

Hardware initialization error

Normal

Battery voltage is normal

BATT

(green) Not lit

Battery voltage is low (battery replacement is required)

RAM/ROM switch:

RAM

User program stored in RAM is used.

(Program transfer from EEPROM to RAM is not executed)

At the beginning of RUN mode, user program stored in EEPROM is transferred to

RAM. (It is called Initial load)

ROM

If an IC memory card which contains user program has been installed, the IC

memory card becomes transfer source.

(If mode control switch is in P-RUN, the initial load is not executed)

Note) In case of T3, the RAM/ROM switch has the function of auto-RUN/standby

selection in addition to the initial load selection.

However, in case of T3H, the RAM/ROM switch only has the function of initial

load selection as mentioned above.

Mode control switch:

HALT

User program execution is stopped. (HALT mode)

Normally, programming is performed in the HALT mode.

T3H operation mode control by programmer is not allowed.

T3H executes user program cyclically. (RUN mode)

It is the normal switch position under operation.

RUN

Even in the RUN mode, program changes are possible. However, saving into the

EEPROM is available only in the HALT mode.

T3H operation mode control by programmer is possible.

P-RUN T3H executes user program cyclically. (RUN mode)

User program and the leading 4 k words of D register (D0000 to D4095) are write-

protected.

T3H operation mode control by programmer is possible.

Note) In case of T3, even in P-RUN, data writing into D0000 to D4095 by instruction

is allowed except for some instructions.

However, in case of T3H, data writing into D0000 to D4095 by instruction is

inhibited if in P-RUN.

^{User’s Manual}13

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1. T3H Overview

Battery cover:

A battery has been installed inside this cover at the factory shipment. The battery

keeps the RAM contents (user program and user data), and supports the clock-

calendar operation during power off.

The same battery as the T3’s is used.

Programmer port:

The programmer (T-PDS) is connected to the T3H through this port.

The same connection cable as the T3’s is used.

Computer link port:

The T3H CPU module has the computer link function as standard. This port is used to

connect between T3H and a computer.

The T-series computer link protocol is supported by T3H.

IC memory card slot:

Optional IC memory card (type: ME914) can be used with the T3H.

By using the IC memory card, user program saving/loading or user data expansion is

available.

NOTE

For details of the operation mode and functions, refer to the T3 User’s

Manual.

14 ^{PROSEC T3H}

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1. T3H Overview

(2) Expansion interface module

The expansion interface modules for the T3, i.e. IF311, IF351, IF312, IF352 and

IF353, are also used with the T3H. When the IF311 or IF312 is used with the T3H, up

to three expansion units can be connected, as same as the T3.

On the other hand, the IF321 is a dedicated expansion interface module for the T3H.

When the IF321 is used instead of the IF311, up to 6 expansion units can be

connected. In the maximum configuration, the T3H can control up to 76 I/O modules.

Type

IF321

Description

Standard expansion type.

2 m max. between units, 6 m

Remarks

Only for T3H

For basic unit

(2 channels)

IF311

For basic unit

(1 channel)

max. in total cable length for each T3/T3H

channel.

common

IF351

IF312

IF352

For expansion unit

For basic unit

For middle expansion 40 m max. in cable length.

Long-distance expansion type.

unit

(one channel only)

IF353

For end expansion

unit

IF321

Channel 2 expansion

(connected to the expansion #4)

CH2

Channel 1 expansion

(connected to the expansion #1)

CH1

^{User’s Manual}15

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1. T3H Overview

The figure below shows the T3H’s maximum expansion configuration.

T3H CPU

Basic unit

IF321

PS: Power supply module

IF: Expansion interface module

CPU: CPU module

I/O: I/O module or

C I

P /

data transmission module

U O O O O O O O O O O

CH2

CH1

IF351

Expansion unit #1

Expansion unit #4

O O O O O O O O O O O

IF351

Expansion unit #2

Expansion unit #5

O O O O O O O O O O O

Expansion unit #3

Expansion unit #6

O O O O O O O O O O O

In this configuration, the T3H can handle up to 76 I/O modules. If 64 points I/O

modules are mounted on all the I/O slots (76 slots), the T3H can control up to 4864

points of discrete I/O.

NOTE

The unit configuration using other expansion interface modules are the

same as that of T3. Refer to the T3 User’s Manual.

16 ^{PROSEC T3H}

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1. T3H Overview

(3) Power supply module

The power supply module for the T3 is also used with the T3H. The following two

types are available depending on power voltage.

Type

PS361

PS332

Rated voltage

100 - 120 Vac/200 - 240 Vac (selectable)

24 Vdc

Frequency

50/60 Hz

−

NOTE

For details, refer to the T3 User’s Manual.

(4) Rack

The rack (base board) for the T3 is also used with the T3H. The following four types

are available.

Type

BU31A

BU315

BU35B

BU356

Number of slot

1 for PS, 1 for IF, 1 for CPU, 10 for I/O’s

1 for PS, 1 for IF, 1 for CPU, 5 for I/O’s

1 for PS, 1 for IF, 11 for I/O’s

Use

For basic unit

For expansion

unit

1 for PS, 1 for IF, 6 for I/O’s

NOTE

For details, refer to the T3 User’s Manual.

(5) Expansion cable

The following types of the expansion cables are available.

Type

CS3R5

Cable length

0.5 m

1 m

Remarks

For standard expansion.

With both-end connectors (50-pin)

CS301

CS302

CL3R5

CL301

CL305

CL310

CL320

CL340

2 m

0.5 m

1 m

For long-distance expansion.

With both-end connectors (68-pin)

5 m

10 m

20 m

40 m

NOTE

For details, refer to the T3 User’s Manual.

^{User’s Manual}17

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1. T3H Overview

(6) I/O module

The following types of I/O modules are available.

Type

DI334

Description

DC input

32 points input (8 points/common), 12 to 24 Vdc,

10 mA/point

DI334H

DI335

32 points input (8 points/common), 12 to 24 Vdc,

10 mA/point, high-speed response

64 points input (8 points/common), 24 Vdc, 5 mA/point

(connector type)

DI335H

IN354

64 points input (8 points/common), 24 Vdc, 5 mA/point,

high-speed response (connector type)

32 points input (8 points/common), 100 to 120 Vac,

10 mA/point

AC input

IN364

32 points input (8 points/common), 200 to 240 Vac,

10 mA/point

DO333

DO334

DO335

AC363

AC364

RO364

RO363S

AD368

DA364

DA374

PI312

DC output 16 points output (8 points/common), 12 to 24 Vdc,

2 A/point, 5 A/common

32 points output (16 points/common), 12 to 24 Vdc,

0.5 A/point, 5 A/common

64 points output (8 points/common), 5 to 24 Vdc,

0.1 A/point (connector type)

AC output 16 points output (8 points/common), 100 to 240 Vac,

2 A/point, 5 A/common

32 points output (16 points/common), 100 to 240 Vac,

0.5 A/point, 3.2 A/common, 5 A/module

Relay

output

32 points output (8 points/common), 240 Vac/24 Vdc,

2 A/point, 5 A/common

16 points output (isolated contact), 240 Vac/24 Vdc,

2 A/point

Analog

I/O

8 channels analog input, ±5 V, ±10 V, 0 - 5 V, 0 - 10 V,

1 - 5 V, ±20 mA, 0 - 20 mA, or 4 - 20 mA, 12-bit resolution

4 channels analog output, ±5 V, ±10 V, 0 - 5 V, 0 - 10 V, or

1 - 5 V, 12-bit resolution

4 channels analog output, 0 - 20 mA or 4 - 20 mA,

12-bit resolution

Special

I/O

2 channel pulse input, 5/12 V, 50 kHz (max.), 24-bit counter,

interrupt function

AS311

Communication interface, 2 port of RS-232C/RS-422,

full-duplex, ASCII code, no protocol, 300 / 600 / 1200 / 2400 /

4800 / 9600 / 19200 bps

CD332

NOTE

Change detect DC input, 8 points input, 12 to 24 Vdc,

10 mA/point, interrupt function

For detailed specifications, refer to the T3 User’s Manual.

18 ^{PROSEC T3H}

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1. T3H Overview

(7) Data transmission module

The following types of data transmission modules are available.

Type

EN311

Description

Remarks

Only for T3H

Ethernet

10BASE5 or 10BASE2, 10 Mbps,

computer link, T3H to T3H, and socket

service

SN321

SN322

SN323

SN325

TOSLINE-S20

High-speed

control data

link, 2 Mbps

High-speed control data link, 2 Mbps,

4 k words scan memory, optical loop

Co-axial

Optical

Co-axial/optical

T3/T3H

common

TOSLINE-S20LP

TOSLINE-F10

Only for T3H

MS311

RS311

Field network,

750 k bps

Master station

Remote station

T3/T3H

common

NOTE

(1) Maximum number of modules available on one T3H is as follows.

Ethernet: 4

TOSLINE-S20 and S20LP total: 2

TOSLINE-F10: 8

(2) Ethernet module and TOSLINE-S20LP are under development.

(8) Module internal current consumption

The table below shows the internal 5 Vdc current consumption (max. value) of each

T3H module. Use this data to check the power capacity.

Type

Internal 5 Vdc

consumption

1.5 A

Type

Internal 5 Vdc

consumption

530 mA

800 mA

170 mA

100 mA

450 mA

180 mA

800 mA

1.0 A

CPU

PU325H

PU326H

IF321

IF311

IF351

IF312

IF352

IF353

DI334

DI334H

DI335

DI335H

IN354

AC output

AC363

AC364

RO364

RO363S

AD368

DA364

DA374

PI312

AS311

CD332

EN311

SN321

SN322

SN323

1.5 A

40 mA

20 mA

Expansion I/F

DC input

Relay output

Analog input

Analog output

800 mA

700 mA

100 mA

170 mA

120 mA

320 mA

210 mA

400 mA

Pulse input

ASCII

Change detect

Ethernet

TOSLINE-S20

300 mA

700 mA

800 mA

600 mA

AC input

IN364

DC output

DO333

DO334

DO335

TOSLINE-S20LP SN325

TOSLINE-F10

MS311

RS311

^{User’s Manual}19

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1. T3H Overview

1.4 Specifications

Functional specifications

Type

PU325H

PU326H

Control method

Scan system

I/O update

Stored program, cyclic scan system

Floating scan or constant scan (10 - 200 ms, 10 ms units)

Batch I/O refresh (direct I/O instruction available)

Main memory: RAM (battery backed)

Program memory

Auxiliary memory: EEPROM (built-in), IC card (option)

Program capacity

32 k steps

64 k steps

Programming language

Ladder diagram with function block,

SFC (sequential function chart)

Basic instructions: 24 types,

Function instructions: 206 types

Step, transition, sequence selection, simultaneous

sequences, jump, etc.

Instructions

Ladder

SFC

Execution speed

Multitasking

0.09 µs/contact, 0.18 µs/coil,

0.54 µs/transfer, 0.90 µs/addition

1 Main program

4 Sub-program

1 Timer interrupt (1 - 1000 ms, 1 ms units)

8 I/O interrupt (task switch 500 µs or less)

256 Subroutine

I/O capacity

2432 points (using 32 points I/O modules)

4864 points (using 64 points I/O modules)

Local I/O space: 8192 points / 512 words

(X/XW and Y/YW: batch I/O)

(I/IW and O/OW: direct I/O)

User data Auxiliary relay

Special relay

16000 points / 1000 words (R/RW)

4096 points / 256 words (S/SW)

1000 points (T./T)

Timer

(proportion of 0.01s and 0.1s timer is user definable)

Counter

512 points (C./C)

Data register

8192 words (D)

(leading 4096 words are stored in EEPROM)

16000 points / 2048 words (Z/W) (for TOSLINE-S20)

4096 points / 256 words (L/LW) (for TOSLINE-F10)

32768 words (F)

Link register

Link relay

File register

Index register

3 words (I, J, K)

Retentive memory F register and user defined ranges of RW, T, C, D

RAS

Self-diagnosis

Power interruption, main/expansion power failure,

CPU/RAM/ROM check, I/O response, I/O bus check, I/O

registration, I/O parity, battery level, watch dog timer,

program check, others

Monitoring

Debugging

Event history record, scan time measurement, others

On-line trace monitor, force, sampling trace, status latch,

single step/N scan execution, break point, others

Lithium battery (type: TBT911∗AS)

RAM data back-up

Recommended replacement: every 2 years

20 ^{PROSEC T3H}

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1. T3H Overview

Instruction execution speed

FUN

No.

Name

Symbol Execution FUN

Name

Symbol Execution

time (µs)

No.

time (µs)

NO contact

┤ ├

┤/├

┤↑├

0.09

0.36

31 Double-word

addition

32 Double-word

Subtraction

33 Double-word

Multiplication

34 Double-word

division

35 Addition with carry

36 Subtraction with

carry

37 Double-word

addition with carry

38 Double-word

subtraction with

carry

D+

D−

D∗

6.1

NC contact

Transitional contact

(rising)

Transitional contact

(falling)

Coil

Forced coil

Inverter

Invert coil

Positive pulse

contact

Negative pulse

contact

Positive pulse coil

6.1

┤↓├

0.36

6.22

9.85

-( )┤

×-( )┤

┤I├

-( I )┤

┤P├

0.18

0.09

0.18

0.36

−C

6.29

D+C

7.21

┤N├

0.36

D−C

-( P )┤

0.36

0.09

−

0.18

0.09

0.54

4.14

Negative pulse coil -( N )┤

Jump control set

Jump control reset

End

ON-delay timer

OFF-delay timer

Single-shot timer

Counter

JCS

JCR

END

TON

TOF

39 Unsigned

multiplication

U∗

7.37

40 Unsigned division

41 Unsigned double/

single division

42 Double-word

multiplication and

division

43 Increment

44 Double-word

increment

45 Decrement

46 Double-word

decrement

48 AND

49 Double-word AND

50 OR

51 Double-word OR

52 Exclusive OR

53 Double-word

Exclusive OR

54 Not exclusive OR

55 Double-word

Not exclusive OR

57 Table AND

DIV

7.77

8.67

D∗/

61.07

CNT

MCS

Master control set

Master control reset MCR

D+1

3.23

4.11

18 Data transfer

19 Double-word data

transfer

MOV

DMOV

−1

D−1

3.23

4.11

20 Invert transfer

NOT

3.6

4.32

21 Double-word invert DNOT

transfer

AND

DAND

DOR

EOR

DEOR

4.84

5.92

4.84

5.92

4.84

5.92

22 Data exchange

23 Double-word data

exchange

XCHG

DXCH

6.12

7.56

24 Table initialization

TINZ

15.5

+0.37n

24.32

+0.49n

24.44

+0.58n

0.9

2.61

4.59

25 Table transfer

TMOV

ENR

DENR

4.84

5.92

26 Table invert transfer TNOT

27 Addition

−

∗

TAND

TOR

23.31

+0.72n

23.31

28 Subtraction

29 Multiplication

30 Division

58 Table OR

+0.72n

^{User’s Manual}21

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1. T3H Overview

Instruction execution speed (continued)

FUN

No.

Name

Symbol Execution FUN

Name

Symbol Execution

time (µs)

No.

time (µs)

59 Table Exclusive OR TEOR

23.31

+0.72n

23.31

+0.72n

3.76

83 m bit file n bit rotate TRTL (Word)

left

16.21

+0.46n

+0.45m

(Bit)

60 Table Not exclusive TENR

64 Bit test

TEST

65 Double-word bit test DTST

4.68

23.15

66 Bit file bit test

68 1 bit shift right

69 1 bit shift left

70 n bit shift right

TTST

SHR1

SHL1

SHR

8.98

4.12

4.68

4.77

+0.12n

+0.06m

4.69

84 1 bit rotate right with RRC1

carry

+0.27n

5.33

85 1 bit rotate left with

carry

RLC1

4.15

71 n bit shift left

SHL

+0.27n

TSHR (Word)

14.59

86 n bit rotate right with RRC

carry

4.59

+0.81n

5.44

72 m bit file n bit shift

right

87 n bit rotate left with

carry

RLC

-0.08n

+0.72n

+0.45m

(Bit)

21.3

88 m bit file n bit rotate TRRC (Word)

right with carry

16.24

+0.43n

+0.45m

(Bit)

-0.02n

+0.06m

TSHL (Word)

14.96

73 m bit file n bit shift

left

25.49

+0.12n

+0.05m

-0.09n

+0.45m

89 m bit file n bit rotate TRLC (Word)

(Bit)

21.44

-0.04n

+0.06m

left with carry

16.21

+0.46n

+0.45m

(Bit)

74 Shift register

16.21

+0.11n

16.42

+0.14n

12.82

4.31

4.15

5.49

+0.1n

5.11

28.55

+0.07n

+0.05m

9.74

75 Bi-directional shift

76 Device shift

78 1 bit rotate right

79 1 bit rotate left

80 n bit rotate right

DSR

90 Multiplexer

91 Demultiplexer

92 Table bit transfer

93 Bit table transfer

95 Bit file compare

96 Greater than

97 Greater than or

equal

MPX

DPX

TBM

BTM

TCMP

SFT

RTR1

RTL1

RTR

8.86

12.44

11.54

18.03

3.76

81 n bit rotate left

RTL

3.76

+0.1n

82 m bit file n bit rotate TRTR (Word)

98 Equal

99 Not equal

100 Less than

101 Less than or equal

102 Double-word greater D>

than

3.76

4.84

right

16.23

+0.45n

+0.45m

(Bit)

23.1

+0.12n

+0.06m

103 Double-word greater D>=

than or equal

4.48

22 ^{PROSEC T3H}

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1. T3H Overview

Instruction execution speed (continued)

FUN

No.

Name

Symbol Execution FUN

Name

Symbol Execution

time (µs)

No.

time (µs)

104 Double-word equal

105 Double-word not

equal

D<>

4.48

134 Master control set n MCSn

135 Master control reset MCRn

4.9

106 Double-word less

than

107 Double-word less

than or equal

108 Unsigned greater

than

109 Unsigned greater

than or equal

110 Unsigned equal

111 Unsigned not equal

112 Unsigned less than

113 Unsigned less than

or equal

D<=

4.84

4.48

3.76

136 Jump label

137 Subroutine entry

140 Enable interrupt

141 Disable interrupt

142 Interrupt return

143 Watch dog timer

reset

144 Step sequence

initialize

145 Step sequence input STIN

146 Step sequence

output

147 Flip-flop

148 Timer trigger

149 Up/down counter

LBL

SUBR

IRET

WDT

−

0.18

53.28

52.88

−

62.78

U>=

STIZ

5.0

+0.02n

3.22

5.67

+2.44n

3.78

U<>

3.76

STOT

U<=

F/F

TRG

U/D

114 Device/register set

SET (Device)

3.6

2.89

2.26

(Register) 150 Diagnostic display

2.32

DIAG

10.98

+0.02n

6.41

115 Device/register

reset

RST (Device)

3.6

151 Diagnostic reset

DIAR

+1.31n

(Register) 152 Status latch set

2.52

STLS 320.48

+12.94n

116 Table bit set

117 Table bit reset

118 Set carry

119 Reset carry

120 Encode

TSET

TRST

SETC

RSTC

ENC

9.42

9.62

1.26

153 Status latch reset

154 Set calendar

155 Calendar operation CLDS 382.48

156 Essential PID

158 Drum sequencer

STLR

CLND 201.98

47.18

1.26

PID3

DRUM

19.55

+2.91n

10.68

+2.48n

10.56

18.16

16.46

+0.02m

9.88

+4.62n

5.04

8.89

121 Decode

DEC

159 Cam sequencer

CAM

122 Bit count

123 Double-word bit

count

DBC

160 Upper limit

161 Lower limit

162 Maximum value

MAX

124 Data search

SCH

PUSH

POPL

12.47

+0.9n

9.99

+0.47n

10.9

+0.46n

11.46

9.24

+0.72n

8.89

+0.81n

9.79

+1.03n

10.09

+1.14n

6.12

80.26

17.64

12.24

17.78

163 Minimum value

164 Average value

165 Function generator

MIN

AVE

125 Push

126 Pop last

127 Pop first

POPF

CALL

RET

JUMP

FOR

128 Subroutine call

129 Subroutine return

130 Jump

132 Loop FOR

133 Loop NEXT

166 Dead band

167 Square root

168 Integral

169 Ramp function

170 PID

INTG

RAMP

PID

3.24

6.17

NEXT +2.71n

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1. T3H Overview

Instruction execution speed (continued)

FUN

No.

Name

Symbol Execution FUN

Name

Symbol Execution

time (µs)

No.

time (µs)

171 Deviation square

PID

172 Sine function

173 Cosine function

174 Tangent function

175 Arc-sine function

176 Arc-cosine function ACOS

177 Arc-tangent function ATAN 192.28

178 Exponential function EXP

179 Logarithm

180 Absolute value

181 Double-word

absolute value

182 2’s complement

183 Double-word 2’s

complement

184 Double-word

conversion

185 7-segment decode

186 ASCII conversion

PID2

25.28

203 Double-word BCD

subtraction with

carry

204 Floating point

conversion

205 Fixed point

conversion

206 Floating point

absolute value

207 Floating point sign

inversion

208 Floating point

addition

209 Floating point

subtraction

210 Floating point

multiplication

211 Floating point

division

DB−C

48.12

SIN

COS

TAN

ASIN

14.94

15.44

4.24

4.64

5.04

FLT

FIX

FABS

FNEG

F+

5.03

4.5

169.28

217.28

3.76

LOG

ABS

DABS

4.68

14.44

14.82

12.08

12.06

7.2

4.32

NEG

DNEG

3.6

4.68

F−

F∗

4.12

7SEG

ASC

3.76

9.29

+0.33n

13.86

32.58

212 Floating point

greater than

213 Floating point

greater than or

equal

188 Binary conversion

189 Double-word binary DBIN

conversion

BIN

F>=

7.2

190 BCD conversion

191 Double-word BCD

conversion

BCD

DBCD

13.86

13.52

214 Floating point equal

215 Floating point not

equal

F<>

6.31

192 BCD addition

193 BCD subtraction

194 BCD multiplication

195 BCD division

196 Double-word BCD

addition

B+

B−

B∗

25.26

39.66

34.86

48.86

216 Floating point less

than

217 Floating point less

than or equal

218 Floating point upper FUL

limit

7.22

7.18

F<=

DB+

8.46

197 Double-word BCD

subtraction

198 Double-word BCD

multiplication

199 Double-word BCD

division

200 BCD addition with

carry

201 BCD subtraction

with carry

202 Double-word BCD

addition with carry

DB−

DB∗

DB/

46.86

106.88

86.12

25.92

26.12

47.32

219 Floating point lower

limit

220 Floating point dead

band

221 Floating point

square root

222 Floating point PID

223 Floating point

deviation square

PID

FLL

FDB

FRT

FPID

8.5

20.68

54.3

B+C

B−C

DB+C

201.98

FPID2 217.48

224 Floating point sine

225 Floating point

FSIN

FCOS 148.48

129.08

cosine

24 ^{PROSEC T3H}

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1. T3H Overview

Instruction execution speed (cont’d)

FUN

No.

Name

Symbol Execution FUN

Name

Execution

time (µs)

No.

226 Floating point

tangent

227 Floating point arc-

sine

228 Floating point arc-

cosine

229 Floating point arc-

tangent

230 Floating point

exponential

231 Floating point

logarithm

232 Floating point

essential PID

235 Direct I/O

236 Expanded data

transfer

FTAN 259.48

SFC initialize

SFC initial step

SFC step

SFC end step

SFC macro step

SFC wait step

SFC alarm step

SFC transition

SFC end

SFC jump

SFC macro end

SFC label

SFC macro entry

SFC sequence selection

Divergence (I)

SFC sequence selection

Divergence (II)

SFC sequence selection

Divergence (III)

SFC sequence selection

Convergence

SFC simultaneous

sequences Divergence

SFC simultaneous

sequences Convergence (I)

SFC simultaneous

197.48

3.15

1.2

FASIN 213.98

FACOS 221.98

FATAN 189.98

FEXP 141.08

FLOG 206.98

FPID3

1.26

3.96

3.81

4.32

2.24

2.61

3.21

2.61

4.4

1.2

2.58

I/O

XFER

2.58

2.31

0.09

2.07

3.52

237 Special module data READ

read

238 Special module data WRITE

write

239 Network data send

240 Network data

receive

SEND

RECV

241 SFC initialize

SFIZ

6.95

+0.05n

sequences Convergence (II)

*1 I/O:

6.8+3.05n

(Basic unit)

6.45+7.93n

(Expansion unit)

*2 XFER:

286.48+4.5n

302.46+9.02n

394.69+7.49n

417.97+9.51n

252.44+1.54n

185.88+1.58n

186.75+1.53n

185.3+1.58n

179.99+1.09n

(register → S20 on basic unit)

(register → S20 on expansion unit)

(S20 on basic unit → register)

(S20 on expansion unit → register)

(register → EEPROM)

(EEPROM → register)

(register → IC card)

(IC card → register)

(register → register)

*3 READ:

261.01+9.97n

(Basic unit)

280.62+12.86n (Expansion unit)

*4 WRITE: 252.04+9.93n (Basic unit)

278.57+12.91n (Expansion unit)

^{User’s Manual}25

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1. T3H Overview

NOTE

When index modification, digit designation or direct I/O register (IW/OW) is

used for an operand, the additional time is required per one operand as

shown below.

Additional time by

operand modification (µs)

Operand format

Double

Single

Table

6.7

11+3.0(n+1)

3+3.5n

Index modification

Digit designation

Direct I/O

5.4

6.0

4.3

6.7

10.0

7.2

Basic unit

Expansion unit

Basic unit

Expansion unit

8.8

14.6

23.6

16.2

22.3

35.8

3+8.0n

14+6.26(n+1)

14+10.76(n+1)

Direct I/O with

digit designation

26 ^{PROSEC T3H}

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Section 2

Expanded Functions

2.1 System operation, 28

2.2 Expanded registers, 30

2.3 Network support function, 38

2.4 Instructions, 43

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2. Expanded Functions

2.1 System operation

2.1.1 Auto-RUN / Standby selection

The initial operation mode (HALT or RUN) just after power on is determined by the

user-setting status of the Auto-RUN / Standby selection.

When the setting status is;

Auto-RUN: The T3H’s initial operation mode is determined by the mode control

switch (HALT / RUN / P-RUN). When this switch is in RUN or P-RUN,

the T3H moves into RUN mode automatically.

Standby:

The T3H stays in HALT mode regardless of the mode control switch

(HALT / RUN / P-RUN) after power on. Then the operation mode can be

changed manually, i.e. by programmer command or by changing the

mode control switch.

The Auto-RUN / Standby selection is included in the system information memory, and

the selection is made by using the programmer.

NOTE

(1) The default setting is Standby.

(2) Different from the T3H, in case of the T3, this selection is made by the

hardware switch (RAM/ROM switch).

2.1.2 Timer interrupt interval

In the T3H, the timer interrupt program is available with the interval setting of 1 to

1000 ms in 1 ms increments.

(In case of the T3, it is 2 to 1000 ms in 1 ms increments)

NOTE

If you use the timer interrupt with 1 ms interval, consider to minimize the

execution time of the timer interrupt program. If the interrupt task requires

long time, the T3H cannot assign enough time for main program execution.

As the result, scan time over error will occur.

In case of the T3H, SFC (Sequential Function Chart) can also be programmed on the

interrupt program, as well as Ladder diagram.

28 ^{PROSEC T3H}

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2. Expanded Functions

2.1.3 Saving the sampling trace condition

The sampling trace function is available on the T3H as well as the T3. In addition to

all the sampling trace functions on the T3, the T3H can save the sampling trace

condition into the IC memory card. By using this function, the sampling trace data

which is collected and saved in the IC memory card on one T3H can be displayed

using other T3H via the IC memory card.

This function is used as follows.

T3H which performs sampling (data collection):

• Install the IC memory card in the T3H CPU module.

• Set MMR for the PU slot in the I/O allocation in order to use an IC memory card for

sampling data storage.

• Set the special device S0620 to ON.

• Edit the sampling trace condition. The edited condition is also saved into the IC

memory card.

• Execute the sampling trace. The sampling data is saved into the IC memory card.

• Remove the IC memory card.

T3H which is used to display the sampling data stored in the IC memory card:

• Install the IC memory card in which the sampling trace data is stored.

• Set MMR for the PU slot in the I/O allocation in order to use an IC memory card for

sampling trace function.

• Monitor the sampling trace condition. The condition stored in the IC memory card

is displayed.

• Display the sampling trace data. The sampling data stored in the IC memory card

is displayed.

NOTE

To copy the sampling data stored in the T3H’s file register to an IC memory

card, set the special device S0620 to ON and display the sampling trace

condition. By this operation, the sampling trace condition and the sampling

data stored in file register are copied into the IC memory card.

^{User’s Manual}29

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2. Expanded Functions

2.2 Expanded registers

The T3H has the same types of registers as the T3. However, the address ranges of

some registers are expanded in the T3H.

This section explains the expanded registers and the notes.

NOTE

For details of functions of each register/device, refer to the T3 User’s

Manual.

2.2.1 External I/O register

The T3H can handle up to 76 I/O modules. Accordingly, the T3H has 512 words of

external I/O register.

Function type

Input register

Type

code

Address range

000 - 511

Quantity

Expression

example

XW280

YW412

IW280

Output register

Total 512 words

Direct input register

Direct output register

Input device

OW412

X280A

Output device

0000 - 511F

Total 8192 points

Y4128

Direct input device

Direct output device

I2809

O412C

Regarding the I/O allocation, the channel 1 of the IF321 is assigned to Unit 1 to 3,

and the channel 2 of the IF321 is assigned to Unit 4 to 6. The XW/YW registers are

assigned in the sequence of Unit 0 → 1 → ... → 6.

2.2.2 Auxiliary register

The T3H has 1000 words of auxiliary register.

Function type

Type

code

Address range

Quantity

Expression

example

RW725

Auxiliary register

Auxiliary device

000 - 999

000 - 999F

1000 words

16000 points

R725B

30 ^{PROSEC T3H}

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2. Expanded Functions

2.2.3 Timer

The T3H has 1000 points of timer.

Function type

Type

code

Address range

Quantity

Expression

example

T670

Timer register

Timer device

000 - 999

1000 words

1000 points

T.670

The proportion of the 0.01 s base and the 0.1 s base timers within this 1000 points

can be specified by user. This setting information is stored in the system information.

10 ms Timer Range Setting:

T000 - T [

]

User setting (max. 999)

NOTE

T3H internally, the register ranges T000 to T511 and T512 to T999 are

handled separately. Therefore, index modification or table designation

across these ranges are not allowed.

For example)

├─

[ T450 TMOV (100) D1000 ]-

Not allowed

Allowed

├─

│

[ T450 TMOV (62) D1000 ]-

├─

[ T512 TMOV (38) D1062 ]-

2.2.4 Link register

The T3H has 2048 words of link register. This link register is prepared for the

TOSLINE-S20 (here called S20).

Function type

Type

code

Address range

Quantity

Expression

example

W1500

Link register

Link device

0000 - 2047

0000 - 999F

2048 words

16000 points

Z847E

The link device Z corresponds to a bit in a link register W. The bit access as Z device

is available for the leading 1000 words of W register.

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2. Expanded Functions

Regarding the network assignment, the W register is divided into 32 blocks.

(64 words per one block)

The S20 has 1024 words of scan memory. In case of the T3H, even if two S20’s are

used, the scan memory of each S20 can be fully mapped to the W register. Channel

1 S20 is allocated to the blocks 1 to 16, and channel 2 S20 is allocated to the blocks

17 to 32.

The allocation example below shows the case of all the blocks are set as “LINK”.

T3H’s link register Block

Setting

CH1 S20

scan memory

0000 - 0063

0064 - 0127

0128 - 0191

0192 - 0255

0256 - 0319

0320 - 0383

0384 - 0447

0448 - 0511

0512 - 0575

0576 - 0639

0640 - 0703

0704 - 0767

0768 - 0831

0832 - 0895

0896 - 0959

0960 - 1023

CH2 S20

scan memory

CH1

CH2

W0000 - W0063

W0064 - W0127

W0128 - W0191

W0192 - W0255

W0256 - W0319

W0320 - W0383

W0384 - W0447

W0448 - W0511

W0512 - W0575

W0576 - W0639

W0640 - W0703

W0704 - W0767

W0768 - W0831

W0832 - W0895

W0896 - W0959

W0960 - W1023

W1024 - W1087

W1088 - W1151

W1152 - W1215

W1216 - W1279

W1280 - W1343

W1344 - W1407

W1408 - W1471

W1472 - W1535

W1536 - W1599

W1600 - W1663

W1664 - W1727

W1728 - W1791

W1792 - W1855

W1856 - W1919

W1920 - W1983

W1984 - W2047

LINK

0000 - 0063

0064 - 0127

0128 - 0191

0192 - 0255

0256 - 0319

0320 - 0383

0384 - 0447

0448 - 0511

0512 - 0575

0576 - 0639

0640 - 0703

0704 - 0767

0768 - 0831

0832 - 0895

0896 - 0959

0960 - 1023

32 ^{PROSEC T3H}

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2. Expanded Functions

When “GLOBAL” setting is used, the link registers of “GLOBAL” setting block are

assigned to both CH1 and CH2 S20’s.

T3H’s link register Block

Setting

CH1 S20

scan memory

CH2 S20

scan memory

CH1

CH2

W0192 - W0255

W0256 - W0319

W0320 - W0383

W0384 - W0447

W0448 - W0511

W0512 - W0575

LINK

0192 - 0255

0256 - 0319

0320 - 0383

0384 - 0447

0448 - 0511

0512 - 0575

GLOBAL

LINK

0256 - 0319

0320 - 0383

0384 - 0447

0448 - 0511

W1216 - W1279

W1280 - W1343

W1344 - W1407

W1408 - W1471

W1472 - W1535

W1536 - W1599

LINK

0192 - 0255

0512 - 0575

• The blocks 1 - 16 are dedicated to the CH1 S20, and the blocks 17 - 32 are

dedicated to the CH2 S20.

It is not allowed to assign the blocks 1 - 16 to CH2, and blocks 17 - 32 to CH1.

• For the blocks set as “LINK” or “GLOBAL”, the T3H performs data read from S20

(for data receive area) and data write to S20 (for data send area).

The data transfer direction (read or write) is automatically decided by the T3H

according to the S20’s receive/send setting.

• For the blocks set as “GLOBAL”, the data transfer is as follows.

1) If CH1 is receive and CH2 is send;

CH1 receive data is read and written into both W register and CH2.

2) If CH1 is send and CH2 is receive;

CH2 receive data is read and written into both W register and CH1.

3) If both CH1 and CH2 are send;

W register data is written into both CH1 and CH2.

4) If both CH1 and CH2 are receive;

The receive data of “GLOBAL” setting channel is read and stored in W register.

NOTE

In case of TOSLINE-S20LP, it has 4096 words of scan memory. The

leading 2048 words can be assigned straight to W register. The following

2048 words can be accessed by using XFER instruction.

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2. Expanded Functions

2.2.5 File register

The T3H has 32768 words of file register in the CPU module.

Function type

File register

Type

code

Address range

Quantity

Expression

example

F9000

0000 - 9999

32768 words

(10000 - 32767)

For the address range F0000 to F9999, normal direct addressing is available as

follows.

─

[ D1000 MOV F9999 ]

However, for the addresses F10000 and after, direct addressing is not possible.

To use this address range with an instruction, the index modification must be used.

─

[ D1000 MOV F0000 ]

If I=30000, D1000 data is transferred to F30000.

2.2.6 Special register

The T3H has 256 words of special register as same as the T3. However, within the

address range, some functions are added according to function expansion of the

T3H.

The table below shows the added functions on the special register. They are not used

with the T3.

Special

device

Name

Function

S0500 I/O error map #4-0

S0501 I/O error map #4-1

S0502 I/O error map #4-2

S0503 I/O error map #4-3

S0504 I/O error map #4-4

S0505 I/O error map #4-5

S0506 I/O error map #4-6

S0507 I/O error map #4-7

S0508 I/O error map #4-8

S0509 I/O error map #4-9

S050A I/O error map #4-10

S050B

ON when I/O error detected in unit 4 - slot 0

ON when I/O error detected in unit 4 - slot 1

ON when I/O error detected in unit 4 - slot 2

ON when I/O error detected in unit 4 - slot 3

ON when I/O error detected in unit 4 - slot 4

ON when I/O error detected in unit 4 - slot 5

ON when I/O error detected in unit 4 - slot 6

ON when I/O error detected in unit 4 - slot 7

ON when I/O error detected in unit 4 - slot 8

ON when I/O error detected in unit 4 - slot 9

ON when I/O error detected in unit 4 - slot 10

S050C

S050D

Reserve (for future use)

S050E

S050F

34 ^{PROSEC T3H}

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2. Expanded Functions

Special

device

Name

Function

S0510 I/O error map #5-0

S0511 I/O error map #5-1

S0512 I/O error map #5-2

S0513 I/O error map #5-3

S0514 I/O error map #5-4

S0515 I/O error map #5-5

S0516 I/O error map #5-6

S0517 I/O error map #5-7

S0518 I/O error map #5-8

S0519 I/O error map #5-9

S051A I/O error map #5-10

S051B

ON when I/O error detected in unit 5 - slot 0

ON when I/O error detected in unit 5 - slot 1

ON when I/O error detected in unit 5 - slot 2

ON when I/O error detected in unit 5 - slot 3

ON when I/O error detected in unit 5 - slot 4

ON when I/O error detected in unit 5 - slot 5

ON when I/O error detected in unit 5 - slot 6

ON when I/O error detected in unit 5 - slot 7

ON when I/O error detected in unit 5 - slot 8

ON when I/O error detected in unit 5 - slot 9

ON when I/O error detected in unit 5 - slot 10

S051C

S051D

Reserve (for future use)

S051E

S051F

S0520 I/O error map #6-0

S0521 I/O error map #6-1

S0522 I/O error map #6-2

S0523 I/O error map #6-3

S0524 I/O error map #6-4

S0525 I/O error map #6-5

S0526 I/O error map #6-6

S0527 I/O error map #6-7

S0528 I/O error map #6-8

S0529 I/O error map #6-9

S052A I/O error map #6-10

S052B

ON when I/O error detected in unit 6 - slot 0

ON when I/O error detected in unit 6 - slot 1

ON when I/O error detected in unit 6 - slot 2

ON when I/O error detected in unit 6 - slot 3

ON when I/O error detected in unit 6 - slot 4

ON when I/O error detected in unit 6 - slot 5

ON when I/O error detected in unit 6 - slot 6

ON when I/O error detected in unit 6 - slot 7

ON when I/O error detected in unit 6 - slot 8

ON when I/O error detected in unit 6 - slot 9

ON when I/O error detected in unit 6 - slot 10

S052C

S052D

Reserve (for future use)

S052E

S052F

Special

device

Name

Function

S0620 Sampling trace copy

S0621

Used for saving sampling trace data (ON for active)

Reserve (for future use)

S062F

Special

Name

Function

SW067 Write protect for

SEND/RECV

Used for setting write protect against SEND and

RECV instructions

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2. Expanded Functions

Special

SW192

SW193

SW194

SW195

SW196

SW197

SW198

SW199

SW200

SW201

SW202

SW203

Name

W1024 - W1039

Function

• The corresponding bit is ON when

W1040 - W1055

W1056 - W1071

W1072 - W1087

W1088 - W1103

W1104 - W1119

W1120 - W1135

W1136 - W1151

W1152 - W1167

W1168 - W1183

W1184 - W1199

W1200 - W1215

W1216 - W1231

the W register is updated normally.

• The lowest address of W register

corresponds to bit 0 in the SW

SW204 TOSLINE-S20

SW205 scan healthy map W1232 - W1247

SW206

SW207

SW208

SW209

SW210

SW211

SW212

SW213

SW214

SW215

SW216

SW217

SW218

SW219

SW220

SW221

SW222

SW223

W1248 - W1263

W1264 - W1279

W1280 - W1295

W1296 - W1311

W1312 - W1327

W1328 - W1343

W1344 - W1359

W1360 - W1375

W1376 - W1391

W1392 - W1407

W1408 - W1423

W1424 - W1439

W1440 - W1455

W1456 - W1471

W1472 - W1487

W1488 - W1503

W1504 - W1519

W1520 - W1535

NOTE

In case of TOSLINE-S20LP, it does not have the scan healthy map.

Therefore these SW registers are not effective for the TOSLINE-S20LP.

36 ^{PROSEC T3H}

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2. Expanded Functions

Special

SW224

SW225

SW226

SW227

SW228

SW229

SW230

SW231

SW232

SW233

SW234

SW235

SW236 TOSLINE-S20

Name

W1536 - W1551

Function

• The corresponding bit is ON when

W1552 - W1567

W1568 - W1583

W1584 - W1599

W1600 - W1615

W1616 - W1631

W1632 - W1647

W1648 - W1663

W1664 - W1679

W1680 - W1695

W1696 - W1711

W1712 - W1727

W1728 - W1743

the W register is updated normally.

• The lowest address of W register

corresponds to bit 0 in the SW

SW237 scan healthy map W1744 - W1759

SW238

SW239

SW240

SW241

SW242

SW243

SW244

SW245

SW246

SW247

SW248

SW249

SW250

SW251

SW252

SW253

SW254

SW255

W1760 - W1775

W1776 - W1791

W1792 - W1807

W1808 - W1823

W1824 - W1839

W1840 - W1855

W1856 - W1871

W1872 - W1887

W1888 - W1903

W1904 - W1919

W1920 - W1935

W1936 - W1951

W1952 - W1967

W1968 - W1983

W1984 - W1999

W2000 - W2015

W2016 - W2031

W2032 - W2047

NOTE

In case of TOSLINE-S20LP, it does not have the scan healthy map.

Therefore these SW registers are not effective for the TOSLINE-S20LP.

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2. Expanded Functions

2.3 Network support function

2.3.1 IC memory card data access through computer link

The expanded file register data stored in the IC memory card can be read/written

through RS-485 computer link.

There are two types of data storage format for the IC memory card. They are 8 k

words per bank and 64 k words per bank. (Refer to XFER instruction)

Note that the computer link command for these formats are slightly different.

Expanded file register data read [MR]

Request message format (Host → T3H):

10 11 12 13 14 15 16 17 18 19 20 21 22 23

(

ADR M R

Starting register

Bank

Sum

)

Can be shortened

Can be omitted

ADR: Station address ... 01 to 32

Starting register:

Upper case F

Lower case f

For 8 k words per bank ..... F0000 to F8191

For 64 k words per bank ... f0000 to f65535 (bank 1)

f0000 to f57343 (bank 2)

Bank: For 8 k words per bank ..... 1 to 15

For 64 k words per bank ... 1 to 2

Number of registers to be read ... 1 to 61 (61 words max.)

Check sum

Sum:

Response message format (T3H → Host):

10 11 12 13 14 15

(

ADR M R

Data #1

Data #2

n-5 n-4 n-3 n-2 n-1

Data #N-1

Data #N

Sum

)

Data: Data in hexadecimal

38 ^{PROSEC T3H}

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2. Expanded Functions

Expanded file register data Write [MW]

Request message format (Host → T3H):

10 11 12 13 14 15 16 17 18 19 20 21 22 23

(

ADR M W

Starting register

Bank

Data #1

Can be shortened

n-5 n-4 n-3 n-2 n-1

Data #N-1

Data #N

Sum

)

Can be shortened

Can be omitted

ADR: Station address ... 01 to 32

Starting register:

Upper case F

Lower case f

For 8 k words per bank ..... F0000 to F8191

For 64 k words per bank ... f0000 to f65535 (bank 1)

f0000 to f57343 (bank 2)

Bank: For 8 k words per bank ..... 1 to 15

For 64 k words per bank ... 1 to 2

Data: Data in hexadecimal

Sum:

Check sum

Number of registers to be written ... 1 to 46 (see Note)

Response message format (T3H → Host):

10 11 12 13 14 15

(

ADR

Status

Sum

)

Status: T3H operation status

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2. Expanded Functions

NOTE

(1) The maximum message text length is limited to 255 bytes.

(2) Shortening expression for starting register, bank, number and data

(MW only) are available. E.g. F9 for F00009.

When shortening expression is used, the maximum number of MW

command can be increased more than 46 words. In this case, it is

limited by the maximum message text length (255 bytes).

(3) When an error has occurred, error response CE or EE is returned.

⋅ If designated register or bank is out of the effective range, EE115

(register no./size error) is returned.

⋅ If IC memory card is not installed or MMR setting for PU slot is not

made, EE128 (No IC card error) is returned.

⋅ If IC memory card is used for program storage, EE132 (IC card type

error) is returned.

⋅ If IC memory card is set as write-protect, EE134 (IC card write-

protect error) is returned.

(4) For general information of computer link function, refer to T-series

Computer Link Operation Manual.

40 ^{PROSEC T3H}

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2. Expanded Functions

2.3.2 TOSLINE-S20LP (loop) support

In addition to the standard bus connection type TOSLINE-S20 (here called S20), the

optical loop connection type TOSLINE-S20LP (here called S20LP) can be used with

the T3H. (SN325: T3H station module of S20LP)

By using the S20LP, high speed control-data linkage is available as same as the S20.

Furthermore, peer-to-peer communication between T3H’s becomes available via

S20LP.

• Up to two S20LP can be installed on a T3H. (S20LP and S20 total)

• The S20LP has 4 k words of scan transmission capacity.

The leading 2 k words of the scan memory can be assigned to T3H’s link register

(W). And the following 2 k words can be read/written by using XFER instruction.

• The S20LP does not have the scan healthy map. Therefore, SW128 to SW255 are

not used for the S20LP.

• The S20LP has the loop map which indicates loop connection status of each

station. This loop map can be read by using READ instruction.

• By using SEND and RECV instructions, any register data of a T3H can be sent to

other T3H, and any register data of other T3H can be read into a T3H, via S20LP.

(peer-to-peer communication)

NOTE

(1) The S20LP is under development.

(2) For details of the S20LP, refer to the separate manual for S20LP.

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2. Expanded Functions

2.3.3 Ethernet support

The Ethernet module (EN311) is available for the T3H. By using the EN311, the T3H

can be connected to Ethernet network.

Using the Ethernet module, the T3H supports the following communication functions.

• Computer link function:

Host computer on the Ethernet can perform data read/write, T3H status read,

program up-load/down-load, etc. for the T3H, by using the T-series computer link

command.

• Peer-to-peer communication:

By using SEND and RECV instructions, any register data of a T3H can be sent to

other T3H, and any register data of other T3H can be read into a T3H, via

Ethernet.

• Socket service:

Communication between a computer and a T3H user program is available by using

SEND and RECV instructions. Maximum 8 ports of socket are available. The

protocol can be selected either TCP/IP or UDP/IP for each port.

Up to four EN311’s can be installed on a T3H.

To activate the EN311, SEND instruction is required to set parameters (IP address,

UDP port number) and to send commands (communication start, etc.)

NOTE

(1) The Ethernet module (EN311) is under development.

(2) For details of the EN311, refer to the separate manual for EN311.

42 ^{PROSEC T3H}

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2. Expanded Functions

2.4 Instructions

This section explains the specifications of the following instructions.

Double-word multiplication and division (FUN042 D∗/)

Combination instruction of multiplication and division for double-word data.

This instruction is not available on the T3.

Essential PID (FUN156 PID3)

PID (Proportional, Integral, Derivative) control instruction which has the following

features.

⋅ Incomplete derivative action expanding stable application range

⋅ Essential digital algorithm succeeding to benefits of analog PID

This instruction is not available on the T3.

Floating point essential PID (FUN232 FPID3)

Essential PID instruction for floating point data.

This instruction is not available on the T3.

Expanded data transfer (FUN236 XFER)

Data transfer instruction between special objects, i.e. expanded file register in IC

memory card, data in EEPROM, TOSLINE-S20 scan memory, etc.

Some functions are added to this instruction for the T3H.

Network data send (FUN239 SEND)

Used to peer-to-peer communication via TOSLINE-S20LP or Ethernet. This

instruction is also used for Ethernet module (EN311) control.

This instruction is not available on the T3.

Network data receive (FUN240 RECV)

Used to peer-to-peer communication via TOSLINE-S20LP or Ethernet. This

instruction is also used for Ethernet module (EN311) control.

This instruction is not available on the T3.

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2. Expanded Functions

2.4.1 Double-word multiplication and division (D∗/)

FUN 042

Double-word multiplication and division

D∗/

Expression

Input ─[ A+1⋅A D∗/ B+1⋅B → C+1⋅C ]─ Output

Function

When the input is ON, the data of A+1⋅A is multiplied by the data of B+1⋅B, and the product is divided by

B+3⋅B+2, then the quotient is stored in C+1⋅C and the remainder in C+3⋅C+2.

The data range is -2147483648 to 2147483647. If the result (quotient) is out of the data range, the following

limit value is stored.

Positive overflow: quotient = 2147483647, remainder = 0

Negative overflow: quotient = -2147483647, remainder = 0

Execution condition

Input

Operation

Normal execution

Output

OFF

ERF

−

OFF No execution

B+3⋅B+2 ≠ 0, no overflow

B+3⋅B+2 ≠ 0, overflow

B+3⋅B+2 = 0

Limit

No execution

Operand

Name

Device

Z T. C.

R W T

W W W W W

Con- Index

stant

W W

A Operation

data

B Multiplier,

divisor

√ √ √ √ √ √ √ √ √ √

√ √ √ √ √ √ √ √ √

√

C Result

Example

When R0200 is ON, the double-word data of D0351⋅D0350 is multiplied by the data of D0262⋅D0261,

and the product is divided by the data of D0264⋅D0263, then the quotient is stored in D0401⋅D0400 and

the remainder in D0403⋅D0402.

44 ^{PROSEC T3H}

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2. Expanded Functions

If the data of D0351⋅D0350 is 23437688, D0262⋅D0261 is 1876509, and D0264⋅D0263 is 113487, the

quotient (387542471) is stored in D0401⋅D0400 and the remainder (64815) is stored in D0403⋅D0402.

D0351⋅D0350

23437688

D0264⋅D0263

D0401⋅D0400

387542471

64815

113487

D0403⋅D0402

D0262⋅D0261

1876509

Note

•

Edge execution modifier is also available for this instruction.

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2. Expanded Functions

2.4.2 Essential PID (PID3)

FUN 156

PID3

Essential PID

Expression

Input ─[ A PID3 B → C ]─ Output

Function

Performs PID (Proportional, Integral, Derivative) control which is a fundamental method of feed-back control.

(Pre-derivative real PID algorithm)

This PID3 instruction has the following features.

•

For derivative action, incomplete derivative is used to suppress interference of high-frequency noise and to

expand the stable application range,

•

Controllability and stability are enhanced in case of limit operation for MV, by using digital PID algorithm

succeeding to benefits of analog PID.

•

Auto, cascade and manual modes are supported in this instruction.

Digital filter is available for PV.

Direct / reverse operation is selectable.

Execution condition

Input

Operation

Output

OFF

OFF Initialization

Execute PID every setting interval

ON when

execution

Operand

Name

Device

Z T. C.

Con- Index

stant

R W T

W W W W W

W W

A Top of input

data

B Top of

parameter

C Top of

output data

√ √ √ √ √ √ √ √ √ √

√ √ √ √ √ √ √ √ √

√

Input data

Process input value

A-mode set value

C-mode set value

M-mode MV input

MV tracking input

Mode setting

Control parameter

Proportional gain

Integral time

Derivative time

Dead-band

A-mode initial SV

Input filter constant

ASV differential limit

MMV differential limit DMMV

Initial status

MV upper limit

MV lower limit

Output data

Manipulation value

Last error

Last derivative value

Last PV

Last SV

Integral remainder

Derivative remainder

Internal MV

Internal counter

Control interval

A+1

A+2

A+3

A+4

A+5

B+1

B+2

B+3

B+4

B+5

B+6

B+7

B+8

C+1

C+2

C+3

C+4

C+5

C+6

C+7

C+8

C+9

PVC

ASV

CSV

MMV

TMV

MODE

K_P

T_I

T_D

ISV

e_n-1

D_n-1

PV_n-1

SV_n-1

MV_n

DSV

A-mode: Auto mode

C-mode: Cascade mode

M-mode: Manual mode

STS

DMV

B+9

∆t

B+10

B+11

B+12

MV differential limit

Control interval setting

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2. Expanded Functions

Control block diagram

Integral

control

Integral

T_I⋅s

Auto

mode

∆I_n

ASV

MV_n

DSV

Proportional

Differential

MVC_n

SV_n

e_n

∆P_n

∆MV_n

MVS

Gap

K_P

H/L

DMV

CSV

Derivative

Cascade

mode

MMV

T_D⋅s

1+η⋅T_D⋅s

∆D_n

DMMV

Manual

mode

Differential limit

PV_n

(η = 0.1)

MVS: Velocity → Position

MV_n= MV_n-1± ∆MV_n

H/L: Upper / lower limit

DMV: Differential limit

PVC

1+T⋅s

Digtal filter

Integral action control:

When MV is limited (H/L, DMV) and the integral value has same sign as limit over, integral action

is stopped.

Velocity → Position conversion:

In Direct mode, MV increases when PV is increased.

In Reverse mode, MV decreases when PV is increased.

→ MV_n= MV_n-1- ∆MV_n

→ MV_n= MV_n-1+ ∆MV_n

Gap (dead-band) operation:

Error e

SV - PV

GP (%) GP (%)

Algorithm

Digital filter:

PV (1 FT) PVC FT PV

ⁿ=

−

⋅

n − 1

Here,

0.000 ≤FT ≤0.999

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2. Expanded Functions

PID algorithm:

∆MVⁿ=K^P⋅(∆Pⁿ+∆Iⁿ+∆Dⁿ

)

MVⁿ=MVⁿ⁻¹±∆MVⁿ

Here,

∆Pⁿ=eⁿ−eⁿ⁻¹

=SVⁿ−PVⁿ

(If GP

≠ 0, Gap is applied)

⋅∆t +Ir

(If T_I= 0, ∆I_n= 0)

∆Iⁿ

^D⋅

(PVⁿ

− 1

−

PVⁿ

)

−

∆t Dⁿ

⋅

− 1

∆Dⁿ

∆ +η⋅

=Dⁿ⁻¹+∆Dⁿ

η = 0.1 (Fixed)

Parameter details

Process input value PVC (0.00 to 100.00 %)

Data range: 0 to 10000

Data range: -2500 to 12500

A+1 Auto mode set value ASV (0.00 to 100.00 %)

A+2 Cascade mode set value CSV (0.00 to 100.00 %)

A+3 Manual mode MV MMV (-25.00 to 125.00 %)

A+4 MV tracking input TMV (-25.00 to 125.00 %)

A+5 Mode setting MODE

Operation mode

00 : Manual mode

01 : Auto mode

10 : Cascade mode

11 : (Reserve)

Tracking designation

0 : No

1 : Yes

Proportional gain K_P(0.00 to 327.67)

Data range: 0 to 32767

B+1 Integral time T_I(0.000 to 32.767 min., stop if T_I= 0) Data range: 0 to 32767

B+2 Derivative time T_D(0.000 to 32.767 min.)

B+3 Gap (dead-band) GP (0.00 to 10.00 %)

B+4 Auto mode initial set value ISV (0.00 to 100.00 %)

B+5 Input filter constant FT (0.000 to 0.999)

B+6 ASV differential limit DSV (0.00 to 100.00 %/∆t)

B+7 MMV differential limit DMMV (0.00 to 100.00 %/∆t)

Data range: 0 to 32767

Data range: 0 to 1000

Data range: 0 to 10000

Data range: 0 to 999

Data range: 0 to 10000

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2. Expanded Functions

B+8 Initial status STS

Initial operation mode

00 : Manual mode

01 : Auto mode

10 : Cascade mode

11 : (Reserve)

Direct / reverse selection

0 : Direct

1 : Reverse

B+9 MV upper limit MH (-25.00 to 125.00 %)

B+10 MV lower limit ML (-25.00 to 125.00 %)

B+11 MV differential limit DMV (0.00 to 100.00 %/∆t)

B+12 Control interval setting n (1 to 32767 times)

Data range: -2500 to 12500

Data range: 0 to 10000

Data range: 1 to 32767

Executes PID every n scan. Therefore, control interval ∆t = n × constant scan interval

(It is treated as n = 1 when n ≤ 0)

C+1

Manipulation value MV (-25.00 to 125.00 %)

Internal work area

Data range: -2500 to 12500

C+9

Operation

1. When the instruction input is OFF:

Initializes the PID3 instruction.

Operation mode is set as specified by B+8.

Auto mode SV is set as specified by B+4.

Manual mode MV is set as current MV.

Internal calculation data is initialized.

MV remains unchanged.

A+5 bit 0, 1 ← B+8 bit 0, 1

ASV ← ISV

MMV ← MV

2. When the instruction input is ON:

Executes PID calculation every n scan which is specified by B+12. The following operation modes are

available according to the setting of A+5.

•

Auto mode

This is a normal PID control mode with ASV as set value.

Set value differential limit DSV, manipulation value upper/lower limit MH/ML and differential limit DMV

are effective.

Bump-less changing from auto mode to manual mode is available. (Manual mode manipulation value

MMV is over-written by current MV automatically. MMV ← MV)

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2. Expanded Functions

•

Manual mode

In this mode, the manipulation value MV can be directly controlled by the input value of MMV.

MV differential limit for manual mode DMMV is effective. MH/ML and DMV are not effective.

When mode is changed from manual to auto or cascade, the operation is started from the current MV.

•

Cascade mode

This is a mode for PID cascade connection. PID is executed with CSV as set value.

Different from the auto mode, set value differential limit is not effective. Manipulation value upper/lower

limit MH/ML and differential limit DMV are effective.

Bump-less changing from cascade mode to manual mode is available. (Manual mode manipulation

value MMV is over-written by current MV automatically. MMV ← MV)

And, bump-less changing from cascade mode to auto mode is available. (Auto mode set value ASV is

over-written by current CSV automatically. ASV ← CSV)

•

MV tracking

This function is available in auto and cascade modes. When the tracking designation (A+5 bit 2) is ON,

tracking input TMV is directly output as MV.

Manipulation value upper/lower limit MH/ML is effective, but differential limit DMV is not effective.

When the tracking designation is changed to OFF, the operation is started from the current MV.

Note

•

PID3 instruction is only usable on the main-program.

•

PID3 instruction must be used under the constant scan mode. The constant scan interval can be selected

in the range of 10 to 200 ms, 10 ms increments.

•

The data handled by the PID3 instruction are % units. Therefore, process input value PVC, manipulation

value MV, etc., should be converted to % units (scaling), before and/or after the PID3 instruction. For this

purpose, the function generator instruction (FUN165 FG) is convenient.

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2. Expanded Functions

2.4.3 Floating point essential PID (FPID3)

FUN 232

FPID3

Floating point essential PID

Expression

Input ─[ A+1⋅A FPID3 B+1⋅ B → C+1⋅ C ]─ Output

Function

Performs PID (Proportional, Integral, Derivative) control which is a fundamental method of feed-back control.

(Pre-derivative real PID algorithm)

The operation of this FPID3 instruction is the same as the PID3 (FUN156) instruction except for dealing data

as floating point data.

Execution condition

Input

OFF Initialization

Operation

Output

OFF

Execute PID every setting interval

ON when

execution

Operand

Name

Device

Z T. C.

Con- Index

stant

R W T

W W W W W

W W

A Top of input

data

B Top of

parameter

C Top of

output data

√ √ √ √ √ √ √ √ √ √

√ √ √ √ √ √ √ √ √

√

Input data

Control parameter

Output data

Process input value

A-mode set value

C-mode set value

M-mode MV input

MV tracking input

Mode setting

PVC

ASV

CSV

MMV

TMV

Proportional gain

Integral time

Derivative time

Dead-band

A-mode initial SV

Input filter constant

ASV differential limit

K_P

T_I

T_D

ISV

Manipulation value

Last error

Last derivative value

Last PV

e_n-1

D_n-1

PV_n-1

SV_n-1

MV_n

A+1⋅A

B+1⋅B

C+1⋅C

Last SV

MODE

Integral remainder

Derivative remainder

Internal MV

Internal counter

Control interval

DSV

MMV differential limit DMMV

A-mode: Auto mode

Initial status

MV upper limit

MV lower limit

STS

C-mode: Cascade mode

M-mode: Manual mode

∆t

MV differential limit

Control interval setting

DMV

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2. Expanded Functions

Control block diagram

Integral

control

Integral

T_I⋅s

Auto

mode

∆I_n

ASV

MV_n

DSV

Proportional

Differential

MVC_n

SV_n

e_n

∆P_n

∆MV_n

MVS

Gap

K_P

H/L

DMV

CSV

Derivative

Cascade

mode

MMV

T_D⋅s

1+η⋅T_D⋅s

∆D_n

DMMV

Manual

mode

Differential limit

PV_n

(η = 0.1)

MVS: Velocity → Position

MV_n= MV_n-1± ∆MV_n

H/L: Upper / lower limit

DMV: Differential limit

PVC

1+T⋅s

Digtal filter

Integral action control:

When MV is limited (H/L, DMV) and the integral value has same sign as limit over, integral action

is stopped.

Velocity → Position conversion:

In Direct mode, MV increases when PV is increased.

In Reverse mode, MV decreases when PV is increased.

→ MV_n= MV_n-1- ∆MV_n

→ MV_n= MV_n-1+ ∆MV_n

Gap (dead-band) operation:

Error e

SV - PV

GP (%) GP (%)

Algorithm

Digital filter:

PV (1 FT) PVC FT PV

ⁿ=

−

⋅

n − 1

Here,

0 ≤FT <1

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2. Expanded Functions

PID algorithm:

∆MVⁿ=K^P⋅(∆Pⁿ+∆Iⁿ+∆Dⁿ

)

MVⁿ=MVⁿ⁻¹±∆MVⁿ

Here,

∆Pⁿ=eⁿ−eⁿ⁻¹

=SVⁿ−PVⁿ

(If GP

≠ 0, Gap is applied)

⋅∆t +Ir

(If T_I= 0, ∆I_n= 0)

∆Iⁿ

^D⋅

(PVⁿ

− 1

−

PVⁿ

)

−

∆t Dⁿ

⋅

− 1

∆Dⁿ

∆ +η⋅

=Dⁿ⁻¹+∆Dⁿ

η = 0.1 (Fixed)

Parameter details

A+1⋅A Process input value PVC (0 to 100 %)

A+3⋅A+2 Auto mode set value ASV (0 to 100 %)

A+5⋅A+4 Cascade mode set value CSV (0 to 100 %)

A+7⋅A+6 Manual mode MV MMV (-25 to 125 %)

A+9⋅A+8 MV tracking input TMV (-25 to 125 %)

A+11⋅A+10 Mode setting MODE

Data range: 0.0 to 100.0

Data range: -25.0 to 125.0

A+11

A+10

Operation mode

00 : Manual mode

01 : Auto mode

10 : Cascade mode

11 : (Reserve)

Tracking designation

0 : No

1 : Yes

B+1⋅B Proportional gain KP (0 to 327.67)

Data range: 0.0 to 327.67

Data range: 0.0 to 32.767

Data range: 0.0 to 10.0

B+3⋅B+2 Integral time TI (0 to 32.767 min., stop if TI = 0)

B+5⋅B+4 Derivative time TD (0 to 32.767 min.)

B+7⋅B+6 Gap (dead-band) GP (0 to 10 %)

B+9⋅B+8 Auto mode initial set value ISV (0 to 100 %)

B+11⋅B+10 Input filter constant FT (0 to less than 1)

B+13⋅B+12 ASV differential limit DSV (0 to 100 %/∆t)

B+15⋅B+14 MMV differential limit DMMV (0 to 100 %/∆t)

Data range: 0.0 to 100.0

Data range: 0.0 to less than 1.0

Data range: 0.0 to 100.0

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2. Expanded Functions

B+17⋅B+16 Initial status STS

B+17

B+16

Initial operation mode

00 : Manual mode

01 : Auto mode

10 : Cascade mode

11 : (Reserve)

Direct / reverse selection

0 : Direct

1 : Reverse

B+19⋅B+18 MV upper limit MH (-25 to 125 %)

Data range: -25.0 to 125.0

Data range: 0.0 to 100.0

Data range: 1.0 to 32767.0

B+21⋅B+20 MV lower limit ML (-25 to 125 %)

B+23⋅B+22 MV differential limit DMV (0 to 100 %/∆t)

B+25⋅B+24 Control interval setting n (1 to 32767 times)

Executes PID every n scan. Therefore, control interval ∆t = n × constant scan interval

(It is treated as n = 1 when n ≤ 0)

C+1⋅C Manipulation value MV (-25 to 125 %)

C+3⋅C+2

Data range: -25.0 to 125.0

Internal work area

C+15⋅C+14

Operation

1. When the instruction input is OFF:

Initializes the FPID3 instruction.

Operation mode is set as specified by B+17⋅B+16.

Auto mode SV is set as specified by B+9⋅B+8.

Manual mode MV is set as current MV.

Internal calculation data is initialized.

MV remains unchanged.

A+10 bit 0, 1 ← B+16 bit 0, 1

ASV ← ISV

MMV ← MV

2. When the instruction input is ON:

Executes PID calculation every n scan which is specified by B+25⋅B+24. The following operation modes

are available according to the setting of A+11⋅A+10.

•

Auto mode

This is a normal PID control mode with ASV as set value.

Set value differential limit DSV, manipulation value upper/lower limit MH/ML and differential limit DMV

are effective.

Bump-less changing from auto mode to manual mode is available. (Manual mode manipulation value

MMV is over-written by current MV automatically. MMV ← MV)

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2. Expanded Functions

•

Manual mode

In this mode, the manipulation value MV can be directly controlled by the input value of MMV.

MV differential limit for manual mode DMMV is effective. MH/ML and DMV are not effective.

When mode is changed from manual to auto or cascade, the operation is started from the current MV.

Cascade mode

This is a mode for PID cascade connection. PID is executed with CSV as set value.

Different from the auto mode, set value differential limit is not effective. Manipulation value upper/lower

limit MH/ML and differential limit DMV are effective.

Bump-less changing from cascade mode to manual mode is available. (Manual mode manipulation

value MMV is over-written by current MV automatically. MMV ← MV)

And, bump-less changing from cascade mode to auto mode is available. (Auto mode set value ASV is

over-written by current CSV automatically. ASV ← CSV)

•

MV tracking

This function is available in auto and cascade modes. When the tracking designation (A+10 bit 2) is ON,

tracking input TMV is directly output as MV.

Manipulation value upper/lower limit MH/ML is effective, but differential limit DMV is not effective.

When the tracking designation is changed to OFF, the operation is started from the current MV.

Note

•

FPID3 instruction is only usable on the main-program.

•

FPID3 instruction must be used under the constant scan mode. The constant scan interval can be

selected in the range of 10 to 200 ms, 10 ms increments.

•

The data handled by the FPID3 instruction are % units. Therefore, process input value PVC, manipulation

value MV, etc., should be converted to % units (scaling), before and/or after the FPID3 instruction.

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2. Expanded Functions

2.4.4 Expanded data transfer (XFER)

FUN 236

XFER

Expanded data transfer

Expression

Input ─[ A XFER B → C ]─ Output

Function

When the input is ON, data block transfer is performed between the source which is indirectly designated by

A and A+1 and the destination which is indirectly designated by C and C+1. The transfer size (number of

words) is designated by B.

The transfer size is 1 to 256 words. (except for writing into EEPROM)

Data transfer between the following objects are available.

•

CPU register ↔ CPU register

CPU register ↔ Expanded F register (IC memory card)

CPU register ↔ TOSLINE-S20 or TOSLINE-S20LP (here called S20 or S20LP)

CPU register ↔ EEPROM (D register)

Execution condition

Input

Operation

Output

OFF

ERF

−

Set

OFF No execution

Normal execution

When error is occurred (see Note)

Operand

Name

Device

Z T. C.

R W T

W W W W W

Con- Index

stant

W W

A Source

√ √ √ √ √ √ √ √ √ √

√ √ √ √ √ √ √ √ √

√

parameter

B Transfer

size

C Destination

parameter

Source parameter

Bank / CH Type

Leading address

Transfer size and status

Transfer size

Destination parameter

Bank / CH Type

Leading address

A+1

B+1

C+1

Status flag

(Scan healthy map)

Max. 16 words

B+16

•

Refer to the following table for contents of each designation.

The status flag is created only when the transfer from S20 to Register.

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2. Expanded Functions

Transfer parameter table

Transfer object

XW/YW register

Bank / CH

TYPE

H00

Leading address

0 to 511 (T3H)

0 to 255 (T3)

0 to 63 (T2)

0 to 2047 (T3H)

0 to 1023 (T3/T2)

0 to 255 (T3H/T3/T2)

0 to 999 (T3H)

Transfer size

1 to 256

Status

flag

None

W register

H01

1 to 256

None

LW register

RW register

H02

H03

1 to 256

None

0 to 511 (T3)

0 to 127 (T2)

D register

F register

H04

H05

0 to 8191 (T3H/T3)

0 to 4095 (T2)

0 to 32767 (T3H)

0 to 8191 (T3)

1 to 256

None

0 to 1023 (T2)

Expanded F register

(IC memory card) ^*1

1 to 15

1 or 2

H05

H06

0 to 8191 (T3H/T3/T2)

0 to 65535 (bank 1) (T3H)

0 to 57343 (bank 2) (T3H)

0 to 1023 (T3H/T3/T2)

0 to 4095 (T3H)

0 to 8191 (T3H/T3)

0 to 4095 (T2)

1 to 256

None

S20 scan memory

1 or 2 ^*2

1 or 2

H10

H20

1 to 256

Source (read)

1 to 256

Yes ^*3

None

S20LP scan memory ^*4

EEPROM (D register)

Destination (write)

1 to 128 (T3H)

1 to 64 (T3)

1 to 32 (T2)

*1) Two format types of the IC memory card is available. They are 8 k words/bank (type: H05) and 64 k

words/bank (type: H06). Type H06 is available only in the T3H.

*2) Channel 1 (CH1) only for the T2.

*3) The status flag is created only when S20 is designated as transfer source.

*4) S20LP is available only with the T3H. The S20LP does not have the scan healthy map. Therefore

status flag is not created for S20LP.

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2. Expanded Functions

CPU register ↔ Expanded F register (IC memory card)

Expanded F register configuration:

< Type H05 >

F00000

F0000

Bank 1

Bank 2

Bank 3

F8191

F0000

Bank 1

F8191

F0000

F8191

F65535

F00000

Bank 2

F0000

F8191

Bank 15

F57343

Example:

Source designation

RW000 H00 H04

Transfer size

Destination designation

RW010 H01 H05

RW002

00045

RW001

00000

RW011

00000

D0000 (CPU register)

45 words transfer

Bank 1 F0000 (Expanded F register)

When R0000 is ON, 45 words data starting with D0000 is transferred to Bank 1 F0000 and after in

the IC memory card.

Remarks:

•

When the IC memory card is used for expanded F register, MMR setting on the PU slot is necessary

by I/O allocation.

In case of the T2, the capacity of F register in CPU is 1024 words. However, the T2 can access

8192 words × 15 banks (= 122880 words) of expanded F register in the IC memory card.

When type H06 is used in the T3H, the expanded F register can be accessed as F00000 to F65535

(bank 1) and F00000 to F57343 (bank 2).

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2. Expanded Functions

CPU register ↔ S20/S20LP scan memory

Example:

Source designation

RW000 H00 H01

Transfer size

RW002 00010

Destination designation

RW010 H01 H10

RW001

00000

RW011

00000

W0000 (CPU register)

10 words transfer

Channel 1 S20/S20LP

scan memory address 00000

When R0000 is ON, 10 words data starting with W0000 is transferred to scan memory address

00000 and after of channel 1 S20/S20LP.

Remarks:

•

When writing data into S20/S20LP scan memory, confirm that the address range is S20/S20LP’s data

send block.

If S20/S20LP scan memory is accessed only by this XFER instruction, the network assignment, i.e.

“LINK” or “GLOBAL” setting, is not necessary.

When S20 is designated as source, the status flag (scan healthy map) for the read-out data is stored

in operand B+1 and after. (Status flag is not created for S20LP)

For example, when 99 words data is read from S20 with using RW030 as transfer size designation,

RW031 to RW037 (7 words) are used to store the scan healthy map.

RW030

Transfer size (99 words)

RW031 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1

RW032 32 31 30 29 28 27 26 25 24 23 22 21 20 29 18 17

Status flag

(scan healthy map)

1: Scan normal

0: Not normal

RW036 96 95 94 93 92 91 90 89 88 87 86 85 84 83 82 81

RW037

99 98 97

0 is stored in the excess bits

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2. Expanded Functions

CPU register ↔ EEPROM (D register)

EEPROM D register configuration:

< T3H >

<T3 >

< T2 >

D0000

Page 1

D0127

D0128

Page 2

D0255

D0256

Page 3

D0383

D0000

Page 1

Page 2

Page 3

Page 1

D0063

D0064

D0031

D0032

Page 2

Page 3

D0127

D0128

D0063

D0064

D0191

D0095

D7936

Page 64

D8191

D8128

D8191

D4064

D4095

Page 128

128 words/page, 64 pages

Total 8192 words

64 words/page, 128 pages

Total 8192 words

32 words/page, 128 pages

Total 4096 words

Example:

Source designation

RW000 H00 H04

RW001 00100

Transfer size

Destination designation

RW010 H00 H20

RW011 00064

RW002

00032

D0100 (CPU register)

32 words transfer

D0064 (EEPROM)

When R0000 is ON, 32 words data starting with D0100 is transferred to D0064 and after in the

EEPROM. (Data write into EEPROM)

Remarks:

•

EEPROM is internally divided by page.

Writing data into the EEPROM is available within one page at a time.

For data reading from the EEPROM, there is no need to consider the pages.

The EEPROM has a life limit for data writing into an address. It is 100,000 times. Pay attention not to

exceed the limit. (EEPROM alarm flag = S0007 is not updated by executing this instruction)

Once data writing into the EEPROM is executed, EEPROM access (read/write) is prohibited for the

duration of 10 ms. Therefore, minimum 10 ms interval is necessary for data writing.

•

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2. Expanded Functions

Note

•

Edge execution modifier is also available for this instruction.

•

The XFER instruction is not executed as error in the following cases. (ERF = S0051 is set to ON)

Transfer

Between CPU

registers

Error cause

1) When the transfer size is 0 or more than 256.

2) When the source/destination table of transfer is out of the valid range.

CPU register to

expanded F register

1) When the transfer size is 0 or more than 256.

2) When the source/destination table of transfer is out of the valid range.

3) When IC memory card is not installed or MMR setting is not made.

4) When the IC memory card is write-protect state. (for data writing)

5) When program is stored in the IC memory card. (detected only T3H)

1) When the transfer size is 0 or more than 256.

2) When the source/destination table of transfer is out of the valid range.

3) When channel designation is other than 1 or 2. (other than 1 for T2)

4) When S20/S20LP is not installed or not allocated.

CPU register to

S20/S20LP

5) When status flag area is not sufficient.

6) When an odd address is designated as the leading address in the case of

S20/S20LP is set as double-word access.

7) When the transfer size is odd address in the case of S20/S20LP is set as

double-word access.

8) When the S20/S20LP module is not normal.

CPU register to

EEPROM

1) When the transfer size is 0 or more than 256.

2) When the source/destination table of transfer is out of the valid range.

3) When the data writing address range exceeds page boundary.

4) When this instruction is executed during EEPROM access inhibited (10 ms).

5) When the CPU does not have EEPROM.

Others

1) When source/destination designation is invalid.

2) When an invalid transfer combination is designated.

3) When the index modification is used for an operand and register boundary

error is occurred as the result of the index modification. (in this case, the

instruction output comes OFF)

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2. Expanded Functions

2.4.5 Network data send (SEND)

FUN 239

SEND

Network data send

Expression

Input ─[ A SEND B ]─ Output

Function

This instruction sends the designated range of register data to another T3H through the network.

(Network: TOSLINE-S20LP or Ethernet)

The transfer source register (self-station) is designated by A+3 and A+4.

The transfer destination register (target-station) is designated by A+5 and A+6.

The transfer size (number of words) is designated by A+2. The maximum transfer size is 128 words (S20LP),

or 485 words (Ethernet).

The designation method of the target-station is different between S20LP and Ethernet.

This instruction is also used for other functions of the Ethernet module. Refer to the Ethernet module (EN311)

manual for detailed functions used for the EN311.

Execution condition

Input

Operation

Output

OFF

ERF

−

OFF No execution

During execution

Normal complete

−

Set

When error is occurred (see Note)

Operand

Name

Device

Z T. C.

R W T

W W W W W

Con- Index

K stant

W W

A Transfer

parameter

B Status

√ √ √ √ √ √ √ √ √ √

√

√ √ √ √ √ √ √ √ √

< In case of S20LP >

< In case of Ethernet >

A+1

A+2

A+3

A+4

A+5

A+6

A+7

MID

Target station No.

A+1

A+2

A+3

A+4

A+5

A+6

A+7

A+8

A+9

A+10

MID

0 (fixed)

Transfer size

Request command

Transfer size

Leading address (self-station)

Leading address (target-station)

Response time limit

Leading address (self-station)

Leading address (target-station)

Response time limit

Target-station IP address

Target-station UDP port No.

Note) Parameters for the Ethernet varies depending on the request command. Above figure shows the

parameters for the register read/write command (H0021). Refer to the EN311 manual.

62 ^{PROSEC T3H}

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2. Expanded Functions

Abn Busy Status

TermSTS

B+1

Transmission error information (if TermSTS is H0B)

Inside the parameter:

Transfer parameter

S20LP

Ethernet

MID (network type)

CH (channel of self-station)

Target station No.

1 or 2 (max. two S20LP’s on T3H)

1 to 64

1 to 4 (max. four EN311’s on T3H)

0 (fixed)

Request command

0 (fixed)

H0021: Register read/write

(for other commands, refer to EN311

manual)

Transfer size

1 to 128

1 to 485

(number of words)

(max. 84 words for T or C register)

(max. 323 words for T or C register)

(designation across T511 and T512 is (designation across T511 and T512 is

not allowed)

H0000: XW/YW register

H0001: W register

H0002: LW register

H0003: RW register

H0004: D register

H0005: F register (CPU)

H∗∗05: Expanded F register

(IC card, 8k words/bank, ∗∗ is bank No. 01 - 0F)

H∗∗06: Expanded F register

(IC card, 64k words/bank, ∗∗ is bank No. 01 - 02)

H0007: T register

H0008: C register

H0009: SW register

Leading address

Response time limit

Designates the leading register address to be transferred

Specifies the time limit of the response from target-station. (0.1 s units)

When the bit F is set to ON, the following default value is used.

S20LP ...... 4.1 s

Ethernet ... 30 s

Target-station IP address

N/A

Designates the IP address of the

target-station

Designates the UDP port No. of the

target-station

Target-station UDP port No.

^{User’s Manual}63

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2. Expanded Functions

Inside the parameter (cont’d):

Status

S20LP

0: Normal complete

1: Error complete

Ethernet

Abn

Busy

Status

0: Initial state

1: Transmission port busy

0: Initial state

1: While send requesting

2: While waiting response

3: Complete

TermSTS

H00: Normal complete

H01: Register designation error

H02: Response time-out

H03: Parameter error

H04: Register write protect

H05: (Reserve)

H06: Module error (send time-out)

H07: No send channel

H08: Invalid station No.

H09: Transfer size error

H0A: Boundary error

H0B: Transmission error

H0C: I/O no answer error

H0D: IC card designation error

H0E: (Reserve)

Bit 7 indicates the error is occurred

whether self-station or target-station.

0: Self-station

1: Target-station

H0F: (Reserve)

Transmission error

information

When TermSTS is H0B, the error information is stored. (0 for other cases)

For detailed information, refer to the S20LP or EN311 manual.

Example

RW010

RW011

RW012

RW013

RW014

RW015

RW016

RW017

S20LP, channel 1, target station No. is 3

128

100

Transfer size: 128 words

Self-station RW register

Leading address: RW100

Target-station D register

Leading address: D1000

Response time limit: 1 second

1000

Send requesting

RW05000 1

RW051

64 ^{PROSEC T3H}

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2. Expanded Functions

TOSLINE-S20LP

Station No. 3

T3H

(self-station)

(target-station)

RW100

RW101

D1000

D1001

RW227

D1127

When R0020 is ON, 128 words data starting with RW100 is transferred to D1000 and after of the T3H on

which station No. 3 S20LP is installed.

When the operation is completed, the status is set in RW050 and instruction output comes ON.

Note

•

Keep the input ON until the output comes ON.

This instruction becomes error complete in the following cases. (ERF = S0051 is set to ON)

(1) Target station No. is invalid. (for S20LP)

(2) Invalid register designation. (In case of T and C registers, T → T and C → C is only possible)

(3) Source/destination register address range is out of valid range.

(4) Destination register is write-protected.

(5) Response time-out is occurred.

(6) If expanded F register is designated;

- when MMR setting is not made.

- when IC card is not installed.

- when IC card is used to store program.

- when IC card is write-protected. (for destination)

•

By using SW067, register write-protect is available against SEND instruction of other T3H.

SW067

SW C

D RW LW W YW

0: Write enable

1: Write protect

Both F register in CPU and

expanded F register in IC card

•

Resetting the status register (operand B) is necessary at the first scan.

When using the TOSLINE-S20LP or Ethernet module (EN311), read the manual for these network

modules.

^{User’s Manual}65

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2. Expanded Functions

2.4.6 Network data receive (RECV)

FUN 240

RECV

Network data receive

Expression

Input ─[ A RECV B ]─ Output

Function

This instruction reads the designated range of register data from another T3H through the network.

(Network: TOSLINE-S20LP or Ethernet)

The transfer source register (target-station) is designated by A+5 and A+6.

The transfer destination register (self-station) is designated by A+3 and A+4.

The transfer size (number of words) is designated by A+2. The maximum transfer size is 128 words (S20LP),

or 485 words (Ethernet).

The designation method of the target-station is different between S20LP and Ethernet.

This instruction is also used for other functions of the Ethernet module. Refer to the Ethernet module (EN311)

manual for detailed functions used for the EN311.

Execution condition

Input

Operation

Output

OFF

ERF

−

OFF No execution

During execution

Normal complete

−

Set

When error is occurred (see Note)

Operand

Name

Device

Z T. C.

R W T

W W W W W

Con- Index

K stant

W W

A Transfer

parameter

B Status

√ √ √ √ √ √ √ √ √ √

√

√ √ √ √ √ √ √ √ √

< In case of S20LP >

< In case of Ethernet >

A+1

A+2

A+3

A+4

A+5

A+6

A+7

MID

Target station No.

A+1

A+2

A+3

A+4

A+5

A+6

A+7

A+8

A+9

A+10

MID

0 (fixed)

Transfer size

Request command

Transfer size

Leading address (self-station)

Leading address (target-station)

Response time limit

Leading address (self-station)

Leading address (target-station)

Response time limit

Target-station IP address

Target-station UDP port No.

Note) Parameters for the Ethernet varies depending on the request command. Above figure shows the

parameters for the register read/write command (H0021). Refer to the EN311 manual.

66 ^{PROSEC T3H}

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2. Expanded Functions

Abn Busy Status

TermSTS

B+1

Transmission error information (if TermSTS is H0B)

Inside the parameter:

Transfer parameter

S20LP

Ethernet

MID (network type)

CH (channel of self-station)

Target station No.

1 or 2 (max. two S20LP’s on T3H)

1 to 64

1 to 4 (max. four EN311’s on T3H)

0 (fixed)

Request command

0 (fixed)

H0021: Register read/write

(for other commands, refer to EN311

manual)

Transfer size

1 to 128

1 to 485

(number of words)

(max. 84 words for T or C register)

(max. 323 words for T or C register)

(designation across T511 and T512 is (designation across T511 and T512 is

not allowed)

H0000: XW/YW register

H0001: W register

H0002: LW register

H0003: RW register

H0004: D register

H0005: F register (CPU)

H∗∗05: Expanded F register

(IC card, 8k words/bank, ∗∗ is bank No. 01 - 0F)

H∗∗06: Expanded F register

(IC card, 64k words/bank, ∗∗ is bank No. 01 - 02)

H0007: T register

H0008: C register

H0009: SW register

Leading address

Response time limit

Designates the leading register address to be transferred

Specifies the time limit of the response from target-station. (0.1 s units)

When the bit F is set to ON, the following default value is used.

S20LP ...... 4.1 s

Ethernet ... 30 s

Target-station IP address

N/A

Designates the IP address of the

target-station

Designates the UDP port No. of the

target-station

Target-station UDP port No.

^{User’s Manual}67

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2. Expanded Functions

Inside the parameter (cont’d):

Status

S20LP

0: Normal complete

1: Error complete

Ethernet

Abn

Busy

Status

0: Initial state

1: Transmission port busy

0: Initial state

1: While send requesting

2: While waiting response

3: Complete

TermSTS

H00: Normal complete

H01: Register designation error

H02: Response time-out

H03: Parameter error

H04: Register write protect

H05: (Reserve)

H06: Module error (send time-out)

H07: No send channel

H08: Invalid station No.

H09: Transfer size error

H0A: Boundary error

H0B: Transmission error

H0C: I/O no answer error

H0D: IC card designation error

H0E: (Reserve)

Bit 7 indicates the error is occurred

whether self-station or target-station.

0: Self-station

1: Target-station

H0F: (Reserve)

Transmission error

information

When TermSTS is H0B, the error information is stored. (0 for other cases)

For detailed information, refer to the S20LP or EN311 manual.

Example

RW030

RW031

RW032

RW033

RW034

RW035

RW036

RW037

RW038

RW039

RW040

Ethernet, channel 1

Request command H21: Register read/write

Transfer size: 200 words

Self-station F register

Leading address: F5000

Target-station D register

Leading address: D4000

Response time limit: 5 second

Target-station IP address:

133.113.98.10 = H85.H71.H62.H0A

Target-station UDP port No.: 1024

33 (H21)

200

5000

4000

H71

H0A

H85

H62

1024

Send requesting

RW06000 1

RW061

68 ^{PROSEC T3H}

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2. Expanded Functions

Ethernet

IP address = 133.113.98.10

T3H

(self-station)

(target-station)

F5000

F5001

D4000

D4001

F5199

D4199

When R0030 is ON, 200 words data starting with D4000 of the T3H on which EN311 (IP address =

133.113.98.10) is installed, is read and stored in F5000 and after.

When the operation is completed, the status is set in RW060 and instruction output comes ON.

Note

•

Keep the input ON until the output comes ON.

This instruction becomes error complete in the following cases. (ERF = S0051 is set to ON)

(1) Target station No. is invalid. (for S20LP)

(2) Invalid register designation. (In case of T and C registers, T → T and C → C is only possible)

(3) Source/destination register address range is out of valid range.

(4) Destination register is write-protected.

(5) Response time-out is occurred.

(6) If expanded F register is designated;

- when MMR setting is not made.

- when IC card is not installed.

- when IC card is used to store program.

- when IC card is write-protected. (for destination)

•

By using SW067, self-station’s register write-protect is available.

SW067

SW C

D RW LW W YW

0: Write enable

1: Write protect

Both F register in CPU and

expanded F register in IC card

•

Resetting the status register (operand B) is necessary at the first scan.

When using the TOSLINE-S20LP or Ethernet module (EN311), read the manual for these network

modules.

^{User’s Manual}69

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70 ^{PROSEC T3H}

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TOSHIBA CORPORATION

Industrial Equipment Department

1-1, Shibaura 1-chome, Minato-ku

Tokyo 105-8001, JAPAN

Tel: 03-3457-4900 Fax: 03-5444-9268

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