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Toshiba PROSEC T3H User Manual

Toshiba programmable controller user's manual
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UM-TS03
-E032
PROGRAMMABLE CONTROLLER
T3H
PROSEC
USER'S MANUAL
TOSHIBA CORPORATION

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  Summary of Contents for Toshiba PROSEC T3H

  • Page 1 UM-TS03 -E032 PROGRAMMABLE CONTROLLER PROSEC USER’S MANUAL TOSHIBA CORPORATION...
  • Page 2 Because controlled system applications vary widely, you should satisfy yourself as to the acceptability of this equipment for your intended purpose. In no event will Toshiba Corporation be responsible or liable for either indirect or consequential damage or injury that may result from the use of this equipment.
  • Page 3: Safety Precautions

    However, the T3H is not intended to be used for systems which may endanger human life. Consult Toshiba if you intend to use the T3H for a special application, such as transportation machines, medical apparatus, aviation and space systems, nuclear controls, submarine systems, etc.
  • Page 4 4. Applying excess power voltage to the T3H can cause explosion or fire. Apply power of the specified ratings described in the T3 User’s Manual - Hardware. 5. Improper wiring can cause fire, electrical shock or malfunction. Observe local regulations on wiring and grounding. PROSEC T3H CAUTION CAUTION...
  • Page 5 10.Turn off power immediately if the T3H is emitting smoke or odor. Operation under such condition can cause fire or electrical shock. Also unauthorized repairing will cause fire or serious accidents. Do not attempt to repair. Contact Toshiba for repairing. WARNING CAUTION...
  • Page 6 5. Check by referring “Troubleshooting” section of the T3 User’s Manual - Hardware, when operating improperly. Contact Toshiba for repairing if the T3H or related equipment is failed. Toshiba will not guarantee proper operation nor safety for unauthorized repairing.
  • Page 7 Remove the mount paper before wiring. Peel off the label from the mount paper and stick it near the power terminals where it can be readily seen. Contact Toshiba if the label is damaged. CAUTION Do not touch terminals while power on.
  • Page 8: About This Manual

    (when it appears in front of an alphanumeric string) Input/Output Light Emitting Diode Least Significant Bit millisecond Most Significant Bit Random Access Memory Read Only Memory Sequential Function Chart AC voltage DC voltage PROSEC T3H Hardware UM-TS03 Function UM-TS03 UM-TS03 UM-TS03 UM-TS03 UM-TS03 UM-TS03 UM-TS03...
  • Page 9: Table Of Contents

    Contents Safety Precautions About This Manual T3H Overview Introducing the T3H Differences between T3H and T3 T3H components Specifications Expanded Functions System operation 2.1.1 Auto-RUN / Standby selection 2.1.2 Timer interrupt interval ... 2.1.3 Saving the sampling trace condition Expanded registers ... 2.2.1 External I/O register 2.2.2...
  • Page 10 PROSEC T3H...
  • Page 11: T3H Overview

    Section 1 T3H Overview 1.1 Introducing the T3H, 10 1.2 Differences between T3H and T3, 11 1.3 T3H components, 12 1.4 Specifications, 20 User’s Manual...
  • Page 12 The T3H can be applied to complex control applications. Network support: The T3H can be connected to work-stations/personal-computers through Ethernet. Peer-to-peer communications between two T3H’s via Ethernet is also available. For high-speed control-data linkage, TOSLINE-S20/F10 can be used. PROSEC T3H 0.18 s/coil 0.90 s/16-bit addition...
  • Page 13 1.2 Differences between T3H and T3 The table below summarizes the differences between the T3H and T3. All other functions supported by the T3 can also be supported by the T3H as same. Item Program memory capacity Built-in EEPROM Programming instructions Execution speed ( s) Max.
  • Page 14: T3H Components

    BATTERY PROG CARD LINK EJECT The external feature of the T3H CPU is the same as the T3 CPU except for the product identification. PROSEC T3H Description Product identification Status LEDs RAM/ROM switch Mode control switch (HALT/RUN/P-RUN) Battery cover Programmer port...
  • Page 15 Status LEDs: User program is being executed (RUN mode) (green) Blink User program execution is stopped (HOLD mode) Not lit User program execution is stopped (HALT or ERROR mode) FAULT CPU or program error (red) Blink Hardware initialization error Not lit Normal I/O error (red)
  • Page 16 Optional IC memory card (type: ME914) can be used with the T3H. By using the IC memory card, user program saving/loading or user data expansion is available. NOTE For details of the operation mode and functions, refer to the T3 User’s Manual. PROSEC T3H...
  • Page 17 (2) Expansion interface module The expansion interface modules for the T3, i.e. IF311, IF351, IF312, IF352 and IF353, are also used with the T3H. When the IF311 or IF312 is used with the T3H, up to three expansion units can be connected, as same as the T3. On the other hand, the IF321 is a dedicated expansion interface module for the T3H.
  • Page 18 I/O slots (76 slots), the T3H can control up to 4864 points of discrete I/O. NOTE The unit configuration using other expansion interface modules are the same as that of T3. Refer to the T3 User’s Manual. PROSEC T3H CPU: CPU module I/O: IF351 IF351...
  • Page 19 (3) Power supply module The power supply module for the T3 is also used with the T3H. The following two types are available depending on power voltage. Type PS361 100 - 120 Vac/200 - 240 Vac (selectable) PS332 24 Vdc NOTE For details, refer to the T3 User’s Manual.
  • Page 20 Special AS311 CD332 NOTE For detailed specifications, refer to the T3 User’s Manual. PROSEC T3H Description 32 points input (8 points/common), 12 to 24 Vdc, 10 mA/point 32 points input (8 points/common), 12 to 24 Vdc, 10 mA/point, high-speed response...
  • Page 21 (7) Data transmission module The following types of data transmission modules are available. Type EN311 Ethernet SN321 TOSLINE-S20 SN322 SN323 SN325 TOSLINE-S20LP MS311 TOSLINE-F10 RS311 NOTE (1) Maximum number of modules available on one T3H is as follows. Ethernet: 4 TOSLINE-S20 and S20LP total: 2 TOSLINE-F10: 8 (2) Ethernet module and TOSLINE-S20LP are under development.
  • Page 22: 1.4 Specifications

    Retentive memory F register and user defined ranges of RW, T, C, D Self-diagnosis Monitoring Debugging RAM data back-up PROSEC T3H PU325H Stored program, cyclic scan system Floating scan or constant scan (10 - 200 ms, 10 ms units) Batch I/O refresh (direct I/O instruction available)
  • Page 23 Instruction execution speed Name Symbol Execution ┤ ├ NO contact ┤/├ NC contact ┤ ├ Transitional contact (rising) ┤ ├ Transitional contact (falling) Coil -( )┤ Forced coil -( )┤ ┤I├ Inverter Invert coil -( I )┤ ┤P├ Positive pulse contact ┤N├...
  • Page 24 78 1 bit rotate right 79 1 bit rotate left 80 n bit rotate right 81 n bit rotate left 82 m bit file n bit rotate right PROSEC T3H Symbol Execution time ( s) TEOR 23.31 83 m bit file n bit rotate +0.72n...
  • Page 25 Instruction execution speed (continued) Name Symbol Execution 104 Double-word equal 105 Double-word not D<> equal 106 Double-word less D< than 107 Double-word less D<= than or equal 108 Unsigned greater U> than 109 Unsigned greater U>= than or equal 110 Unsigned equal 111 Unsigned not equal U<>...
  • Page 26 198 Double-word BCD multiplication 199 Double-word BCD division 200 BCD addition with carry 201 BCD subtraction with carry 202 Double-word BCD addition with carry PROSEC T3H Symbol Execution time ( s) PID2 25.28 203 Double-word BCD subtraction with 14.94 carry 15.44 204 Floating point 4.24...
  • Page 27 Instruction execution speed (cont’d) Name Symbol Execution 226 Floating point FTAN tangent 227 Floating point arc- FASIN sine 228 Floating point arc- FACOS cosine 229 Floating point arc- FATAN tangent 230 Floating point FEXP exponential 231 Floating point FLOG logarithm 232 Floating point FPID3 essential PID...
  • Page 28 ( s) Index modification Digit designation Direct I/O Direct I/O with digit designation PROSEC T3H Additional time by Single Basic unit Expansion unit Basic unit 14.6 Expansion unit 23.6...
  • Page 29: Expanded Functions

    Section 2 Expanded Functions 2.1 System operation, 28 2.2 Expanded registers, 30 2.3 Network support function, 38 2.4 Instructions, 43 User’s Manual...
  • Page 30: Auto-Run / Standby Selection

    T3H cannot assign enough time for main program execution. As the result, scan time over error will occur. In case of the T3H, SFC (Sequential Function Chart) can also be programmed on the interrupt program, as well as Ladder diagram. PROSEC T3H...
  • Page 31: Saving The Sampling Trace Condition

    2.1.3 Saving the sampling trace condition The sampling trace function is available on the T3H as well as the T3. In addition to all the sampling trace functions on the T3, the T3H can save the sampling trace condition into the IC memory card. By using this function, the sampling trace data which is collected and saved in the IC memory card on one T3H can be displayed using other T3H via the IC memory card.
  • Page 32: Expanded Registers

    Unit 0 2.2.2 Auxiliary register The T3H has 1000 words of auxiliary register. Function type Auxiliary register Auxiliary device PROSEC T3H Type Address range code 000 - 511 Total 512 words 0000 - 511F Total 8192 points...
  • Page 33: Timer

    2.2.3 Timer The T3H has 1000 points of timer. Function type Timer register Timer device The proportion of the 0.01 s base and the 0.1 s base timers within this 1000 points can be specified by user. This setting information is stored in the system information. 10 ms Timer Range Setting: T000 - T [ NOTE...
  • Page 34 W1536 - W1599 W1600 - W1663 W1664 - W1727 W1728 - W1791 W1792 - W1855 W1856 - W1919 W1920 - W1983 W1984 - W2047 PROSEC T3H Block Setting CH1 S20 scan memory LINK 0000 - 0063 LINK 0064 - 0127...
  • Page 35 When “GLOBAL” setting is used, the link registers of “GLOBAL” setting block are assigned to both CH1 and CH2 S20’s. T3H’s link register Block W0192 - W0255 LINK W0256 - W0319 GLOBAL W0320 - W0383 GLOBAL W0384 - W0447 GLOBAL W0448 - W0511 GLOBAL W0512 - W0575...
  • Page 36: File Register

    I/O error map #4-9 S050A I/O error map #4-10 S050B S050C S050D S050E S050F PROSEC T3H Type Address range code 0000 - 9999 (10000 - 32767) If I=30000, D1000 data is transferred to F30000. Name ON when I/O error detected in unit 4 - slot 0...
  • Page 37 Special Name device S0510 I/O error map #5-0 S0511 I/O error map #5-1 S0512 I/O error map #5-2 S0513 I/O error map #5-3 S0514 I/O error map #5-4 S0515 I/O error map #5-5 S0516 I/O error map #5-6 S0517 I/O error map #5-7 S0518 I/O error map #5-8 S0519...
  • Page 38 SW222 SW223 NOTE In case of TOSLINE-S20LP, it does not have the scan healthy map. Therefore these SW registers are not effective for the TOSLINE-S20LP. PROSEC T3H Name W1024 - W1039 The corresponding bit is ON when W1040 - W1055 the W register is updated normally.
  • Page 39 Special Name register SW224 SW225 SW226 SW227 SW228 SW229 SW230 SW231 SW232 SW233 SW234 SW235 SW236 TOSLINE-S20 SW237 scan healthy map SW238 SW239 SW240 SW241 SW242 SW243 SW244 SW245 SW246 SW247 SW248 SW249 SW250 SW251 SW252 SW253 SW254 SW255 NOTE In case of TOSLINE-S20LP, it does not have the scan healthy map.
  • Page 40: 2.3 Network Support Function

    Number of registers to be read ... 1 to 61 (61 words max.) Sum: Check sum Response message format (T3H Data: Data in hexadecimal PROSEC T3H T3H): 10 11 12 13 14 15 16 17 18 19 20 21 22 23 Starting register Can be shortened f0000 to f57343 (bank 2)
  • Page 41 Expanded file register data Write [MW] Request message format (Host Starting register ADR: Station address ... 01 to 32 Starting register: For 8 k words per bank ... F0000 to F8191 For 64 k words per bank ... f0000 to f65535 (bank 1) Bank: For 8 k words per bank ...
  • Page 42 If IC memory card is used for program storage, EE132 (IC card type error) is returned. If IC memory card is set as write-protect, EE134 (IC card write- protect error) is returned. (4) For general information of computer link function, refer to T-series Computer Link Operation Manual. PROSEC T3H...
  • Page 43: Tosline-S20Lp (Loop) Support

    2.3.2 TOSLINE-S20LP (loop) support In addition to the standard bus connection type TOSLINE-S20 (here called S20), the optical loop connection type TOSLINE-S20LP (here called S20LP) can be used with the T3H. (SN325: T3H station module of S20LP) By using the S20LP, high speed control-data linkage is available as same as the S20. Furthermore, peer-to-peer communication between T3H’s becomes available via S20LP.
  • Page 44: Ethernet Support

    To activate the EN311, SEND instruction is required to set parameters (IP address, UDP port number) and to send commands (communication start, etc.) NOTE (1) The Ethernet module (EN311) is under development. (2) For details of the EN311, refer to the separate manual for EN311. PROSEC T3H...
  • Page 45: 2.4 Instructions

    2.4 Instructions This section explains the specifications of the following instructions. Double-word multiplication and division (FUN042 D ) Combination instruction of multiplication and division for double-word data. This instruction is not available on the T3. Essential PID (FUN156 PID3) PID (Proportional, Integral, Derivative) control instruction which has the following features.
  • Page 46 When R0200 is ON, the double-word data of D0351 D0350 is multiplied by the data of D0262 D0261, and the product is divided by the data of D0264 D0263, then the quotient is stored in D0401 D0400 and the remainder in D0403 D0402. PROSEC T3H Output Normal execution...
  • Page 47 If the data of D0351 D0350 is 23437688, D0262 D0261 is 1876509, and D0264 D0263 is 113487, the quotient (387542471) is stored in D0401 D0400 and the remainder (64815) is stored in D0403 D0402. D0351 D0350 23437688 D0262 D0261 1876509 Note Edge execution modifier is also available for this instruction.
  • Page 48 A+2 C-mode set value A+3 M-mode MV input A+4 MV tracking input A+5 Mode setting MODE A-mode: Auto mode C-mode: Cascade mode M-mode: Manual mode PROSEC T3H Output ON when execution Register W T C D F Control parameter B Proportional gain...
  • Page 49 Control block diagram Auto mode Differential Cascade mode Integral action control: When MV is limited (H/L, DMV) and the integral value has same sign as limit over, integral action is stopped. Velocity Position conversion: In Direct mode, MV increases when PV is increased. In Reverse mode, MV decreases when PV is increased.
  • Page 50 Auto mode initial set value ISV (0.00 to 100.00 %) Input filter constant FT (0.000 to 0.999) ASV differential limit DSV (0.00 to 100.00 %/ t) MMV differential limit DMMV (0.00 to 100.00 %/ t) PROSEC T3H (If GP 0, Gap is applied) (If T...
  • Page 51 Initial status STS MV upper limit MH (-25.00 to 125.00 %) B+10 MV lower limit ML (-25.00 to 125.00 %) B+11 MV differential limit DMV (0.00 to 100.00 %/ t) B+12 Control interval setting n (1 to 32767 times) Executes PID every n scan. Therefore, control interval t = n (It is treated as n = 1 when n Manipulation value MV (-25.00 to 125.00 %) Internal work area...
  • Page 52 The data handled by the PID3 instruction are % units. Therefore, process input value PVC, manipulation value MV, etc., should be converted to % units (scaling), before and/or after the PID3 instruction. For this purpose, the function generator instruction (FUN165 FG) is convenient. PROSEC T3H CSV)
  • Page 53 2.4.3 Floating point essential PID (FPID3) FUN 232 FPID3 Floating point essential PID Expression Input ─[ A+1 A FPID3 B+1 B Function Performs PID (Proportional, Integral, Derivative) control which is a fundamental method of feed-back control. (Pre-derivative real PID algorithm) The operation of this FPID3 instruction is the same as the PID3 (FUN156) instruction except for dealing data as floating point data.
  • Page 54 In Direct mode, MV increases when PV is increased. In Reverse mode, MV decreases when PV is increased. Gap (dead-band) operation: Algorithm Digital filter: FT PVC FT PV Here, PROSEC T3H Integral control Integral Proportional Derivative 1+ T ( = 0.1)
  • Page 55 PID algorithm: Here, t Ir (Fixed) Parameter details A+1 A Process input value PVC (0 to 100 %) A+3 A+2 Auto mode set value ASV (0 to 100 %) A+5 A+4 Cascade mode set value CSV (0 to 100 %) A+7 A+6 Manual mode MV MMV (-25 to 125 %) A+9 A+8...
  • Page 56 Set value differential limit DSV, manipulation value upper/lower limit MH/ML and differential limit DMV are effective. Bump-less changing from auto mode to manual mode is available. (Manual mode manipulation value MMV is over-written by current MV automatically. MMV PROSEC T3H B+16 Data range: -25.0 to 125.0 Data range: -25.0 to 125.0 Data range: 0.0 to 100.0...
  • Page 57 Manual mode In this mode, the manipulation value MV can be directly controlled by the input value of MMV. MV differential limit for manual mode DMMV is effective. MH/ML and DMV are not effective. When mode is changed from manual to auto or cascade, the operation is started from the current MV. Cascade mode This is a mode for PID cascade connection.
  • Page 58 Bank / CH Type Leading address Refer to the following table for contents of each designation. The status flag is created only when the transfer from S20 to Register. PROSEC T3H Output Register W T C D F Transfer size and status...
  • Page 59 Transfer parameter table Transfer object Bank / CH XW/YW register W register LW register RW register D register F register Expanded F register 1 to 15 (IC memory card) 1 or 2 S20 scan memory 1 or 2 S20LP scan memory 1 or 2 EEPROM (D register) *1) Two format types of the IC memory card is available.
  • Page 60 15 banks (= 122880 words) of expanded F register in the IC memory card. When type H06 is used in the T3H, the expanded F register can be accessed as F00000 to F65535 (bank 1) and F00000 to F57343 (bank 2). PROSEC T3H <Type H06 > F00000...
  • Page 61 CPU register S20/S20LP scan memory Example: Source designation RW000 H00 H01 RW001 00000 W0000 (CPU register) When R0000 is ON, 10 words data starting with W0000 is transferred to scan memory address 00000 and after of channel 1 S20/S20LP. Remarks: When writing data into S20/S20LP scan memory, confirm that the address range is S20/S20LP’s data send block.
  • Page 62 (EEPROM alarm flag = S0007 is not updated by executing this instruction) Once data writing into the EEPROM is executed, EEPROM access (read/write) is prohibited for the duration of 10 ms. Therefore, minimum 10 ms interval is necessary for data writing. PROSEC T3H <T3 > D0000...
  • Page 63 Note Edge execution modifier is also available for this instruction. The XFER instruction is not executed as error in the following cases. (ERF = S0051 is set to ON) Transfer Between CPU When the transfer size is 0 or more than 256. registers When the source/destination table of transfer is out of the valid range.
  • Page 64 Leading address (target-station) Response time limit Note) Parameters for the Ethernet varies depending on the request command. Above figure shows the parameters for the register read/write command (H0021). Refer to the EN311 manual. PROSEC T3H Output Register W T C D F <...
  • Page 65 B Abn Busy Status Transmission error information (if TermSTS is H0B) Inside the parameter: Transfer parameter MID (network type) CH (channel of self-station) Target station No. 1 to 64 Request command 0 (fixed) Transfer size (number of words) Register type Leading address Response time limit Target-station IP address...
  • Page 66 RW012 RW013 RW014 RW015 RW016 1000 RW017 RW050 0 0 1 RW051 PROSEC T3H S20LP 0: Normal complete 1: Error complete 0: Initial state 1: Transmission port busy 0: Initial state 1: While send requesting 2: While waiting response 3: Complete...
  • Page 67 (self-station) RW100 RW101 RW227 When R0020 is ON, 128 words data starting with RW100 is transferred to D1000 and after of the T3H on which station No. 3 S20LP is installed. When the operation is completed, the status is set in RW050 and instruction output comes ON. Note Keep the input ON until the output comes ON.
  • Page 68 Leading address (target-station) Response time limit Note) Parameters for the Ethernet varies depending on the request command. Above figure shows the parameters for the register read/write command (H0021). Refer to the EN311 manual. PROSEC T3H Output Register W T C D F <...
  • Page 69 B Abn Busy Status Transmission error information (if TermSTS is H0B) Inside the parameter: Transfer parameter MID (network type) CH (channel of self-station) Target station No. 1 to 64 Request command 0 (fixed) Transfer size (number of words) Register type Leading address Response time limit Target-station IP address...
  • Page 70 RW036 4000 RW037 RW038 RW039 RW040 1024 RW060 0 0 1 RW061 PROSEC T3H S20LP 0: Normal complete 1: Error complete 0: Initial state 1: Transmission port busy 0: Initial state 1: While send requesting 2: While waiting response 3: Complete...
  • Page 71 (self-station) F5000 F5001 F5199 When R0030 is ON, 200 words data starting with D4000 of the T3H on which EN311 (IP address = 133.113.98.10) is installed, is read and stored in F5000 and after. When the operation is completed, the status is set in RW060 and instruction output comes ON. Note Keep the input ON until the output comes ON.
  • Page 72 PROSEC T3H...
  • Page 73 TOSHIBA CORPORATION Industrial Equipment Department 1-1, Shibaura 1-chome, Minato-ku Tokyo 105-8001, JAPAN Tel: 03-3457-4900 Fax: 03-5444-9268...