Omron 3G3MV-PDRT2, 3G3RV-PDRT2 USERS MANUAL

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Cat. No. I01E-EN-01

USER'S MANUAL

Programmable Controller

Option Board

Models 3G3MV-P10CDT-E

and 3G3MV-P10CDT3-E

(For SYSDRIVE 3G3MV Multi-function Compact Inverters)

3G3MV-P10CDT PLC Option Unit

User’s Manual

Revised June 2003

Notice:

OMRON products are manufactured for use according to proper procedures by a qualified operator

and only for the purposes described in this manual.

The following conventions are used to indicate and classify precautions in this manual. Always consult

the information provided with them. Failure to heed precautions can result in injury to people or damage to the product.

DANGER

WARNING

Caution Indicates a potentially hazardous situation which, if not avoided, may result in minor or

OMRON Product References

All OMRON products are capitalised in this manual. The word “Unit” is also capitalised when it refers

to an OMRON product, regardless of whether or not it appears in the proper name of the product.

The abbreviation “Ch,” which appears in some displays and on some OMRON products, often means “word” and is abbreviated “Wd” in documentation in this sense.

The abbreviation “PLC” means Programmable Controller and is not used as an abbreviation for anything else.

Indicates an imminently hazardous situation which, if not avoided, will result in death or serious injury.

Indicates a potentially hazardous situation which, if not avoided, could result in death or serious injury.

moderate injury, or property damage.

Visual Aids

The following headings appear in the left column of the manual to help you locate different types of information.

Note Indicates information of particular interest for efficient and convenient operation

of the product.

1, 2, 3… 1. Indicates lists of one sort or another, such as procedures, checklists, etc.

 OMRON, 2003

All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of OMRON.

No patent liability is assumed with respect to the use of the information contained herein. Moreover, because OMRON is constantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice. Every precaution has been taken in the preparation of this manual. Nevertheless, OMRON assumes no responsibility for errors or omissions. Neither is any liability assumed for damages resulting from the use of the information contained in this publication.

PRECAUTIONS ......................................................................................viii

1 Intended Audience.................................................................................................................................................... ix

2 General Precautions.................................................................................................................................................. ix

3 Safety Precautions ......................................................................................................................................................x

4 Maintenance and Inspection Precautions ................................................................................................................. xi

5 Operation and Adjustment Precautions.................................................................................................................... xi

6 Wiring Precautions.................................................................................................................................................. xii

7 Application Precautions .......................................................................................................................................... xii

8 EC Directives ......................................................................................................................................................... xiv

SECTION 1

INTRODUCTION ......................................................................................1

1-1 3G3MV-P10CDT Features and Functions .............................................................................................................2

1-2 System Configurations ...........................................................................................................................................5

1-3 3G3MV-P10CDT Structure and Operation............................................................................................................6

1-4 Comparison with the CPM2C-S...........................................................................................................................10

1-5 Preparation for Operation .....................................................................................................................................16

SECTION 2

UNIT COMPONENTS AND SPECIFICATIONS ................................17

2-1 Specifications .......................................................................................................................................................18

2-2 Unit Components..................................................................................................................................................26

SECTION 3

INSTALLATION AND WIRING ...........................................................31

3-1 Installation ............................................................................................................................................................32

3-2 Wiring...................................................................................................................................................................35

3-3 Connecting I/O Devices .......................................................................................................................................35

3-4 Wiring Communication Cables ............................................................................................................................37

3-5 Programming Device Connections.......................................................................................................................37

SECTION 4

COMMUNICATION, COUNTER AND PULSE ..................................38

4-1 PLC-setup Communication ..................................................................................................................................39

4-2 High-speed Counters ............................................................................................................................................42

4-3 Input Interrupts In Counter Mode.........................................................................................................................45

4-4 Pulse Output Functions.........................................................................................................................................48

SECTION 5

INVERTER INTERFACE....................................................................... 56

5-1 Inverter interface ..................................................................................................................................................57

5-2 I/O Allocation IR..................................................................................................................................................57

5-3 I/O Allocation DM ...............................................................................................................................................60

5-4 Transfer command................................................................................................................................................61

APPENDIX A

INSTRUCTIONS ......................................................................................69

APPENDIX B

EXAMPLE PROGRAMS.........................................................................71

B-1 Basic RUN template program ............................................................................................................................. 71

B-2 Basic Writing Parameter template program ........................................................................................................ 71

B-3 Basic Read Parameter template program ............................................................................................................ 76

B-4 Basic Positioning template program ................................................................................................................... 79

REVISION HISTORY..............................................................................97

About this Manual:

The 3G3MV-P10CDT is a high-speed Programmable Controller (PLC) with a build-in 3G3MV Inverter interface. There are two manuals describing the setup and operation of the 3G3MV-P10CDT: The

3G3MV-P10CDT Operation Manual (this manual) and the CPM1/ CPM1A/CPM2A/CPM2C/SRM1(-V2) Programming Manual (W353). (The CPM1/CPM1A/CPM2A/ CPM2C/SRM1(-V2) Programming Manual

is referred to as simply the Programming Manual in this manual.) This manual describes the system configuration and installation of the 3G3MV-P10CDT and provides a basic explanation of operating procedures for the Programming Consoles. Read this manual first to acquaint yourself with the 3G3MVP10CDT.

Refer to the SYSDRIVE 3G3MV Multi-function Compact Inverter User’s Manual for descriptions of the specifications and installation of the 3G3MV Inverters.

The SYSMAC Support Software Operation Manuals: Basics and C-series PLCs (W247 and W248) provide descriptions of SSS operations for the 3G3MV-P10CDT and other SYSMAC C-series PLCs. The SYS-MAC-CPT Support Software Quick Start Guide (W332) and User Manual (W333) provide descriptions of ladder diagram operations in the Windows environment. The CX-Programmer User Manual (W361) and the CX-Server User Manual (W362) provide details of operations for the WS02CXPC1-E CX-Programmer.

Please read this manual carefully and be sure you understand the information provided before attempting to install and operate the 3G3MV-P10CDT.

Section 1 describes the special features and functions of the 3G3MV-P10CDT, shows the possible system configurations, and outlines the steps required before operation. Read this section first when using the 3G3MV-P10CDT for the first time.

Section 2 provides the technical specifications of the 3G3MV-P10CDT and describes the main components of these Units.

Section 3 provides information on installing and wiring a 3G3MV-P10CDT. Be sure to follow the directions and precautions in this section when installing the 3G3MV-P10CDT in a panel or cabinet, wiring the power supply, or wiring I/O.

Section 4 describes the PLC setup for the communication ports, the counter and pulse-output functionality

Section 5 explains the interface with the 3G3MV Inverter

Appendix A provides the instruction set.

Appendix B provides examples.

WARNING

Failure to read and understand the information provided in this manual may result in personal injury or death, damage to the product, or product failure. Please read each section in its entirety, and be sure you understand the information provided in the section and related sections before attempting any of the procedures or operations given.

vii

PRECAUTIONS

This section provides general precautions for using the Programmable Controller (PLC) and related devices.

The information contained in this section is important for the safe and reliable application of the Programmable Controller. You must read this section and understand the information contained before attempting to set up or operate a PLC system.

Intended Audience.................................................................................................................................................... ix

2 General Precautions.................................................................................................................................................. ix

3 Safety Precautions ..................................................................................................................................................... x

4 Maintenance and Inspection Precautions.................................................................................................................. xi

5 Operation and Adjustment Precautions .................................................................................................................... xi

6 Wiring Precautions .................................................................................................................................................. xii

7 Application Precautions........................................................................................................................................... xii

8 EC Directives.......................................................................................................................................................... xiv

viii

RECAUTIONS

1 Intended Audience

This manual is intended for the following personnel, who must also have

knowledge of electrical systems (an electrical engineer or the equivalent).

• Personnel in charge of installing FA systems.

• Personnel in charge of designing FA systems.

• Personnel in charge of managing FA systems and facilities.

2 General Precautions

The user must operate the product according to the performance

specifications described in the operation manuals.

Before using the product under conditions which are not described in the manual or applying the product to nuclear control systems, railroad systems, aviation systems, vehicles, combustion systems, medical equipment, amusement machines, safety equipment, and other systems, machines and equipment that may have a serious influence on lives and property if used improperly, consult your OMRON representative.

Make sure that the ratings and performance characteristics of the product are sufficient for the systems, machines, and equipment, and be sure to provide the systems, machines, and equipment with double safety mechanisms.

This manual provides information for installing and operating OMRON 3G3MV Inverter PLC Option Units. Be sure to read this manual before operation and keep this manual close at hand for reference during operation.

WARNING

Observe the following precautions when using the SYSDRIVE Inverters and

WARNING

It is extremely important that a PLC, and all PLC Units, be used for the specified purpose and under the specified conditions, especially in applications that can directly or indirectly affect human life. You must consult with your OMRON representative before applying a PLC system to the above mentioned applications.

peripheral devices.

This manual may include illustrations of the product with protective covers removed in order to describe the components of the product in detail. Make sure that these protective covers are on the product before use.

Consult your OMRON representative when using the product after a long period of storage.

Do not touch the inside of the Inverter. Doing so may result in electrical shock.

Operation, maintenance, or inspection must be performed after turning OFF the power supply, confirming that the CHARGE indicator (or status indicators) are OFF, and after waiting for the time specified on the front cover. Not doing so may result in electrical shock.

Do not damage, pull on, apply stress to, place heavy objects on, or pinch the cables. Doing so may result in electrical shock.

Do not touch the rotating parts of the motor under operation. Doing so may

PRECAUTIONS

result in injury.

WARNING

Caution Do not store, install, or operate the product in the following places. Doing so

Caution Do not touch the Inverter radiator, regenerative resistor, or Servomotor while

Caution Do not conduct a dielectric strength test on any part of the Inverter. Doing so

Caution Take appropriate and sufficient countermeasures when installing systems in

Do not modify the product. Doing so may result in injury or damage to the product.

may result in electrical shock, fire or damage to the product.

• Locations subject to direct sunlight.

• Locations subject to temperatures or humidity outside the range specified in

the specifications.

• Locations subject to condensation as the result of severe changes in temperature.

• Locations subject to corrosive or flammable gases.

• Locations subject to exposure to combustibles.

• Locations subject to dust (especially iron dust) or salts.

• Locations subject to exposure to water, oil, or chemicals.

• Locations subject to shock or vibration.

the power is being supplied or soon after the power is turned OFF. Doing so may result in a skin burn due to the hot surface.

may result in damage to the product or malfunction.

the following locations. Not doing so may result in equipment damage.

• Locations subject to static electricity or other forms of noise.

• Locations subject to strong electromagnetic fields and magnetic fields.

• Locations subject to possible exposure to radioactivity.

• Locations close to power supplies.

3 Safety Precautions

The Unit refreshes I/O even when the program is stopped (i.e., even in PROGRAM mode). Confirm safety thoroughly in advance before changing the status of any part of memory allocated to I/O or the Inverter. Any changes to the data allocated to any of these may result in unexpected operation of the loads connected to the Unit or Inverter. Any of the following operation may result in changes to memory status.

• Transferring I/O memory data from a Programming Device to the Unit.

• Changing present values in memory with a Programming Device.

• Force-setting/-resetting bits with a Programming Device.

• Transferring I/O memory from a host computer or from another PLC on a

Do not attempt to take any Unit apart while the power is being supplied. Doing so may result in electric shock.

WARNING

network.

RECAUTIONS

WARNING

Caution Execute online edit only after confirming that no adverse effects will be

Caution Confirm safety at the destination node before transferring a program to

Do not touch any of the terminals or terminal blocks while the power is being supplied. Doing so may result in electric shock.

Do not attempt to disassemble, repair, or modify any Units. Any attempt to do so may result in malfunction, fire, or electric shock.

caused by extending the cycle time. Otherwise, the input signals may not be readable.

another node or changing contents of the I/O memory area. Doing either of these without confirming safety may result in injury.

4 Maintenance and Inspection Precautions

WARNING

Caution Carefully handle the Inverter because it uses semiconductor elements.

Caution Do not change wiring, disconnect connectors or Operator, or replace fans

Caution Be sure to wire correctly and securely. Not doing so may result in injury o

Do not touch the Inverter terminals while the power is being supplied.

Maintenance or inspection must be performed only after turning OFF the power supply, confirming that the CHARGE indicator (or status indicators) is turned OFF, and after waiting for the time specified on the front cover. Not doing so may result in electrical shock.

Maintenance, inspection, or parts replacement must be performed by authorized personnel. Not doing so may result in electrical shock or injury.

Do not attempt to take the Unit apart or repair. Doing either of these may result in electrical shock or injury.

Careless handling may result in malfunction.

while power is being supplied. Doing so may result in injury or malfunction.

damage to the product.

5 Operation and Adjustment Precautions

WARNING

Turn ON the input power supply only after mounting the front cover, terminal covers, bottom cover, Operator, and optional items. Not doing so may result in electrical shock.

Do not remove the front cover, terminal covers, bottom cover, Operator, o optional items while the power is being supplied. Not doing so may result in electrical shock.

Do not operate the Operator or switches with wet hands. Doing so may result in electrical shock.

PRECAUTIONS

WARNING

Do not touch the inside of the Inverter. Doing so may result in electrical shock.

Provide a separate emergency stop switch because the STOP Key on the Operator is valid only when function settings are performed. Not doing so may result in injury.

6 Wiring Precautions

WARNING

Wiring must be performed only after confirming that the power supply has been turned OFF. Not doing so may result in electrical shock.

Wiring must be performed by authorized personnel. Not doing so may result in electrical shock or fire.

7 Application Precautions

Observe the following precautions when using the PLC Unit.

WARNING

Failure to abide by the following precautions could lead to serious or possibly fatal injury. Always heed these precautions.

• Always ground the system with 100 Ω or less when installing the system, to

protect against electrical shock.

• Always turn off the power supply to the PLC before attempting any of the

following. Performing any of the following with the power supply turned on may lead to electrical shock:

• Assembling any devices or racks.

• Connecting or disconnecting any connectors, cables or wiring.

• Setting DIP switches or rotary switches.

Failure to abide by the following precautions could lead to faulty operation of the PLC or the system, or could damage the PLC or PLC Units. Always heed these precautions.

• Fail-safe measures must be taken by the customer to ensure safety in the

event of incorrect, missing, or abnormal signals caused by broken signal lines, momentary power interruptions, or other causes.

• Interlock circuits, limit circuits, and similar safety measures in external

circuits (i.e., not in the Programmable Controller) must be provided by the customer.

• Use the Units only with the power supplies and voltages specified in the

operation manuals. Other power supplies and voltages may damage the Units.

• Take appropriate measures to ensure that the specified power with the

rated voltage and frequency is supplied. Be particularly careful in places where the power supply is unstable. An incorrect power supply may result in malfunction.

• Install external breakers and take other safety measures against short-

circuiting in external wiring. Insufficient safety measures against shortcircuiting may result in burning.

• Do not apply voltages exceeding the rated input voltage to Input Units. The

xii

RECAUTIONS

Caution

Input Units may be destroyed.

• Do not apply voltages exceeding the maximum switching capacity to Output Units. The Output Units may be destroyed.

• Install the Units properly as specified in the operation manuals. Imprope installation of the Units may result in malfunction.

• Wire all connections correctly. Double-check all wiring and switch settings before turning on the power supply. Incorrect wiring may result in burning.

• Mount Units only after checking terminal blocks and connectors completely.

• Be sure that the terminal blocks, Memory Units, expansion cables, and

other items with locking devices are properly locked into place. Imprope locking may result in malfunction.

• Check switch settings, the contents of the DM Area, and other preparations before starting operation. Starting operation without the proper settings o data may result in an unexpected operation.

• Check the user program for proper execution before actually running it on the Unit. Not checking the program may result in an unexpected operation.

• Confirm that no adverse effect will occur in the system before attempting any of the following. Not doing so may result in an unexpected operation.

• Changing the operating mode of the PLC.

• Force-setting/force-resetting any bit in memory.

• Changing the present value of any word or any set value in memory.

• Resume operation with a new CPU Unit only after transferring the contents

of the DM Area, HR Area, and other data required for resuming operation to the new Unit. Not doing so may result in an unexpected operation.

• Do not pull on the cables or bend the cables beyond their natural limit. Doing either of these may break the cables.

• Do not place objects on top of the cables or other wiring lines. Doing so may break the cables.

• Before touching a Unit, be sure to first touch a grounded metallic object in order to discharge any static built-up. Not doing so may result in malfunction or damage.

• Do not touch circuit boards or the components mounted to them with you bare hands. There are sharp leads and other parts on the boards that may cause injury if handled improperly.

• Do not attempt to take any Units apart, to repair any Units, or to modify any Units in any way.

xiii

PRECAUTIONS

8 EC Directives 8-1 Applicable Directives

• EMC Directives

• Low Voltage Directive

8-2 Concepts

EMC Directives

OMRON devices that comply with EC Directives also conform to the related EMC standards so that they can be more easily built into other devices or the overall machine. The actual products have been checked for conformity to EMC standards (see the following note). Whether the products conform to the standards in the system used by the customer, however, must be checked by the customer.

EMC-related performance of the OMRON devices that comply with EC Directives will vary depending on the configuration, wiring, and othe conditions of the equipment or control panel on which the OMRON devices are installed. The customer must, therefore, perform the final check to confirm that devices and the overall machine conform to EMC standards.

Note Applicable EMC (Electromagnetic Compatibility) standards are as follows:

EMS (Electromagnetic Susceptibility): EN61800-3

EMI (Electromagnetic Interference): EN50081-2/EN55011

Low Voltage Directive

Safety standard: EN50178: 1997

(Radiated emission: 10-m regulations)

8-3 Conformance to EC Directives

The 3G3MV series products comply with EC Directives. To ensure that the

machine or device in which the PLC is used complies with EC Directives, the PLC must be installed as follows:

1, 2, 3... 1. The PLC must be installed within a control panel.

2. You must use reinforced insulation or double insulation for the DC powe supplies used for the communications power supply and I/O powe supplies.

3. OMRON PLCs complying with EC Directives also conform to the Common Emission Standard (EN50081-2). Radiated emission characteristics (10-m regulations) may vary depending on the configuration of the control panel used, other devices connected to the control panel, wiring, and other conditions. You must therefore confirm that the overall machine or equipment complies with EC Directives.

xiv

SECTION 1 Introduction

This section describes the special features and functions of the 3G3MV-P10CDT, shows the possible system configurations, and outlines the steps required before operation. Read this section first when using the 3G3MV-P10CDT for the first time. Refer to the CPM1/CPM1A/CPM2A/CPM2C/SRM1(-V2) Programming Manual (W353) for details on programming operations.

3G3MV-P10CDT Features and Functions .............................................................................................................2

1-1

1-1-1 3G3MV-P10CDT Features .............................................................................................................................2

1-1-2 Overview of 3G3MV-P10CDT Functions .......................................................................................................4

1-2 System Configurations ...........................................................................................................................................5

1-2-1 Unit types ........................................................................................................................................................5

1-3 3G3MV-P10CDT Structure and Operation............................................................................................................6

1-3-1 3G3MV-P10CDT Structure.............................................................................................................................6

1-3-2 Operating Modes.............................................................................................................................................7

1-3-3 Operating Mode at Startup .............................................................................................................................8

1-3-4 Cyclic Operation and Interrupts .....................................................................................................................9

1-4 Comparison with the CPM2C-S...........................................................................................................................10

1-5 Preparation for Operation .....................................................................................................................................16

ntroduction

1-1 3G3MV-P10CDT Features and Functions

1-1-1 3G3MV-P10CDT Features

The 3G3MV-P10CDT PLC Option Units are compact CPM2C PLCs that have

been equipped with a 3G3MV-Inverter interface. The 3G3MV-P10CDT incorporates a variety of special features just like the CPM2C, including synchronized pulse control, interrupt inputs, pulse outputs, and a clock function.

• The Inverter interface reduces wiring, and saves space. Instead of using a CPM2C with CIF11 to communicate to an 3G3MV-Inverter, the P10CDT communicates directly to the Inverter without the overhead.

• The 3G3MV-P10CDT itself can handle a wide range of machine control applications. In addition, the 3G3MV-P10CDT is capable of communications with devices such as personal computers and OMRON Programmable Terminals so it is ideal to use to expand or upgrade existing systems.

• The 3G3MV-P10CDT CPU Unit has a total of 10 I/O points: 6 inputs, 3 transistor outputs and 1 relay output.

• The communications port can be used simultaneously as two ports: Pe- ripheral and RS-232C. The peripheral port supports Programming Devices, Host Link, and no-protocol communications. The RS-232C port supports Host Link, no-protocol (serial), 1:1 PLC Link, and 1:1 NT Link communications.

• Included is also an RS-422/485 interface (not all models) which allows for a cheap connection to other 3G3MV-P10CDT’s, other Inverters, NTterminals, etc.

Example System Configuration

A basic standalone application with HMI:

SECTION 1

ntroduction

A typical winder application:

The 3G3MV and PLC Option Unit take care of diameter calculation, dancer

PID, user input, etc. The other simply run in speed control. This type of application uses both RS-232C and RS-422 communication.

Loss of Inverter functionality

Whenever the 3G3MV-P10CDT is attached to a 3G3MV Inverter, the follow-

ing functionality of the Inverter is lost:

• Modbus communication through the RS-422 interface of the Inverter is disabled. The Modbus communication through the RJ-45 connector is still available.

Inverter-interface restriction

The following resources have limited control:

• Only one analog input can be read directly. The other input can be read by using the Transfer command in combination with PID with feedback.

• The analog outputs cannot be controlled by the 3G3MV-P10CDT

Note Minimum Inverter firmware version requirement: 24

SECTION 1

ntroduction

SECTION 1

1-1-2 Overview of 3G3MV-P10CDT Functions

Main function Variations/Details

Inverter interface Direct interface with 3G3MV Inverter through

• IR-memory

• DM-memory

• Transfer command

Interrupts

High-speed counters

Pulse outputs

Synchronized pulse control

Quick-response input 2 inputs

Input time constant Determines the input time constant for all inputs. (Settings: 1, 2, 3, 5, 10, 20, 40, or 80 ms)

Calendar/Clock Shows the current year, month, day of the week, day of the month, hour, minute, and

Interrupt inputs 2 inputs Response time: 50 µs

Interval timer interrupts 1 input Set value: 0.5 to 319,968 ms Precision: 0.1 ms

1 input, see note 1. Differential phase mode (5 kHz) Pulse plus direction input mode (20 kHz) Up/down input mode (20 kHz) Increment mode (20 kHz) Interrupt inputs (counter mode) 2 inputs Incrementing counter (2 kHz) Decrementing counter (2 kHz)

• 2 outputs:

Single-phase pulse output without acceleration/deceleration (See note 2.) 10 Hz to 10 kHz

• 2 outputs:

Variable duty ratio pulse output (See note 2.)

0.1 to 999.9 Hz, duty ratio 0 to 100%

• 1 output:

Pulse output with trapezoidal acceleration/deceleration (See note 2.) Pulse plus direction output, up/down pulse output, 10 Hz to 10 kHz

1 point, see notes 1 and 2. Input frequency range: 10 to 500 Hz, 20 Hz to 1 kHz, or 300 Hz to 20 kHz Output frequency range: 10 Hz to 10 kHz

Minimum input signal width: 50 µs

second.

Scheduled interrupts

One-shot interrupt

No interrupt High-speed counter

Count-check interrupt (An interrupt can be generated when the count equals the set value or the count

lies within a preset range.)

No interrupt

Count-up interrupt

Note 1. This input is shared by the high-speed counter and synchronized pulse con-

trol functions.

2. This output is shared by the pulse output and synchronized pulse control functions.

ntroduction

SECTION 1

1-2 System Configurations

1-2-1 Unit types

3G3MV-P10CDT Units

Item 3G3MV-P10CDT-E 3G3MV-P10CDT3-E

PLC core CPM2C-S CPM2C-S

Inputs 6 24 VDC inputs 6 24 VDC inputs

3 sinking transistor outputs 3 sinking transistor outputs Outputs

1 relay output 1 relay output

Peripheral port Yes Yes

RS-232C port Yes Yes

RS-422/485 port No Yes

Calendar/Clock No Yes

Memory backup Flash memory and capacitor Flash memory and battery

ntroduction

1-3 3G3MV-P10CDT Structure and Operation

1-3-1 3G3MV-P10CDT Structure

The following diagram shows the internal structure of the Unit.

3G3MV Inverter

Inverter

interface

I/O memory

SECTION 1

External

input

devices

Input circuits

Communications

ports

Settings

Program

Settings

Communications

Switches

PC Setup

Settings

Output circuits

External

output

devices

I/O Memory The program reads and writes data in this memory area during execution.

Part of the I/O memory contains the bits that reflect the status of the PLC’s inputs and outputs. Parts of the I/O memory are cleared when the power is turned ON and other parts are retained.

Program This is the program written by the user. The 3G3MV-P10CDT executes the

program cyclically. (Refer to section 1-3-4 Cyclic Operation and Interrupts for details.) The program can be divided broadly into two parts: the “main program” that is executed cyclically and the “interrupt programs” that are executed only when the corresponding interrupt is generated.

PLC Setup The PLC Setup contains various startup and operating parameters. The PLC

Setup parameters can be changed from a Programming Device only; they cannot be changed from the program.

Some parameters are accessed only when PLC’s power supply is turned ON

and others are accessed regularly while the power is ON. It will be necessary to turn the power OFF and then ON again to enable a new setting if the parameter is accessed only when the power is turned ON.

Note Refer to 4-1 PLC-setup for details on the PLC Setup. Communications The Communications Switches determine whether the peripheral port and Switches RS-232C port connected through the communications port operate with the

standard communications settings or the communications settings in the PLC Setup.

Inverter Interface The PLC core communicates to the Inverter through IR-, DM-memory, either

by direct mapping or through the Transfer command.

Note Refer to section 5-4 Transfer command for more details.

ntroduction

SECTION 1

1-3-2 Operating Modes

3G3MV-P10CDT Units have 3 operating modes: PROGRAM, MONITOR,

and RUN.

PROGRAM Mode The program cannot be executed in PROGRAM mode. This mode is used to

perform the following operations in preparation for program execution.

•

Changing initial/operating parameters such as those in the PLC Setup

•

Writing, transferring, or checking the program

•

Checking wiring by force-setting and force-resetting I/O bits

Caution The PLC continues to refresh I/O bits even if the PLC is in PROGRAM mode,

MONITOR Mode The program is executed in MONITOR mode and the following operations

so devices connected to output points may operate unexpectedly if the corresponding output bit is turned ON by transferring I/O memory or forcesetting output bits from a Programming Device.

can be performed from a Programming Device. In general, MONITOR mode is used to debug the program, test operation, and make adjustments.

•

Online editing

•

Monitoring I/O memory during operation

•

Force-setting/force-resetting I/O bits, changing set values, and changing

present values during operation

RUN Mode The program is executed at normal speed in RUN mode. Operations such as

online editing, force-setting/force-resetting I/O bits, and changing set values/ present values cannot be performed in RUN mode, but the status of I/O bits can be monitored.

ntroduction

1-3-3 Operating Mode at Startup

The operating mode of the 3G3MV-P10CDT when the power is turned ON

depends upon the setting of pin 2 on the DIP switch on the front of the 3G3MV-P10CDT, the PLC Setup settings in DM 6600, and the Programming Console’s mode switch setting if a Programming Console is connected.

PLC Setup setting

Word Bits Setting

DM 6600

Note 1. The operating mode at startup depends upon the setting of DIP switch pin 2

and the Programming Device connected to the communications port (peripheral port).

Programming Device Pin 2 OFF Pin 2 ON

None PROGRAM mode RUN mode

Programming Console Operating mode set on the Programming Console’s

Other device PROGRAM mode

The default setting for bits 08 to 15 of DM 6600 is 00. If this default setting is

used and pin 2 is OFF, the 3G3MV-P10CDT will automatically start operating in RUN mode when the power is turned ON.

Note 2. If pin 2 is OFF and only an RS-232C cable is connected to the communica-

tions port (i.e., there is no peripheral port connection), the 3G3MV-P10CDT will automatically start operating in RUN mode when the power is turned ON.

Example Cable Connections: CS1W-CN118 and XW2Z-200S/500S CS1W-CN118 and XW2Z-200S-V/500S-V CPM2C-CN111 and XW2Z-200S/500S (no peripheral port connection) CPM2C-CN111 and XW2Z-200S-V/500S-V (no peripheral port connection)

08 to 15

00 to 07

SECTION 1

Operating mode

00 (Hex) See note 1.

01 (Hex) Startup mode is the same as the operating

mode before power was interrupted.

02 (Hex) Startup mode is determined by bits 00 to 07.

00 (Hex) PROGRAM mode

01 (Hex) MONITOR mode

02 (Hex) RUN mode

mode switch

ntroduction

SECTION 1

1-3-4 Cyclic Operation and Interrupts

Basic CPU Operation Initialisation processing is performed when the power is turned on. If there

are no initialisation errors, the overseeing processes, program execution, I/O refreshing, and communications port servicing are performed repeatedly ( clically).

Initial Processing

cy-

Inverter interface initial Processing

Common

processing

Inverter IN

refresh

Program

execution

processing

Cycle time calculation processing

I/O refesh

Inverter OUT

refresh

Inverter Modbus

transfer

RS-232C port

service

Inverter Interface initial processing

Inverter Interface status refresh

Inverter Interface control data refresh

Inverter Interface Modbus command execution When Inverter processing is ended by END refresh timing, a maximum of eight data items are read or writen. If the Inverter is currently processing, nothing will be done and it will be checked with the next scan.

Peripheral port

service

The cycle time can be read from a Programming Device. AR 14 contains the maximum cycle time and AR15 contains the present

cycle time in multiples of 0.1 ms.

ntroduction

1-4 Comparison with the CPM2C-S

Item CPM2C-S 3G3MV-P10CDT

Basic instructions 14 14 Instruction set

Special instructions 105 instructions, 185 variations 105 instructions, 185 variations

Instruction execution times

Program capacity 4,096 words 4,096 words

number of I/O points

and Expansion I/O Units

I/O memory

Basic instructions

Special instructions

Stand-alone CPU Unit 10 points 10 points Maximum

CPU Unit with Expansion I/O Units

Maximum number of Units A maximum of 3 Units. --- Expansion Units

Available models Expansion I/O Units, Analog I/O

Input bits IR 00000 to IR 00915 IR 00000 to IR 00005 I/O memory

Output bits IR 01000 to IR 01915 IR 01000 to IR 01003

Work bits 672 bits:

SR (Special Relay) area 448 bits:

TR (Temporary Relay) area 8 bits: TR0 to TR7 8 bits: TR0 to TR7

HR (Holding Relay) area 320 bits:

AR (Auxiliary Relay) area 384 bits:

LR (Link Relay) area 256 bits:

Timer/Counter area 256 bits:

DM (Data Memory) area

Inverter Interface --- 288 bits:

Read/write area

Reserved --- 14 words:

Read-only area

PLC Setup 56 words:

LD: 0.64 µs LD: 0.64 µs

MOV(21): 7.8 µs MOV(21): 7.8 µs

362 points max. ---

---

Unit, Temperature Sensor Unit, and CompoBus/S I/O Link Unit

880 bits: IR 02800 to IR 02915, IR 03800 to IR 04915, IR 20000 to IR 22715

SR 22800 to SR 25515

HR 0000 to HR 1915

AR 0000 to AR 2315

LR 0000 to LR 1515

TIM/CNT 000 to TIM/CNT 255

2,022 words: DM 0000 to DM 2021

456 words: DM 6144 to DM 6599

DM 6600 to DM 6655

IR 00100 to IR 00915,

IR 01100 to IR 02815,

IR 03000 to IR 04915,

IR 22000 to IR 22715

448 bits:

SR 22800 to SR 25515

320 bits:

HR 0000 to HR 1915

384 bits:

AR 0000 to AR 2315

256 bits:

LR 0000 to LR 1515

256 bits:

TIM/CNT 000 to TIM/CNT 255

1,993 words:

DM 0000 to DM 1985

DM 2041 to DM 2047

DM 1986 to DM 1999

456 words:

DM 6144 to DM 6599

56 words:

DM 6600 to DM 6655

IR 20000 to IR 21715

19 words:

DM 2022 to DM 2040

SECTION 1

ntroduction

Item CPM2C-S 3G3MV-P10CDT

Memory backup

CompoBus/S Master Functions Up to 32 Slaves can be

DeviceNet Slave Functions DeviceNet Remote I/O Link

Interrupt inputs (interrupt input mode) 2 2

Interrupt inputs (counter mode)

Quick-response inputs

High-speed counter

Program area, read-only DM area (including PLC Setup)

Read/write DM area, HR area, AR area, and counters

Counter mode Incrementing counter

Counter upper limit 2 kHz 2 kHz

SR 244 to SR 247 Contains counter PV. Contains counter PV.

Method(s) to read counter PV

Method to change counter PV

One-shot mode Yes Yes Interval timer

Scheduled interrupt mode Yes Yes

Setting the quick-response function

INT(89) (Mask) Not supported (ignored) Not supported (ignored)

INT(89) (Read mask) Reads mask status. Reads mask status.

INT(89) (Clear) Not supported (ignored) Not supported (ignored)

Minimum pulse width

Count mode Differential-phase (up/down)

Max. counter frequency 5 kHz in differential-phase

Counter PV range –8,388,608 to 8,388,607 in

Flash memory backup Flash memory backup

Internal battery backup (2-year life-time at 25°C, replaceable)

connected and up to 256 I/O points can be controlled.

Use up to 1,024 I/O points in the I/O Link. Explicit Message Communications Any PLC data area can be accessed from the Master.

Decrementing counter

Read SR 244 to SR247. Execute PRV(62).

Execute INI(61). Execute INI(61).

PLC Setup PLC Setup

50 µs min. 50 µs min.

mode Pulse plus direction mode Up/down pulse mode Increment mode

(up/down) mode 20 kHz in pulse plus direction mode, up/down pulse mode,

and increment mode

differential-phase (up/down) mode,

pulse plus direction mode, and up/down pulse mode 0 to 16,777,215 in increment

mode

SECTION 1

Unit with clock: Internal battery backup (5-year

lifetime at 25°C, nonreplaceable)

Unit without clock: Capacitor backup (10-day backup at

25°C)

---

Incrementing counter Decrementing counter

Read SR 244 to SR247. Execute PRV(62).

Differential-phase (up/down) mode

Pulse plus direction mode Up/down pulse mode Increment mode 5 kHz in differential-phase (up/down) mode 20 kHz in pulse plus direction

mode, up/down pulse mode, and increment mode

–8,388,608 to 8,388,607 in differential-phase (up/down)

mode, pulse plus direction mode, and up/down pulse mode 0 to 16,777,215 in increment

mode

ntroduction

Item CPM2C-S 3G3MV-P10CDT

Check when registering target value match table

Same direction, same SV not possible

SECTION 1

Same direction, same SV not possible

ntroduction

SECTION 1

Item CPM2C-S 3G3MV-P10CDT

High-speed counter

(continued)

Pulse synchronization Supported. Supported.

Pulse output control

Communications switch This switch determines whether

Battery

Method used to reference the target value match interrupt table

Reading range-comparison results

Reading status Check AR 1108 (comparison in

Trapezoidal acceleration/ deceleration

PWM(––) output Supported. Supported.

Number of simultaneous pulse outputs

Maximum frequency 10 kHz max. 10 kHz max.

Minimum frequency 10 Hz 10 Hz

Pulse output quantity –16,777,215 to 16,777,215 –16,777,215 to 16,777,215

Direction control Supported. Supported.

Positioning to absolute positions

Bit status while pulses are being output

Reading PV Read SR 228 through SR231 or

Resetting PV Supported. Supported.

Status outputs Accelerating/decelerating

Words containing time info.

Battery Internal lithium battery backup Unit with clock:

Battery replacement Possible Not possible

Comparison of all values in the table, regardless of order of appearance in table

Check AR 1100 to AR1107 or execute PRV(62).

progress), check AR1109 (high-speed counter PV

overflow/underflow), or execute PRV(62).

Supported with ACC(––). The initial frequency can be set.

2 max. 2 max.

Supported. Supported.

No effect No effect

execute PRV(62).

PV overflow/underflow Pulse quantity set Pulse output completed Pulse output status Internal Internal or none Clock function

AR 17 to AR 21 AR 17 to AR 21

communications are governed by the standard settings or PLC Setup settings. Also sets the Programming Device connection.

Comparison of all values in the table, regardless of order of appearance in table

Check AR 1100 to AR1107 or execute PRV(62).

Check AR 1108 (comparison in progress), check AR1109

(high-speed counter PV overflow/underflow), or execute PRV(62).

Supported with ACC(––). The initial frequency can be set.

Read SR 228 through SR231 or execute PRV(62).

Accelerating/decelerating PV overflow/underflow Pulse quantity set Pulse output completed Pulse output status

This switch determines whether communications are governed

by the standard settings or PLC Setup settings. Also sets the Programming Device connection.

Internal lithium battery backup

Life expectancy/ backup time

Battery error detection Supported. Supported.

2-year lifetime at 25°C Unit with clock: 5-year lifetime

at 25°C

ntroduction

Item CPM2C-S 3G3MV-P10CDT

Communications (in CPU Unit)

Input time constant Can be set to 1, 2, 3, 5, 10, 20,

Peripheral port (via communications port)

RS-232C port (via communications port)

RS-422 port Through CIF-unit Peripheral bus

Programming Console (Set with Communications Switch.)

Peripheral bus (Set with Communications Switch.)

Host Link (with Slave-initiated communications)

No-protocol Peripheral bus (Set with Communications Switch.) Host Link No-protocol 1:1 PLC LInk 1:1 NT Link

40, or 80 ms. (Default: 10 ms)

SECTION 1

Programming Console (Set with Communications Switch.)

Peripheral bus (Set with Communications Switch.)

Host Link (with Slave-initiated communications)

No-protocol Peripheral bus (Set with Communications Switch.) Host Link No-protocol 1:1 PLC LInk 1:1 NT Link

Host Link (with Slave-initiated communications) No-protocol Can be set to 1, 2, 3, 5, 10, 20,

40, or 80 ms. (Default: 10 ms)

ntroduction

Differences in I/O Memory

IR Area Differences

Function CPM2C-S 3G3MV-P10CDT

CompoBus/S input bits IR 020 to IR 027

CompoBus/S output bits IR 030 to IR 037

Work bits 672 bits:

Inverter Interface 288 bits:

AR Area Differences

Function CPM2C-S 3G3MV-P10CDT

DeviceNet Status AR 00

CompoBus/S Active Slave Flags and Communications Error Flags

CompoBus/S Master ASIC Error AR 1315

DM Area Differences

Function CPM2C-S 3G3MV-P10CDT

Inverter Interface 19 words:

Reserved

PLC Setup Differences

Function CPM2C-S 3G3MV-P10CDT

Maximum number of CompoBus/S nodes

CompoBus/S communications mode

DeviceNet Read/Write area (Default or DM 6606 to DM 6609)

DeviceNet I/O Link Write Area data area

DeviceNet I/O Link Write Area number of bytes

DeviceNet I/O Link Write Area starting address

DeviceNet I/O Link Read Area data area

DeviceNet I/O Link Read Area number of bytes

DeviceNet I/O Link Read Area starting address

IR 028 to IR 029 IR 038 to IR 049 IR 200 to IR 227

AR 04 to AR 07

DM 6603 bits 00 to 03

DM 6603 bits 04 to 07

DM 6605 bits 00 to 03

DM 6606 bits 00 to 07

DM 6606 bits 08 to 15

DM 6607 bits 00 to 15

DM 6608 bits 00 to 07

DM 6608 bits 08 to 15

DM 6609 bits 00 to 15

SECTION 1

880 bits: IR 00100 to IR 00915 IR 01100 to IR 02815 IR 03000 to IR 04915 IR 22000 to IR 22715

IR 20000 to IR 21715

DM 2022 to DM 2040

14 words: DM 1986 to DM 1999

ntroduction

1-5 Preparation for Operation

Follow the steps listed below when setting up a 3G3MV-P10CDT system. 1, 2, 3... 1. System Design

•

Select a 3G3MV-P10CDT Unit with the specifications required in the

controlled system.

Design external fail-safe circuits such as interlock circuits and limit cir-

•

cuits.

Installation

•

Install the Unit on the Inverter

Wiring

•

Wire the Inverter and I/O devices. Connect communications devices if necessary.

•

Connect the Programming Console.

•

Initial Settings

•

Set the Communications Switches on the front of the CPU Unit, if nec-

essary. (The switches must be set when a device other than the Programming Console is connected or the standard communications settings are not used.)

• Connect the Programming Console, set the mode switch to PROGRAM

mode, and turn ON the Inverter.

Check the Unit’s LED indicators and the Programming Console’s dis-

•

play.

Clear the PLC’s memory. (All Clear)

•

Make PLC Setup settings.

•

Create Ladder Program

•

Create a ladder program to control the system.

Write Ladder Program in PLC

•

Write the ladder program in the PLC with the Programming Console or

transfer the program to the PLC from the Support Software.

Test Run

•

Check I/O wiring in PROGRAM mode.

• Check and debug program execution in MONITOR mode.

SECTION 1

SECTION 2 Unit Components and Specifications

This section provides the technical specifications of the 3G3MV-P10CDT Units and describes the main components of these Units.

2-1 Specifications .......................................................................................................................................................18

2-1-1 General Specifications ..................................................................................................................................18

2-1-2 Characteristics ..............................................................................................................................................18

2-1-3 I/O Specifications ..........................................................................................................................................21

2-1-3-1 Input Specifications................................................................................................................................................... 21

2-1-3-2 Output Specifications ................................................................................................................................................ 23

2-1-4 Dimensions....................................................................................................................................................25

2-2 Unit Components..................................................................................................................................................26

2-2-1 CPU Unit Component Names .......................................................................................................................26

2-2-2 CPU Unit Component Descriptions..............................................................................................................26

Unit Components and Specifications

2-1 Specifications

2-1-1 General Specifications

Item Specifications

Rated power supply voltage 24 VDC Vibration resistance 0.15 mm (10-57 Hz)

9.8 m/s2 (57-150 Hz)

In all directions (X, Y, Z) Ambient operating temperature -10 to 45 °C Ambient operating relative

humidity Ambient storage temperature -20 to 70 °C Atmosphere Must be free from corrosive gas Power Consumption 2W (Supplied internally)

Note The above figure for power consumption includes the power consumption of

10% to 90% (no condensation)

the Programming Console.

2-1-2 Characteristics

+10%

(External power supply for I/O)

–15%

SECTION 2

Item Specifications

Control method Store program method

I/O control method Cyclic scan method

Programming language Ladder chart method

Instruction length 1 step/1 instruction; 1 to 5 words/1 instruction

Basic 14 types (Same as for Programmable Slaves.) Instruction

types

speed

Program capacity 4,096 words

Maximum number of I/O points 10

Input bits 00000 to 00015 (6 physical inputs)

Output bits 01000 to 01003 (4 physical outputs)

Area allocated to Inverter 320 bits: 20000 to 21915

IR Area 880 bits: IR 00100 to IR 00915 (words IR 001 to IR 009),

SR Area 448 bits: SR 22800 to SR 25507 (words SR 228 to SR 255)

TR Area 8 bits (TR 0 to TR 7)

HR Area 320 bits: HR 0000 to HR 1915 (words HR 00 to 19)

AR Area 384 bits: AR 0000 AR 2315 (words AR 00 to AR 23)

LR Area 256 bits: LR 0000 to LR 1515 (words LR 00 to LR 15)

Timer/Counter Area 256 bits: TC 000 to TC 255

DM Area

Special 105 types, 185 instructions (Same as for Programmable Slaves.)

Basic instructions 0.64 µs (LD) Processing Special instructions 7.8 µs (MOV)

IR 01100 to IR 02815 (words IR 011 to IR 028), IR 03000 to IR 04915 (words IR 030 to IR 049), IR 22000 to IR 22715 (words IR 220 to IR 227)

Read/Write 2029 words (DM 0000 to DM 0999, DM 1019 to DM 2047)

DM 2000 to DM 2021: Error Log Storage Area

Read only 456 words (DM6144 to 6599)

Unit Components and Specifications

SECTION 2

Item Specifications

Allocated to

19 words (DM 2022 to DM 2040)

Inverter

PLC Setup 56 words (DM 6599 to DM 6655)

Item Specifications

Interrupt processing

External interrupts

Scheduled

2 bits (Used in common for input interrupt counter mode and highspeed inputs.)

1 bit (Scheduled interrupts or one-shot interrupts)

interrupts

Pulse outputs 2 bits (without acceleration/deceleration; 10 Hz to 10 kHz each; without

directional control). Or 1 bit (with trapezoidal acceleration/deceleration; 10 Hz to 10 kHz

each; with directional control). Or 2 bits (Variable duty ratio output).

Pulse synchronous control 1 bit

A high-speed counter can be combined with pulse output, and the input pulse frequency from the high-speed counter can be multiplied by a fixed factor for pulse output.

Pulse catch inputs 2 bits

Minimum pulse input: 50 µs max. Used in common by input interrupts and input interrupt counter mode.

Analog volume None

Input time constant (ON response time =

Only all inputs can be set. (1 ms / 2 ms / 3 ms / 5 ms / 10 ms / 20 ms / 40 ms / 80 ms)

OFF response time)

Clock function Yes

Communication function Port 1 = Peripheral and RS-422

Host Link, Peripheral bus, No-protocol, Programming Console

Port 2 = RS-232C port: Host Link, no-protocol, 1:1 PLC Link, 1:1 NT Link

Power-interruption hold function Holds the contents of HR, AR, CNT, and DM Areas.

Non-volatile memory, User program, DM (Read only), PLC Setup Memory backup Fixed internal lithium battery (5 years, not replaceable by the user) or

capacitor DM (Read/Write), HR, SR and CNT Areas

Self-diagnostic function CPU errors, memory errors, communications errors, setting errors,

battery errors

Program check No END instruction, program errors (regularly checked during

operation)

Connected tools

CX-Programmer After Version 2.1

Programming

C200H-PRO27, CQM1-PRO01

Console SSS PC98 & PC/AT (SYSMAC Support Software, All version)

Sysdrive

After version 2

Configurator

Unit Components and Specifications

Note 1. The DM area, HR area, AR area, and counter values are backed up. If the

backup battery or capacitor is discharged, the contents of these areas will be lost and the data values will revert to the defaults.

When data has been changed in any of these areas, write the new values to

The contents of the program area, read-only DM area (DM6144 to DM6599),

and PLC Setup (DM 6600 to DM 6655) are stored in flash memory. The contents of these areas will be read from flash memory the next time the power is turned ON, even if the backup battery or capacitor is discharged.

flash memory by switching the 3G3MV-P10CDT to MONITOR or RUN mode, or by turning the power OFF and then ON again.

Changes made while in MONITOR mode using, for example, online editing,

are written to flash memory in real-time.

SECTION 2

Unit Components and Specifications

2-1-3 I/O Specifications

2-1-3-1 Input Specifications

Item Inputs Specification

Input voltage All 24 VDC Input impedance

Input current

IN00000 to IN00001

IN00002 to IN00004

IN00005

2.7 kΩ

3.9 kΩ

4.7 kΩ

IN00000 to IN00001 8 mA typical IN00002 to IN00004 6 mA typical IN00005 5 mA typical IN00000 to IN00001 17 VDC min., 5 mA ON voltage/current

IN00002 to IN00005 14.4 VDC min., 3.5 mA OFF voltage/current All 5.0 VDC max., 1.1 mA ON delay All 1 to 80 ms max. Default: 10 ms (See note.) OFF delay All 1 to 80 ms max. Default: 10 ms (See note.) Circuit configuration

IN00000 to IN00001

+10%

–15%

SECTION 2

IN00002 to IN00004

IN00005

Note The input time constant can be set to 1, 2, 3, 5, 10, 20, 40, or 80 ms in the

PLC Setup.

Unit Components and Specifications

SECTION 2

High-speed Counter Inputs

The following Unit input bits can be used as high-speed counter inputs. The

maximum count frequency is 5 kHz in differential phase mode and 20 kHz in the other modes.

Function Input

Differential phase

mode

IN00000 A-phase pulse input Pulse input Increment pulse input Increment pulse input

IN00001 B-phase pulse input Direction input Decrement pulse input Normal input

IN00002 Z-phase pulse input or hardware reset input

(IN00002 can be used as a normal input when it is not used as a high-speed counter input.)

Pulse plus direction

input mode

Up/down input mode Increment mode

The minimum pulse widths for inputs IN00000 (A-phase input) and IN00001

(B-phase input) are as follows:

The minimum pulse width for input IN00002 (Z-phase input) is as follows:

Interrupt Inputs

The 3G3MV-P10CDT is equipped with inputs that can be used as interrupt

inputs (interrupt input mode or counter mode) and quick-response inputs. The minimum pulse width for these inputs is 50 µs.

Inputs IN00003 and IN00004 can be used as interrupt inputs.

Unit Components and Specifications

2-1-3-2 Output Specifications

Relay Output

Item Specification

Maximum switching capacity 2 A, 250 VAC (cos =1)

2A, 24VDC Minimum switching load 10 mA, 5 VDC Service life of relay

ON delay 15 ms max. OFF delay 15 ms max Circuit configuration

Electrical: 150,000 operations (24 VDC resistive load)

100,000 operations (240 VAC inductive load cos =0.4)

Mechanical: 20,000,000 operations

SECTION 2

Note The service life of relay output contacts shown in the table assumes the

worst conditions. The following graph shows the results of Omron’s service life tests at a switching rate of 1,800 times/hour.

Unit Components and Specifications

Transistor Outputs (Sinking)

Item Specification

Maximum switching capacity 4.5 to 30VDC, 0.2 A/output Minimum switching capacity 0.5 mA Maximum inrush current 0.9 A for 10 ms Leakage current 0.1 mA Residual voltage 1.5 V max. ON response time 20 µs max. OFF response time 40 µs max. for 4.5 to 26.4 VDC, 10 to 100 mA

0.1 ms max for 4.5 to 30 VDC, 10 to 200 mA Fuse One fuse per output (cannot be replaced by user) Circuit configuration

SECTION 2

Note 1. When using OUT01000 or OUT01001 as a pulse output, connect a dummy

resistor as required to bring the load current between 0.01 and 0.1 A. If the load current is below 0.1 A, the ON-to-OFF response time will be longer and high-speed pulses (source-type transistor outputs) will not be output. If the load current is above 0.1 A, the transistor will generate more heat and components may be damaged.

Caution Do not apply voltage in excess of the maximum switching capacity to an

output terminal. It may result in damage to the product or fire.

Unit Components and Specifications

2-1-4 Dimensions

SECTION 2

128

Unit Components and Specifications

2-2 Unit Components

2-2-1 CPU Unit Component Names

Front view Bottom-view

4. PC status indicators

5. Communications port

6. Communications switch

1. DIP switch

2. Input indicators

3. Output indicators

8. RS-422/485 switch

9. Terminating

Resistance switch

10. I/O connector

Rear-view

13. Low battery

detection switch

OFF

SECTION 2

7. RS-422/485 port

11. Relay connector

12. FE-connection

2-2-2 CPU Unit Component Descriptions

1,2,3.. 1. DIP switch

• RS-232C and Peripheral Port Settings

Pin 1 Effective Port Settings

OFF (default)

The ports operate according to the settings in the PLC Setup. RS-232C port settings: DM 6645 to DM 6649 Peripheral port settings: DM 6650 to DM 6654

ON The ports operate with the standard communications settings.

• Operating Mode at Startup Pin 2 determines the operating mode at startup only if there isn’t a Programming Device connected to the peripheral port.

Programming Device

Startup mode with

connected

None PROGRAM mode RUN mode Programming Console Operating mode set on the Programming

Console’s mode switch

Other device PROGRAM mode

pin 2 OFF (default)

Startup mode with

pin 2 ON

Unit Components and Specifications

2. Input indicators (yellow)

The input indicators are lit when the corresponding input terminal is ON. The

status of an input indicator will reflect the status of the input even when that input is being used for a high-speed counter.

Note a) When interrupt inputs are used in interrupt input mode, the indicator

b) Input indicators will reflect the status of the corresponding inputs

3. Output indicators (yellow)

The output indicators are lit when the corresponding output terminal is ON.

The indicators are lit during I/O refreshing. The status of an output indicator will also reflect the status of the corresponding output when the output is being used as a pulse output.

4. PLC status indicators

The following indicators show the operating status of the PLC.

Indicator Status Meaning

(green)

RUN (green)

ERR/ALM (red)

COMM1 (yellow)

(yellow)

SECTION 2

may not light even when the interrupt condition is met if the input is not ON long enough.

even when the PLC is stopped, but the corresponding input bits will not be refreshed.

ON Power is being supplied to the unit PWR OFF Power isn’t being supplied to the unit ON The PLC is operating in RUN or MONITOR

mode

OFF The PLC is in PROGRAM mode or a fatal

error has occurred.

ON A fatal error has occurred. (PLC operation

stops.)

Flashing A non-fatal error has occurred. (PLC

operation continues.) OFF Indicates normal operation. Flashing Data is being transferred via the peripheral or

RS-422/485 port. OFF Data isn’t being transferred via communica-

tions port. Flashing Data is being transferred via the RS-232C portCOMM2 OFF Data isn’t being transferred via communica-

tions port.

5. Communications port

Connects the PLC to a Programming Device (including Programming Con-

soles), host computer, or standard external device. Use a proper Connecting Cable (CPM2C-CN111, CS1W-CN114, CS1W-CN118, or CS1W-CN226).

Note a) A CQM1H-PRO01-E Programming Console can be connected di-

rectly to the PLC.

b) A C200H-PRO27-E Programming Console can be connected di-

rectly to the PLC with a CS1W-CN224/CN624 Connecting Cable.

c) Use a CPM2C-CN111 or CS1W-CN114 Connecting Cable to con-

nect to the communications port as a peripheral port. The communications port can be used simultaneously as both a peripheral port and RS-232C port by using the CPM2C-CN111 Connecting Cable.

d) Use a CPM2C-CN111, CS1W-CN118 or CS1W-CN226 Connecting

Cable to connect to the communications port as a RS-232C port.

Unit Components and Specifications

Note The peripheral port and RS-422/485 port cannot be used simultaneously.

When using the peripheral port disconnect any devices connected to the RS422/485 port.

6. Communications switch

Switch to select port 1 type of connected device

OFF (default) Programming Console ON RS-422/485 communication

7. RS-422/485 port (3G3MV-P10CDT3-E only)

Used to connect to host computers, or standard external devices.

Terminal Arrangement

SECTION 2

The communications port can be used simultaneously as both a peripheral port and RS-232C port by using the CPM2C-CN111 Connecting Cable

Position Communication port 1

Receive data

(input)

Send data

(output)

RDA- RDB+ Shield SDA- SDB+

Connector: Phoenix MSTB 2.5/5-STF-5.08AU

Note The maximum line length is 500 m.

Note The peripheral port and RS-422/485 port cannot be used simultaneously.

When using the peripheral port disconnect any devices connected to the RS422/485 port.

8. RS-422/485 switch (3G3MV-P10CDT3-E only)

Switch to select 4-wire (RS-422) or 2-wire (RS-485) communication

Position Status

OFF (down) (default) 4-wire communications ON (up) 2-wire communications

9. Terminating Resistance switch (3G3MV-P10CDT3-E only)

Position Termination

OFF (down) (default) Disabled ON (up) Enabled

Set this switch to ON only for double-ended connection to a Host Link net-

work.

10. I/O connector

Connects the CPU Unit to external input and output devices.

Sinking outputs

IN0 (A)

IN1 (B)

IN2 (Z)

IN3

IN4

IN5

COM

OUT0

OUT1

OUT2

COM (-)

1 2 3 4 5 6 7 8 9 10 11 12

Connector: WAGO 733-112 (wire cross section 0.08 to 0.50 mm

OUT3

COM

1 2

)

Unit Components and Specifications

11. Relay connector

SECTION 2

Enabled

Disabled

OFF

Connects the CPU Unit to an external output devices. Connector: WAGO 734-102 (wire cross section 0.08 to 1.50 mm

)

12. FE-connection

AMP tab to connect functional earth. Internally connected to pin 3 of the RS-

422/485 connector and to the shell of the peripheral connector.

13. Low battery detection switch (3G3MV-P10CDT3-E only)

This switch enables or disables the detection of a low-battery error.

Position Low-battery detection

ON (up) (default) Error detection enabled OFF (down) Error detection disabled

SECTION 3 Installation and Wiring

This section provides information on installing and wiring a 3G3MV-P10CDT Unit. Be sure to follow the directions and precautions in this section when installing the 3G3MV-P10CDT in a panel or cabinet and wiring I/O.

Installation ............................................................................................................................................................32

3-1

3-2 Wiring...................................................................................................................................................................35

3-3 Connecting I/O Devices .......................................................................................................................................35

3-4 Wiring Communication Cables ............................................................................................................................37

3-5 Programming Device Connections.......................................................................................................................37

nstallation and Wiring

3-1 Installation

SECTION 3

WARNING

Caution Do not store, install, or operate the product in the following places. Doing so

Caution Do not allow foreign objects to enter inside the product. Doing so may result in

Caution Do not apply any strong impact. Doing so may result in damage to the product

Caution Be sure to wire correctly and securely. Not doing so may result in injury or

Caution Be sure to firmly tighten the screws on the terminal block. Not doing so may

Caution Carefully handle the product because it uses semiconductor elements.

Caution Take appropriate and sufficient countermeasures when installing systems in

Do not touch the conductive parts such as internal PCBs or terminal blocks while power is being supplied. Doing so may result in electrical shock.

Turn ON the input power supply only after mounting the front cover, terminal covers, bottom cover, Operator, and optional items. Leave them mounted in place while power is being supplied. Not doing so may result in electrical shock, malfunction, or damage to the product.

Wiring, maintenance, or inspection must be performed by authorized personnel. Not doing so may result in electrical shock or fire.

Wiring, maintenance, or inspection must be performed after turning OFF the power supply, confirming that the CHARGE indicator (or status indicators) is OFF, and after waiting for the time specified on the Inverter front cover. Not doing so may result in electrical shock.

Do not damage, pull on, apply stress to, place heavy objects on, or pinch the cables. Doing so may result in electrical shock, operation stoppage, or burning.

Do not attempt to disassemble or repair the Unit. Doing either of these may result in electrical shock, injury, or damage to the product.

may result in electrical shock, fire or damage to the product.

Locations subject to direct sunlight.

•

Locations subject to temperatures or humidity outside the range specified

•

in the specifications.

Locations subject to condensation as the result of severe changes in

•

temperature.

Locations subject to corrosive or flammable gases.

•

Locations subject to exposure to combustibles.

•

Locations subject to dust (especially iron dust) or salts.

•

Locations subject to exposure to water, oil, or chemicals.

•

Locations subject to shock or vibration.

•

fire or malfunction.

or malfunction.

damage to the product.

result in fire, injury, or damage to the product.

Careless handling may result in malfunction.

the following locations. Not doing so may result in equipment damage.

Locations subject to static electricity or other forms of noise.

•

Locations subject to strong electromagnetic fields and magnetic fields.

•

Locations subject to possible exposure to radioactivity.

•

Locations close to power supplies.

•

nstallation and Wiring

Mounting Procedure

Caution Before installing and wiring an Optional Unit, always turn OFF the power to

1. Turn OFF the main circuit power supply for the Inverter, wait for at least one

SECTION 3

the SYS-DRIVE 3G3MV Inverter and wait for the CHARGE indicator to turn OFF.

minute from the time the LED indicator or the CHARGE indicator goes out, and remove the front cover of the Inverter along with the Operator.

2. Wire the main circuit terminals and control circuit terminals of the Inverter. (When the 3G3MV-P10CDT Unit is mounted, the terminal block of the Inverter will be covered. Therefore, be sure to complete wiring for the Inverter terminals first.)

3. When the Operator of the Inverter is removed, it will be possible to see a block secured at three places underneath. Using pliers or another appropriate tool, loosen the fixings, and remove the block. The connector for Optional Unit connections will become visible. At this point, ensure that dirt or foreign objects do not enter the connector.

nstallation and Wiring

SECTION 3

4. Mount the mounting base (included as an accessory) onto the screw-hole

originally used for holding the Operator and the terminal cover to the body of the Inverter, and using one of the provided screws, secure the mounting base.

5. After aligning the positions of the PLC Unit connector and the Inverter connector, push the frames of the Inverter and the Unit together until they click.

6. Tighten the fixing screws on the upper part of the PLC Unit, to the mounting base attached in step 4.

7. Attach the Operator and the LED hood to the front side of the PLC Unit. Remove the screw of the Inverter front cover and use it to secure the LED hood and the operator to the Inverter.

nstallation and Wiring

3-2 Wiring

SECTION 3

WARNING

Only basic insulation is provided for the control circuit terminals. Additional insulation may be necessary in the end product.

These circuits are not separated from hazardous circuits by protective separation, but only with basic insulation. These circuits cannot be accessed and must not be interconnected with any circuits which are accessible, unless they are isolated from accessible circuits by supplemental insulation. These circuits can be connected only to the following circuits:

30 VDC or less (overvoltage category 2)

250 VAC or less (overvoltage category 2)

3-3 Connecting I/O Devices

Wire inputs and outputs to the 3G3MV-P10CDT Unit as shown in the f

ing diagrams.

WARNING

Note When equipment must conform to the EC Directives (Low-voltage Direc-

Caution Check that wiring has been performed correctly before supplying power.

I/O Configuration The following diagrams show the I/O configurations.

The PLC outputs may remain ON or OFF due to deposits on or burning of the output relay or destruction of the output transistors. External safety measures must be provided to ensure safety in the system. Not providing proper safety measures may result in serious accidents.

tives), use a power supply with double insulation or reinforced insulation.

Supplying power with incorrect wiring may result in damage to internal circuits.

Sinking Transistor Outputs

ollow-

nstallation and Wiring

SECTION 3

I/O Connector

24VDC

Load

00000

00001

00002

00003

00004

00005

COM

01000

01001

01002

COM(-)

1 2 3 4 5 6 7 8

9 10 11 12

nstallation and Wiring

Do not exceed the output capacity or the maximum common current for tran-

sistor outputs shown in the following table.

Item Specification

Output Capacity 200 mA at 24 VDC

Cage Clamp Both the relay and I/O-connector make use of cage-clamp technology. The

picture below shows how the wires should be inserted.

SECTION 3

Tools to be used for the I/O connector:

• Perpendicular to the wire (top-half of the picture above) Philips screw-driver 2.5 x 0.4 mm

• In-line with the wire (bottom-half of the picture above) WAGO tool 233-332

Tools to be used for the relay connector:

• Perpendicular to the wire (top-half of the picture above) Philips screw-driver 2.5 x 0.4 mm

• In-line with the wire (bottom-half of the picture above) Philips screw-driver 2.5 x 0.4 mm

3-4 Wiring Communication Cables

When wiring the RS-422/485 communication cable, make sure to use shielded cable with twisted wires. The shield of the cable can be connected to the middle pin of the RS-422/485 connector. Internally this pin is connected to the Functional Earth tab. The Functional earth tab is also connected to the shielding of the Peripheral connector.

3-5 Programming Device Connections

For a complete overview of Programming Device connections see section

3-4-9 of W377 Operation Manual CPM2C-S.

Note When using CX-Programmer, select CPM2*-S* as PLC Device Type.

SECTION 4 Communication, Counter and Pulse

This section describes the communication settings and the use of the counter and pulse output functionality of the 3G3MV-P10CDT.

PLC-setup Communication.................................................................................................................................. 39

4-1

4-1-1 RS-232C Port Communications Settings...................................................................................................... 39

4-1-2 Peripheral RS-422/485 Port Communications Settings ............................................................................... 40

4-2 High-speed Counters ........................................................................................................................................... 42

4-3 Input Interrupts In Counter Mode........................................................................................................................ 45

4-4 Pulse Output Functions........................................................................................................................................ 48

4-4-1 Using Single-phase Pulse Fixed Duty Ratio ................................................................................................ 49

4-4-2 Using Pulse Outputs With Variable Duty Ratio ........................................................................................... 52

4-4-3 Using Pulse Outputs With Trapezoidal Acceleration/Deceleration ............................................................. 53

Communication, Counter and Pulse

4-1 PLC-setup Communication

4-1-1 RS-232C Port Communications Settings

The following settings are effective after transfer to the PLC. If pin 2 of the 3G3MV-P10CDT Unit’s DIP switch is ON, communications

through the 3G3MV-P10CDT’s RS-232C port are governed by the default settings (all 0) regardless of the settings in DM 6645 through DM 6649.

Word(s) Bit(s) Function

DM 6645

DM 6646

DM 6647 00 to 15 Transmission delay (0000 to 9999 BCD sets a delay of 0 to 99,990 ms.)

DM 6648

00 to 03 Port settings

0: Standard (1 start bit, 7 data bits, even parity, 2 stop bits, 9,600 bps), Host Link unit number: 0 1: Settings in DM 6646 (Any other setting will cause a non-fatal error and AR 1302 will turn ON.)

04 to 07 CTS control setting

0: Disable CTS control; 1: Enable CTS control (Any other setting will cause a non-fatal error and AR 1302 will turn ON.)

08 to 11 Link words for 1:1 data link

0: LR 00 to LR 15 (Any other settings are ineffective.)

12 to 15 Communications mode

0: Host Link; 1: No-protocol; 2: 1:1 PLC Link Slave; 3: 1:1 PLC Link Master; 4: NT Link (Any other setting causes a non-fatal error and turns ON AR 1302.)

00 to 07 Baud rate

00: 1,200 bps; 01: 2,400 bps; 02: 4,800 bps; 03: 9,600 bps; 04: 19,200 bps

08 to 15 Frame format

Start bits Data bits Stop bits Parity 00: 1 bit 7 bits 1 bit Even 01: 1 bit 7 bits 1 bit Odd 02: 1 bit 7 bits 1 bit None 03: 1 bit 7 bits 2 bits Even 04: 1 bit 7 bits 2 bits Odd 05: 1 bit 7 bits 2 bits None 06: 1 bit 8 bits 1 bit Even 07: 1 bit 8 bits 1 bit Odd 08: 1 bit 8 bits 1 bit None 09: 1 bit 8 bits 2 bits Even 10: 1 bit 8 bits 2 bits Odd 11: 1 bit 8 bits 2 bits None (Any other setting specifies standard settings (1 start bit, 7 data bits; even parity, 2 stop

bits, 9,600 bps), causes a non-fatal error, and turns ON AR 1302.)

(Any other setting specifies a delay of 0 ms, causes a non-fatal error, and turns ON AR 1302.)

00 to 07 Node number (Host Link)

00 to 31 (BCD) (Any other setting specifies a node number of 00, causes a non-fatal error, and turns ON AR 1302.)

08 to 11 Start code selection for no-protocol communications

0: Disables start code; 1: Enables start code in DM 6649 (Any other setting disables the start code, causes a non-fatal error, and turns ON AR 1302.)

SECTION 4

Communication, Counter and Pulse

12 to 15 End code selection for no-protocol communications

0: Disables end code; 1: Enables end code in DM 6649; 2: Sets end code of CR, LF. (Any other setting disables the end code, causes a non-fatal error, and turns ON AR 1302.)

Word(s) Bit(s) Function

DM 6649

00 to 07 Start code (00 to FF)

(This setting is valid only when bits 8 to 11 of DM 6648 are set to 1.)

08 to 15 When bits 12 to 15 of DM 6648 set to 0:

Sets the number of bytes to receive. (00: 256 bytes; 01 to FF: 1 to 255 bytes) When bits 12 to 15 of DM 6648 set to 1: Sets the end code. (00 to FF)

4-1-2 Peripheral RS-422/485 Port Communications Settings

The following settings are effective after transfer to the PLC. If the 3G3MV-P10CDT Unit’s Communications Switch is ON, communica-

tions through the peripheral port are governed by the default settings (all 0) regardless of the settings in DM 6650 through DM 6654.

The 3G3MV-P10CDT’s Communications Switch setting has no effect on

communications with a Programming Console connected to the peripheral port or Support Software set for peripheral bus communications. The 3G3MV-P10CDT Unit will auto-detect either Programming Device and automatically establish communications.

Word(s) Bit(s) Function

DM 6650

DM 6651

00 to 03 Port settings

0: Standard (1 start bit, 7 data bits, even parity, 2 stop bits, 9,600 bps), Host Link unit number: 0 1: Settings in DM 6651

(Any other setting will cause a non-fatal error and AR 1302 will turn ON.) 04 to 11 Not used.

12 to 15 Communications mode

0: Host Link or peripheral bus; 1: No-protocol

(Any other setting causes a non-fatal error and turns ON AR 1302.)

00 to 07 Baud rate

00: 1,200 bps; 01: 2,400 bps; 02: 4,800 bps; 03: 9,600 bps; 04: 19,200 bps

08 to 15 Frame format

Start bits Data bits Stop bits Parity

00: 1 bit 7 bits 1 bit Even

01: 1 bit 7 bits 1 bit Odd

02: 1 bit 7 bits 1 bit None

03: 1 bit 7 bits 2 bits Even

04: 1 bit 7 bits 2 bits Odd

05: 1 bit 7 bits 2 bits None

06: 1 bit 8 bits 1 bit Even

07: 1 bit 8 bits 1 bit Odd

08: 1 bit 8 bits 1 bit None

09: 1 bit 8 bits 2 bits Even

10: 1 bit 8 bits 2 bits Odd

11: 1 bit 8 bits 2 bits None

(Any other setting specifies standard settings (1 start bit, 7 data bits; even parity, 2 stop

bits, 9,600 bps), causes a non-fatal error, and turns ON AR 1302.)

SECTION 4

Communication, Counter and Pulse

DM 6652 00 to 15 Transmission delay (0000 to 9999 BCD sets a delay of 0 to 99,990 ms.)

(Any other setting specifies a delay of 0 ms, causes a non-fatal error, and turns ON AR 1302.)

Word(s) Bit(s) Function

DM 6653

DM 6654

00 to 07 Node number (Host Link)

00 to 31 (BCD) (Any other setting specifies a node number of 00, causes a non-fatal error, and turns ON AR 1302.)

08 to 11 Start code selection for no-protocol communications

0: Disables start code; 1: Enables start code in DM 6654 (Any other setting disables the start code, causes a non-fatal error, and turns ON AR 1302.)

12 to 15 End code selection for no-protocol communications

0: Disables end code; 1: Enables end code in DM 6649; 2: Sets end code of CR, LF. (Any other setting disables the end code, causes a non-fatal error, and turns ON AR 1302.)

00 to 07 Start code (00 to FF)

(This setting is valid only when bits 8 to 11 of DM 6653 are set to 1.)

08 to 15 When bits 12 to 15 of DM 6653 set to 0:

Sets the number of bytes to receive. (00: 256 bytes; 01 to FF: 1 to 255 bytes) When bits 12 to 15 of DM 6653 set to 1: Sets the end code. (00 to FF)

SECTION 4

Communication, Counter and Pulse

4-2 High-speed Counters

3G3MV-P10CDT Units have four points for high-speed counters: One point

for a high-speed counter with a maximum response frequency of 20 kHz, and three points for interrupt inputs (counter mode).

For more details please refer to Programming Manual W353

High-speed counters

High-speed counter No interrupts

1 point

Interrupt inputs (counter mode)

2 points

SECTION 4

Target value com-

parison interrupts Count check interrupts

Range comparison

interrupts

No interrupts

Count-up interrupts

Communication, Counter and Pulse

SECTION 4

PLC Setup Set the PLC Setup areas related to the high-speed counter as follows:

High-speed counter usage

Input mode

Reset method

(Use/not use 00002 as ordinary input)

Word Bits Function Setting

DM 6642

00 to 03 High-speed counter input mode setting

0: Differential phase input 5 kHz 1: Pulse + direction input 20 kHz 2: Up/down input 20 kHz 4: Increment 20 kHz

04 to 07 High-speed counter reset method setting

0: Phase-Z signal + software reset 1: Software reset

08 to 15 High-speed counter usage setting

00: Do not use. 01: Use as high-speed counter 02: Use as pulse synchronization control (10 Hz to 500 Hz) 03: Use as pulse synchronization control (20 Hz to 1 kHz) 04: Use as pulse synchronization control (300 Hz to 20 kHz)

DM 6642, bits 08 to 15

DM 6642, bits 00 to 03

DM 6642, bits 04 to 07

0, 1, 2, or 4

0 or 1

The new settings for the System Setup go into effect when operation begins

(when PROGRAM mode is changed to MONITOR or RUN mode), or when the 3G3MV-P10CDT’s power is turned ON.

Communication, Counter and Pulse

SECTION 4

Ladder Diagram The following table shows the instructions related to high-speed counter Programming control.

Instruction Control Operation

(@)CTBL(63)

(@)INI(61)

(@)PRV(62)

(@)INT(89)

Start comparison Starts comparison with registered

Stop comparison

Change PV Changes the high-speed counter PV.

Read PV Reads the high-speed counter PV.

Read status

Read range comparison result

Mask all interrupts Prohibits all interrupts, including

Unmask all interrupts

Registers target value comparison table.

Registers range comparison table.

Registers target value comparison table and starts comparison.

Registers range comparison table and starts comparison.

comparison table.

Stops comparison.

Reads the high-speed counter status.

Reads range comparison result.

interrupt inputs, interval timer interrupts, high-speed counters, etc.

Permits all interrupts, including interrupt inputs, interval timer interrupts, high-speed counters, etc.

The following table shows the data areas related to high-speed counter con-

trol.

Word Bits Name Contents

00 to 15 248

249

252 00 High-speed counter reset When this bit turns ON, a

AR11

00 to 15

00 to 07 High-speed counter range

08 ON: Comparison in progress

09 High-speed counter PV

High-speed counter PV Reads high-speed counter

PV.

software reset is triggered for the high-speed counter.

ON: Condition satisfied

comparison results

High-speed counter comparison

overflow/underflow

OFF: Condition not satisfied

OFF: Comparison stopped

ON: Overflow/underflow OFF: Normal

Communication, Counter and Pulse

4-3 Input Interrupts In Counter Mode

The four built-in interrupt inputs in the 3G3MV-P10CDT Unit can be used in

counter mode as inputs of up to 2 kHz. These inputs can be used as either incrementing counters or decrementing counters, triggering an interrupt (i.e., executing an interrupt subroutine) when the count matches the set value.

For more details please refer to Programming Manual W353

Procedure for Using Interrupt Inputs in Counter Mode

Set the interrupt number.

Select either incrementing or

decrementing count.

SECTION 4

Wire the inputs.

PLC Setup (DM 6628)

Create a ladder diagram program.

Input numbers: 00003 or 00004

1. Use as interrupt input (interrupt input mode or counter mode)

INI(61): Change counter PV INT(89): Refresh SV* (PRV(62): Read counter PV SBN(92) and RET(93): For creating interrupt subroutines.*

*Used only for count-up interrupts.

Communication, Counter and Pulse

SECTION 4

PLC Setup The following table shows the settings in the PLC Setup area related to

interrupt input usage.

Word Bits Function Setting

DM 6628

00 to 03 Interrupt setting for

input 00003

04 to 07 Interrupt setting for

input 00004

08 to 15 Not used. 0

0: Normal input 1: Interrupt input (interrupt input

mode or counter mode)

2: Quick-response input

The setting will go into effect when the mode is changed (from PROGRAM to

MONITOR/RUN) or when the power supply is turned ON to the 3G3MVP10CDT.

Communication, Counter and Pulse

SECTION 4

Ladder Diagram The following table shows the instruction operations related to interrupt input Programming (counter mode) control.

Instruction Control Operation

(@)INT(89)

(@)INI(61) Change PV Changes the counter’s PV.

(@)PRV(62) Read PV Reads the counter’s PV.

Refresh incrementing counter SV

Refresh decrementing counter SV

Mask all interrupts Prohibits all interrupts, including interrupt

Unmask all interrupts Permits all interrupts, including interrupt

Refreshes the counter’s SV and starts the incrementing count.

Refreshes the counter’s SV and starts the decrementing count.

inputs, interval timer interrupts, highspeed counters, etc.

The functions related to input interrupts (counter mode) are executed accord-

ing to the data areas shown in the following table.

Word Bits Name Contents

240 00 to 15 SV area for input interrupt (counter mode) 0

241 00 to 15 SV area for input interrupt (counter mode) 1

242 00 to 15 SV area for input interrupt (counter mode) 2

243 00 to 15 SV area for input interrupt (counter mode) 3

244 00 to 15 PV area for input interrupt (counter mode) 0

245 00 to 15 PV area for input interrupt (counter mode) 1

246 00 to 15 PV area for input interrupt (counter mode) 2

247 00 to 15 PV area for input interrupt (counter mode) 3

Stores the counter’s set value(SV) .

Stores the counter’s present value (PV).

Refresh Incrementing Counter SV / Refresh Decrementing Counter SV

These functions store the counter’s set values in data areas and refresh them

by means of INT(89). In this way, they start the count operation for interrupt inputs (counter mode) and they permit interrupts.

Storing Set Values in Data Areas The counter’s set values are stored in words 240, 241, 242, and 243.

SR 240 SV for interrupt input (count mode) 0: 0000 to FFFF SR 241 SV for interrupt input (count mode) 1: 0000 to FFFF SR 242 SV for interrupt input (count mode) 2: 0000 to FFFF SR 243 SV for interrupt input (count mode) 3: 0000 to FFFF

Communication, Counter and Pulse

SECTION 4

4-4 Pulse Output Functions

The 3G3MV-P10CDT has two pulse outputs. By means of a selection in the

PLC Setup, these outputs can be used as two single-phase outputs without acceleration and deceleration, two variable duty ratio pulse outputs, or pulse outputs with trapezoidal acceleration/deceleration (one pulse + direction output and one up/ down pulse output). The pulse output PV coordinate system can also be specified in the PLC Setup as either relative or absolute.

There are two pulse output modes: Independent mode, in which outputs are

stopped at a preset amount of pulses, and continuous mode, in which outputs are stopped by an instruction.

For more details please refer to Programming Manual W353

Item Single-phase

pulse outputs

without

accel/decel

Execution instructions PULS(65) and

SPED(64)

Output number

Output frequency range 10 Hz to 10 kHz 0.1 to 999.9 Hz 10 Hz to 10 kHz 10 Hz to 10 kHz

Pitch 10 Hz 0.1 Hz 10 Hz 10 Hz

Up/down frequency pitch --- --- 10 Hz (See note 2.) 10 Hz (See note 2.)

Start speed pitch --- --- 10 Hz 10 Hz

Output mode Continuous,

Number of pulses 1 to 16777215 ---

Duty ratio (See note 3.) 50% 0 to 100% 50% 50%

Control method

01000 Pulse output 0

(See note 1.)

01001 Pulse output 1

(See note 1.)

Independent

Movement specification

Accel/decel specification

Start speed specification

Duty specification

Yes No Yes Yes

No No Yes Yes

No Yes No No

Variable duty

ratio pulse

outputs

PWM(––) PULS(65) and ACC(––)

Pulse output 0 (See note 1.)

Pulse output 1 (See note 1.)

Continuous Continuous, Independent Continuous,

Note 1. With single-phase pulse outputs, pulse outputs 0 and 1 can each be output

independently.

2. Pulse outputs can be accelerated or decelerated in units of 10 Hz every 10 ms.

Actual pulses are affected by the transistor output’s ON response time (20 µs

max.) and OFF response time (40 µs max.).

Single-phase pulse outputs with trapezoidal

acceleration/deceleration

Pulse + direction

outputs

Pulse output 0

±1 to 16777215 ±1 to 16777215

Pulse output CW

Direction output

Up/down pulse

outputs

Pulse output 0

Independent

pulse output

CCW pulse output

Communication, Counter and Pulse

4-4-1 Using Single-phase Pulse Fixed Duty Ratio

SECTION 4

Select the pulse output number.

Wire the outputs.

PLC Setup (DM 6629)

Create a ladder diagram program.

Single-phase Pulse Outputs

Pulse output number 0 or 1

Output numbers: 01000 and 010001

PV coordinatesystem for pulse output 0 and 1

PULS(65): For setting the number of pulses. SPED(64): For pulse output control without acceleration and deceleration. INI(61): For stopping pulse outputs and changing the pulse output PV. PRV(62): For reading the pulse output PV and status.

PLC Setup Make the following settings in the PLC Setup.

Word Bits Function Setting

DM 6629

00 to 03 Pulse 0 PV

coordinate system

04 to 07 Pulse 1 PV

coordinate system

0: Relative coordinate system

1: Absolute coordinate system

Either 0 or 1

Communication, Counter and Pulse

SECTION 4

DM 6642 08 to 15 High-speed

counter setting

00: Do not use. 01: Use as high-speed counter 02: Use as synchronized pulse control (10 to 500 Hz). 03: Use as synchronized pulse control (20 Hz to 1 kHz).

04: Use as synchronized pulse control (300 Hz to 20 kHz).

Either 00 or 01

If absolute pulses are specified with PULS(65), be sure to set the absolute

coordinate system (1).

Synchronized pulse control cannot be used simultaneously. The settings will go into effect when the mode is changed (from PROGRAM

to MONITOR/RUN) or when the power supply is turned ON to the PLC.

Ladder Diagram The following table shows the instruction operations related to pulse outputs Programming without acceleration and deceleration (fixed duty ratio).

Instruction Control Operation

(@)PULS(65) Set number of pulses Sets the number of pulses to be

output in independent mode.

(@)SPED(64)

Set frequency and start pulse outputs

Change frequency Changes the frequency for outputs in

Stop pulse outputs Stops the pulse outputs (by changing

Stop pulse outputs Stops the pulse outputs. (@)INI(61)

Change pulse output PV Changes the pulse output PV.

Read pulse output PV Reads the pulse output PV. (@)PRV(62)

Read pulse output status Reads the pulse output status.

Sets the frequency for outputs in the independent mode or continuous

mode, and starts the pulse outputs.

the independent mode or continuous mode.

the speed to a frequency of 0 Hz).

Communication, Counter and Pulse

SECTION 4

The following table shows the words and bits related to pulse outputs without

acceleration and deceleration (fixed duty ratio).

Word Bits Name Contents

228 00 to 15 Pulse output PV 0, rightmost 4 digits

229 00 to 15 Pulse output PV 0, leftmost 4 digits

230 00 to 15 Pulse output PV 1, rightmost 4 digits

231 00 to 15 Pulse output PV 1, leftmost 4 digits

04 Pulse output 0 PV reset Clears PV 0 when ON. 252

05 Pulse output 1 PV reset Clears PV 1 when ON.

AR 11

AR 12

12 Pulse output 0 PV over-

flow/underflow

13 Number of pulses set for pulse

output 0

14 Pulse output completed for pulse

output 0

15 Pulse output in progress for pulse

output 0

12 Pulse output 1 PV over-

flow/underflow

13 Number of pulses set for pulse

output 1

14 Pulse output completed for pulse

output 1

15 Pulse output in progress for pulse

output 0

Cannot be used as work bits even when not used as pulse outputs.

ON: Occurred OFF: Normal

ON: Set (by PULS(65)) OFF: Not set

ON: Completed (by SPED(64)) OFF: Not completed

ON: In progress (by SPED(64)) OFF: Stopped

ON: Occurred OFF: Normal

ON: Set (by PULS(65)) OFF: Not set

ON: Completed (by SPED(64)) OFF: Not completed

ON: In progress (by SPED(64)) OFF: Stopped

Communication, Counter and Pulse

4-4-2 Using Pulse Outputs With Variable Duty Ratio

SECTION 4

Select the pulse output number.

Wire the outputs.

Create a ladder diagram program.

Pulse Outputs With Variable Duty Ratio

Pulse output number 0 or 1

Output numbers: 01000 and 010001

PWM(---): For setting the frequency and duty ratio. INI(61): For stopping outputs. PRV(62): For reading the pulse output status.

PLC Setup Make the following settings in the PLC Setup.

Word Bits Function Setting

DM 6642 08 to 15 High-speed

counter setting

00: Do not use. 01: Use as high-speed counter 02: Use as synchronized pulse control (10 to 500 Hz). 03: Use as synchronized pulse control (20 Hz to 1 kHz).

04: Use as synchronized pulse control (300 Hz to 20 kHz).

Either 00 or 01

Synchronized pulse control cannot be used simultaneously. The settings will go into effect when the mode is changed (from PROGRAM

to MONITOR/RUN) or when the power supply is turned ON to the PLC.

Communication, Counter and Pulse

SECTION 4

Ladder Diagram The following table shows the instruction operations related to pulse outputs Programming with variable duty ratio.

Instruction Control Operation

(@)PWM(––)

(@)INI(61) Stop pulse outputs Stops the pulse outputs.

(@)PRV(62) Read pulse output status Reads the pulse output status (during

Pulse output with variable duty ratio

Change duty ratio Changes the duty ratio during pulse

Sets the frequency and duty ratio and starts the pulse outputs.

while pulse outputs with variable duty ratio are already in progress.

pulse outputs).

The following table shows the words and bits related to pulse outputs with

variable duty ratio.

Word Bit Name Contents

AR 11 15 Pulse output in progress

for pulse output 0

AR 12 15 Pulse output in progress

for pulse output 1

ON: In progress (by SPED(64), ACC(––), or PWM(––)) OFF: Stopped

4-4-3 Using Pulse Outputs With Trapezoidal Acceleration/Deceleration

Select the direction and control method.

Select the pulse output number.

Wire the outputs.

PLC Setup (DM6629)

Create a ladder diagram program.

Pulse + direction or up/down output

Pulse output number 0

Output numbers: 01000 and 01001

PV coordinate system for pulse output number 0

PULS(65): For setting the number of output pulses. ACC(---): For controlling pulse outputs with trapezoidal acceleration and deceleration INI(61): For stopping pulse outputs and changing the pulse output PV. PRV(62): For reading the pulse output PV and status.

Communication, Counter and Pulse

Pulse Outputs With Trapezoidal Acceleration and Deceleration

SECTION 4

PLC Setup Make the following settings in the PLC Setup.

Word Bits Function Setting

DM 6629 00 to 03 Pulse 0 PV

coordinate system

DM 6642 08 to 15 High-speed

counter setting

0: Relative coordinate system

1: Absolute coordinate system

00: Do not use. 01: Use as high-speed counter 02: Use as synchronized pulse control (10 to 500 Hz). 03: Use as synchronized pulse control (20 Hz to 1 kHz).

04: Use as synchronized pulse control (300 Hz to 20 kHz).

If absolute pulses are specified with PULS(65), be sure to set the absolute

coordinate system (1).

Synchronized pulse control cannot be used simultaneously. The settings will go into effect when the mode is changed (from PROGRAM

to MONITOR/RUN) or when the power supply is turned ON to the PLC.

Either 0 or 1

Either 00 or 01

Communication, Counter and Pulse

SECTION 4

Ladder Diagram The following table shows the instruction operations related to pulse outputs Programming with trapezoidal acceleration and deceleration (fixed duty ratio).

Instruction Control Operation

(@)PULS(65) Set number of pulses Sets the number of pulses to be

output in independent mode.

(@)ACC(––)

Set frequency and start pulse outputs

Change frequency Changes the frequency during pulse

Stop pulse outputs Decelerates pulse outputs to a stop

Stop (decelerate stop) pulse outputs

Change pulse output PV Changes the pulse output PV.

Read pulse output PV Reads the pulse output PV. (@)PRV(62)

Read pulse output status Reads the pulse output status.

Sets the target frequency, starting frequency, and acceleration/deceleration rate for outputs in independent mode or continuous mode, and starts the pulse outputs.

output in continuous mode by accelerating or decelerating according to the specified acceleration/deceleration rate.

according to the specified acceleration/deceleration rate.

Stops the pulse outputs. (@)INI(61)

The following table shows the words and bits related to pulse outputs with

trapezoidal acceleration and deceleration (fixed duty ratio).

Word Bits Name Contents

228 00 to 15 Pulse output PV 0, rightmost 4 digits

229 00 to 15 Pulse output PV 0, leftmost 4 digits

230 00 to 15 Pulse output PV 1, rightmost 4 digits

231 00 to 15 Pulse output PV 1, leftmost 4 digits

04 Pulse output 0 PV reset Clears PV 0 when ON. 252

05 Pulse output 1 PV reset Clears PV 1 when ON.

AR 11

11 Pulse output status for pulse output 0 ON: Accelerating or

12 Pulse output 0 PV over-

flow/underflow

13 Number of pulses set for pulse

output 0

14 Pulse output completed for pulse

output 0

15 Pulse output in progress for pulse

output 0

Cannot be used as work bits even when not used as pulse outputs.

decelerating OFF: Constant speed

ON: Occurred OFF: Normal

ON: Set OFF: Not set

ON: Completed OFF: Not completed

ON: In progress (by SPED(64), ACC(––), or PWM(––)) OFF: Stopped

SECTION 5 Inverter Interface

This section describes the interface to the Inverter.

5-1

Inverter interface.................................................................................................................................................. 57

5-2 I/O Allocation IR ................................................................................................................................................. 57

5-3 I/O Allocation DM............................................................................................................................................... 60

5-3-1 Controlling Inverter I/O ............................................................................................................................... 61

5-4 Transfer command............................................................................................................................................... 61

5-4-1 Parameter Reading ...................................................................................................................................... 62

5-4-2 Parameter Writing........................................................................................................................................ 63

5-4-3 Transfer Timing Chart ................................................................................................................................. 64

5-4-4 Transfer Timing Chart in case of Errors...................................................................................................... 65

5-4-5 Transfer Timing Chart for Cancelling Processing....................................................................................... 66

5-4-6 Transfer Ladder Program ............................................................................................................................ 66

nverter Interface

SECTION 5

5-1 Inverter interface

The communication between the PLC and the Inverter is performed by:

• Inverter functionality mapped in IR (section 5-2)

• Inverter functionality mapped in DM (section 5-3)

• Through the Transfer command (section 5-4)

5-2 I/O Allocation IR

The contents of the IR area is refreshed and updated with each scan.

Word(s) Bit(s) Function Inverter

200

201

202

00 RUN (ON: During RUN) 002C.0

01 Zero speed (ON: Zero speed) 002C.1

02 Reverse operation (ON: Reverse operation) 0001.1

03 Error-reset signal (IR 20709) (ON: Error-reset signal active) ---

04 Frequency agree (ON: Frequency agree) 002C.2

05 Inverter ready (ON: Inverter ready) 002C.6

06 Warning (nonfatal error) (ON: Warning occurring) 002C.3

07 Fault (ON: Fault occurring) 002C.14

08 OPE error (ON: OPE error occurring) ---

09 Momentary power interruption recovery (ON: Power restored) ---

10 RUN command mode (ON: Controlled by Inverter interface;

OFF: Other)

11 Terminal MA output status (ON: Closed) 002D.0

12 Terminal P1 output status (ON: Closed) 002D.1

13 Terminal P2 output status (ON: Closed) 002D.2

14 to 15 Reserved ---

00 Reserved ---

01 Main circuit voltage low (UV1) 0021.12

02 Control power supply error (UV2) 0021.13

03 Reserved ---

04 Load short-circuit (SC) (Note 1.) 0029.0

05 Ground fault (GF) (Note 1.) 0029.1

06 Overcurrent (OC) 0021.0

07 Overvoltage (OV) 0021.1

08 Inverter overheat (OH) 0021.3

09 Reserved ---

10 Motor overload (OL1) 0021.9

11 Inverter overload (OL2) 0021.2

12 Overtorque detection (OL3) 0021.10

13 to 15 Reserved ---

00 External fault 3 (EF3) ---

01 External fault 4 (EF4) ---

02 External fault 5 (EF5) ---

03 External fault 6 (EF6) ---

04 External fault 7 (EF7) ---

05 to 09 Reserved ---

10 Input phase-failure (PF) (Note 1.) 0029.2

11 Output phase-failure (LF) (Note 1.) 0029.3

002C.10

Read/

write

Readonly

nverter Interface

SECTION 5

Word(s) Bit(s) Function Inverter

203

204

205

206

207

208

209 00 /NetRef 1 (ON: Inverter reference enabled; OFF: PLC enabled) (Note

12 Reserved ---

13 Operator connection error (OPR) 0021.15

14 to 15 Reserved ---

00 to 05 Reserved ---

06 External fault (EF0) 0021.7

07 Loss of PID feedback (FBL) 0021.6

08 Low torque detection (UL3) ---

09 to 14 Reserved ---

15 Hardware error (Fxx) 0021.8

00 Terminal S1 (ON: Closed) 002B.0

01 Terminal S2 (ON: Closed) 002B.1

02 Terminal S3 (ON: Closed) 002B.2

03 Terminal S4 (ON: Closed) 002B.3

04 Terminal S5 (ON: Closed) 002B.4

05 Terminal S6 (ON: Closed) 002B.5

06 Terminal S7 (ON: Closed) 002B.6

07 to 15 Reserved ---

00 NetRef status (OFF: Inverter reference enabled; ON: PLC enabled)

(Note 2.)

01 NetCtrl status(OFF: Inverter control enabled; ON: PLC enabled)

(Note 3.)

02 to 07 Reserved ---

08 Stall prevention operating flag ---

09 to 15 Reserved ---

00 Inverter Ready (error detected by mutual diagnosis) (ON: Normal;

OFF: Error)

01 Transfer Completion (ON: Transfer completed) ---

02 Transfer Error (ON: Error; OFF: Normal) ---

03 Transfer Busy (ON: Busy; OFF: Ready for transfer) ---

04 to 15 Reserved ---

00 Forward/Stop (ON: Forward operation) ---

01 Reverse/Stop (ON: Reverse operation) ---

02 Multi-function input 3 (Set by n052.) 0001.6

03 Multi-function input 4 (Set by n053.) 0001.7

04 Multi-function input 5 (Set by n054.) 0001.8

05 Multi-function input 6 (Set by n055.) 0001.9

06 Multi-function input 7 (Set by n056.) 001.10

07 Reserved ---

08 External fault (ON: Fault EFO) 0001.2

09 Fault reset (ON: Reset command) 0001.3

10 to 13 Reserved ---

14 Error log clear ---

15 External Baseblock command (BB) (Note 1.) 002A.3

00 Multi-function contact output (ON: Output ON) 0009.0

01 Multi-function output 1 (ON: Output ON) 0009.1

02 Multi-function output 2 (ON: Output ON) 0009.2

03 to 15 Reserved ---

4.)

---

--- Read/

Read/ write

Readonly

Read/ write

write

nverter Interface

SECTION 5

01 /NetCtrl 1 (ON: Inverter control enabled; OFF: PLC enabled) (Note 5.) ---

02 to 15 Reserved ---

Word(s) Bit(s) Function Inverter

210

211 to 217

00 Transfer Command (Read) (ON: Start processing) ---

01 Transfer Command (Write) (ON: Start processing) ---

02 to 15 Reserved ---

00 to 15 Reserved. Can be used as work bits. --- Read/

Note 1. These functions are provided for 5.5kW and 7.5kW Inverters only. Note 2. NetRef is the inverse of /NetRef (209.00) Note 3. NetCtrl is the inverse of /NetCtrl (209.01) Note 4. When /NetRef is turned OFF, the PLC is defining the Frequency Reference

When /NetRef is turned ON, the Inverter is defining the Frequency Reference After power on the this bit is turned OFF (PLC reference)

Note 5. When /NetCtrl is turned OFF, the PLC is controlling the Inverter

When /NetCtrl is turned ON, other sources are controlling the Inverter After power on the this bit is turned OFF (PLC controlling)

Caution At power up, the following Inverter status flags toggle before they reflect the

actual status of the Inverter:

• IR 200.05 Inverter Ready

• IR 200.06 Inverter Warning

Wait at least 28 ms before using these flags.

Caution This unit has no power-break process (automatic fail-safe operation after

power has been removed to the Unit). After detecting UV1 in the Inverter (main circuit low, IR 201.01), there is a sufficient amount of time (depending on the load) until its voltage goes down. The ladder program should contain this mechanism to design necessary safety operations to deal with this powerdown situation.

Read/

write

Read/ write

write

nverter Interface

SECTION 5

5-3 I/O Allocation DM

The contents of the DM area is refreshed and updated with each scan.

Word(s) Function Inverter

2022 Specifies the Inverter operation in case a fatal error occurs in the program.

(Leftmost 3 digits are invalid.). When last digit is other than 1: Data to Inverter is cleared continuously. When last digit is 1: Data to Inverter is frozen.

2023 Destination address for storing transferred data (4 digits BCD): L (Note 1.) --- Read/

2024 Destination address for storing transfer response data (4 digits BCD): K (Note 1.) --- Read/

2025 Speed feedback --- Read-

2026 Torque reference (Unit: 0.1%) 0032 Read-

2027 Reserved --- Read-

2028 Frequency reference monitor (Unit: According to n035) 0023 Read-

2029 Output frequency monitor (Unit: According to n035) 0024 Read-

2030 Output current monitor (Unit: 0.01 A) 0027 Read-

2031 Pulse input (Unit: 0.1%) --- Read-

2032 Main circuit DC voltage monitor (Unit: 1 V) 0031 Read-

2033 Reserved --- Read-

2034 Analog frequency reference terminal monitor (Unit: 0.1%) --- Read-

2035 Reserved --- Read-

2036 Frequency reference (Unit: According to n035) 0002 Read/

2037 to 2040

Reserved --- Read/

--- Read/

Note 1 The value (DM0000 to DM1985) is sampled when the Transfer Command Bit

is turned ON.

Caution At power up, the following words change before they reflect the actual status

of the Inverter:

• DM2032 Main DC voltage monitor

• DM2034 Analog frequency reference terminal monitor

Wait at least 28 ms before using these words.

Read/

write

only

write

nverter Interface

SECTION 5

5-3-1 Controlling Inverter I/O

Inputs By default, all inputs can be monitored in IR (Ch204). However, they may

have functionality attached to it. The function can be changed using

n50..n56. Note Setting the corresponding bit in Ch207 an input can be turned on. The analog input can be monitored in DM2034.

Outputs By default, outputs can not be controlled in IR. To control the outputs (Bits

0..2 in Ch208) the corresponding output setting (n57..59) must be set to "18".

This means that 'communication’ (in this case the 3G3MV-P10CDT) controls

the corresponding output.

5-4 Transfer command

Parameters which are accessible through a corresponding Modbus register

inside the 3G3MV Inverter, can be accessed by using the Transfer com-

mand.

The Transfer command is controlled by

• Two command bits: one for reading and one for writing

• Three status flags: busy-, completion- and error-flag

• Two DM area’s: one for specifying the command, one for specifying the response location.

Note Changes to parameters may not take effect immediately. Refer to the 3G3MV

Manual for details.

All parameters accessed with the Transfer command use the register num-

bers and formats of the Modbus-interface as defined by 3G3MV.

Note The following parameters have different register numbers when accessed

through the Transfer functionality compared to accessing through Modbus:

Parameter Transfer register number

n128 1D3H n129 1D4H U-03 3BH

Note The data-format of following parameters are different when accessed through

the Transfer functionality compared to accessing through Modbus:

Parameter Value Function

0 V/f mode n002 2 Vector control mode

nverter Interface

5-4-1 Parameter Reading

To read the contents of a 3G3MV parameter, the corresponding Inverter reg-

ister must be specified in the DM area specified by L (DM2023). Refer to the 3G3MV manual for the Inverter register definitions.

A maximum number of 8 data items can be transferred in one operation.

Words Function

L+0 Number of data words including L (binary) L+1 Transfer destination Inverter register (4 digits binary) L+2 Number of transferred data items (4 digits binary)

The response to the read command is stored in the DM area specified by K

(DM2024).

In case of a normal completion:

Words Function

K+0 Number of data words including K (binary) K+1 Transfer destination Inverter address 1 (4 digits binary) K+2 Number of transferred data items 1 (4 digits binary) K+3 Read data 1-1 (4 digits binary) K+4 Read data 1-2 (4 digits binary) K+5 … K+6 … K+7 … K+8 … K+9 … K+10 …

In case of a completion which resulted in an error:

Words Function

K+0 Number of data words including K (0002) K+1 Error code (Note 1)

Note 1 For the error codes see section 5-4-7.

SECTION 5

nverter Interface

5-4-2 Parameter Writing

To write a 3G3MV parameter, the corresponding Inverter register must be

specified in the DM area specified by L (DM2023). Refer to the 3G3MV manual for the Inverter register definitions.

A maximum number of 8 data items can be transferred in one operation.

Words Function

L+0 Number of data words including L (binary) L+1 Transfer destination Inverter address (4 digits binary) L+2 Number of transferred data items (4 digits binary) L+3 Write data 1-1 (4 digits binary) L+4 Write data 1-2 (4 digits binary) L+5 … L+6 … L+7 … L+8 … L+9 … L+10 …

Response data is stored in the DM area specified by K (DM2024). In case of a normal completion:

Words Function

K+0 Number of data items (0002) K+1 Normal response code (0000)

PLC Transfer Response Data Storage Destination; DM Area: K

Words Function

K+0 Number of data items (0002) K+1 Error code (Note 1.)

Note 1 For the error codes see section 5-4-7.

SECTION 5

nverter Interface

5-4-3 Transfer Timing Chart

The diagram below shows the timing of the Transfer command with a normal

completion. The timing is the same for reading and writing.

21000 (R) or 21001 (W) (Transfer Command Bit)

20603 (Transfer Busy Flag)

20601 (Transfer Completion Flag)

20602 (Transfer Error Flag)

DM(K) (Transfer Response)

SECTION 5

Operation

Timing

1. 2. 3.

1. When the Transfer Command Bit is turned ON, the Transfer Busy Flag will turn ON one PLC cycle later, and the command specified in the DM Area (L) will be processed.

2. When the Transfer Completion Flag is turned ON, the response is present in the DM Area (K).

3. When the Transfer Command Bit is turned OFF, the Transfer Busy Flag and Transfer Completion Flag will turn OFF one PLC cycle later.

The time required for the Transfer command (between 1. and 2.) depends on

the PLC cycle time and the presence of the Digital Operator according the table below:

Digital Operator Minimum Maximum

No 1 PLC cycle 6 ms Yes 1 PLC cycle 24 ms

nverter Interface

5-4-4 Transfer Timing Chart in case of Errors

The diagram below shows the timing of the Transfer command which re-

sulted in an error. The timing is the same for reading and writing.

210.00 (R) or 210.01 (W) (Transfer Command Bit)

206.03 (Transfer Busy Flag)

206.01 (Transfer Completion Flag)

206.02 (Transfer Error Flag)

DM(K) (Transfer Response)

SECTION 5

Operation

Timing

1. 2. 3.

1. When the Transfer Command Bit is turned ON, the Transfer Busy Flag will turn ON one PLC cycle later, and the command specified in the DM Area (L) will be processed.

2. When the Transfer Error Flag is turned ON, the error code is present in the DM Area (K).

3. When the Transfer Command Bit is turned OFF, the Transfer Busy Flag and Transfer Error Flag will turn OFF one PLC cycle later.

Note In case of an error the Transfer Completion flag is not turned ON. Note For the error codes see section 5-4-7.

The timing is the same as in the case of normal completion.

nverter Interface

5-4-5 Transfer Timing Chart for Cancelling Processing

The diagram below shows the timing of the Transfer command in case the

command is cancelled before completion. The timing is the same for reading and writing.

210.00 (R) or 210.01 (W) (Transfer Command Bit)

206.03 (Transfer Busy Flag)

206.01 (Transfer Completion Flag)

206.02 (Transfer Error Flag)

DM(K) (Transfer Response)

SECTION 5

Operation

1. When the Transfer Command Bit is turned ON, the Transfer Busy Flag will turn ON, and the command specified in the DM Area (L) will be processed.

2. When the command is cancelled before completion, the Transfer Busy Flag will turn OFF and the Transfer Error Flag will turn ON. The error code (0002) is present in the DM Area (K).

3. When the new Transfer Command Bit is turned ON, the Transfer Busy Flag will turn ON, and the command specified in the DM Area (L) will be processed. The Transfer Error Flag will turn OFF.

4. When the Transfer Completion Flag is turned ON, the response is present in the DM Area (K).

5. When the Transfer Command Bit is turned OFF, the Transfer Busy Flag and Transfer Completion Flag will turn OFF.

5-4-6 Transfer Ladder Program

The following ladder program can be used to transfer data from and to the In-

verter:

Trigger

1. 2. 3. 4. 5.

DIFU R1

Transfer

Busy

Transfer

Completion

Transfer

Error

nverter Interface

5-4-7 Transfer Error Codes

SECTION 5

Error code

0001 Inverter response

error

0002 Command bit OFF

during transfer

0003 Transfer execution

while busy

0004 Multiple start error Writing and reading were both

0010 CRC check error The CRC for the read data did not

0200 Address error An unused address was set. An unused address was set. 0300 Data number error An attempt was made to read

2100 Data setting error - The write data is not within the

2200 Write error - An attempt was made during

2300 Write error

(during UV)

2400 Write error

(during processing)

Name During reading During writing

There was no response from the Inverter.

The command bit turned OFF during transfer execution, and processing was aborted. (Note 1.)

The transfer was executed during busy status.

activated at the same time

agree.

more than 8 registers at the same time.

- An attempt was made to write a

- An attempt was made to write

Note 1 The situation is the same when the PLC mode is changed during a data

transfer, except for cases where the status of output bits is retained when the mode is changed.

Note When an error occurs it is not possible to determine exactly up to what point

the data was properly received, so the data transfer must be restarted from the beginning.

Note When the address K (reserved in DM) is not valid, it is not possible to write

the error codes. Hence, only the error bit is set.

There was no response from the Inverter.

The command bit turned OFF during transfer execution, and processing was aborted. (Note 1.)

The transfer was executed during busy status.

Reading and writing were both activated at the same time

The CRC for the response from the Inverter did not agree.

An attempt was made to write more than 8 registers at the same time

permissible range.

operation to write a constant that cannot be changed during operation.

An attempt was made to overwrite read-only data.

constant during UV.

constants when a write operation was already in progress for the constants.

nverter Interface

5-4-8 Operations with Command Bit Combinations

The table below shows the behaviour of the system when a command bit of

one type (read or write) is set before clearing the previous command bit of the other type.

Status

Transfer

Command

Bit 2

Transfer

Command

Bit 1

Busy error occurs.

Transfer operation is aborted.

After the completion of a command the command bit must be cleared first be-

fore issuing the next command. Not clearing the command bit has the following consequences:

• Sending a write transfer command immediately after a read transfer command is processed.

• Sending a read transfer command immediately after a write transfer command is not

processed.

Transfer

Busy

Busy error occurs.

Transfer operation is aborted.

Transfer

Completion

Busy error occurs.

Command is not executed.

SECTION 5

Transfer

Error

Error is cleared and command is executed.

Appendix A

Instructions

The 3G3MV-P10CDT supports 119 basic and special instructions.

 Ladder Diagram Instructions

Name Mnemonic Variations

LOAD LD ---

LOAD NOT LD NOT ---

AND AND ---

AND NOT AND NOT ---

OR OR ---

OR NOT OR NOT ---

AND LOAD AND LD ---

OR LOAD OR LD ---

 Bit Control Instructions

Name Mnemonic Variations

OUTPUT OUT ---

OUTPUT NOT OUT NOT ---

SET SET ---

RESET RSET ---

KEEP KEEP(11) ---

DIFFERENTIATE UP DIFU(13) ---

DIFFERENTIATE DOWN DIFD(14) ---

 Sequence Control Instructions

Name Mnemonic Variations

NO OPERATION NOP(00) ---

END END(01) ---

INTERLOCK IL(02) ---

INTERLOCK CLEAR ILC(03) ---

JUMP JMP(04) ---

JUMP END JME(05) ---

 Timer and Counter Instructions

Name Mnemonic Variations

TIMER TIM ---

COUNTER CNT ---

REVERSIBLE COUNTER CNTR(12) ---

HIGH-SPEED TIMER TIMH(15) ---

ONE-MS TIMER TMHH(––1) ---

LONG TIMER TIML(––1) ---

 Comparison Instructions

Name Mnemonic Variations

COMPARE CMP(20) ---

TABLE COMPARE TCMP(85) @

DOUBLE COMPARE CMPL(60) 1 ---

BLOCK COMPARE BCMP(68) 1 @

AREA RANGE COMPARE ZCP(––1)

DOUBLE AREA RANGE COMPARE

ZCPL(––1) ---

---

 Data Movement Instructions

MOVE MOV(21) @

MOVE NOT MVN(22) @

BLOCK TRANSFER XFER(70) @

BLOCK SET BSET(71) @

DATA EXCHANGE XCHG(73) @

SINGLE WORD DISTRIBUTE DIST(80) @

DATA COLLECT COLL(81) @

MOVE BIT MOVB(82) @

MOVE DIGIT MOVD(83) @

 Shift Instructions

SHIFT REGISTER SFT(10) ---

WORD SHIFT WSFT(16) @

ARITHMETIC SHIFT LEFT ASL(25) @

ARITHMETIC SHIFT RIGHT ASR(26) @

ROTATE LEFT ROL(27) @

ROTATE RIGHT ROR(28) @

ONE DIGIT SHIFT LEFT SLD(74) @

ONE DIGIT SHIFT RIGHT SRD(75) @

REVERSIBLE SHIFT REGISTER

ASYNCHRONOUS SHIFT REGISTER

 Increment/Decrement Instructions

INCREMENT INC(38) @

DECREMENT DEC(39) @

 Calculation Instructions

BCD ADD ADD(30) @

BCD SUBTRACT SUB(31) @

BCD MULTIPLY MUL(32) @

BCD DIVIDE DIV(33) @

BINARY ADD ADB(50) @

BINARY SUBTRACT SBB(51) @

BINARY MULTIPLY MLB(52) @

BINARY DIVIDE DVB(53) @

DOUBLE BCD ADD ADDL(54) @

DOUBLE BCD SUBTRACT SUBL(55) @

DOUBLE BCD MULTIPLY MULL(56) @

DOUBLE BCD DIVIDE DIVL(57) @

Note 1. Expansion instructions with default function

Name Mnemonic Variations

SFTR(84) @

ASFT(17)

Name Mnemonic Variations

codes

 Conversion Instructions

 Pulse Control Instructions

Name Mnemonic Variations

BCD-TO-BINARY BIN(23) @

BINARY-TO-BCD BCD(24) @

DOUBLE BCD-TO-DOUBLE

BINL(58) @

BINARY

DOUBLE BINARY-TO-

BCDL(59)

DOUBLE BCD

MODE CONTROL INI(61)

HIGH-SPEED COUNTER PV READ

 Pulse Output Control Instructions

DATA DECODER MLPX(76) @

DATA ENCODER DMPX(77) @

ASCII CONVERT ASC(86) @

ASCII-TO-HEXADECIMAL HEX(––1)

2’S COMPLEMENT NEG(––1)

HOURS-TO-SECONDS SEC(––1)

SECONDS-TO-HOURS HMS(––1)

 Table Data Manipulation Instructions

Name Mnemonic Variations

FRAME CHECKSUM FCS(––1) @

SUM SUM(––1) @

DATA SEARCH SRCH(––1)

FIND MAXIMUM MAX(––1) @

FIND MINIMUM MIN(––1) @

 Data Control Instructions

SPEED OUTPUT SPED(64)

SET PULSES PULS(65)

PULSE W/ VARIABLE DUTY

RATIO

ACCELERATION CONTROL

SYNCHRONIZED PULSE SYNC(––1) @

CONTROL

 I/O Unit Instructions

7-SEGMENT DECODER SDEC(78) @

I/O REFRESH IORF(97) @

 Communications Instructions

Name Mnemonic Variations

SCALING SCL(66)

SCALING 2 SCL2(––1) @

SCALING 3 SCL3(––1)

PID CONTROL PID(––1) ---

AVERAGE VALUE AVG(––1)

 Logic Instructions

Name Mnemonic Variations

COMPLEMENT COM(29) @

RECEIVE RXD(47)

TRANSMIT TXD(48)

---

CHANGE RS-232C SETUP STUP(––1) @

 Step Instructions

STEP DEFINE STEP(08) ---

STEP START SNXT(09) ---

 User Error Instructions

LOGICAL AND ANDW(34) @

LOGICAL OR ORW(35) @

EXCLUSIVE OR XORW(36) @

EXCLUSIVE NOR XNRW(37) @

 Special Calculation Instructions

FAILURE ALARM AND RESET

SEVERE FAILURE ALARM FALS(07) ---

 Display Instructions

Name Mnemonic Variations

BIT COUNTER BCNT(67)

 Subroutine Instructions

MESSAGE DISPLAY MSG(46) @

 Carry Flag Instructions

Name Mnemonic Variations

SUBROUTINE CALL SBS(91) @

SUBROUTINE ENTRY SBN(92) ---

SUBROUTINE RETURN RET(93) ---

SET CARRY STC(40) @

CLEAR CARRY CLC(41) @

Note 1. Expansion instructions with default function

MACRO MCRO(99) @

 Interrupt Control Instructions

Name Mnemonic Variations

INTERRUPT CONTROL STIM(69)

INTERVAL TIMER INT(89)

Name Mnemonic Variations

PRV(62)

CTBL(63)

Name Mnemonic Variations

PWM(––1) @

ACC(––1) @

Name Mnemonic Variations

FAL(06) @

Name Mnemonic Variations

codes.

xample Programs

Appendix B

Example programs

B-1 Basic RUN template program

The PLC option board for 3G3MV Inverters provides a very simple interface and direct way of controlling the RUN and speed reference of the inverter.

Parameter Type Description Default

Value

DM2036 WORD R/W

Decimal

207.00 BIT R/W MV_FWRUN_S1 : Generates Forward Run Command (1) 0

207.01 BIT R/W MV_RVRUN_S2 : Generates Reverse Run Command (1) 0

209.00 BIT R/W MV_NetRef_Set : 0=Reference from PLC board (DM2036) 0

209.01 BIT R/W MV_NetCtrl_Set : 1=Run signals from PLC board (207.00 and

MV_Freq_Ref_Set : Speed reference in decimal value. Units according to n035. By default 0.01Hz (n035=0)

207.01)

B-2 Basic Writing Parameter template program

The PLC option board for 3G3MV inverters provides many directly mapped parameters. But if some nonmapped parameter is needed to be modified, then the transfer functionality is required. The same rules like operator terminal action are applied. Some parameters are not possible to change During Run, etc….

This SAMPLE is changing ramp (n19 - 113h & n20 - 114h) values dynamically at the same time like speed from a sequencing program using a timed state machine sequencer. Also shows the use of the 4 PLC outputs.

xample Programs

Appendix B

xample Programs

Appendix B

xample Programs

Appendix B

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Appendix B

xample Programs

Appendix B

B-3 Basic Read Parameter template program

This SAMPLE is reading torque monitor of MV (32h) value. Only Vector. It writes in DM101 as BCD. Compare with DM2026... Although the selection of the transfer zones is free for the user, it is recommended to follow the recommendations..

PARAMETER Recommended Type Description

210.00 BIT R/W

210.01 BIT R/W

206.00 BIT R/W

206.01 BIT R/W

206.02 BIT R/W

206.03 BIT R/W

DM2023 WORD

R/W BCD

DM2024 WORD

R/W BCD

Transfer (Read) (ON: Begin Reading; turns OFF when transfer is completed.)

Transfer (Write) (ON: Begin writing; turns OFF when transfer is completed.)

Inverter Ready (error detected by mutual diagnosis) (ON: Normal; OFF: Error)

Transfer completion bit (ON: Transfer completed; turns OFF when TRANSFER command turns OFF.)

Transfer error (ON: Error; OFF: Normal)

Transfer busy (ON: Busy; OFF: Ready for transfer)

Destination address for storing transferred data (4 digits BCD): L . We recommend using DM1950

Destination address for storing transfer response data (4 digits BCD): K . We recommend using DM1970

1950

1970

xample Programs

Appendix B

xample Programs

Appendix B

xample Programs

Appendix B

B-4 Basic Positioning template program

The PLC option board for 3G3MV inverters provides the needed hardware to perform a basic position control software. We can read an encoder with A and B phase signals, digital inputs and have complete control on the inverter speed and Run commands. We have additional I/O and fully programmable PLC. That’s all needed for a position controller application.

The control loop is performed by the ladder program. The selected control loop performs a very simple P controller on the position error between demanded and real positions.. Then it limits and applies a frequency reference proportional to it. With this setup, without profile generator (acceleration, deceleration generated by position reference calculations), we have a compact position controller software, that will solve a lot of simple point to point applications.

B-4-1 Method

• We apply directly the position difference as speed reference , we have programmed some accelera- tion on the inverter (so it will ramp up at that defined rate). The inverter has zero deceleration, so when the position is reaching the point automatically the speed is reduced gradually, generating some non-linear ramp, but stopping in the correct position.

• As the PLC can not handle big negative numbers we have to apply an offset position and work around an intermediate point, scaling for the user.

B-4-2 Features

• Easy to use

• Continuous loop

• Scaled setpoint by N1/N2 factor.

• 2 InPosition windows. The second one can be defined bigger for faster sequence control.

• Variable P Gain

• Position_Reset available

• Home(origin) search sequence, with fast forward and slow backwards seek. Definable speeds

• Home(origin) timeout control

B-4-3 Limitations

• As the 3G3MV is an open loop inverter, with only P type of controller, inertial loads might not be well handled by the software, leading to oscillation. Lowering P gain can help, but lowers dynamics. It is preferred some kind of frictional load. Most applications that use a high gear-ratio gear-motor will be mostly controlled. To control inertial loads a more sophisticated control loop should be programmed. Using a free motor can lead to instability.

• Deceleration profile will be exponential due to the method of using the position difference to generate speed reference.

• We are limited to two word position references. So 80000000 quadrature pulses approximately.

• The values allowed for the fractional factor limit the reference position range. Scaling intermediate

results can only be two word values. The bigger the factor, the shortest the position reference allowed. It is recommended to use values from 1 to 10 in N1 and N2.

• We don’t have the real concept of following error as the program does not perform a real positioning profile. We only have the “demanded-real position” error.

B-4-4 Inverter/PLC Setup

We need some specific settings in the inverter for a correct positioner work :

• We will use two sets of ramps… one is for the positioning with acceleration defined and deceleration set to zero…

• n021=1 sec n022=0 sec for position control (n022 must be always zero).

xample Programs

• The other will be used in speed control mode, where we require both acceleration and deceleration to be active…

• n019=2 sec n020=2 sec for speed control or any desired.

• n54=11 (accel/deccel change by S5 or internally controlled by PLC) To allow the program to do the

changeover automatically. The PLC will simulate that input by 207.04 control bit

• It is recommended a modified VF curve for better response in the lower frequency range … Typically for Vector values like following are good initial values :

• n015=30V, n016 = 0.1Hz , n017=15Hz

• Keep n35=0 (0.01Hz resolution of speed references) for better resolution in speed control.

We also need particular settings in the PLC side :

In the PLC, following bits have to be cleared : IR209.00=0 and IR209.01=0. In this way we provide full Speed reference and Run command control from the PLC regardless the inverter settings.

And the configuration for the input encoder (24Vdc type).

For the counter to work with the encoder we need following settings :

Appendix B

B-4-5 I/O Connections

In the template following basic inputs are predefined :

PLC Input 0 : A Channel encoder

PLC Input 1 : B Channel encoder

PLC Input 2 : Home/Origin sensor

Then the user program can use the rest of PLC and inverter inputs …

In our Application example we use :

PLC Input 3 for Home/Origin request and

xample Programs

PLC Input 4 for positioning

Appendix B

B-4-6 Defining the application

• When counting for the required accuracy a safe rule is to count on 20-30 quad edge pulse error directly on the motor. Depends mostly on the mechanical system design.

• The encoder can be either in the motor or after gearbox. For higher accuracy in the motor is good, but then we have to be careful with the frequency limits of the input.

• In any case take into account the 5KHz maximum input rate for the maximum motor speed. Depends on the encoder resolution, where it is placed and encoder max rpm. Typical figure is for a 1500rpm motor, with encoder directly coupled to motor that we can use a 200ppr encoder if we require full speed range : This is 5KHz at top speed.

B-4-7 Program structure

The program structure is as follows:

• User_Parameter_Init: will be used by the customer to initialise Position program parameters and application own parameters

• User_Application: will make use of the control bits and parameters of the Positioning template to do the machine sequence. If the user program has more sections all have to be in front of the Pos_??? sections.

• Pos_Loop: provides the position/speed control capabilities

• Pos_HomeSequence: provides the home sequence facilities.

B-4-8 Setting position parameters

The software provides the following BIT/WORD interface area and default values ….

NOTE : as the reading of the encoder signal comes from quadrature signals, the name quads refers to four counts for each encoder pulse…. It means a 200ppr encoder will provide a real resolution of 800 quads per revolution….

The frequency limit is defined by the real pulse limit, not quads.

Default values are the default values in the examples provided. Customer can fill its own values.

It is recommended to first do a trial run in speed with small reference and check that the counting of the encoder corresponds to speed reference given. If not some wiring might be wrong. Once positive sense corresponds to positive count, then we can go for the positioner settings.

xample Programs

Parameter Type Description Default

2.00 BIT (R/W) Control_Mode : 0=Speed, 1=Position 0

2.01 BIT (R/W) Position_Reset : 1=reset . Use with SET. Resets to zero when done

2.02 BIT (R/W) Home_Request : 1=Home is requested. The sequence begins. Once finished we can have either 3.00=1 (Home_OK) or 3.01=1 (Home_Error). The maximum time to perform home is defined in DM32

2.03 BIT (R/W) Speed_Run_Fwd : In Speed mode (2.00=0), it generates Run forward of the inverter with 2.03=1. The speed reference from DM2036. 209.00=0 and 209.01=0 for full PLC control.

2.04 BIT (R/W) Speed_Run_Rev : Like 2.03, but in reverse direction 0

3.00 BIT (R) Home_OK : When home is finished and OK, this bit is activated

3.01 BIT (R) Home_Error : If home is not finished in the defined timeout DM32, then Home_Error appears and the sequence is cancelled.

3.02 BIT (R) In_Position1 : The finest in position. Defined window in DM16. Used for the positioner work itself.

3.03 BIT (R) In_Position2 : Available for fastest sequence work. We define in DM18. Typically used to start processes slightly before the final position is reached (activate a valve, move other axis, etc.).

DM10 DWORD (R/W)

BCD

DM12 DWORD (R/W)

BCD

DM14 DWORD (R/W)

BCD

SP : BCD. SetPoint of position (in units) DM10 and DM11 0

SP_PV_Scale_N1 : Numerator of SP&PV scaling 1

SP_PV_Scale_N2 : Denominator of SP&PV scaling

Scaling is ..

units =∗

quads

Appendix B

Value

Default values correspond to direct quad control

DM16 DWORD (R/W)

BCD

DM18 DWORD (R/W)

BCD

DM20 DWORD (R/W)

BCD

DM22 DWORD (R/W)

Decimal

DM24 DWORD (R/W)

BCD

In_Position1_Window : Defines the width of the In_Position output 1. This has to be the most accurate positioning window. Usually just some units. In units

In_Position2_Window : Defines a wider window for use in the software sequence (start some actions just while the movement is being finished). In quads

Home_Initial_Pos : In units. Defines the initial movement to an initial position <>0 after the homing process has been defined.

Max_Frequency : Value in speed units from the inverter (depends on n035). We recommend n035 to leave standard (0) so we have the best resolution (0.01Hz).

P_Gain : This is the factor that will generate the final speed reference from the position error quads. If it is too big we will have overshoot. If too low, positioning will be slow. If we have big inertia it might happen that even with small gain we have instability.

2000

xample Programs

PARAMETER Type Description Default

DM26 DWORD (R/W)

BCD

DM28 DWORD (R/W)

BCD

DM30 DWORD (R/W)

Decimal

DM31 DWORD (R/W)

Decimal

DM32 DWORD (R/W)

BCD

DM2036 DWORD (R/W)

Decimal

DM40 DWORD (R)

BCD

DM44 DWORD (R)

BCD

DM46 DWORD (R/W)

BCD

Have a look to the simple User_Application section to check how simple it is to use the positioner program.

Max_Pos_Error : This limits the error output. This is necessary mainly for calculation limit issues.

PV_Rotary_Scale : This is an additional “Present Value” readout that shows in DM44 (Dword) Whole DM28 groups of counts and in DM46 (Dword) the remaining in one “wrap around count”. If we use a scaling for degrees and DM28 is 360, then is just turns/degrees idea.

Home_Fast_Speed : This is the first speed used to find the home/origin sensor in reverse sense. Decimal value in units defined by n035. By default 0.01Hz

Home_Seek_Speed : Once found the sensor, forward seek at this speed is performed until the sensor disappears. This ensure accurate homing. Decimal value in units defined by n035. By default 0.01Hz

Home_Process_MaxTime : Timeout value in 0.1 sec unit. This is the allowed time for the homing process to finish.

MV_Freq_Ref_Set : This is the speed reference when the PLC is controlling the inverter. In position mode (2.0=1) The program generates automatically this reference. In speed mode (2.0=0) the user has to set the value to control the speed.

PV_Final : Scaled Present Value. Real position read from the encoder. Scaling factors to/from quads in DM12 / DM14

PV_Whole_Turns : Scaled PV with “wrap around” function from DM28

PV_Angular_Position : Scaled PV with “wrap around” function from DM28

Appendix B

Value

10000

360

150

100

xample Programs

B-4-9 Programs

User_Parameter_Init

Appendix B

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Appendix B

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User_Application

Appendix B

Pos_Loop

xample Programs

Appendix B

Omron 3G3MV-PDRT2, 3G3RV-PDRT2 USERS MANUAL

Specifications and Main Features

Frequently Asked Questions

User Manual

TABLE OF CONTENTS

PRECAUTIONS

High-speed counters

Instructions

Example programs