Yaskawa GL120 User Manual
YASKAWA
MEMOCON GL120, GL130
HARDWARE USER'S MANUAL
YA S K A WA
MANUAL NO. SIEZ-C825-20.1D
Manual Contents
This manual describes the hardware specifications and applications of the MEMOCON GL120, GL130.
Please read this manual carefully and be sure you understand the information provided before attempting to
install and use the MEMOCON GL120, GL130.
Visual Aids
The following aids are used to indicate certain types of information for easier reference.
.
Indicates references for additional information.
NOTICE
The following conventions are used to indicate precautions in this manual. Failure to heed precautions
provided in this manual can result in injury to people or damage to the products.
IMPORTANT
A
EXAMPLE
INFO
'SUMMARY
Note
TERMS
WARNING
!
Indicates important information that should be memorized.
"
Indicates application examples.
Indicates supplemental information.
Indicates a summary of the important points of explanations.
Indicates inputs, operations, and other information required for correct operation
but that will not cause damage to the device.
Indicates definitions of terms used in the manual.
Indicates precautions that, if not heeded, could possibly result in loss of life or
serious injury.
Caution
!
Indicates precautions that, if not heeded, could result in relatively serious or minor
injury, damage to the product, or faulty operation.
Yaskawa, 2001
All rights reserved. Nopart ofthis publicationmay 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
Yaskawa. No patent liability is assumed with respect to the use of the information contained herein. Moreover, because
Yaskawa 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, Yaskawa 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.
CONTENTS
CHAPTER 1 Introduction and Precautions 1-1............................
1.1 Overview of Manuals 1-2.....................................................
1.2 Precautions 1-7.............................................................
1.2.1 Safety Precautions 1-7................................................
1.2.2 Installation Precautions 1-8............................................
1.2.3 Removal Precautions 1-12..............................................
1.2.4 Wiring Precautions 1-13................................................
1.2.5 Applications Precautions 1-16...........................................
1.2.6 Maintenance 1-18.....................................................
1.3 Using this Manual 1-19........................................................
CHAPTER 2 Overview 2-1.............................................
2.1 Overview of the MEMOCON GL120 and GL130 2-2...............................
CHAPTER 3 System Components 3-1....................................
3.1 Overview of System Components 3-2...........................................
CHAPTER 4 System Components: Functions and Specifications 4-1..........
4.1 General Specifications 4-3....................................................
4.2 Power Supply Modules 4-4....................................................
4.2.1 Appearance of Power Supply Modules 4-4................................
4.2.2 Power Supply Modules: Function and Models 4-9...........................
4.2.3 Specifications of Power Supply Modules 4-10...............................
4.2.4 Selecting Power Supply Modules 4-14.....................................
4.2.5 Using Power Supply Modules 4-18.......................................
4.3 CPU Modules 4-24...........................................................
4.3.1 Appearance of CPU Modules 4-24........................................
4.3.2 CPU Modules: Functions and Models 4-30.................................
4.3.3 Specifications of CPU Modules 4-35......................................
4.3.4 Using CPU Modules 1 (For CPU20, CPU30, and CPU35) 4-65.................
4.3.5 Using CPU Modules 2 (For CPU21) 4-80..................................
4.3.6 Using CPU Modules 3 (For CPU10) 4-88..................................
4.4 Communications Modules 4-100.................................................
4.4.1 Models of Communications Modules 4-100..................................
4.4.2 Remote I/O Driver Module 4-105.........................................
4.4.3 Remote I/O Receiver Module 4-111........................................
4.4.4 2000-Series Remote I/O Driver Module 4-121...............................
4.4.5 MEMOBUS Modules (RS-232) 4-127......................................
4.4.6 MEMOBUS Modules (RS-422) 4-135......................................
4.4.7 PC Link Module 4-147..................................................
4.4.8 Uniwire Interface Module 4-159..........................................
4.4.9 Uniwire H-system Interface Module 4-166..................................
4.4.10 Distributed I/O Driver Module 4-175.......................................
4.4.11 M-NET Module 4-182..................................................
—v—
CONTENTS
4.4.12 YENET 1600-D Module 4-188...........................................
4.4.13 Ethernet Interface Module 4-199..........................................
4.4.14 Optical/Electrical Conversion Module 4-209.................................
4.5 I/O Modules 4-218............................................................
4.5.1 Models of I/O Modules 4-218............................................
4.5.2 Appearance of I/O Modules 4-220.........................................
4.5.3 Functions and Specifications of I/O Modules 4-223...........................
4.5.4 Using I/O Modules 4-229................................................
4.6 Special Purpose Modules 4-231..................................................
4.6.1 Models of Special Purpose Modules 4-231..................................
4.6.2 High-speed Counter Module 4-233........................................
4.6.3 Pulse Catch Module 4-239...............................................
4.7 Motion Modules 4-245.........................................................
4.7.1 Models of Motion Modules 4-245.........................................
4.7.2 Four-axis Motion Module 4-246...........................................
4.7.3 One-axis Motion Module 4-257...........................................
4.7.4 Two-axis Motion Module 4-265...........................................
4.8 Other Module 4-277...........................................................
4.8.1 Expander Module 4-277.................................................
4.8.2 Battery Module 4-283...................................................
4.9 Mounting Base 4-296..........................................................
4.10 Rack-to-rack I/O Cables 4-300...................................................
CHAPTER 5 Installation and Wiring 5-1.................................
5.1 Designing the Control Panel 5-2................................................
5.1.1 Structure of Control Panel 5-2..........................................
5.1.2 Cooling the Control Panel 5-2..........................................
5.1.3 Preventing Electrical Noise 5-3.........................................
5.1.4 Approximate Masses of Modules and Mounting Bases 5-5....................
5.1.5 Maximum Heating Value by Modules 5-7.................................
5.1.6 Mounting Base Layout 5-8.............................................
5.1.7 Module Mounting Dimensions 5-12.......................................
5.2 Installing Mounting Bases and Modules 5-16.......................................
5.2.1 Installing Mounting Bases 5-16..........................................
5.2.2 Installing Modules 5-20................................................
5.2.3 Installing the CPU and the Power Supply Module 5-25........................
5.2.4 Installing the Terminal Block for Field Connection Module 5-29................
5.2.5 Connector for Field Connections Module 5-35..............................
5.2.6 Installing the Communications Modules 5-39...............................
5.2.7 Installing the Motion Module 5-44........................................
5.2.8 Installing Rack-to-Rack I/O Cables 5-49...................................
5.3 Panel Wiring 5-51............................................................
5.3.1 Separation of Power Supply Systems 5-51..................................
5.3.2 Wiring the Power Supply Module 5-51....................................
5.3.3 Wiring Digital I/O Modules 5-55.........................................
—vi—
CONTENTS
5.3.4 Wiring Other Modules 5-68.............................................
5.3.5 Grounding 5-70.......................................................
5.3.6 Hot Swapping 5-76....................................................
5.4 External Wiring 5-80..........................................................
CHAPTER 6 Low Voltage Directives 6-1.................................
6.1 Power Supply Modules 6-2....................................................
6.1.1 Models of Power Supply Modules 6-2....................................
6.1.2 Appearance of Power Supply Modules 6-3................................
6.1.3 Functions and Specifications of Power Supply Modules 6-5...................
6.1.4 Using Power Supply Modules 6-6.......................................
6.2 I/O Modules 6-11............................................................
6.2.1 Models of I/O Modules 6-11............................................
6.2.2 Appearance of I/O Modules 6-12.........................................
6.2.3 EN Standard for I/O Module 6-14........................................
6.2.4 Specifications of the I/O Module 6-16.....................................
APPENDICES
Examples of Panel Layout and Hole Dimensions A-1.....................................
A.1 Panel Layout A-2.....................................................
A.2 Drilling Plan A-4.....................................................
Dimensions B-1..................................................................
B.1 Power Supply Modules B-2............................................
B.2 CPU Modules B-3....................................................
B.3 Communications Modules B-5..........................................
B.4 I/O Modules B-10.....................................................
B.5 Special Purpose Modules B-13...........................................
B.6 Motion Modules B-14..................................................
B.7 Other Modules B-16...................................................
B.8 Mounting Bases B-19..................................................
B.9 Cables B-22..........................................................
INDEX
— vii —
Introduction and Precautions
This chapter introduces this manual and provides precautions for the use of
this manualand the product.
to read the rest of the manual or using the product.
1.1 Overview of Manuals 1-2.....................
1.2 Precautions 1-7.............................
1.2.1 Safety Precautions 1-7.............................
1.2.2 Installation Precautions 1-8..........................
1.2.3 Removal Precautions 1-12...........................
1.2.4 Wiring Precautions 1-13.............................
1.2.5 Applications Precautions 1-16........................
1.2.6 Maintenance 1-18..................................
You must read this chapter before attempting
1
1
1.3 Using this Manual 1-19.......................
— 1-1 —
1
Introduction and Precautions
1.1 Overview of Manuals
• This manual provides hardware information on the GL120 and GL130 and contains the following items.
1) System configuration
2) Types of devices used in the system configuration
3) Functions and specifications of the devices used in the system configuration
4) Installation and wiring
5) Examples of panel layout and dimensions for boring
6) Dimensions
• Read this manual carefully in order to properly use the hardware of the MEMOCON GL120
and GL130 Programmable Controllers. Also, keep this manual in a safe place so that it can
be referred to whenever necessary.
• Refer to the following manuals for related peripheral devices, Modules, and software.
— 1-2 —
1.1 Overview of Manuals
Product Manual Name Manual Number Content
CPU
Module
I/O
Modules
MEMOCON GL120
CPU10 Module
User’s Manual
MEMOCON GL120
CPU21 Module
User’s Manual
MEMOCON GL120, GL130
Software User’s Manual,
Volume 1
MEMOCON GL120, GL130
Software User’s Manual,
Volume 2
MEMOCON GL120, GL130
Software User’s Manual,
Volume 3
MEMOCON GL120, GL130
Software User’s Manual,
Volume 4
MEMOCON GL120, GL130
120-series I/O Modules
User’s Manual
MEMOCON GL120, GL130
Distributed I/O Module
User’s Manual
(MECHATROLINK)
SIEZ-C825-20.1-1 Describes the functions,
specifications, usage, and ROM
operation of the CPU10 Module.
SIEZ-C825-20.1-2 Describes the functions,
specifications, usage, and
expansion memory access
instructions of the CPU21
Module.
SIEZ-C825-20.11 Describes the following for the
GL120 and GL130:
1) Operating principles
2) I/O allocation
3) Overview of instructions
4) Instruction processing times
SIEZ-C825-20.12 Describes the programming
instructions used to create
ladder programs for the GL120
and GL130.
The following instructions are
described in other manuals.
1) Expansion Math Instructions:
Software User’s Manual (Vol.
3)
2) Process Control Instructions:
Software User’s Manual (Vol.
4)
3) CommunIcations Instructions
COM:
COM Instructions User’s
Manual FBUS:
PC Link Module User’s
Manual
MSTR:
MEMOBUS PLUS User’s
Manual
4) Motion Control Instructions
(ladder motion instructions)
Motion Module MC20
Software User’s Manual
5) Motion Language
Motion Module MC20
Software User’s Manual
SIEZ-C825-20.13 Describes expansion math
instructions (floating point math
instructions, etc.) used for the
GL120 and GL130.
SIEZ-C825-20.14 Describes process control
instructions used for the GL120
and GL130.
SIEZ-C825-20.22 Describes the functions,
specifications, and usage of the
120-Series Digital I/O Module.
SIEZ-C825-20.71 Describes the functions,
specifications, and usage of the
Distributed I/O Module for
MECHATROLINK.
1
— 1-3 —
1
Introduction and Precautions
Product ContentManual NumberManual Name
Special
Purpose
Modules
Motion
Modules
HumanMachine
Interface
MEMOCON GL120, GL130
120-series High-speed
Counter Module
User’s Manual
MEMOCON GL120, GL130
Pulse Catch and Counter
Module
User’s Manual
MEMOCON GL120, GL130
Counter Module
User’s Manual
(MECHATROLINK)
MEMOCON GL120, GL130
Pulse Output Module
User’s Manual
(MECHATROLINK)
MEMOCON GL120, GL130
Motion Module MC10
User’s Manual
MEMOCON GL120, GL130
Motion Module MC15
User’s Manual
MEMOCON GL120, GL130
Motion Module MC20
Hardware User’s Manual
MEMOCON GL120, GL130
Motion Module MC20
Software User’s Manual
MEMOCON GL120, GL130
Teach Pendant TB120 for
Motion Module MC20
User’s Manual
MEMOCON GL120, GL130
MEMOSOFT for P120
Programming Panel
User’s Manual
MEMOCON GL120, GL130
MEMOSOFT
User’s Manual
MEMOCON GL120, GL130
MEMOSOFT for Windows
User’s Manual
MEMOCON GL120, GL130
Online Programmer for
P120 Programming Panel
User’s Manual
MEMOCON GL120, GL130
MEMOMAIL for P120
Programming Panel
User’s Manual
MEMOCON GL120, GL130
Online Programmer for
P140 Programming Panel
User’s Manual
FA Monitor for MEMOCON
Series ACGC4200
User’s Manual
SIEZ-C825-20.24 Describes the functions,
specifications, and usage of the
120-series High-speed Counter
Module.
SIEZ-C825-20.28 Describes the functions,
specifications, and usage of the
120-series Pulse Catch and
Counter Module.
SIEZ-C825-20.79 Describes the functions,
specifications, and usage of the
Counter Module for
MECHATROLINK.
SIEZ-C825-20.80 Describes the functions,
specifications, and usage of the
Pulse Output Module for
MECHATROLINK.
SIEZ-C825-20.41 Describes the functions,
specifications, and usage of the
One-axis Motion Module MC10.
SIEZ-C825-20.43 Describes the functions,
specifications, and usage of the
Two-axis Motion Module MC15.
SIEZ-C825-20.51 Describes the functions,
specifications, and usage of the
Four-axis Motion Module MC20.
SIEZ-C825-20.52 Describes motion control
instructions (ladder motion
instructions) and motion program
language used for the Four-axis
Motion Module MC20.
SIEZ-C825-60.3 Describes the functions,
specifications, and usage of the
Teach Pendant TB120.
SIEZ-C825-60.7 Describes the functions,
specifications, and usage of the
Programming Panel P120 (with
built-in MEMOSOFT).
SIEZ-C825-60.10 Describes the functions and
usage of the MEMOSOFT for
DOS.
SIEZ-C825-60.25 Describes the functions and
usage of the MEMOSOFT for
Windows.
SIEZ-C825-60.19 Describes the functions,
specifications, and usage of the
Online Programmer for the
GL120 and GL130.
SIEZ-C825-60.19-2 Describes the functions,
specifications, and usage of the
Online Programmer MEMOMAIL
for the GL120 and GL130.
SIEZ-C825-60.22 Describes the functions,
specifications, and usage of the
Online Programmer for the
GL120 and GL130.
SIE-C825-60.57 Describes the functions,
specifications and usage of the
FA Monitors ACGC4250/4260.
— 1-4 —
Product ContentManual NumberManual Name
Communication
Modules
MEMOCON GL120, GL130
PC Link Module
User’s Manual
MEMOCON GL120, GL130
MEMOBUS PLUS
User’s Manual
MEMOCON GL120, GL130
MEMOBUS PLUS
SA85 Network Adapter
User’s Manual
MEMOCON GL120, GL130
MEMOBUS PLUS
BM85 Bridge/Multiplexer
User’s Manual
MEMOCON GL120, GL130
Coaxial Remote I/O System
User’s Manual
1000/2000-Series Coaxial
Remote I/O System
User’s Manual
MEMOCON GL120, GL130
Uniwire Interface Module
User’s Manual
MEMOCON GL120, GL130
Uniwire H-system Interface
Module
User’s Manual
MEMOCON GL120, GL130
Distributed I/O Driver
Module
User’s Manual
MEMOCON GL120, GL130
M-NET Module
User’s Manual
MEMOCON GL120, GL130
MEMOBUS
User’s Manual
MEMOCON GL120, GL130
COM Instructions
User’s Manual
MEMOCON GL120, GL130
Optical/Electrical
Conversion Module
User’s Manual
MEMOCON GL120, GL130
YENET 1600-D Module
User’s Manual
MEMOCON GL120, GL130
Ethernet Interface Module
User’s Manual
1.1 Overview of Manuals
SIEZ-C825-70.4 Describes the functions,
specifications, and usage of the
PC Link Module for the GL120
and GL130.
SIEZ-C825-70.5 Describes the functions,
specifications, and usage of the
MEMOBUS PLUS.
SIEZ-C825-70.6 Describes the SA85 Network
Adapter for the MEMOBUS
PLUS.
SIEZ-C825-70.7 Describes the BM85
Bridge/Multiplexer for the
MEMOBUS PLUS.
SIEZ-C825-70.8 Describes the functions,
specifications, and usage of the
Coaxial Remote I/O System for
the GL120 and GL130.
SIEZ-C825-70.9 Describes the functions,
specifications, and usage of the
Coaxial Remote I/O System for
the GL120 and GL130 using
1000 I/O and 2000 I/O
SIEZ-C825-20.26 Describes the functions,
specifications, and usage of the
120-series Uniwire Interface
Module.
SIEZC82052100 Describes the functions,
specifications, and usage of the
120-series Uniwire Interface
Module.
SIEZ-C825-20.29 Describes the functions,
specifications, and usage of the
120-series Distributed I/O Driver
Module for MECHATROLINK.
SIEZ-C825-70.12 Describes the functions,
specifications, and usage of the
M-NET Module.
SIEZ-C825-70.13 Describes the functions,
specifications, and usage of the
MEMOBUS.
SIEZ-C825-70.14 Describes the functions,
specifications, and usage of the
COM instructions. It also
describes the specifications and
usage of the MEMOBUS
Module.
SIEZ-C825-70.18 Describes the functions,
specifications, and usage of the
Optical/Electrical Conversion
Module.
SIEZ-C825-70.20 Describes the functions,
specifications, and usage of the
YENET 1600-D Module.
SIEZ-C825-70.21 Describes the functions,
specifications, and usage of the
Ethernet Interface Module.
1
— 1-5 —
1
Introduction and Precautions
Product ContentManual NumberManual Name
Communication
Modules
Other
Products
• Thoroughly check the specifications and conditions or restrictions of the product before
use.
MEMOCON GL120, GL130
FIX Ethernet MEMOBUS
Driver (YME)
User’s Manual
MEMOCON GL120, GL130
Traceback
User’s Manual
SIEZ-C825-70.22 Describes the functions,
specifications, and usage of the
FIX Ethernet MEMOBUS Driver.
SIEZ-C825-60.10-4 Describes the functions,
specifications, and usage of the
Traceback.
— 1-6 —
1.2 Precautions
This section outlines general precautions that apply to using this manual and the
product. You must read this section first before reading the remainder of the
manual.
1.2 Precautions
1.2.1 Safety Precautions 1-7...............................................
1.2.2 Installation Precautions 1-8...........................................
1.2.3 Removal Precautions 1-12............................................
1.2.4 Wiring Precautions 1-13...............................................
1.2.5 Applications Precautions 1-16..........................................
1.2.6 Maintenance 1-18....................................................
1.2.1 Safety Precautions
• The GL120 and GL130 were not designed or manufactured for use in devices or systems
directly related to human life. Users who intend to use the product described in this manual
for special purposes such as devices or systems relating to transportation, medical, space
aviation, atomic power control, or underwater use must contact Yaskawa Electric Corporation beforehand.
• This product has been manufactured under strict quality control guidelines. However, if this
product is to be installed in any location in which a failure of GL120 and GL130 involves a life
and death situation or in a facility where failure may cause a serious accident, safety devices MUST be installed to minimize the likelihood of any accident.
1
• Any illustrations, photographs, or examples used in this manual are provided as examples
only and may not apply to all product to which this manual is applicable.
• The products and specifications described in this manual or the content and presentation of
the manual may be changed without notice to improve the product and/or the manual. A
new version of the manual will be released under a revised manual number when any
changes are made.
• Contact your Yaskawa representative or a Yaskawa office listed on the back of this manual
to order a new manual whenever this manual is damaged or lost. Please provide the manual
number listed on the front cover of this manual when ordering.
• Contact your Yaskawa representative or a Yaskawa office listed on the back of this manual
to order new nameplates whenever a nameplate becomes worn or damaged.
• Yaskawa cannot guarantee the quality of any products which have been modified. Yaskawa
assumes no responsibility for any injury or damage caused by a modified product.
— 1-7 —
Introduction and Precautions
1.2.2 Installation Precautions
1.2.2 Installation Precautions
Abide by the following precautions when installing GL120 and GL130 systems.
!
Caution The installation environment must meet the environmental conditions given in product cata-
logs and manuals. Using the GL120 and GL130 in environments subject to high temperatures, high humidity, excessive dust, corrosive gases, vibration, or shock can lead to electrical shock, fire, or faulty operation. Do notuse the GL120 and GL130 in the following locations.
1
• Locations subject to direct sunlight or ambient temperatures not between 0 and 60 _C.
• Locations subject to relative humidity in excess of 95%, or condensation because of
rapid changes in humidity.
• Locations subject to corrosive or flammable gas.
• Locations that would subject the GL120 and GL130 to direct vibration or shock.
• Locations subject to contact with water, oil, chemicals, etc.
!
Caution Install the GL120 and GL130 as described in this product manual. Improper installation can
cause product failure, malfunctions, or Modules or other components to fall off.
1) Make sure that all mounting screws are securely tightened.
Make sure that all installation screws for Modules or terminal block for field connection
are securely tightened so that they do not become loose. Loose screws will cause failures in the GL120 and GL130.
Power
Supply
Module
Module mounting screw
2) Install Mounting Bases in the correct direction. Faulty or inappropriate installation may
result in detachment, failure, or malfunction.
Module hooks
Install Mounting Base perpendicularly so
that the Module hooks face upwards.
— 1-8 —
1.2 Precautions
!
Caution
!
Caution Connector covers are attached to the Module connectors on the Mounting Base. Leave the
!
Caution When installing the Power Supply Module, turn OFF the power supply to the field wiringtermi-
Never install a Mounting Base on the DIN track when transporting over long distances or
when the control panel which houses the GL120 or GL130 will be used in an environment
subject to excessive vibration. In such cases, install the Mounting Base directly onto a steel
installation plate.
If the Mounting Base is installed on DIN track, it may fall off if subject to strong shock or
vibration.
Module connectors attached to the connector covers when mounting the Mounting Base so
that foreign matter does not enter the Module connectors during mounting operations.
The GL120 and GL130 may malfunction if any foreign matter enters a Module connector.
nals.
1
Installing the Power Supply Module while the power is being supplied may damage the
Module or cause malfunction of the GL120 and GL130.
!
Caution When installing the CPU or the Expander Module, turn OFF the power supply to all Power
Supply Modules.
Installing the CPU or the Expander Module while the power is being supplied to Power
Supply Modules may damage the Module or cause malfunction of the GL120 and GL130.
!
Caution When installing the terminal block for the AC I/O Modules, turn OFF the AC power supply to
the AC I/O Modules for input signal or driving loads.
Installing a terminal block with AC power to the external power supply terminal of the AC
I/O Modules may cause an electric shock at touching the power supply terminals.
!
Caution Make sure that all mounting screws for the terminal block are securely tightened.
Make sure that all mounting screws for the terminal block are securely tightened so that
they do not become loose. Loose screws may cause malfunctioning of the GL120,
GL130.
!
Caution Male sure that all cable connectors for the Module are securely inserted and tightened.
Insufficient insertion and/or looseness may cause malfunction of the GL120 and GL130.
— 1-9 —
1
Introduction and Precautions
1.2.2 Installation Precautions cont.
!
Caution
!
Caution Mount the Modules mentioned in the table below on local channel racks.
Mount the Modules mentioned in the table below on CPU racks (racks with CPU Modules).
Mounting these Modules on any other racks may damage the Modules or cause a malfunction of the GL120 and GL130.
Modules to be Mounted on CPU Rack Model No.
Remote I/O Driver Module JAMSC-120CDR13100
2000-series Remote I/O Driver Module JAMSC-120CDR13110
PC Link Module JAMSC-120NFB23100
Ethernet Interface Module JAMSC-120NET12100
Mounting these Modules on remote channel racks may damage the Modules or cause a
malfunction of the GL120 and GL130.
Modules to be Mounted on Local Channel Rack Model No.
MEMOBUS Module (RS-232) JAMSC-120NOM13100
MEMOBUS Module(RS-422) JAMSC-120NOM13110
!
Caution When installing the Modules that do not support hot swapping, turn OFF the power supply to
Power Supply Modules.
Installing the Modules that do not support hot swapping while the power is being supplied
to Power Supply Modules may damage the Module or cause malfunction of the GL120
and GL130.
Modules that Do Not Support Hot Swapping Model No.
Remote I/O Driver Module JAMSC-120CDR13100
2000-series Remote I/O Driver Module JAMSC-120CDR13110
!
Caution
When connecting the cables connected to the Ethernet Interface Modules, turn OFF the power supply to the Power Supply Modules on the racks where the Ethernet Interface Modules
are mounted.
Connecting the cables while power is being supplied to the Power Supply Modules may
damage the Ethernet Interface Module or cause a malfunction of the GL120 and GL130.
!
Caution Mount the MC20 Module on a CPU Rack(a rack with CPU Module).
Installing the MC20 Module on any other rack may damage the Module or cause the malfunction of the GL120 and GL130.
!
Caution When using the absolute position detecting function with the MC15 Module, it must be
mounted on the CPU Rack (a rack with CPU Module).
Installing the MC15 Module on any other rack may damage the Module or cause the malfunction of the GL120 and GL130.
— 1-10 —
1.2 Precautions
!
Caution
!
Caution When connecting the cables to the Motion Module, turn OFF the power supply to the Power
When installing the Motion Module, turn OFF the power supply to the Power Supply Module
on the rack with the Motion Module mounted.
Installing the Motion Module while the power is being supplied to the Power Supply Module may damage the Module or cause malfunction of the GL120 and GL130.
Supply Module on the rack with the Motion Module mounted.
Connecting cables to a Motion Module while the power is being supplied may damage
the Module or cause malfunction of the GL120 and GL130.
!
Caution When connecting the Rack-to-rack I/O cables to the Motion Module, turn OFF the power Sup-
ply to all Power Supply Modules.
Connecting the cables while the power while the power is being supplied may damage
the Module or cause a malfunction of the GL120 and GL130.
!
Caution The total length of the rack-to rack I/O cable for each station is always 6.0 m or less.
If the total length of the cables exceeds 6.0 m, operational errors may occur at the station.
!
Caution Make sure that all cable connectors for the Module are securely inserted and tightened.
Insufficient insertion and/or looseness may cause malfunction of the GL120 and GL130.
!
Caution Do not remove the connector covers from the Module connectors on the Mounting Base slots
where no Modules are installed.
1
The GL120 and GL130 may malfunction if any foreign matter enters a Modules connector.
!
Caution Make sure that all mounting screws for the Module are securely tightened.
Make sure that all mounting screws for the Modules are securely tightened so that they
do not become loose. Loose screws may cause malfunction of the GL120 and GL130.
!
Caution Do not mount more than one Power Supply Modules on a single Mounting Base.
Mounting more than one Power Supply Modules on a single Mounting Base may damage
the Power Supply Module and cause malfunction of the GL120 and GL130.
!
Caution
Do not mount more than CPU Modules and Expander Module on a single Mounting Base.
Mounting more than CPU Modules and Expander Module on a single Mounting Base
may damage the CPU Modules and Expander Module or cause malfunction of the
GL120 and GL130.
— 1-11 —
Introduction and Precautions
1.2.3 Removal Precautions
1.2.3 Removal Precautions
!
Caution Always turn OFF the power to field wiring terminals before removing the Power Supply Mod-
ule.
Removing the Power Supply Module while power is supplied to field wiring terminals may
damage the Power Supply Module or cause malfunction of the GL120 and GL130.
1
!
Caution Always turn OFF the power to the Power Supply Module before removing the CPU Modules
or Expander Module.
Removing the CPU Modules and Expander Module while power is supplied to Power
Supply Module may damage the CPU Modules and Expander Module or cause malfunction of the GL120 and GL130.
!
Caution
!
Caution When inserting or removing an AC I/O Module while the AC power supply is turned ON, install
!
Caution Always turn OFF the power to the Power Supply Module before removing the Modules that do
Always turn OFF the AC power supply to the AC I/O Modules for inputting signal or for driving
loads before removing the terminal block from the AC I/O Modules.
Removing a terminal block with AC power supply to the external power supply terminal of
the AC I/O Modules may cause an electric shock at touching the power supply terminals.
a safety switch for each Module and always turn this safety switch OFF to turn OFF the AC
power supply to the Module.
Inserting or removing an AC I/O Module while the AC power supply is being supplied may
result in an electric shock at touching the power supply terminals.
not support hot swapping.
Removing the Modules that do not support hot swapping while the power is being supplied to the Power Supply Module may damage the Modules or cause a malfunction of
the GL120 and GL130.
Modules that Do Not Support Hot Swapping Model No.
Remote I/O Driver Module JAMSC-120CDR13100
2000-series Remote I/O Driver Module JAMSC-120CDR13110
!
Caution Always turn OFF the power to Power Supply Modules on the rack having the Ethernet I/F
Module Mounted, before removing the cables connected to the Ethernet I/F Module.
Removing cables connected to the Ethernet I/F Module while power is being supplied to
Power Supply Module may damage the Modules or cause malfunction of the GL120 and
GL130.
— 1-12 —
1.2 Precautions
!
Caution
!
Caution Always turn OFF the power to Power Supply Module on the rack, having the Motion Module
!
Caution Always turn OFF the power to Power Supply Module before removing the Rack−to rack I/O
Always turn OFF the power to Power Supply Module on the Rack, having the Motion Module
mounted, control power of Servo Amp, and power supply for the external I/O devices, before
removing cables to the Motion Module.
Removing cables connected to the Motion Module while power is being supplied to these
devices may damage the Motion Module or cause malfunction of the GL120 and GL130.
mounted, control power of Servo Amp, and power supply for the external I/O devices before
removing the Motion Module.
Removing the Motion Module while the power is being supplied to these devices may
damage the Motion Module or cause malfunction of the GL120 and GL130.
cables connected to the Expander Module.
1
Removing cables connected to the Expander Module while power is being supplied to
Power Supply Module may damage the Expander Module or cause malfunction of the
GL120 and GL130.
1.2.4 Wiring Precautions
!
Caution Connect the correct power supply for the required ratings.
Connecting unsuitable power supplies may result in fires.
!
Caution Wiring must be performed by qualified personnel.
Wrong or inappropriate wiring may result in fire, product failure, or electric shock.
!
Caution Wire power supply wires to the DC Power Supply Module with the correct polarity.
Wiring with incorrect polarity may result in damage to the DC Power Supply Module.
!
Caution
Connect power supplies of the same phases to the common 1 and common 2 of the AC I/O
Module.
If power supplies of different phases are connect, overheating or fire may occur.
— 1-13 —
1
Introduction and Precautions
1.2.4 Wiring Precautions cont.
!
Caution
!
Caution When using one of the following Output Modules, connect an external fuse corresponding to
When inserting or removing an AC I/O Modules while the AC power supply is turned ON,
install a safety switch for each Module and always turn this safety switch OFF to turn OFF the
AC power supply to the Module.
the specifications of the load and in series with the load.
Inserting or removing an AC I/O Modules while the AC power supply is being supplied
may result in an electric shock at touching power supply terminals.
a) 100/200-VAC 8-point Output Module (Model No.: JAMSC-120DAO83000)
(Model No.: JAMSC-120DAO83009)
b) 100/200-VAC 16-point Output Module (Model No.: JAMSC-120DAO84300)
(Model No.: JAMSC-120DAO84309)
c) 12/24-VDC 16-point Output Module (sinking) (Model No.: JAMSC-120DDO34310)
d) 12/24-VDC 16-point Output Module (sourcing) (Model No.: JAMSC-120DDO34320)
e) 12/24-VDC 32-point Output Module (sinking) (Model No.: JAMSC-120DDO35410)
f) 12/24-VDC 64-point Output Module (sinking) (Model No.: JAMSC-120DDO36410)
g) Relay Contact 16-point Output Module (Model No.: JAMSC-120DRA84300)
(Model No.: JAMSC-120DRA84309)
Not connecting an external fuse may result in fire, damage to the device, or damage to
output circuit due to an overload or a short-circuit at the load.
!
Caution Ground the protective ground terminal to a resistance of 100 Ω max.
Not grounding the protective ground terminal may result in electric shock or malfunction.
Insert the Interface Cables Properly
• Insert the connectors of the various interface cables that are to be connected to GL120
and GL130 into the communication ports and secure them properly.
Improper insertion of interface cables may cause operational errors in the GL120 and
GL130.
— 1-14 —
1.2 Precautions
Power Supply Noise Reduction
• Prevent noise from penetrating into the product by installing an isolation transformer or
a noise filter for the external power supply.
Noise from power supply may result in the malfunctioning of GL120 and GL130.
Select, Separate, and Lay External Wiring Correctly
• I/O lines connecting external devices to the 120-series I/O Modules must be selected
based on the following considerations: mechanical strength, resistance to noise, wiring
distance, signal voltage, etc.
• I/O lines must be separated from power lines both inside and outside the control panel
to minimize theaffects of noise. Faulty operation may result if I/O lines are not sufficiently separated from power lines.
1
Example of external wiring separation
Power lines General control
circuit cables
Control panel separator
Digital I/O
signal cables
Analog I/O
signal cables
Pulse input
signal cables
— 1-15 —
1
Introduction and Precautions
1.2.5 Applications Precautions
1.2.5 Applications Precautions
!
WARNING
!
WARNING
Do not touch terminals while the power is ON.
Construct an emergency stop circuit and an interlock circuit outside of the GL120 and GL130.
Install an Emergency Stop Circuit Outside the GL120 and GL130.
Touching live terminals may cause electric shock.
The absence of emergency stop and interlock circuits may result in machine damage or
accidents should the GL120 or GL130 fail.
An emergency stop circuit for the control system should not be constructed using the ladder programming in the GL120 and GL130. Always construct the emergency stop circuit
externally using a relay circuit, as shown in the figure below.
Use an N.C. contact (mechanical contact) in the emergency stop switch. The main power
supply to the servo must be cut off by pressing the switch.
Failure to provide an emergency stop circuit as described above, may result in failure of
the emergency stop when input circuits fail or cables break, and may cause machine
damage or injury.
Control power
supply OFF
Emergency stop
Noise filter
Control power supply ON
ESP-TBOX
Noise filter
Servo OFF
Servo ON
Surge absorber
— 1-16 —
Control signal to MC Module
Encoder
Servo motor
1.2 Precautions
External Interlocks for the GL120 and GL130
Externally connect an interlock to the GL120 and GL130 if there is any chance that
GL120 and GL130 failure could result in bodily harm or equipment damage.
Always use an external interlock system as shown in the following example when reciprocal operations (e.g., forward and reverse directions) are being performed with a motor.
An interlock is generally programmed in the GL120/GL130 ladder program to ensure that
forward and reverse signals are not simultaneously output. An external interlock circuit
must also be provided using the auxiliary contacts of electromagnetic contactors.
CPU Module Output Module
Ladder logic program
1
!
Caution
Output program with an
interlock which prohibit
simultaneous forward
and reverse runs
Electric interlock using the auxiliary contacts
of electromagnetic contactors
F (Forward run)
R (Reverse run)
Contact of overcurrent protection
device.
Induction motor
Always make sure that power supply to the external power supply terminals (AC1, AC2) is
OFF when operating the input voltage selector switch of Power Supply Module.
Operating the input voltage selector switch of Power Supply Module while power is being
supplied to the external power supply terminals may damage the Module.
!
Caution Set the Rack numbers according to the following rules.
If the Rack No. is not set according to the following rules, the PLC system will not run
normally. In other words, it may result in failure of the CPU Module to run, communication
errors, I/O process errors, etc.
• Set each Rack No. between 1 and 4 (rotary switch No: between 0 and 3).
• Always set the Rack No. where CPU Module or Remote I/O Receiver Module is
installed to 1 (rotary switch: 0).
• Do not use the same Rack No. more than once at the same station.
— 1-17 —
1
Introduction and Precautions
1.2.6 Maintenance
1.2.6 Maintenance
!
WARNING
!
Caution
!
Caution Do not replace any of the built-in fuses.
Do not reverse the positive and negative terminals, charge, dismantle, heat, throw into fire or
short-circuit batteries.
Do not disassemble or modify Modules and Mounting Bases.
Monitor the Life of Battery
These may cause explosion and/or ignition.
Doing so can cause fires, product failure, or malfunction.
Replacing built-in fuse by users may result in failure or malfunction of the Power Supply
Modules. Built-in fuse must be replaced by a Yaskawa service department.
• Monitor the life of the built-in battery in the CPU Module. If the “BAT ALM” indicator lights,
replace the battery with a new one (replacement battery: BR-2/3A-1) within 2 weeks.
Delay in replacing the battery may result in the memory content loss of the ladder program and the motion program in the CPU Module and any Motion Modules.
• When the BAT Module’s “ALARM1” indicator lights, be sure to replace the battery with an
ER6VC3N replacement battery within one week. Delay in replacing the battery may result
in the memory content loss of the rotation data in the absolute encoder.
Regularly Overhaul Power Supply Modules
• Overhaul the Power Supply Module once every 5 years.
Deterioration of parts such as smoothing capacitors may result in malfunctioning of power supply sections. When a Power Supply Module is used in one of the following environment, overhaul more frequently.
• When used in places subject to high temperature or humidity, or subject to high variations in these.
• When variations in the power supply (voltage, frequency, wave-form distortion, etc.) or
load are high.
• When subject to bad storage environments before use, including long-term storage or
stoppage.
— 1-18 —
1.3 Using this Manual
This Manual is compiled for the following readers:
1) Those estimating purchase prices of GL120 or GL130 systems.
1.3 Using this Manual
2) Those considering application of the GL120 or GL130.
3) Those designing control panels for the installation of the GL120 or GL130.
4) Those creating control panels to include the GL120 or GL130.
5) Those inspecting control panels on which GL120 or GL130 has been installed.
6) Those testing or adjusting control panels on which GL120 or GL130 has been installed.
7) Those maintaining control panels on which the GL120 or GL130 has been installed.
• Meaning of Basic Terms
In this manual, the following terms are defined as follows, unless otherwise specified:
• PLC=Programmable (Logic) Controller
• PP=Programming Panel
1
• GL120, GL130=MEMOCON GL120 and/or MEMOCON GL130 Program-
mable Controller
— 1-19 —
Overview
2
This chapter provides an outline of the MEMOCON GL120 and GL130, including system configuration examples, main modules, etc.
2.1 Overview of the MEMOCON GL120 and
GL130 2-2.................................
2
— 2-1 —
2
Overview
2.1 Overview of the MEMOCON GL120 and GL130
This section outlines the MEMOCON GL120 and GL130.
1) The MEMOCON GL120 (abbreviated GL120) and MEMOCON GL130 (abbreviated
GL130) are programmable controllers (PLCs) developed to succeed the MEMOCONSC GL60 Series. The MEMOCON-SC GL60 Series has been well received and is very
popular for key controllers in FA systems. The GL120 and GL130 are mid- to large-capacity programmable controllers. They provide greater compactness, higher quality, and
higher performance while retaining the functions of the GL60 Series. The GL120 and
GL130 have program memory capacity of 8K words, 16K words, 32K words, and 40K
words, making the GL120 a mid-capacity controller and the GL130 a large-capacity controller.
2) The GL120 and GL130 can be used as high-speed machine controllers or as key controllers for various automatic devices, and can be applied to the following control:
D Sequence control D Motion control D Process control D Computational control
3) The difference between the GL120 and GL130 lies in the CPU Module that is used. A
PLC using the CPU20 CPU Module is a GL120, while a PLC using a CPU30 CPU Module
is a GL130. All devices other than the CPU Module can be used in both PLCs.
Example 1
Example of system configuration for MEMOCON GL120
— 2-2 —
2.1 Overview of the MEMOCON GL120 and GL130
Example 2
Example of system configuration for MEMOCON GL130
2
PS10: Power Supply Module
(7 A)
CPU20: CPU Module (16 KW) DO: Digital Output Module MB12: 12-slot Mounting Base
CPU30: CPU Module (32 KW) MC20: Four-axis Motion Module
DI: Digital Input Module EXP: Expander Module
4) The following table shows the main Modules and other devices used in the GL120 and
GL130. Any itemslisted as “Optional” in the Use column may be used as required according to the system control specifications of the GL120 or GL130.
Table 2.1 Main GL120 and GL130 Modules and other Products
Use Name Features
Required Power Supply
Module
Required CPU Module 1) Stores the user program, solves the program based on the information
Supplies DC power to various Modules to operate them.
from the input section, and outputs the results to the output section.
There are 5 types of CPU Modules, namely the CPU10, CPU20,
CPU21, CPU30, and CPU35.
2) Equipped with 1 MEMOBUS port (slave, RS-232C).
(CPU20, CPU21, CPU30, CPU35)
3) Equipped with 1 MEMOBUS PLUS port
(CPU20, CPU21, CPU30, CPU35)
4) Execute the ROM operation.
(CPU10, CPU21)
— 2-3 —
Overview
Use FeaturesName
Optional Communications
Module
1) Remote I/O Driver Module:
Used as the master station of a Remote I/O system.
2) Remote I/O Receiver Module:
Used as the slave station of a Remote I/O system.
3) 2000-Series Remote I/O Driver Module:
Used as the master station of a Remote I/O system for 2000 I/O.
4) MEMOBUS Module (RS-232):
Used to increase the number of RS-232C MEMOBUS ports.
2
5) MEMOBUS Module (RS-422):
Used to increase the number of RS-422 MEMOBUS ports.
6) PC Link Module:
Used for high-speed communications between PLCs.
7) Uniwire Interface Module:
Used as the master station of a Uniwire system.
8) Uniwire H-system Interface Module:
Used as the master station of a Uniwire H-system.
9) Distributed I/O Driver Module:
Used as the master station of the VINUS I/O system.
10) M-NET Module:
Used for high-speed communications between PLCs.
11) YENET 1600-D Module:
Used for high-speed communications between PLCs.
12) Ethernet Interface Module:
Used for communications between PLCs.
13) Optical/Electrical Conversion Module:
Used for an Optical PC Link system or an Optical Remote I/O system.
Optional I/O Module 1) Digital Input Module:
Used to input digital signals.
2) Analog Input Module:
Used to input analog signals.
3) Digital Output Module:
Used to output digital signals.
4) Analog Output Module:
Used to output analog signals.
— 2-4 —
Use FeaturesName
Optional Special Purpose
Optional Motion Module 1) Four-axis Motion Module:
Optional Expander Module Used to expand the number of racks.
Required Mounting Base Used to install Modules.
Optional Rack-to-rack I/O
Required (one
or the other)
Module
Cable
Programming Panel
P120
MEMOSOFT A general-purpose personal computer software application for online or
1) High-speed Counter Module (1 channel):
Used to count high-speed pulses.
2) Pulse Catch Module (16 channels):
Used to read input signals that are ON for less than one scan time.
3) Register I/O Module:
Used to input/output the signal of the numerical value.
Used for 4-axis motion control.
2) One-axis Motion Module:
Used for 1-axis motion control.
3) Two-axis Motion Module:
Used for 2-axis motion control.
Used to connect between Expander Modules of adjacent racks.
1) A dedicated programming panel for MEMOCON PLCs.
2) Used for online or offline programming of the GL120 and GL130.
offline programming of the GL120 and GL130. (Software package)
2.1 Overview of the MEMOCON GL120 and GL130
2
5) The difference of the GL120 and GL130 lies in the difference in specifications of the CPU
Modules. The following table shows the specifications of the CPU10, CPU20, CPU21,
CPU30, and CPU35 Modules. The main differences in specifications of the CPU Modules lies in their program memory capacities, the numbers of digital I/O points and scan
times.
Table 2.2 CPU Module Summary Specifications
Item CPU10
Execution control
method
I/O connection
method
I/O control method 1) Synchronous refresh
CPU General-purpose 16-bit microprocessor General-purpose 32-bit
Programming
language
(DDSCR-
120CPU14200)
Cyclic scan method
1) Direct I/O
2) Remote I/O
2) Direct (direct I/O)
Ladder diagram
CPU20
(DDSCR-
120CPU34100)
CPU21
(DDSCR-
120CPU34110)
CPU30
(DDSCR-
130CPU54100)
microprocessor
130CPU54110)
CPU35
(DDSCR-
— 2-5 —
Overview
be
2
Item CPU35
Types and number
of instructions
CPU20: 166
CPU30: 166
CPU35: 166
CPU21: 169
CPU10: 165
CPU10
(DDSCR-
120CPU14200)
1) Basic instructions: 16
2) Math operations: 25
3) Data manipulation instructions: 48
4) System status monitoring instruction: 1
5) Sequence control instructions: 3
6) Program control instructions: 7
7) I/O control instructions: 2
8) Communications instructions: 9 (CPU10: 8)
9) Motion control instructions: 22
10) Expansion math instructions: 32
11) Process control instruction: 1
CPU20
(DDSCR-
120CPU34100)
CPU21
(DDSCR-
120CPU34110)
CPU30
(DDSCR-
130CPU54100)
(DDSCR-
130CPU54110)
12) Expansion memory access instructions: 2 (CPU21)
Scan time Ladder logic program:
Program memory
capacity
Maximum
number
of input
and
output
points
Digital
I/O
Register
I/O
Local
I/O
Remote
I/O
Approx. 1 ms for 1K-word program
16K words
(1 word = 24 bits)
1,024 points (1 point = 1 bit) *1 4,096 points (1 point = 1 bit) *1
512 registers (1 register= 16 bits) * 2
1) Number of channels: 1
2) Number of racks: 4 racks (including CPU rack)
3) Number of mountable I/O Modules: 54
The total number of points, including remote I/O points, must not exceed the limits
indicated at * 1 and * 2, above.
1) Number of channels: 2
2) Number of stations per channel: 15
3) Number of racks per station: 4
4) Number of I/O points per station:
(Digital input points ÷ 8) + (register input points × 2) ± 512 bytes
(Digital output points ÷ 8) + (register output points × 2) ± 512 bytes
The total number of points, including local I/O points and remote I/O points of other
remote stations, must not exceed the limits indicated at * 1 and * 2, above.
Ladder logic program:
Approx. 0.6 ms for 1K-word
program
32K words
(1 word = 24
bits)
40K words
(1 word = 24
bits)
— 2-6 —
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