User’s Manual

LG Programmable Logic Controller

GLOFA GM6 Series

LG Industrial Systems
◎ CONTENTS ◎
Chapter 1. GENERAL

1.1 Guide to User’s Manual………………………………………………………………… 1 - 1

1.2 Features ……………………………………………………………………………… 1 - 2

1.3 Terminology …………………………………………………………………………… 1 - 3

Chapter 2. SYSTEM CONFIGURATION

2.1 Overall Configuration…………………………………………………………………… 2 - 1

2.2 Product List …………………………………………………………………………… 2 - 2

2.2.1 GM6 series Configuration ………………………………………………………… 2 - 2

2.3 System Configuration Types …………………………………………………………… 2 - 3

2.3.1 Basic System …………………………………………………………………… 2 - 3
2.3.2 Computer Link System…………………………………………………………… 2 - 3
2.3.3 Network System ………………………………………………………………… 2 - 4

Chapter 3. GENERAL SPECIFICATION

3.1 General Specifications ………………………………………………………………… 3 - 1

Chapter 4. CPU MODULE

4.1 Performance Specifications …………………………………………………………… 4 - 1

4.2 Operation processing ………………………………………………………………… 4 - 2

4.2.1 Operation processing Methods …………………………………………………… 4 - 2
4.2.2 Operation processing at momentary power failure occurrence …………………… 4 - 3
4.2.3 Scan Time ……………………………………………………………………… 4 - 4
4.2.4 Scan Watchdog Timer …………………………………………………………… 4 - 4
4.2.5 Timer processing ………………………………………………………………… 4 - 5
4.2.6 Counter processing ……………………………………………………………… 4 - 7

4.3 Program ……………………………………………………………………………… 4 - 9

4.3.1 Program Configuration …………………………………………………………… 4 - 9
4.3.2 Program Execution Procedures…………………………………………………… 4 - 10
4.3.3 Task……………………………………………………………………………… 4 - 13
4.3.4 Error Handling …………………………………………………………………… 4 - 19
4.3.5 Precautions when using special modules ………………………………………… 4 - 20

4.4 Operation Modes ……………………………………………………………………… 4 - 24

4.4.1 RUN mode ……………………………………………………………………… 4 - 24
4.4.2 STOP mode ……………………………………………………………………… 4 - 25
 4.4.3 PAUSE mode …………………………………………………………………… 4 - 25
4.4.4 DEBUG mode …………………………………………………………………… 4 - 25
4.4.5 Operation Mode Change ………………………………………………………… 4 - 26

4.5 Functions ……………………………………………………………………………… 4 - 28

4.5.1 Restart mode …………………………………………………………………… 4 - 28
4.5.2 Self-diagnosis …………………………………………………………………… 4 - 30
4.5.3 Remote function ………………………………………………………………… 4 - 31
4.5.4 I/O Force On/Off function ………………………………………………………… 4 - 32
4.5.5 Direct I/O Operation function……………………………………………………… 4 - 33
4.5.6 External Device Error Diagnosis function ………………………………………… 4 - 33

4.6 Memory Configuration ………………………………………………………………… 4 - 36

4.7 I/O No. Allocation Method ……………………………………………………………… 4 - 38

4.8 Names of Parts………………………………………………………………………… 4 - 39

Chapter 5. BATTERY

5.1 Specifications ………………………………………………………………………… 5 - 1

5.2 Handling Instructions…………………………………………………………………… 5 - 1

5.3 Battery Replacement…………………………………………………………………… 5 - 1

Chapter. 6 USING THE USER PROGRAM IN FLASH MEMORY

6.1 Structure ……………………………………………………………………………… 6 - 1

6.3 Handling ……………………………………………………………………………… 6 - 1

Chapter. 7 DIGITAL INPUT AND OUTPUT MODULES

7.1 Notes on Selecting Input and Output Modules ………………………………………… 7 - 1

7.2 Digital Input Module Specifications……………………………………………………… 7 - 2

7.2.1 16-point 24VDC input module (source/sink type) ………………………………… 7 - 2
7.2.2 16-point 24VDC input module (source type) ……………………………………… 7 - 3
7.2.3 32-point 24VDC input module (source/sink type) ………………………………… 7 - 4
7.2.4 32-point 24VDC input module (source type) ……………………………………… 7 - 5
7.2.5 8-point 110VAC input module …………………………………………………… 7 - 6
7.2.6 8-point 220VAC input module …………………………………………………… 7 - 7

7.3 Digital Output Module Specifications …………………………………………………… 7 - 8

7.3.1 16-point relay output module……………………………………………………… 7 - 8
7.3.2 16-point transistor output module (sink type) ……………………………………… 7 - 9
 7.3.3 32-point transistor output module (sink type) ……………………………………… 7 - 10
7.3.4 8-point triac output module ……………………………………………………… 7 - 11

Chapter 8. POWER SUPPLY MODULE

8.1 Selection of power supply module ……………………………………………………… 8 - 1

8.2 Specifications ………………………………………………………………………… 8 - 2

8.3 Names of Parts………………………………………………………………………… 8 - 3

Chapter 9. BASE BOARD

9.1 Specifications ………………………………………………………………………… 9 - 1

9.2 Names of Parts………………………………………………………………………… 9 - 1

Chapter 10. INSTALLATION AND WIRING

10.1 Installation …………………………………………………………………………… 10 - 1

10.1.1 Installation Environment ………………………………………………………… 10 - 1
10.1.2 Handling Instructions …………………………………………………………… 10 - 4
10.1.3 Module Loading and Unloading ………………………………………………… 10 - 7

10.2 Wiring………………………………………………………………………………… 10 - 9
10.2.1 Power Supply Wiring …………………………………………………………… 10 - 9
10.2.2 Input and Output Devices Wiring …………………………………………………10 - 11
10.2.3 Grounding ………………………………………………………………………10 - 11
10.2.4 Cable Specification for wiring ………………………………………………… 10 - 12

Chapter 11. MAINTENANCE

11.1 Maintenance and Inspection…………………………………………………………… 11- 1

11.2 Daily Inspection ……………………………………………………………………… 11- 1

11.3 Periodic Inspection …………………………………………………………………… 11- 2

Chapter 12. TROUBLESHOOTING

12.1 Basic Procedures of Troubleshooting ………………………………………………… 12- 1

12.2 Troubleshooting ……………………………………………………………………… 12- 1

12.2.1 Troubleshooting flowchart used when the POWER LED turns OFF ……………… 12- 2
12.2.2 Troubleshooting flowchart used when the STOP LED is flickering………………… 12- 3
12.2.3 Troubleshooting flowchart used when the RUN and STOP LEDs turns off ………… 12- 4
 12.2.4 Troubleshooting flowchart used when the output load of the
output module does not turns on ………………………………………………… 12 - 5
12.2.5 Troubleshooting flowchart used when a program
cannot be written to the CPU module …………………………………………… 12 - 6

12.3 Troubleshooting Questionnaire ……………………………………………………… 12 - 7

12.4 Troubleshooting Examples …………………………………………………………… 12 - 8

12.4.1 Input circuit troubles and corrective actions ……………………………………… 12 - 8
12.4.2 Output circuit troubles and corrective actions …………………………………… 12 - 9

12.5 Error Code List ………………………………………………………………………12 - 11

Chapter 13. Dedicated Cnet communication for GM6

13.1 Introduction…………………………………………………………………………… 13- 1

13.2 The example of system configuration ………………………………………………… 13- 2

13.3 The pin assignment of RS-232C connector of the GM6 dedicated Cnet communication … 13- 3

13.4 Frame structure ……………………………………………………………………… 13- 4

13.5 List of commands …………………………………………………………………… 13- 7

13.6 Data type …………………………………………………………………………… 13- 8

13.7 Execution of commands (Ex.) ………………………………………………………… 13- 9

13.8 Error code during NAK occurrence (for GM6 dedicated communication) ……………… 13- 29

APPENDICES

Appendix 1. System Definitions …………………………………………………………APP 1 - 1

Appendix 2. Flag List ……………………………………………………………………APP 2 - 1

Appendix 3. Function/Function Block List…………………………………………………APP 3 - 1

Appendix 4. Dimensions ………………………………………………………………APP 4 - 1

Chapter 2. SYSTEM CONFIGURATION

Chapter 2. SYSTEM CONFIGURATION

The GLOFA-GM6 series has various modules suitable to configuration of the basic, computer link and network
systems.
This chapter describes the configuration and features of each system.

2.1 Overall Configuration

The following shows the overall configuration of the GLOFA-GM6 series.

RUN
STOP

GM6-CPUA

RUN
PAU/REM
STOP
GMW
IN
Battery

CPU Module RS-232C GMWIN Discket

Cable

PO
GM6-PAFA

Power Supply Base board(GM6-B0□M)

Module
(GM6-PAF□)

G6F-AD2A G6L-FUEA
G6I-D22B G6I-RY2A

Input Module Output Module Special Module Communication

(G6I-□□□□) (G6Q-□□□A) (G6F-□□□□) Module
(G6L-□□□□)

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Chapter 2. SYSTEM CONFIGURATION

2.2 Product List

The following table shows product list of GLOFA-GM6 series.

2.2.1 GM6 series Configuration

Items Models Description Remarks

• Maximum I/O points: 256
GM6-CPUA
• Special functions : RS-232 communication
• Maximum I/O points :
CPU module GM6-CPUB
• Special functions : RS-422/485 communication, RTC, PID
• Maximum I/O points :
GM6-CPUC
• Special functions : RS-232C communication, RTC, PID, HSC
G6I-D21A • 8-point 12/24 VDC input module(current source & sink input)
G6I-D22A • 16-point 12/24 VDC input module(current source & sink input)
G6I-D22B • 16-point 12/24 VDC input module(current source input)
Digital input module G6I-D24A • 32-point 12/24 VDC input module(current source & sink input)
G6I-D24B • 32-point 12/24 VDC input module(current source input)
G6I-A11A • 8-point 110 VAC input module
G6I-A21A • 8-point 220 VAC input module
G6Q-RY1A • 8-point relay output module(2A)
G6Q-RY2A • 16-point relay output module(2A)
G6Q-TR2A • 16-point transistor output module(0.5A, sink output)
Digital output module G6Q-TR2B • 16-point transistor output module(0.5A, source output)
G6Q-TR4A • 32-point transistor output module(0.1A, sink output)
G6Q-TR4B • 32-point transistor output module(0.1A, source output)
G6Q-SS1A • 8-point triac output module(1A)
GM6-B04M • Up to 4 I/O modules can be mounted.
Main base unit GM6-B06M • Up to 6 I/O modules can be mounted.
GM6-B08M • Up to 8 I/O modules can be mounted.
GM6-PAFA Free Voltage • 5 VDC : 2 A, 24 VDC : 0.3 A
(100 ~ • 5 VDC : 2 A
GM6-PAFB
Power supply module 240VAC) • +15 VDC : 0.5 A, -15VDC : 0.2 A
GM6-PD3A DC24V
• 5 VDC : 2 A
GM6-PDFA DC12/24V

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Chapter 2. SYSTEM CONFIGURATION

Items Models Description Remarks

A/D conversion • Voltage/current input : 4 channels
G6F-AD2A
module • DC -10 to 10V / DC -20 to 20 mA
• Voltage output : 4 channels
G6F-DA2V
D/A conversion • DC -10 to 10V
module • Current output : 4 channels
Special modules G6F-DA1A
• DC 4 to 20 mA
High speed • Counting range: 0 to 16,777,215(24 bit binary)
G6F-HSCA
counter module • 50 kHz, 1 channel
Positioning
G6F-POPA • Pulse output, 2-axes control
module
• For Fnet I/F
Fnet I/F module G6L-FUEA • 1 Mbps base band
• For twisted cable
• For Fnet remote I/F
Fnet remote I/F
G6L-RBEA • 1 Mbps base band
module
• For twisted cable
Computer Link G6L-CUEB • RS-232C
module G6L-CUEC • RS422
• Dnet I/F master module
Communication
G6L-DUEA • Complying with ODVA (Open Devicenet
modules
Vendor Association) 2.0 standard.
• Dnet I/F slave input module
• 12/24 VDC input (16 points)
G6L-DSIA
Dnet I/F module • Complying with ODVA (Open Devicenet
Vendor Association) 2.0 standard.
• Dnet I/F slave output module
• Relay output (16 points)
G6L-DSQA
• Complying with ODVA (Open Devicenet
Vendor Association) 2.0 standard.
Dust Proof
Others GM6-DMMA • Protect empty slot for dust
Module

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Chapter 2. SYSTEM CONFIGURATION

2.3 System Configuration Types

System configuration is classified into 3 types that Basic system, Computer link system executing data
communications between the CPU module and a computer by use of a computer link module(G6L-CUEB/C) and
Network system controlling the PLC and remote I/O modules.

2.3.1 Basic System

The following describes basic system.

Slot number 0 1 2 3 4 5 6 7

0.0.0 0.1.0 0.2.0 0.3.0 0.4.0 0.5.0 0.6.0 0.7.0

POWER

CPU

~ ~ ~ ~ ~ ~ ~ ~

0.0.15 0.1.15 0.2.15 0.3.15 0.4.15 0.5.15 0.6.15 0.7.15

Example of System configuration

Base Board

(The above figure shows the configuration where 16-input/output

modules are loaded.)

Maximum number of Input/Output modules 8 modules

• 16-point module mounted: 128 points
Maximum number of Input/Output points • 32-point module mounted: 256 points
CPU module GM6-CPUA, GM6-CPUB, GM6-CPUC
Power Supply module GM6-PAFA, GM6-PAFB, GM6-PD3A, GM6-PDFA
Basic Base Unit GM6-B04/06/08M
G6I-œœœœ
Configuration units I/O module G6Q-œœœœ
Special module G6F-œœœœ
Communication G6L-œœœœ
module
64 points are allocated to each slot in a base board whatever it is empty or not.
There's no limitation for the location and the number of special modules on base board.
Special modules do not have fixed I/O numbers while a fixed I/O number is allocated to
I/O number allocation a digital I/O module.
A dedicated function block controls a special module and memory is allocated
automatically.

• To use A/D, D/A conversion module, be sure to select GM6-PAFB power supply
Note for power supply module selection module that supplies ±15VDC instead of 24VDC. ±15VDC power is need for operation
of internal analog circuit of A/D and D/A conversion modules.

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Chapter 2. SYSTEM CONFIGURATION

2.3.2 Computer Link System

Computer Link System communicates data between the CPU module and peripheral devices like a
computer or a printer by use of RS-232C and RS-422(or RS-485)interface of the computer link module.
The G6L-CUEB or G6L-CUEC are the computer link module for GM6 series. For details of computer link
module, refer to related User's Manual.

2.3.3 Network System

The Network system adapted in the GLOFA series a Fnet system that satisfies the IEC/ISA field bus
specifications. Fnet system as a network system is used for data communications between CPU modules
and control of remote I/O modules so that distribution of control and concentration of supervision could be
easy. For details, refer to Fnet system user's manual.

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Chapter 3. GENERAL SPECIFICATIONS

Chapter 3. GENERAL SPECIFICATION

3.1 General specifications

The following shows the general specifications of the GLOFA-GM series.

No Item Specifications References
Operating ambient
1 0 ~ 55 °C
temperature
Storage ambient
2 -25 ~ +75 °C
temperature
Operating ambient
3 5 ~ 95%RH, non-condensing.
humidity
Storage ambient
4 5 ~ 95%RH, non-condensing.
humidity
Occasional vibration
Frequency Acceleration Amplitude Sweep count
10≤ f<57 Hz - 0.075 mm
57≤f≤150 Hz 9.8 m/s 2{1 G} -
5 Vibration 10 times per IEC 1131-2
Continuous vibration
axis,
Frequency Acceleration Amplitude
on X,Y, Z axis
10≤f <57 Hz - 0.035 mm
57≤f≤150 Hz 4.9 m/s {0.5G}
2
-
Maximum shock acceleration: 147 m/s2{15G}
6 Shocks Duration time: 11 ms IEC 1131-2
Pulse wave: half sine pulse (3 shocks per axis, on X,Y,Z axis)
Square wave
± 1,500 V
Impulse Noise
Electronic IEC 1131-2,
Voltage : 4 kV
discharge IEC 801-3
Radiated
IEC 1131-2,
electromagnetic field 27 ~ 500 MHz, 10 V/m
7 Noise Immunity IEC 801-3
noise
Digital I/O
Power Digital I/O (<24V) IEC 1131-2,
Fast transient/burst Item
supply (>24V) Analog I/O IEC 801-4
noise
interface
Voltage 2 kV 1 kV 0.25 kV
Operating
8 Free of corrosive gases and excessive dust. IEC 1131-2
ambience
9 Altitude 2,000 m or less
10 Pollution 2
11 Cooling method Air-cooling

REMARK
1) IEC(International Electromechanical Commission) : An international civilian institute who establishes
international standards in area of electric's and electronics.
2)Pollution : An indicator which indicates pollution degree which determine insulation performance of equipment.
Pollution 2 means that non-conductive pollution usually occurs but temporal conduction occurs with condensing

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Chapter 4. CPU module

Chapter 4. CPU MODULE

4.1 Performance specifications

The following shows the general specifications of the GLOFA-GM series.

Specifications
Items Remarks
GM6-CPUA GM6-CPUB GM6-CPUC
Operation method Cyclic operation of stored program, Interrupt task operation
I/O control method Scan synchronized batch processing method(Refresh method)
Ladder Diagram(LD)
Programming language Instruction List(IL)
Sequential Function Chart(SFC)
Operator LD : 13, IL : 21
Number of Basic function 194
instructions Basic function block 11
Special function block Each special module have their own special function blocks
Operator
Processing
Basic function Refer to Appendix 3.
speed
Basic function block
Programming memory capacity 68 k bytes(17 k steps)
I/O points 256 points
Direct variable area 2 to 8 k bytes
Data memory
Symbolic variable area 30 k bytes – Direct variable area
No limitations in points. 1 point occupies 20 bytes
Timer
Time range : 0.01 to 4294967.29 sec(1193 hours) of symbolic variable area.
No limitations in points 1 point occupies 8 bytes
Counter
Counting range: -32768 to +32767 of symbolic variable area.
Numbers of program blocks 100
Initialization programs 1 (_INIT)
Program
Time driven tasks 0~8 Total : 8
types
Task (The type of task is
External interrupt tasks 0~8
Programs variable, however, total
Internal task 0~8 numbers of tasks is 8.)
Operation modes RUN, STOP, PAUSE and DEBUG
Restart modes Cold, Warm
Watch dog timer, Memory error detection, I/O error detection, Battery
Self-diagnostic functions
error detection, Power supply error detection, etc.
Data protection method at power failure Set to 'Retain' variables at data declaration.
RS-232C
RS-422/485
RTC
Built-in special functions RS-232C RTC
PID control
PID control
High Speed Counter
Internal current consumption 170mA 210mA 170mA
Weight 0.11Kg 0.11 Kg 0.12Kg

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Chapter 4. CPU module

4.2 Operation Processing

4.2.1 Operation Processing Method

1) Cyclic operation
A PLC program is sequentially executed from the first step to the last step, which is called scan.
This sequential processing is called cyclic operation. Cyclic operation of the PLC continues as long as
conditions do not change for interrupt processing during program execution.
This processing is classified into the following stages.
Stages Processing

Operation Start -

• Stage for the start of a scan processing. it is executed only one time when
the power is applied or reset is executed. It executes the following processing.
Initialization
4I/O modules reset 4Execution of self-diagnosis
4Data clear 4I/O module address allocation or type registration
• Input module conditions are read and stored into the input image area before
Input image area refresh operation processing of a program.

• Program is sequentially executed from the first step to the last step
Program operation processing

Program start

~
Program end

• The contents stored in the output image area is output to output modules when
Output image area refresh operation processing of a program is finished.

• Stage for return processing after the CPU module has finished 1 scan. The
END processing following processing are executed.
4Self-diagnosis
4Change of the present values of timer and counter, etc.
4Processing data communications between computer link module and
communications module.
4Checking the switch for mode setting.

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Chapter 4. CPU module

2) Time driven interrupt operation method

In time driven interrupt operation method, operations are processed not repeatedly but at every pre-set interval.

Interval, in the GM6 CPU module, can be set to between 0.01 to 4294967.29 sec. This operation is used to

process operation with a constant cycle.

3) Event driven interrupt operation method

If a situation occurs which is requested to be urgently processed during execution of a PLC program, this

operation method processes immediately the operation which corresponds to interrupt program. The signal

which informs the CPU module of those urgent conditions is called interrupt signal. The GM6 CPU module has
two kind of interrupt operation methods, which are internal and external interrupt signal methods.

4.2.2 Operation processing at momentary power failure occurrence

The CPU module detects any momentary power failure when the input line voltage to the power supply

module falls down below the defined value.

When the CPU module detects any momentary power failure, the following operations will be executed.

1) Momentary power failure within 20 ms

(1) The operation processing is stopped with the output retained.

(2) The operation processing is resumed when normal status is restored.

(3) The output voltage of the power supply module retains the defined value.

(4) The watch dog timer(WDT) keeps timing and interrupt timing normally

while the operations is at a stop.

2) Momentary power failure exceeding 20 ms

• The re-start processing is executed as the power is applied.

REMARK
1) Momentary power failure
The PLC defining power failure is a state that the voltage of power has been lowered outside the allowable variation
range of it. The momentary power failure is a power failure of short interval(several to tens ms).

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Chapter 4. CPU module

4.2.3 Scan Time

The processing time from a 0 step to the next0 step is called scan time.

1) Expression for scan time

Scan time is the addition value of the processing time of scan program that the user has written, of the task program

processing time and the PLC internal processing time.

(1) Scan time = Scan program processing time + Task program processing time + PLC internal processing time

• Scan program processing time = The processing time used to process a user program that is not specified to a task program.

• Task program processing time = Total of the processing times of task programs executed during one scan.

• PLC internal processing time = Self-diagnosis time + I/O refresh time + Internal data processing time + Communications

service processing time

(2) Scan time differs in accordance with the execution or non-execution of task programs and communications processing, etc.

2) Flag
(1) Scan time is stored in the following system flag area.

• _SCAN_MAX : Maximum scan time (unit : 1 ms)

• _SCAN_MIN : Minimum scan time (unit : 1 ms)

• _SCAN_CUR : Current scan time (unit : 1 ms)

4.2.4 Scan Watchdog Timer

1) Watchdog timer is used to detect a delay of abnormal operation of sequence program.

(Watchdog time is set in menu of basic parameter of GMWIN.)
2) When watchdog timer detects an exceeding of preset watchdog time, the operation of PLC is stopped
Immediately and all output is off.
3) If an exceeding of preset watchdog time is expected in sequence program, use ‘WDT_RST’ function.
‘WDT_RST’ function make elapsed watchdog time as zero.
4) In order to clear watchdog error, using manual reset switch, restarting the PLC and mode change to STOP
mode are available.

REMARK

Setting range of watchdog : 1 ~ 65,535ms( 1ms base )

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Chapter 4. CPU module

4.2.5 Timer Processing

The CPU module timer is on incremental timer which increase its present value according to the measuring
time. Three types of On Delay Timer(TON), Off Delay Timer(TOF) and Pulse Timer(TP) are available.
Its measuring range is 0.001 to 4,294,967,295 sec (1,193 hours) by 1 ms. For details, refer to ‘GLOFA-GM
Programming’.

1) On Delay Timer Process Time Change and Contact On/Off)

Timer Process time is newly changed when the timer function block is executed. When the process time
reaches the setting time (process time = setting time), the Timer output contact turns on.
On Delay Timer Timing Diagram is shown as below.

2) Off Delay Timer Process Time Change and Contact On/Off

• If input condition turns on, timer output contact(Q) turns on. If input condition turns off, timer process time
change starts.
• The process time is newly changed when the timer function block is executed. When the process time
reaches the setting time (process time = setting time), the contact (Q) turns off. The following diagram
shows Off Delay Timer Timing.

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Chapter 4. CPU module

3) Pulse Timer Process Time Change and Contact On/Off

If input condition turns on, output contact (Q) turns on.
The process time is newly changed when the timer function block is executed. When the process time
reaches the setting time (process time = setting time), the contact (Q) turns off.
The contact turns off after the setting time regardless of input condition off status.
The following diagram shows pulse timer timing.

4) Timer error
The maximum timer error is ‘1 scan time + time from the start of scan to execution of the timer function
block".

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Chapter 4. CPU module

4.2.6 Counter Processing

The CPU module counter increment/decrement the present counting value by the detection of rising
edge(offàon) of input signal. Three types of counter are increment counter, Decrement counter and
Increment-Decrement Counter. For details, refer to ‘GLOFA – GM Programming’.

• The Increment counter is a counter which increment the present counting value
• The Decrement counter is a counter which decrement the present counting value
• The Increment-Decrement counter is a counter which compares the counting values of two input conditions.

1) Counter Present Value Change and Contact On/Off

(1) Increment Counter
• It should have Input condition (CU), reset condition (R) and setting value (PV).

PV

• If the counting value (CV) increments and reaches the setting value(PV) the output contact (Q) turns
on.
When the reset signal is turn on, the counting value is set to ‘0’ and the output contact (Q) turns off.
(2) Decrement Counter
• It should have input condition (CD), load (LD) and setting value (PV).

CD

LD

• If the counting value (CV) decrements and reaches ‘0’, the output contact (Q) turns on.
If the load(LD) signal is turned on, the counting value is set to the setting value and the output
contact (Q) turns off.

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Chapter 4. CPU module

(3) Increment/Decrement Counter

• It should have Increment input condition (CU), Decrement input condition (CD), load (LD) and
setting value (PV).

NAME
CTUD
BOOL ▶CU QU BOOL
BOOL ▶CD QD BOOL
BOOL R
BOOL LD
INT PV CV INT

• If reset signal(R) turns on, counting value (CV) is set to ‘0’.

• If load signal(LD) turns on, counting value is set to setting value(PV).
• It is increased by 1at the rising edge of increment input(CU) and decreased by 1 at the edge of
decrement input(CD). If counting value(CV) is equal or larger than setting value(PV),QU will be on,
and if counting value(CV) is equal or less than setting value(PV),QD will be on.

2) Counting speed
• The counting speed is decided by scan time and it will be counted when on time or off time of input
condition is larger than each scan time.

Max. Counting speed (Cmax.) = n / 100 × 1 / ts [pps] [ n : Duty(%), ts : scan time(s) ]

• Duty is percent of on time / off time.

on
off

T1 T2

T1 ≤ T2 : n = T1 / (T1+T2) × 100 [%]

T1 ＞ T2 : n = T2 / (T1+T2) × 100 [%]

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Chapter 4. CPU module

4.3 Program

4.3.1 Program Configuration

A program consists of all of the function elements that is needed to execute a particular control. It is to be
stored in the internal RAM of the CPU module or the flash memory of the memory module.
The function elements are classified as below.

Function
Processing Operation
Elements

• Executed when the power is applied or the CPU operation is transited to the RUN
Initialization mode.
program • Executes the initial/fixes data setting for execution of scan program and the
initialization of peripheral devices on special modules.

Scan program • Processes the constantly repeated signals which are executed every scan.

• When the following time conditional processing is required the program is executed
complying with the time interval setting.
4In case that the processing need a shorter interval than that of average one scan
Time driven task
processing time.
program
4In case that the processing need a longer interval than that of average one scan
processing time.
4In case that the processing should be executed by the specified time interval.

Event driven task

program • A shorter processing is executed for internal or external interrupt.

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Chapter 4. CPU module

4.3.2 Program Execution Procedure

The followings explain the program execution procedure when the power is applied or the mode setting switch
of CPU module is in the RUN status.
Program operation processing is executed as the procedure given below

Operation start

• Executed when the power has been applied

or the CPU operation is in the Run mode

Initialization program • Restart operation is executed complying with

the initialization task(_INIT, HINIT)

*1

External task program

Executed only when the condition
Scan program Time driven task program
has been satisfied.

Executed only when the condition

Internal task program has been satisfied.

END processing

REMARK
1) *1 : In the GLOFA PLC, the time driven interrupt task programs and event driven interrupt task
programs are called task program.
Event driven programs are classified into single task(internal interrupt) or interrupt task (external
interrupt) according to the S/W and H/W interrupt signaling method.

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Chapter 4. CPU module

1) Initialization program
(1) Function
• The Initialization program initializes the program to execute scan and task programs.
• The initialization can be executed with the restart mode which has been specified for program.

(2) Restart mode execution conditions

• The initialization tasks can be specified as below complying with the purpose of the initialization task.
4 Program for Cold/ Worm restart started by the _INIT task

(3) Cold/ Warm Restart program

• The initialization program specified to _INIT task is executed with cold or warm restart mode when the
operation starts.
• This initialization program executes the operations repeatedly until the setting conditions are
satisfied(that is, until the Flag_INIT_DONE in the initialization program turns on). However, the I/O
refresh is still executed.
(4) Flag
• _INIT_RUN flag is on during executing the initialization program.

2) Scan program
(1) Function
• In order to process signals which repeats constantly, the program executes its sequential operation
repeatedly from the first step to the end step.
• If the interrupt task execution condition has been satisfied by a time driven task or event driven task
module during scan program execution, the program that is under execution will be temporary stopped
and the corresponding task program will be executed.
• If the scan program has been completely executed, the single task(internal interrupt) execution condition
will be checked and the corresponding task program will be executed.
(2) configuration
• Up to 100 scan programs can be used.
(If task programs are used, the usable number is reduced as many as that of the used task programs)
• Program has been not specified to initialization or task program when writing that program, it will be
automatically specified to scan program.
• Scan program has lowest execution priority and the priorities of scan program are determined their
registration sequence in the GMWIN screen when writing those programs.

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Chapter 4. CPU module

3) Task program
(1) Function
• In order to process internal/ external signal which occurs periodically or non-periodically, the task program
temporarily stop the operation of scan program and processes first the corresponding function
(2) Types
• Task programs are classified into the three types as below.
4 Time driven task program : Up to 8 programs are applicable
4 Single (internal) task program : Up to 8 programs are applicable
4 Interrupt (external) task program : Up to 8 programs are applicable
• Time driven task program
4 The program is executed by the time internal set before
• Single (internal) task program
4 The corresponding program will be executed at the rising edge and on state of internal contact in the
program.
4 The detection of the start up condition will be executed after the scan program has been processed.
• Interrupt (external) task program
4 The program is executed according to the external signal a input to the interrupt module

REMARK
1) Refer to section 4.3.3 task for details of task program.
2) For interrupt signal processing, the GM6 series use general digital input module instead of external
interrupt input module. Refer 4.3.3. task for details.

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Chapter 4. CPU module

4.3.3 Task

The followings explain the program structure and tasks of the GMWIN, that is, the GLOFA-GM programming
S/W, in order to give an understanding of the task function

Program 1

Program Block Task 1

( program 1)
Program 2

Function

Program 3

Program Block

Program 4
Task 2
Function Block ( program 3)

*1
Program 5

Program Block
Task 3

Program 6 ( program 7)

Function

Program 1

Program Block

REMARK
1) A task executes the some function as the control panel
which are used to execute programs. Each task consists
of one or more program blocks in the three types of
program. Those programs are called task programs A
program to which a task has not been specified as
marked with '*1' will be automatically specified to scan
program

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Chapter 4. CPU module

1) Task types and functions

The following table show the types and functions of tasks
Type
Time driven task External interrupt task Internal interrupt task
Specifications
Number 1) 8 8 8
The rising edge or on
Time driven interrupt
At the rising edge of input state of the BOOL variable
Start up condition (up to 4,294,967.29sec
contact on the designated slot data which has been
by the 10msec)
specified of buffer data
Executed with edge
Immediately executed when
Detection and Executed periodically detection after scan
an edge occurs in the
execution as setting time program has been
interrupt module
finished
Maximum 1msec delay +
Delayed for the same time
Detection delay time Up to 1msec delay Input module delay(Within
as maximum scan time
3msec
Level 0 to 7
Execution priority (Level 0 has highest Level 0 to 7 Level 0 to 7
priority)
* 1) Up to 8 task programs are available.

2) Task program processing Method

The following explains the common processing method and instructions for task programs
(1) Task program characteristics
• The task program will be executed when a execution condition is satisfied while the scan program is
repeatedly processed at every scan. Be sure to consider that point when writing a task program
• For example, if a timer and a counter have been used in a 10 sec cycle time driven task program, the
timer can occur up to 10 sec error and an input which has been changed within 10 sec will not be counted
because the counter checks its input status every 10 sec
(2) Execution priority
• The higher priority task program will be executed firstly.
• If a newly invoked task has higher priority than that of existing tasks which are under execution, they are
temporary stopped and task has higher priority will be executed.
• When determining the priority of a task program, consider the characteristics, importance and urgency of
the program
(3) Processing delay time
The following factors influence on the processing delay of task program, consider the characteristics,
importance and urgency of the program
• Task detection delay (Refer to the detailed description of each task)
• Execution delay due to the execution of prior task programs
• Delay due to the execution of higher priority task programs while executing task programs

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Chapter 4. CPU module

(4) Relationship of task program to initialization or scan program

• User defined tasks will not start while the initialization task program is being executed.
• As scan program has the lowest priority, if a task is invoked the scan program will be stopped and the
task programs will be processed prior to them. Therefore, if tasks are invoked many times or
concentrated sometimes the scan time may be extended abnormally. Be cautious when setting task
conditions.
(5) Protection of the programs under execution from task programs
• If problems can be occur in case that program lose its execution continuousness by the task programs
which have higher proprieties, the execution of task programs can be partly perverted For program
protection, use the DI function(Task program start-up disable) or EI function(task program start-up
enable)

3) Time driven task program processing method

The followings explain the processing method of a task program when its task condition(start-up condition) has
been set to be driven by time.
(1) Settings that have to be set for the task
• Set the task execution cycle and its priority which are used as start-up conditions for the task programs to
be executed. Priority number will be assigned as task number automatically.
(2) Time driven task processing
• The corresponding time driven interrupt task program will be executed every setting time internal
(execution cycle).
(3) Precautions for using the time driven task program
• While a time driven task program is being executed or ready for its execution, if a same priority task
program has been invoked to be executed the newly invoked task will be ignored, the representative task
collision warning flag (_TASK_ERR) will be set to ON, the detailed system error flag(_TC_BMAP[n] will be
set to ON at its corresponding location and occurrence time of the time driven tasks whose execution
requests have been ignored will be written at its corresponding location of the flag _TC_CNT[n].
• The timer that invokes the execution request for time driven task programs will be incremented only when
the operation mode is in the RUN mode
If the RUN mode has been changed into the PAUSE mode while operating with the RUN mode, and then
the operation mode has been changed again into the RUN mode, the operation time spent with the
PAUSE mode will be ignored.
• When setting the execution cycle for a time driven task program, be cautious that execution requests for
many time driven task programs can occur. If four time driven task programs of cycle 2, 4, 10 and 20sec
are used, four execution requests will occur every 20 sec and scan time can be momentarily extended.

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Chapter 4. CPU module

4) External contact program processing method

The following explains in the case that the task( start-up condition) of a task program has been set to an
external input signal.
(1) Settings that have to be set for the input module
• A contact of input module can be used as interrupt input.
(2) Settings that have to be set for the task
• Set the contact No. of input module and priority for the task that will be used as start-up conditions of the
task programs to be executed. Priority will be the task number.
(3) External contact task processing
• The CPU module checks the occurrence of interrupt input every 1ms and executes the task program
which are designated by the contact at which the signal has been occurred.
(4) Precautions for using an external contact task.
• While a task program which are designated by an input module having interrupt input, contact is being
executed or ready for its execution, if an execution request of a task program has been occurred to the
same input contact then the newly invoked task will be ignored, the representative task collision warning
flag(_TASK_ERR) will be set to ON, the detailed system error flag(_TC_BAMP[n]) will be set to ON at its
corresponding location and the occurrence time of the external task whose execution request has been
congested.
• Execution request for a task program can be accepted only when the operation mode is in the RUN
mode. That is, if the RUN mode has been changed into the PAUSE mode while operating with the RUN
mode and the operation mode has been changed into the RUN mode again, all execution requests
occurred during the operation with the PAUSE mode will be ignored.

5) Internal task program processing method

The following explains the processing method when the task (start-up condition) of a task program has been
set to the contact of direct variable area(I, Q or M) or automatic variable area.
(1) Settings that have to be set for the task.
• Set the contact No. of input module and priority for the task that will be used as start-up conditions of the
task programs to be executed. Priority will be the task number.
(2) Internal contact task processing
• After the execution of scan program has been completed in the CPU module, the internal contacts that
are the start-up conditions of the task program will be checked and the internal task programs where
rising edge or on state has been occurred will be executed in accordance with its parameter.
(3) Precautions when using an internal task program.
• The internal task program is executed when scan program has finished its execution. Therefore, though
the execution condition for the internal task program has been invoked in the scan program or task
program(time driven, external) the task (start-up condition) will not be immediately executed but will be
executed when scan program has finished its execution.

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Chapter 4. CPU module

• If execution of an internal task program is requested, the execution conditions will be checked when scan
program has finished its execution. Therefore, if an internal task execution conditions, during ‘one’ scan,
has been occurred and disappeared (if the specified contact has been turned from OFF to ON, and then
from ON to OFF) by scan program or (time driven or external) task program the task will not be executed
as the execution condition can not be detected at the time that execution conditions are being checked.
6) Task processing at momentary power failure
• In case of the power failure of 20 ms or less, the ready tasks before the power failure will be executed, a
time driven task will be invoked with calculation of the power failure time, and time driven tasks invoked
repeatedly before the power failure will be ignored.
7) Examination on task program
After writing down a task program, be sure to examine the following items.
(1) Task setting has been correctly done?
If tasks are invoked more frequently than necessary or several tasks are invoked simultaneously within one
scan, the scan time become longer and irregular. In case that the task setting cannot be changed, check
the maximum scan time.
(2) Task priorities are properly arranged?
The lower priority tasks still may not be processed after its time due to delay by higher priority tasks. In
some cases, if the prior tasks have been delayed and next task occurs task collision can occur. Set the
priority with due consideration of items such as urgency and execution time of a task.
(3) Task programs are written as shortly as possible?
If execution time of a task program is long, the scan time may become longer and irregular and also
collision of task programs may occur. Therefore, write task programs as shortly as possible.
(4) Protection of lower priority programs against higher priority program isn’t needed during execution of those
programs.
If the priority of a task program (or a scan program) has been set to lower priority and other tasks must not
interrupt during its execution, use the function ‘DI’ and ‘EI’ to protect the program partly. When processing
global variables used commonly in other programs, special modules or communications modules, problems
can occur.

REMARK
1) For examination on processing speed of scan program and task program, refer to the ‘Scan time
Calculation Example in the Section 4.2.3 ‘Scan Time’.

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Chapter 4. CPU module

8) Example of program configuration and processing

When the task and program have been registered as below,
• Task registration : T_SLOW (interval : T#10ms, priority : = 0)
PROC_1 (single : %MX0, priority : = 3)
E_INT1 (interrupt : %IX0.0.1, priority : = 0)
• program registration : program → P0
program → P1 with the task T_SLOW
program → P2 with the task PROC_1
program → P3 with the task E_INT1
If program execution time is equal to external interrupt occurrence time :
• Execution time for each program : P0 = 17 ms, P1 = 2 ms, P2 = 7 ms, P3 = 2 ms
• Interrupt E_INT occurrence time : Occurred at the 6, 7, 20 ms after the operation started.
• PROC_1 : Invoked during execution of scan program
Program execution is shown as below.

• Processing with time

0 [ms] : Scan starts and the scan program P0 starts its execution.
0 to 6 [ms] : The program P0 is being executed.
6 to 8 [ms] : Execution request for P3 is input, and P0 is stopped and P3 is executed. Execution request for
P1 by E_INT1 at the 7 [ms] is ignored as the P2 is being executed.
8 to 10 [ms] : P3 finishes its execution and the P0 stopped continues its execution.
10 to 12 [ms] : P0 is stopped and P1 is executed due to execution request for P1.
12 to 20 [ms] : P2 finishes its execution and the P0 stopped continues its execution.
20 [ms] : Execution requests for P1 and P3 are simultaneously exist, but the higher priority P1 is executed
and P3 is ready for its execution.
20 to 22 [ms] : P0 is stopped and P1 is executed.
22 to 24 [ms] : P1 finishes its execution and the higher priority P3 is executed before P0.
24 to 25 [ms] : P3 finishes its execution and the P0 stopped completes its execution.
25 [ms] : Execution request for P2 is checked at the finish time of the scan program (P0) and P2 is executed.
25 to 30 [ms] : The program P2 is executed.
30 to 32 [ms] : Execution request for P1 is input and P2 is stopped and P1 finishes its execution.
32 to 34 [ms] : P1 finishes its execution and the P2 stopped finishes its execution.
34 [ms] : A new scan starts. (P0 starts its execution.)

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Chapter 4. CPU module

4.3.4 Error Handling

1) Error Classification
Errors occur due to various causes such as PLC system defect, system configuration fault or abnormal
operation result. Errors are classified into fatal error mode, which stops system operation for system
stability, and ordinary error mode, which continues system operation with informing the user of its error
warning.

The main factors that occurs the PLC system error are given as followings.
• PLC hardware defect
• System configuration error
•Operation error during execution of the user programs
• External device malfunction

2) Operation mode at error occurrence

In case of error occurrence, the PLC system write the error contents the corresponding flags and stops or
continues its operation complying with its operation mode.

(1) PLC hardware defect

The system enters into the STOP state if a fatal error such as the CPU module defect has occurred,
and continues its operation if an ordinary error such as battery error has occurred.
(2) System configuration error
This error occurs when the PLC hardware configuration differs from the configuration defined in the
software. The system enter into the STOP state.
(3) Operation error during execution of the user programs
If the numeric operation error of these errors occurs during execution of the user programs, its
contents are marked on the error flags and the system continues its operation. If operation time
overruns the watch dog time or I/O modules loaded are not normally controlled, the system enters into
the STOP state.
(4) External device malfunction
The PLC user program detects malfunctions of external devices. If a fatal error is detected the system
enters into the STOP state, and if an ordinary error is detected the system continues its operation.

REMARK
1) In occurrence of a fatal error the state is to be stored in the representative system error flags,
and an ordinary error in the representative system warning flags.
2) For details of flags, refer to Appendix 2. Flag List.

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Chapter 4. CPU module

4.3.5 Precautions when using special modules

This system offers convenience and high performance in using special modules compared with the existing
methods. Therefore, take some precautions when composing the system. Check the system after the
following items have been thoroughly understood.
1) Special module programming
(1) Special function block is offered for each special module to make programs concise and to prevent
errors in writing down the user program.
(2) Function blocks are largely of two types. ‘Initialization’ function block for initializing special modules and
‘control’ function block for control of the operations of special modules. Function block functions as an
interface between the user program data and the special modules. As it includes the function that
watches the operation status of special modules and indicates the error status, other separate error
detection program does not have to be written.
(For detailed description of function block, refer to the User’s Manuals of special modules and GLOFA-
GM instructions.)

2) Special Module Initialization

This means to define the operations of a special module. It is done with ‘initialization’ function block.
Generally, it specifies the data range to used channel, resolution or filtering method, etc. It defines the
hardware characteristics and only one time execution at system start is sufficient.
REMARK

1) As the initialization should be finished before the scan program starts its execution, its program
should be written in the restart program (initialization task program).

3) Control of special modules

In control the operations of special modules, write the program using function blocks which correspond to
the operations that have to be controlled. These function blocks can locate at any place within the program.
REMARK

1) If a power failure occurs in the base unit where special units are loaded, special modules data are
removed. Therefore, data should be newly written down in the program.

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Chapter 4. CPU module

4) Restart Program Example

(1) System Configuration
The followings give an example for writing the initialization program of the system where a special
module has been loaded onto its basic base unit shown as below figure.
The followings describe an example for writing the ‘cold/warm restart program’ and ‘scan program’ for
the scan program where the ‘D/A 02’ outputs data every scan and the ‘D/A 03’ outputs data only when
the data has been changed.

P DC32 : 32-point DC input module

O
W A/D : A/D conversion module
E D/A : D/A conversion module
R RY32 : 32-point relay output module

• As cold/warm restart makes the whole system restart, the ‘cold/warm restart program’ consists of
only initialization program of special module.
(2) program
• Project Configuration : Restart.prj

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Chapter 4. CPU module

• Program : cw_rst.src (cold/warm restart initialization program)

Variable
Variable Name Data type Initial value Description
type
INI_START VAR BOOL - Start condition of initialization
AD2INI.ACT VAR ARRAY[4] OF BOOL - Shows active channel
AD01_DT VAR ARRAY[4] OF BOOL Set by parameter Select digital output type
AD01_CH VAR ARRAY[4] OF BOOL Set by parameter Select channel to be used
AD2INI VAR FB Instance -
AD2INI.STAT VAR USINT - Shows error status
AD01_FE VAR ARRAY[4] OF BOOL - Enable/Disable average function
AVG_NUM VAR ARRAY[4] OF BOOL Set by parameter

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Chapter 4. CPU module

• Program : scan.src (scan program)

STAT

Variable
Variable Name Data type Description
type
READ VAR FB Instance
AD_CH VAR ARRAY[4] OF BOOL Assign a channel of AD module to be used
READ.DONE VAR ARRAY[4] OF BOOL Indicates the reading operation is completed
READ.STAT VAR USINT Shows the error status of AD read FB
READ.ACT VAR ARRAY[4] OF BOOL Shows the error status of AD read FB
READ.DATA VAR ARRAY[4] OF INT Digital data converted from analog input
WRITE_1 VAR FB Instance
DA01_DT VAR ARRAY[4] OF INT Digital data to be output
WRITE_1.DONE VAR BOOL Indicates the write operation is completed
WRITE_1.STAT VAR USINT Shows the error status of DA write FB
WRITE_2 VAR FB Instance
DA02_DT VAR ARRAY[4] OF INT Digital data to be output
WRITE_2.DONE VAR BOOL Indicates the write operation is completed
WRITE_2.STAT VAR USINT Shows the error status of DA write FB

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Chapter 4. CPU module

4.4 Operation Modes

The CPU module operates in one of the four modes - the RUN, STOP, PAUSE and DEBUG mode.
The following describes the PLC operation processing in each operation mode.
4.4.1 RUN mode

In this mode, programs are normally operated.

The first scan start in the RUN mode

If the operation mode is the RUN mode

when the power is applied
Mode condition at the start

If the operation mode has been changed

from the STOP mode to the RUN mode Data area initialization complying with the restart
mode set
Data area initialization complying with the restart mode

Check on the effectiveness of the program and decision

on the possibility of the execution

Execution of input refresh

Execution of programs and task programs

Check on the normal operation of the loaded modules

and their mounting conditions

Processing the communications service or other

internal operations

Execution of output refresh

The RUN mode is maintained

Is the operation mode changed?

Changed into another mode

Operation with the operation mode changed

1) Processing when the operation mode changes.

Initialization of data area is executed when the first scan starts.
(1) If the PLC is in the RUN mode when applying the power :
(2) If the operation mode has been changed into from the STOP mode into the RUN mode : the
initialization is executed complying with the restart mode set. (cold / warm)
(3) The possibility of execution of the program is decided with check on its effectiveness.

2) Operation processing contents

I/O refresh and program operation are executed.
(1) Task programs are executed with the detection of their start-up conditions.
(2) Normal or abnormal operation and mounting conditions of the loaded module are checked.
(3) Communications service or other internal operations are processed.

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Chapter 4. CPU module

4.4.2 STOP mode

In this mode, programs are not operated.

1) Processing when the operation mode changes
The output image area is cleared and output refresh is executed.
2) Operation processing contents
(1) I/O refresh is executed.
(2) Normal or abnormal operation and mounting conditions of the loaded module are checked.
(3) Communications service or other internal operations are processed.

4.4.3 PAUSE mode

In this mode, the program operation is temporarily stopped. If it returns to the RUN mode, the operation
continues from the state before the stop.
1) Processing when the operation mode changes
Data area clear and input image clear are not executed and the operating conditions just before the mode
change is maintain.
2) Operation processing contents
(1) I/O refresh is executed.
(2) Normal or abnormal operation and mounting conditions of the loaded module are checked.
(3) Communications service or other internal operations are processed.

4.4.4 DEBUG mode

In this mode, errors of a program are searched and the operation sequence is traced. Changing into this
mode is only possible in the STOP mode. In this mode, a program can be checked with examination on its
execution state and contents of each data.
1) Processing when the operation mode changes
(1) Data area is initialized at the starting time of the mode change complying with the restart mode, which
has been set on the parameters.
(2) The output image area is cleared and output refresh is executed.
2) Operation processing contents
(1) I/O refresh is executed by one time every scan.
(2) Communications service or other internal operations are processed.

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Chapter 4. CPU module

3) Debug operation conditions

• Two or more of the following four operation conditions can be simultaneously specified.

Operation conditions Description

Executed by the one If an operation command is ordered, the system operates one operation unit
operation unit, (step over) and stops.
Executed to the specified • If break step is specified in the program, the operation stops at those step
breakpoint. before execution.
• Up to 8 breakpoints can be specified.
Executed according to If the contact area to be watched and the condition (Read, Write, Value)
the contact state where the operation has to stop are specified, the operation stops when the
specified operation occurs at the specified contact.(after execution)
Executed by the specified If the number of scan that will be operated is specified, the operation stops
scan number. after it has operated by the specified scan number.

4) Operation method
(1) Execute the operation after the debug operation conditions have been set in the GMWIN.
(2) In task programs, each task can be specified to operation enable/disable.(For detailed operation
method, refer to the GMWIN User’s Manual Chapter 9.

4.4.5 Operation mode change

1) Operation mode change methods

The following method are used to change the operation mode.
(1) Change by the mode setting switch of CPU module.
(2) Change by the GMWIN connected with the CPU module communications port.
(3) Change by the GMWIN connected to the remote CPU module through Fnet.
(4) Change by the user’s command using FAM or computer link module, etc.
(5) Change by the ‘STOP function’, ‘ESTOP function’ during program execution.
2) Operation mode change by the mode setting switch of CPU module
The following shows the operation mode change by the mode setting switch of CPU module.
Mode setting switch position Operation mode
RUN Local RUN
STOP Local STOP
STOP → PAU/REM Remote STOP
PAU/REM → RUN 1) Local RUN
RUN → PAU/REM 2) Local PAUSE / Remote RUN
PAU/REM → STOP Local STOP

REMARK
1) If the operation mode changes from RUN mode to local RUN mode by the mode setting switch, the
PLC operates continuously without stop.
2) If Local PAUSE disable(or Local PAUSE enable) is set by parameter in GMWIN, it operated as
Remote RUN(or Local PAUSE).

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Chapter 4. CPU module

3) Remote operation mode change

Remote operation mode change is available only when the operation mode is set to the remote STOP
mode (i.e., the mode setting switch position is in the ‘STOP →PAU/REM’).
Mode
setting Mode change by Mode change using FAM
Mode Change
switch the GMWIN or computer link, etc.
position
Remote STOP → Remote RUN m m
Remote STOP → Remote PAUSE × ×
Remote STOP → DEBUG m m
Remote RUN → Remote PAUSE m m
Remote RUN → Remote STOP m m
Remote RUN → DEBUG × ×
PAU/REM
Remote PAUSE → Remote RUN m m
Remote PAUSE → Remote STOP m m
Remote PAUSE → Remote DEBUG × ×
DEBUG → Remote STOP m m
DEBUG → Remote RUN × ×
DEBUG → Remote PAUSE × ×

4) Remote operation mode change enable/disable

It is possible to disable the mode change for system protection so that some parts of the operation mode
sources cannot change the mode. If remote operation mode change has been disabled, the operation
mode change is possible only by the mode setting switch and GMWIN. To enable the remote operation
change, set the parameter ‘Enabling the PLC control by communications’ to enable. (For details, refer to
the Appendix 1. System Definitions)

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Chapter 4. CPU module

4.5 Functions

4.5.1 Restart mode

The restart mode defines how to initialize variables and the system and how to operate in the RUN mode
when the system starts its operation with the RUN mode by re-application of the power or mode change. Two
restart modes, cold and warm restart are available and the execution condition for each restart mode is given
below.
(For details, refer to the ‘4.5.1 Basic Parameters Edit’ of the GMWIN User’s Manual Section 4.5 Parameters
Edit.

1) Cold Restart
(1) It is executed when the restart mode parameter has been set to the cold restart mode.
(2) All data are cleared with ‘0’ and only the variables to which their initial value has been defined will be
set to their initial value.
(3) Though the parameter has been set to the warm restart mode, cold restart will be executed at the first
execution of a program after it has been changed.
(4) In case of selection ‘Reset’ command in the GMWIN, it restarts in accordance with setting in parameter
and in case of selection ‘Overall Reset’ command, it restarts as cold restart mode.

2) Warm Restart
(1) It is executed when the restart mode parameter has been set to the warm restart mode.
(2) A data which set as retain & initial will be retain and a data which set as initial value will be set with
default value during the warm restart. All other data will be cleared with ‘0’.
(3) Though the parameter has been set to the warm restart mode, cold restart will be executed at the first
execution of a program after it has been stopped due to its download or error.
(4) Though the parameter has been set to the warm restart mode, cold restart will be executed if data
contents are abnormal (i.e., the data does not remain at a power failure)

4 - 28
Chapter 4. CPU module

• Restart mode is executed as the figure given below when the power has been re-applied during execution of the
CPU module

Power ON

STOP
Operation mode Operation in the STOP mode

RUN

Abnormal
Data that remains at
power failure

Normal

Cold Restart
Restart mode

Warm Restart

Warm Restart execution Cold Restart execution

RUN mode

4) Data initialization according to the restart mode

The variables relating to the restart mode are classified into three types, i.e, default variable, initialization
variable and retain variable. The following table shows the initialization method for each type variable.
Mode
Cold Warm
Variable type
Default Initialized with ‘0’ Initialized with ‘0’
Retain Initialized with ‘0’ Previous value is retained
Initialized with the user Initialized with the user defined
Initialization
defined value value
Initialized with the user
Retain & Initialization Previous value is retained
defined value

REMARK
1) Definitions
(1)Default variable : A variable whose initial value is not defined or previous value will not be retained.
(2)Initialization variable : A variable whose initial value is defined.
(3)Retain variable : A variable whose previous value will be retained.

4 - 29
Chapter 4. CPU module

4.5.2 Self-diagnosis

1) Functions
(1) The self-diagnosis function permits the CPU module to detect its own errors.
(2) Self-diagnosis is carried out when the PLC power supply is turned on and when an error occurs the
PLC is in the RUN state. If an error is detected, the system stops operation to prevent faulty PLC
operation.
2) Error flag
If an error occurs, it will be stored to the following flags and the STOP LED flickers.
• Representative system error flag : _CNT_ER
• Representative system warning flag : _CNF_WAR

REMARK
1) Refer to 12.5 Error Code List of Chapter 12. Troubleshooting for details of contents of self-diagnosis
and corrective actions.

4 - 30
Chapter 4. CPU module

4.5.3 Remote function

The CPU module can be controlled by external operations (from GMWIN and computer link module, etc.). For
remote operation, set the mode setting switch of CPU module to remote position.

1) Remote RUN/STOP
(1) The remote RUN/STOP permits external operations to RUN/STOP the CPU module under the condition
that the mode setting switch of CPU module is in the remote position.
(2) This function is convenient when the CPU module is located on the place where it is difficult to control the
CPU module or the user want to control the CPU module in the control panel from outside.

2) Remote PAUSE
(1) The remote PAUSE permits external operations to execute PAUSE operations under the condition that the
mode setting switch of CPU module is in the remote position. The PAUSE operations stop the CPU module
operation processing while maintaining the On/Off state of the output module.
(2) This function is convenient when the user wants to maintain the ON state of the output module under the
condition the CPU module has been stopped.

3) Remote DEBUG
(1) This function permits external operations to execute DEBUG operations under the condition that the mode
setting switch of CPU module is in the remote position. The DEBUG operations execute programs complying
with the specified operation conditions.
(2) This function is convenient when program execution or contents of any data are checked for debugging of
the program.

4) Remote reset
(1) This function permits remote operations to reset the CPU module, which locates in the place where direct
operations cannot be applied, when an error has occurred.

REMARK

1) For remote function operations, refer to the GMWIN User’s Manual Chapter 7. On-line.

4 - 31
Chapter 4. CPU module

4.5.4 I/O Force On/Off function

1) Force On/Off setting method

Force on/off setting is applied to input area and output area.
Force on/off should be set for each input and output, the setting operates from the time that ‘Force I/O
setting enable’ is set.
This setting can be done when I/O modules are not really loaded.

2) Force on/off Processing timing and method

(1) Force Input
• After data have been read from input modules, at the time of input refresh the data of the junctions
which have been set to force on/off will be replaced with force setting data to change the input image
area. And then, the user program will be executed with real input data and force setting data.

(2) Force output

• When a user program has finished its execution the output image area has the operation results. At
the time of output refresh the data of the junctions which have been set to force on/off will be replaced
with force setting data and the replaced data will be output. However, the force on/off setting does not
change the output image area data while it changes the input image area data.

(3) Force on/off processing area

• Input/output areas for force on/off setting are larger than the real I/O areas. If remote I/O is specified
using this area, the force on/off function is as just available in it as in the basic I/O areas.

(4) Precautions
• Turning the power off and on, change of the operation mode or operation by reset switch(GM3) does
not change the previous force on/off setting data. They remain within the CPU module and operation is
executed with the same data.
• Force I/O data will not be cleared even in the STOP mode.
• If a program is downloaded or its backup breaks, the force on/off setting data will be cleared. The
operating program in memory differs from the program in the flash memory so that if operation restarts
with the program in the flash memory the on/off setting data will be also cleared.
• When setting new data, disable every I/O settings using the setting data ‘clear’ function and set the
new data.

REMARK

1) For detailed operation, refer to the GMWIN User’s Manual Chapter 7 ‘Force I/O setting.

4 - 32
Chapter 4. CPU module

4.5.5 History Log-In

The GM6 CPU stores 3 operation histories such as error occurrence, mode change, and power shut-down.
Each history log-in contains the last 16 operation histories.
1) Error occurrence
• Record occurrence time and error code when an error occurred while the CPU is in RUN mode.
2) Mode change
• Record the mode change time, operation mode, and restart mode when a operation mode is changed.
3) Power failure
• Record the occurrence time and total occurrence number when the AC failure occur while the CPU is
in RUN mode.

4.5.6 External Device Error Diagnosis function

Flags are given for the user to implement easily the program in which the error detection of external
devices and system stop and warning are coded. By use of these flags, error indication of external devices
is possible without complex programming and monitoring of the error location can be done without special
tools (GMWIN, etc.) or source programs.
1) External device fault detection and classification
(1) The user program detects external device faults. The faults are classified into fatal fault( error), where
the PLC stops its operation, and ordinary fault(warning), where operation continues.
(2) The flag ANC_ERR[n] is used to indicate error. The flag ANC_WN[n] is used to indicate warning.
2) External Device Fatal-fault (Error) Processing.
(1) If an error of external device is detected and the error type, where other value than 0 is used, is written
to the system flag ANC_ERR[n], the flag will checked at the time that scan program finishes its
execution. If an error is indicated on the flag, it will be also indicated on the _ANNUN_ER of the
representative system error flag _CNF_ER, the PLC turns all output modules off and the error state
will be same as the PLC self-diagnosis.
(2) The user can know the cause of error by use of the GMWIN, and also by direct monitoring of the flag
_ANC_ERR[n].
(3) As the flag _ANC_ERR[n] has sixteen elements(n : 0 to 15), the user can classify error states largely.
User defined error No. can be written to the elements. A number of 1 to 65535 is usable.

Error detection
Example) MOV

10

4 - 33
Chapter 4. CPU module

3) External device Ordinary-fault (Warning) Processing.

(1) If a warning of external device is detected and the corresponding flag of the system flag _ANC_WB[n]
is set to on, the flag will checked from the _ANC_WB[0] at the time that scan program finishes its
execution. If an error is indicated on the flag, it will be also indicated on the _ANNUN_WR of the
representative system warning flag _CNF_WAR. External device waning numbers will be written to
from _ANC_WAR[0] to _ANC_WAR[7] according to occurrence sequence.
(2) The user can know the cause of error by use of the GMWIN, and also by direct monitoring of the flags
_ANC_WAR[n] and _ANC_WB[n].
(3) If an external device waning is removed, that is, the elements of _ANC_WAR[n] are released from
warning, the corresponding _ANC_WAR[n] will be automatically cleared. If all element flags are
cleared, the flag _ANNUN_WR of the system flag _CNF_WAR will be reset.

4 - 34
Chapter 4. CPU module

Example Error detection

( )

_ANNUN_WR = 1 If the user program had detected a system fault and set
= 10 _ANC_WB[10] to ON, the states of _ANNUN_WR and
= 0 _ANN_WAR [0..7] will be shown as left after the scan has been
_ANC finished
= 0
_WAR[0] = 0
= 0
= 0
_ANC = 0
_WAR[1] = 0

_ANNUN_WR = 1 After the next scan has been finished, if the numbers 1, 2, 3, 10, 15 ,
= 10 40 , 50, 60 and 75 of _ANC_WB[n] are tuned on _ANC_WAR[n] will be
= 0 shown as left
_ANC = 0
_WAR[0]
= 0 As the number 10 has turned on (has occurred) in the previous scan,
= 0 though the number 10 has lower priority than the numbers 1, 2 and 3, it
= 0 will be the lower element of _ANC_WAR[n]. The _ANC_WB[75] is not
_ANC = 0 indicated as it is turned on and the warning that occurred before has
_WAR[1] = 0 written to the _ANC_WAR[n].

_ANNUN_WR = 1 After the next scan has been finished, if the numbers 1, 2, 3, 10, 15 ,
= 10 40 , 50, 60 and 75 of _ANC_WB[n] are tuned on _ANC_WAR[n] will be
= 0 shown as left.
_ANC = 0
_WAR[0]
= 0 The No. 10 warning has been released the content of _ANC_WAR[0] will
= 0 be cleared and the contents of _ANC_WAR[1..7] will shift into the lower
= 0 elements. The content of _ANC_WAR[7] will has been cleared by the
_ANC = 0 shifting and the content of _ANC_WB[75] will be written to _ANC_WAR[7].
_WAR[1] = 0

_ANNUN_WR = 1 If all warnings indicated on the _ANC_WB[n] are released during

= 10 operation, the _ANNUN_WR and _ANC_WAR[n] will be shown as left.
= 0
_ANC
= 0
_WAR[0] = 0
= 0
= 0
_ANC = 0
_WAR[1] = 0

4 - 35
Chapter 4. CPU module

4.6 Memory Configuration

The CPU module includes two types of memory that are available by the user. One is program memory which is used
to store the user programs written to implement a system by the user. The other is data memory which stores data
during operation.
1) Program memory configuration
The table given below shows the contents to be stored and the storage capacity of program memory.
Item Memory Capacity
Overall program memory area 68 k bytes
Parameter area
• Basic parameter area
• I/O parameter area 2 k bytes
• High speed link parameter area
• Interrupt setting information area
Program area
• Scan program area
• Task program area
• User defined function/function block area
66 k bytes
• Standard library area
• Access variable are
• Variable initialization information area
• Protective variable specification information area

2) Data memory Configuration

The table given below shows the contents to be stored and the storage capacity of program memory.
Item Memory Capacity
Overall data memory area 32 k bytes
System area 1 k bytes
• I/O information table
• Force I/O table
System flag area 1.5 k bytes
Input image area (%IX) 128 bytes
Output image area (%QX) 128 bytes
Direct variable area (%M) 2 to 8 k bytes
Symbolic variable area (maximum) 29 k bytes – the size of direct variable
area
Stack area 3 k bytes

4 - 36
Chapter 4. CPU module

3) Purpose

(1) System area

it used to store the self-created data of the CPU module for system management and GMWIN system control
data.

(2) System flag area

it used to user flags and system flags. The user operates it with flag name.

(3) Input image area

It used to store input data read from input modules. Overall size is %IX0.0.0 to %IX1.7.63. The redundant area
(Actual input module is not installed) can be used as auxiliary relay in user program. Especially, it is
convenient to use the data storing area of remote input through high speed link.

(4) Output image area

It used to store operation results. The stored data are automatically output to output modules. Overall size
is %QX0.0.0 to %QX1.7.63. The redundant area (Actual output module is not installed) can be used as
auxiliary relay in user program. Especially, it is convenient to use the data storing area of remote output through
high speed link.

(5) Direct variable area

The user can use this area to access direct memory data through the variable names such as %MX0, %MB0,
%MW0 and %MD0, which was pre-defined by the system. Memory size is defined when program is made by
user and it refers to ‘App1. System Definitions’.

(6) Symbolic variable area

It used to store the variables that the user created, that is, whose names the user defined when writing a
program. Global variables and instance memory are located in this area. The variables used in program
blocks locates in the ‘PB instance memory’ of the program, and the memory used in function block locates in
the ‘FB instance memory’.
The maximum size of the PB instance memory is 32 Kbytes. If the used size overruns the maximum size,
divide the program blocks or use global variables.

4 - 37
Chapter 4. CPU module

4.7 I/O No. Allocation Method

1) I/O No. allocation means to give an address to each module in order to read data from input modules and output
data to output modules.

2) Fixed 64 points are allocated to each module for I/O points.

3) Fixed 64 points are allocated regardless of mounting/dismounting or type of modules.

4) The following shows I/O No. allocation method.

Input : % I X 0. 0. 0
Output :% Q X 0. 1. 15

Contact number on I/O module

0 ~ 63

Slot number of Base

0~7

Base number. 1)

0~1

REMARK
1) Although there is no expansion base, A base having more than 8 I/O slot which has a plan to develop
set by 1 as base number.

4 - 38
Chapter 4. CPU module

4.8 Names of Parts

The following describes the names and functions of parts of the CPU module.

③
GM6

④
⑤
⑥

No. Name Function

Indicates the operation status of the CPU module.

• On : when the CPU module operates with the mode setting switch in the
local or remote RUN state.
1 RUN LED • Off : when the followings occur
The voltage is not normally supplied to the SPU module.
The mode setting switch is in the STOP or PAU/REM state.
An error which makes operation stop is detected.

• On : when the mode setting switch is in the local or remote STOP state.
• Off : when the followings occur
2 STOP LED The mode setting switch is in the local RUN or local PAUSE state.
The operation state is in the RUM/PAUSE/DEBUG state.
• Flickering : when an error is detected by self-diagnosis during operation.

3 Battery installing connector It used to connect to the backup battery.

Sets the operation mode of the CPU module. .
• RUN : Program operation is executed.
• STOP : Program operation is temporarily stopped.
4 Mode setting switch
• PAU/REM :
PAUSE : Program operation is temporarily stopped.
REMOTE: Used for the remote operation
5 DIP S/W for flash memory See chap 6.

4 - 39
Chapter 4. CPU module

No. Name Function

GM6-CPUA : N/A (The terminal block is not installed)
GM6-CPUB : RS-422/485 interface terminal block
GM6-CPUC : High speed counter input terminal block
GM6-CPUB GM6-CPUC

RDA φA 24V
Terminal block for built-in
6
special function RDB φB 24V
SDA COM
SDB PRE 24V
SG PRE 0V
Operation Mode

It used to connect to peripheral devices(GMWIN, etc.)

GM6-CPUA and GM6-CPUC have built-in RS-232C interface function, and
6 RS-232C connector
it shares the RS-232C connector with peripheral device interface.
(Refer the chapter 13 for details)

REMARK

The followings shows the LED status complying with the operation mode, and the operation mode complying with
the position of the mode setting switch.

1) LED status complying with the operation mode

LED Status
RUN STOP
Local Run On Off
Local Stop Off On
Local Pause Off Off
Remote Run On Off
Remote Stop Off On
Remote Pause, Remote Debug Off Off

2) Operation mode complying with the position of the mode setting switch.
Position of Mode switch Operation Mode
STOP PAU/REM
Remote Stop

PAU/REM RUN Local Run

RUN PAU/REM Local Pause 1)

l Change of remote mode is available only after the operation mode has entered into the remote STOP mode.

caution 1) In case of local pause disable, it operated as Remote Run.

4 - 40
Chapter 5. BATTERY

Chapter 5. BATTERY

5.1 Specifications

Item Specifications
Normal voltage 3.0 VDC
Warranty life time 5 years
Application Programs and data backup, and RTC runs in power failure
Specifications Lithium Battery, 3 V
External dimension (mm) Φ14.5 × 26

5.2 Handling Instructions

1) Do not heat or solder its terminals.

2) Do not measure its voltage with a tester or short circuit.
3) Do not disassemble.

5.3 Battery Replacement

Backup battery needs periodic exchange. When the battery exchange, it should be done at power on, otherwise
some or all data will be lost.
The following shows the battery replacement procedure.

Battery replacement

Open the cover of the CPU module.

Release the existing battery from the holder and disconnect the connector.

Insert a new battery into the holder in the exact direction and connect the

connector.

No
Stop LED flickering?

Yes
Complete
Battery error

5-1
Chapter 6. MEMORY MODULE

Chapter. 6 USING THE USER PROGRAM IN FLASH MEMORY

This chapter describes user program storage and operation it.

Flash memory is used to store a user program and installed in PLC.

6.1 Structure

Dip switch for operation

Flash memory

6.2 How to use

Read / Write is available to flash memory in accordance with selection of DIP switch.

Selection of DIP switch for flash

Operation
memory

PLC is operated by the program in flash memory when power on or PLC

ON reset.

PLC recognize that no program is in flash memory.

ON

( Caution : Lower switch should be at the off position. )

User program can be written to flash memory at the PLC stop mode and then the selection of switch is ignored.

6-1
Chapter 7. INPUT AND OUTPUT MODULES

Chapter. 7 DIGITAL INPUT AND OUTPUT MODULES

7.1 Notes on Selecting Input and Output Modules

The followings describe instructions for selection of digital I/O modules that will be used in the GLOFA-GM6
series.

1) The types of digital input are current sink input and current source input.
When selecting DC input modules consider the specifications of those input devices as the wiring method of
the external input power supply varies complying with the type of digital input.
In the GM6 series, the types are dedicated source input and source/sink common DC input.

2) Maximum simultaneous input points differs with the type of a module. Check the specifications of the input
module to be applied before use.

3) Use transistor or triac output modules with a load that is frequently opened and closed or with an inductive load
as, in those cases, the life span of a relay output module will become shorter than specified.

7- 1
Chapter 7. INPUT AND OUTPUT MODULES

7.2 Digital Input Module Specifications

7.2.1 8-points 12 / 24 VDC input module (source / sink type)

Model DC Input Module

Specifications G6I-D21A
Number of input points 8 points
Insulation method Photo coupler
Rated input voltage 12 VDC 24 VDC
Rated input current 3 mA 7 mA
Operating voltage range 10.2 VDC to 28.8 VDC (ripple: less than 5%)
Maximum simultaneous input points 100%(8 points/COM) simultaneously ON
ON voltage/ON current 9.5 VDC or higher / 3.5 mA or higher
OFF voltage/OFF current 5 VDC or lower / 1.5 mA or lower
Input impedance Approx. 3.3 kΩ
OFF → ON 5 ms or less
Response time
ON → OFF 5 ms or less
Common terminal 8 points/COM
Internal current consumption 40 mA
Operating indicator LED turns on at ON state of input
External connections 9-points terminal block connector(M3 × 6 screws)
Weight 0.12 kg

00 Photo coupler DC5V

1
R
G6I-D21A

R 00

07
COM 8 Internal 01

9 Circuit 02

03
DC12/24V
04

05

06

07

COM

7- 2
Chapter 7. INPUT AND OUTPUT MODULES

7.2.2 16-points 12 / 24 VDC input module (source / sink type)

Model DC Input Module

Specifications G6I-D22A
Number of input points 16 points
Insulation method Photo coupler
Rated input voltage 12 VDC 24 VDC
Rated input current 3 mA 7 mA
Operating voltage range 10.2 VDC to 28.8 VDC (ripple: less than 5%)
Maximum simultaneous input points 100%(8 points/COM) simultaneously ON
ON voltage/ON current 9.5 VDC or higher / 3.5 mA or higher
OFF voltage/OFF current 5 VDC or lower / 1.5 mA or lower
Input impedance Approx. 3.3 kΩ
OFF → ON 5 ms or less
Response time
ON → OFF 5 ms or less
Common terminal 8 points/COM
Internal current consumption 70 mA
Operating indicator LED turns on at ON state of input
External connections 18-points terminal block connector(M3 × 6 screws)
Weight 0.15 kg

00 1 DC5V
R
G6I-D22A

R 00
01
07 8 02
COM Internal 03
04
9
Circuit 05
06

DC12 / 24V 07
COM
08 10 08
09
10
11
12
13
15 17 14
15
COM
COM 18

Terminal Block Number

DC12 / 24V

7- 3
Chapter 7. INPUT AND OUTPUT MODULES

7.2.3 16-points 24 VDC input module (source type)

Model DC Input Module

Specifications G6I-D22B
Number of input points 16 points
Insulation method Photo coupler
Rated input voltage 24 VDC
Rated input current 7 mA
Operating voltage range 20.4 VDC to 28.8 VDC (ripple: less than 5%)
Maximum simultaneous input points 100%(8 points/COM) simultaneously ON
ON voltage/ON current 15 VDC or higher/4.3 mA or higher
OFF voltage/OFF current 5 VDC or lower/1.7 mA or lower
Input impedance Approx. 3.3 kΩ
OFF → ON 5 ms or less
Response time
ON → OFF 5 ms or less
Common terminal 8 points/COM
Internal current consumption 70 mA
Operating indicator LED turns on at ON state of input
External connections 18-points terminal block connector(M3 × 6 screws)
Weight 0.15 kg

00 1 DC5V
R
G6I-D22B

R 00
01
07 8 02
COM Internal 03
9 04
Circuit 05
06

DC24V 07
COM
08 10 08
09
10
11
12
13
15 17 14
15
COM
COM 18

Terminal Block Number

DC24V

7- 4
Chapter 7. INPUT AND OUTPUT MODULES

7.2.4 32-points 12 / 24 VDC input module (source / sink type)

Model DC Input Module

Specifications G6I-D24A
Number of input points 32 points
Insulation method Photo coupler
Rated input voltage 12 VDC 24 VDC
Rated input current 3 mA 7 mA
Operating voltage range 10.2 to 28.8 VDC (ripple: less than 5%)
Maximum simultaneous input points 60% simultaneously ON
ON voltage/ON current 9.5 VDC or higher / 3.5 mA or higher
OFF voltage/OFF current 5 VDC or lower / 1.5 mA or lower
Input impedance Approx. 3.3 kΩ
OFF → ON 5 ms or less
Response time
ON → OFF 5 ms or less
Common terminal 32 points/COM
Internal current consumption 75 mA
Operating indicator LED turns on at ON state of input
External connections 37-point terminal block connector(M3 × 6 screws)
Weight 0.11 kg

00 1 DC5V
R 00
1
20
01 2 12
02 21
03
R 04
05
3

4
22

06 23
07 5
08 24

Internal 09 6
10 25
11 7
12 26
13

Circuit
8
14 27
15 9
16 28
17 10
18 1 29
19 11
20 30
21 12
22 31
23 13
24
32
25
14

31 26
27
15
33

35 28
34
29 16
17 30
35
31
36 COM
17
36
18 18
37
37 19

19

Connector Pin Number

DC12 / 24V

7- 5
Chapter 7. INPUT AND OUTPUT MODULES

7.2.5. 32-points 24 VDC input module (source type)

Model DC Input Module

Specifications G6I-D24B
Number of input points 32 points
Insulation method Photo coupler
Rated input voltage 24 VDC
Rated input current 7 mA
Operating voltage range 20.4 to 28.8 VDC (ripple: less than 5%)
Maximum simultaneous input points 60% simultaneously ON
ON voltage/ON current 15 VDC or higher / 4.3 mA or higher
OFF voltage/OFF current 5 VDC or lower / 1.7 mA or lower
Input impedance Approx. 3.3 kΩ
OFF → ON 5 ms or less
Response time
ON → OFF 5 ms or less
Common terminal 32 points/COM
Internal current consumption 75 mA
Operating indicator LED turns on at ON state of input
External connections 37-point terminal block connector(M3 × 6 screws)
Weight 0.11 kg

00 1 DC5V
R 00
1
20
01 2 12
02 21
03
R 04
05
3

4
22

06 23
07 5
08 24

Internal 09 6
10 25
11 7
12 26
13

Circuit
8
14 27
15 9
16 28
17 10
18 1 29
19 11
20 30
21 12
22 31
23 13
24
32
25
14

31 26
27
15
33

35 28
34
29 16
17 30
35
31
36 COM
17
36
18 18
37
37 19

19

DC24V
Connector Pin Number

7- 6
Chapter 7. INPUT AND OUTPUT MODULES

7.2.6 8-points 110 VAC input module

Models AC Input Module

Specifications G6I-A11A
Number of input points 8 points
Insulation method Photo coupler
Rated input voltage 100 to 120 VAC (50/60 Hz)
Rated input current 11 mA (110 VAC / 60 Hz)
Operating voltage range 85 to 132 VAC (50/60 Hz ± 3 Hz)
Maximum simultaneous input points 100%(8 points / COM) simultaneously ON
Inrush current 300 mA, 0.3 ms or lower (132 VAC)
ON voltage/ON current 80 VAC or higher / 5 mA or higher
OFF voltage/OFF current 30 VAC or lower / 2 mA or lower
Input impedance Approx. 15 kΩ
OFF → ON 15 ms or less
Response time
ON → OFF 25 ms or less
Common terminal 8 points/COM
Internal current consumption 60 mA
Operating indicator LED turns on at ON state of input
External connections 9-point terminal block connector(M3 × 6 screws)
Weight 0.14 kg

00 1 DC5V
R
G6I-A11A

R
R 00

01
Internal
02

Circuit 03

04

05

06

07 07
8
COM
9
COM

AC 110V
Terminal Block Number

7- 7
Chapter 7. INPUT AND OUTPUT MODULES

7.2.7 8-points 220 VAC input module

Model GM4
Specifications G6I-A21A
Number of input points 8 points
Insulation method Photo coupler
Rated input voltage 200 to 240 VAC (50/60 Hz)
Rated input current 11 mA (220 VAC / 60 Hz)
Operating voltage range 170 to 264 VAC (50/60 Hz ± 3 Hz)
Maximum simultaneous input points 100%(8 points / COM) simultaneously ON
Surge input current 600 mA, 0.12 ms or lower (264 VAC)
ON voltage/ON current 80 VAC or higher / 5 mA or higher
OFF voltage/OFF current 30 VAC or lower / 2 mA or lower
Input impedance Approx. 20 kΩ
OFF → ON 15 ms or less
Response time
ON → OFF 25 ms or less
Common terminal 8 points/COM
Internal current consumption 41 mA
Operating indicator LED turns on at ON state of input
External connections 9-point terminal block connector(M3 × 6 screws)
Weight 0.14 kg

00 1 DC5V
R
G6I-A21A

R
R 00

01
Internal
02

Circuit 03

04

05

06

07 07
8

COM
9
COM

AC 220V
Terminal Block Number

7- 8
Chapter 7. INPUT AND OUTPUT MODULES

7.3 Digital Output Module Specifications

7.3.1. 8-point relay output module

Models Relay Output Module

Specifications G6Q-RY1A
Number of output points 8 points
Insulation method Photo coupler
Rated load voltage & current 24 VDC 2A(resistance)/point, 5 A/ COM
220 VAC 2A(COSΨ = `1)/point, 5A/COM
Minimum load voltage/current 5 VDC / 1 mA
Maximum load voltage/current 250 VAC, 110 VDC
Maximum switching frequency 1200 times per hour
Surge absorber None
Mechanical 20 million times or more
Rated load voltage/current 100000 times or more
Service life 200 VAC 1.5 A, 240 VAC 1 A (COSΨ = 0.7) : 100000 times or more
Electrical
200 VAC 1 A, 240 VAC 0.5 A (COSΨ = 0.35) : 100000 times or more
24 VAC 1.5 A, 100 VDC 0.1 A (L/R= 7 ms) : 100000 times or more
Off → On 10 ms or less
Response time
On → Off 12 ms or less
Common terminal arrangement 1 points/COM
Internal current consumption 250mA
Operation indicator LED turns on at ON state of output
External connections 18-point terminal block connector (M3 × 6 screws)
Weight 0.19 kg

DC5V 1 00
DC5V
L
2
G6Q-RY1A
Coil

00
R Relay
L
COM

L 01
COM
AC110/220V
L 02
COM

L
03

Internal R
COM

04
Circuit
L
COM

L 05
15 07
COM

L 06
L COM

16 L 07
COM

NC

NC

17
18 NC

Terminal
Block No.

7- 9
Chapter 7. INPUT AND OUTPUT MODULES

7.3.2. 16-point relay output module

Models Relay Output Module

Specifications G6Q-RY2A
Number of output points 16 points
Insulation method Photo coupler
Rated load voltage & current 24 VDC 2A(resistance)/point, 5 A/ COM
220 VAC 2A(COSΨ = `1)/point, 5A/COM
Minimum load voltage/current 5 VDC / 1 mA
Maximum load voltage/current 250 VAC, 110 VDC
Maximum switching frequency 1200 times per hour
Surge absorber None
Mechanical 20 million times or more
Rated load voltage/current 100000 times or more
Service life 200 VAC 1.5 A, 240 VAC 1 A (COSΨ = 0.7) : 100000 times or more
Electrical
200 VAC 1 A, 240 VAC 0.5 A (COSΨ = 0.35) : 100000 times or more
24 VAC 1.5 A, 100 VDC 0.1 A (L/R= 7 ms) : 100000 times or more
Off → On 10 ms or less
Response time
On → Off 12 ms or less
Common terminal arrangement 8 points/COM
Internal current consumption 415mA
Operation indicator LED turns on at ON state of output
External connections 18-point terminal block connector (M3 × 6 screws)
Weight 0.19 kg

DC5V 1 00
DC5V L
G6Q-RY2A
Coil

L 00
R Relay 01
02
8 07 03
L 04
9
05
Internal 06
110/220 VAC 07
R
Circuit 10 08 COM

08
L L
09
10
11
12
13
14
17 15 15
L COM
18

110/220 VAC
Terminal Block Number

7- 10
Chapter 7. INPUT AND OUTPUT MODULES

7.3.3 16-point transistor output module (sink type)

Models Transistor Output Module

Specifications G6Q-TR2A
Number of output points 16 points
Insulation method Photo coupler
Rated load voltage/current 12/24 VDC
Operating load voltage range 10.2 to 26.4 VDC
Maximum load current 0.5 A /point, 4 A / COM
Off leakage current 0.1 mA
Maximum inrush current 4 A, 10 ms or less
Maximum voltage drop at ON circuit 1.5 VDC(0.5A)
Surge absorber Clamp Diode
Response Off → On 2 ms or less
time On → Off 2 ms or less
Common terminal arrangement 16 points/COM
Internal current consumption 185 mA
External Voltage 24 VDC ± 10 % (ripple voltage : 4VP-P or less)
power supply Current 48 mA or less (all points ON)
Operation indicator LED turns on at ON state of output
External connections 18-point terminal block connector (M3 × 6 screws)
Weight 0.18 kg

17

DC5V

1 00 G6Q-TR2A

R L
L 00
01
02
03
04
05
R 06
Internal 07
08

Circuit 09
10
11
12
13
14
16 15
15
L
18
COM

DC 24V
Terminal Block Number

7- 11
Chapter 7. INPUT AND OUTPUT MODULES

7.3.4 16-point transistor output module (source type)

Models Transistor Output Module

Specifications G6Q-TR2B
Number of output points 16 points
Insulation method Photo coupler
Rated load voltage/current 12/24 VDC
Operating load voltage range 10.2 to 26.4 VDC
Maximum load current 0.5 A /point, 4 A / COM
Off leakage current 0.1 mA
Maximum inrush current 4 A, 10 ms or less
Maximum voltage drop at ON circuit 1.5 VDC(0.5A)
Surge absorber Clamp Diode
Response Off → On 2 ms or less
time On → Off 2 ms or less
Common terminal arrangement 16 points/COM
Internal current consumption 185 mA
External Voltage 24 VDC ± 10 % (ripple voltage : 4VP-P or less)
power supply Current 48 mA or less (all points ON)
Operation indicator LED turns on at ON state of output
External connections 18-point terminal block connector (M3 × 6 screws)
Weight 0.18 kg

DC5V Transistor

G6Q-TR2B

R
R 1 00 L 00
Photo 01
Coupler
L 02
03
04
05
06
Internal 07
08

Circuit 09
10
11
12
1 15 13
L 14
17 15
COM
18

Terminal Block No.

DC12/24V

7- 12
Chapter 7. INPUT AND OUTPUT MODULES

7.3.5 32-point transistor output module (sink type)

Models Transistor Output Module

Specifications G6Q-TR4A
Number of output points 32 points
Insulation method Photo coupler
Rated load voltage/current 12/24 VDC
Operating load voltage range 10.2 to 26.4 VDC
Maximum load current 0.1 A / point, 2 A /COM
Off leakage current 0.1 mA or less
Maximum inrush current 4 A, 10 ms or less
Maximum voltage drop at ON circuit 1.0 VDC
Surge absorber None
Response Off → On 2 ms or less
time On → Off 2 ms or less
Common terminal arrangement 32 points/COM
Internal current consumption 139 mA
External Voltage 24 VDC ± 10 % (ripple voltage : 4VP-P or less)
power supply Current 36 mA or less (24 VDC/COM)
Operation indicator LED turns on at ON state of output
External connections 37-pin D Sub-connector
Weight 0.11 kg

00
L 1
DC5V 17 01 20
18 02 2
03 21
00 04 3
R 1 L 05 22

R
Internal
24 14
Circuit 25 32
26 14
27 33
31 28 15
29 34
16 L 30
19 16
36
L 31 35
17
37 36
18
37
19
Connector Pin Number

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Chapter 7. INPUT AND OUTPUT MODULES

7.3.6 32-point transistor output module (source type)

Models Transistor Output Module

Specifications G6Q-TR4B
Number of output points 32 points
Insulation method Photo coupler
Rated load voltage/current 12/24 VDC
Operating load voltage range 10.2 to 26.4 VDC
Maximum load current 0.1 A / point, 2 A /COM
Off leakage current 0.1 mA or less
Maximum inrush current 4 A, 10 ms or less
Maximum voltage drop at ON circuit 1.0 VDC
Surge absorber None
Response Off → On 2 ms or less
time On → Off 2 ms or less
Common terminal arrangement 32 points/COM
Internal current consumption 139 mA
External Voltage 24 VDC ± 10 % (ripple voltage : 4VP-P or less)
power supply Current 36 mA or less (24 VDC/COM)
Operation indicator LED turns on at ON state of output
External connections 37-pin D Sub-connector
Weight 0.11 kg

DC5V
1
00
20
01

1
00 02
03
2
21

R
3

L
04 22
05 4
06 23
07 5
08 24
09 6
10 25
11 7
12 26
13 8
14 27
15 9
16 28
17 10

Internal circuit 18 1 29
19 11
20 30

R
21 12
22 31
23 13
24 32
25 14
26 33

35 31 28
27
15
34

17 L 30 31
29 16
35
17
COM 36
18
36
COM 18

19
37

19
37

Connector Pin No.

COM : 17,18,36

:17,18,36

The total current of each 8 points (0~7,8~15,16~23,and 24~31) should be lower than 600mA.

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Chapter 7. INPUT AND OUTPUT MODULES

7.3.7 8-point triac output module

Models Triac Output Module

Specifications G6Q-SS1A
Number of output points 8 points
Insulation method Photo coupler
Rated load voltage 100 to 240 VAC (50 to 60 Hz)
Minimum load voltage 264 VAC
Maximum load current 1 A / point, 4 A / 1 COM
Minimum load current 20 mA
Off leakage current 2.5 mA (220 VAC, 60 Hz)
Maximum inrush current 40 A, 10 ms or less
Maximum voltage drop at ON circuit 1.5 VAC or less (2 A)
Surge absorber Varistor (387 to 473 V), C.R absorber
Off → On 1ms or less
Response time
On → Off 1ms + 0.5 cycle or less
Common terminal arrangement 8 points/COM
Internal current consumption 210 mA
Operation indicator LED turns on at ON state of output
External connections 9-point terminal block connector (M3 × 6 screws)
Weight 0.16 kg

DC5V DC5V 1 00
L G6Q-SS1A

R 00
L
R
01
R 8 07
L 02
9
03

Internal 110/220 VAC

R SSR 04

Circuit 05

06

07

COM

Terminal Block Number

7- 15
Chapter 8. POWER SUPPLY MODULES

Chapter 8. POWER SUPPLY MODULE

This chapter describes the selection method, type and specifications of the power supply module.

8.1 Selection of power supply module

Selection of the power supply module is determined by the total current consumption of digital input modules,
special modules and communications modules, etc. whose powers are supplied by the power supply module.
If total load overrun the rated output capacity , the system will not normally operate. When configuring a
system, select a power supply module with due consideration of current consumption of each module.
1) Current consumption GM6 series modules (unit: mA)
Current Current
Modules Models Modules Models
Consumption Consumption
GM6-CPUA 170 G6Q-TR2A 180

CPU module GM6-CPUB 210 G6Q-TR2B 170

Transistor output
GM6-CPUC 170 module G6Q-TR4A 140

G6I-D21A 40 G6Q-TR4B 145

G6I-D22A 70 A/D conversion module G6F-AD2A 50

24 VDC input G6I-D22B 70 G6F-DA2V 50

module
D/A conversion module
G6I-D24A 75 G6F-DA2I 50

High speed counting

G6I-D24B 75 G6F-HSCA 220
module
110 VAC input
G6I-A11A 35 G6L-CUEB 140
module
Computer link module
220 VAC input
G6I-A21A 35 G6L-CUEC 180
module
G6Q-RY1A 210 G6L-FUEA 215
Relay output module Fnet I/F module
G6Q-RY2A 400 G6L-RBEA 215

Triac output module G6Q-SS1A 190 G6L-DUEA 220

Positioning module G6F-POPA 345 Dnet I/F module G6L-DSIA 155

G6L-DSQA 240

8- 1
Chapter 8. POWER SUPPLY MODULES

8.2 Specifications

Item GM6-PAFA GM6-PAFB GM6-PDFA GM6-PD3A

Input voltage 85 to 264 VAC 85 to 264 VAC 12 / 24VDC 24VDC

Input
50 / 60 Hz (47 to 63 Hz) –
frequency

Input current 0.7 / 0.35 A 0.7 / 0.35 A 1.5A (12VDC) 0.7A (24VDC)

Input Inrush current 30 A or less 40A or less

Efficiency 70% or more (rated load, 110/220 VAC) 60% or more (rated input, rated load)

Input fuse 250 VAC / 2A 250VAC / 3A

Allowable
momentary 20 ms or less 1ms or less
power failure
Output voltage 5 VDC
Output Output current 5 VDC : 2 A
Over-current
5 VDC : 2.2 A or more
protection
Output voltage 24 VDC ± 15VDC –

+15 VDC : 0.5 A

Output current 24 VDC : 0.3 A
-15VDC : 0.2 A
–

Over-current +15 VDC : 0.55 A

24 VDC : 0.33 A or more –
protection -15VDC : 0.22 A

Voltage status indicator LED turns On at normal output voltage. –

Used wire specifications 0.75 to 2 mm 2 –

Weight 0.4 kg

REMARK
To use A/D and D/A modules (G6F-AD2A, G6F-DA2V, G6F-DA2I), choose the GM6-PAFB power module.

8- 2
Chapter 8. POWER SUPPLY MODULES

8.3 Names of Parts

The followings describe names of parts and their purposes of the power supply module.

③
④
⑤

No. Name Purpose

1 Power LED It used to indicate the 5 VDC power supply.
Connect 110 or 220 VAC power. (GM6-PAFA, GM6-PAFB)
2 Power input terminal Connect 12 / 24VDC power. (GM6-PDFA)
Connect 24VDC power (GM6-PD3A)
3 LG terminal Line Ground
4 FG terminal Frame Ground
24 VDC and DC24G terminal GM6-PAFA It used the 24 VDC power to supply to the other module
GM6-PAFB
5
No connection GM6-PDFA No connection
GM6-PD3A

8- 3
Chapter 9. BASE BOARD AND EXPANSION CABLE

Chapter 9. BASE BOARD

9.1 Specifications

1) GM6
Models
GM6-B04M GM6-B06M GM6-B08M
Items
Mounting I/O modules 4 modules 6 modules 8 modules
Outer dimensions (mm) 244 × 110 × 62 314 × 110 × 62 384 × 110 × 62
Panel installation hole size φ4.5 (for M4 screw)
Weight (kg) 0.24 0.35 0.75

9.2 Names of Parts

Hook Mounting Guide Hole

CPU Module Connector I/O Module Connector

Module Mounting Guide Rail

Power Module Connector

9-1
Chapter 10. INSTALLATION AND WIRING

Chapter 10. INSTALLATION AND WIRING

10.1 Installation

10.1.1 Installation Environment

This unit has high reliability regardless of its installation environment, but be sure to check the following for
system reliability and stability.

1) Environment requirements
Avoid installing this unit in locations which are subjected or exposed to :
(1) Water leakage and dust.
(2) Continuous shocks or vibrations.
(3) Direct sunlight.
(4) Dew condensation due to rapid temperature change.
(5) Higher or lower temperatures outside the range of 0 to 55 °C
(6) Relative humidity outside the range of 5 to 95 %
(7) Corrosive or flammable gases

2) Precautions during installing.

(1) During drilling or wiring, do not allow any wire scraps to enter into the PLC.
(2) Install it on locations that are convenient for operation.
(3) Make sure that it is not located on the same panel that high voltage equipment located..
(4) Make sure that the distance from the walls of duct and external equipment be 50 mm or more.
(5)Be sure to be grounded to locations that have good ambient noise immunity.

3) Heat protection design of control box

(1) When installing the PLC in a closed control box, be sure to design heat protection of control box with
consideration of the heat generated by the PLC itself and other devices.
(2)It is recommended that filters or closed heat exchangers be used.

10 - 1
Chapter 10. INSTALLATION AND WIRING

The following shows the procedure for calculating the PLC system power consumption.
1) PLC system power consumption block diagram

2) Power consumption of each part

(1) Power consumption of a power supply module
Approximately 70% of the power supply module current is converted into power and 30% of that 70%
dissipated as heat, i.e., 3/7 of the output power is actually used.
• Wpw = 3/7 {(I5V × 5) + (I24V × 24)} (W)
where, I5V = 5 VDC circuit current consumption of each module
I24V = 24 VDC circuit average current consumption of output modules (with points simultaneously
switched ON). Not for 24 VDC power supplied from external or power supply modules that
has no 24 VDC output.
(2) Total 5 VDC power consumption
The total power consumption of all modules is the power of the 5 VDC output circuit of the power supply
module.
• W5V = I5V × 5 (W)
(3) Average 24 VDC power consumption (with points simultaneously switched ON)
The total power consumption of all modules is the average power of the 24 VDC output circuit of the power
supply module.
• W24V = I24V × 24 (W)
(4) Average power consumption by voltage drop of output modules (with points simultaneously switched ON)
• Wout = Iout × Vdrop × output points × the rate of points switched on simultaneously (W)
Iout : output current (actual operating current) (A)
Vdrop : voltage dropped across each output load (V)

10 - 2
Chapter 10. INSTALLATION AND WIRING

(5) Average power consumption of input circuits if input modules (with points simultaneously switched ON)
• Win = Iin × E × input points × the rate of points switched on simultaneously (W)
Iin : input current (effective value for AC) (A)
E: input voltage (actual operating voltage) (V)
(6) Power consumption of the special module power supply
• Ws = I5V × 5 + I24V × 24 + I100V × 100 (W)

The sum of the above values is the power consumption of the entire PLC system.
• W = WPW + W5V + W24V + WOUT + WIN + WS (W)
Check the temperature rise within the control panel with calculation of that total power consumption(W).

The temperature rise in the control panel is expressed as:

T = W/UA [°C]
W : Power consumption of the entire PLC system (obtained as shown above)
A : Control panel inside surface area (m2)
U : 6 (if the control panel temperature is controlled by a fan, etc.)
4 (if control panel air is not circulated)

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Chapter 10. INSTALLATION AND WIRING

10.1.2 Handling Instructions

To installing the temperature-measuring resistor input module, be sure to check the following:

• Do not drop it off, and make sure that strong shock should not be applied.
• Do not unload the PCB from its case. It can cause faults.
• During wiring, be sure to check any foreign matter like wire scraps should not enter into the upper side of the
PLC. If any foreign matter has entered into it, always eliminate it.
• Do not load or unload the module while the power supply is being connected.
1) I/O module handling instructions
The followings explains instructions for handling or installing the input module.
(1) I/O module specifications re-check
Re-check the input voltage for the input module. If a voltage over the maximum switching capacity is
applied, it can cause faults, destruction or fire.
(2) Used wire
Select the wire with due consideration of ambient temperature and rated current. Its minimum
specifications should be AWG22(0.3 mm2) or more.
(3) Environment
When wiring the I/O module, if it locates near a device generating an cause short circuit, destruction or
malfunction.
(4) Polarity
Before applying the power to a module that has polarities, be sure to check its polarities.
(5) Wiring
• Wiring I/O wires with high voltage cable or power supply line can cause malfunction or disorder.
• Be sure that any wire does not pass across during input LED (I/O status will not be clearly identified.
• If an inductive load has been connected to output module, connect parallel surge killer or diode to a
load. Connect the cathode part of diode to the + part of the power supply.

10 - 4
Chapter 10. INSTALLATION AND WIRING

(6) Terminal block

Check its fixing. During drilling or wiring, do not allow any wire scraps to enter into the PLC. It can cause
malfunction and fault.
(7) Be cautious that strong shock does not applied to the I/O module. Do not separate the PCB from its
case.

2) Base board mounting instructions

The following explains instructions for mounting the PLC onto the control panel.
(1) Allow sufficient distance from the upper part of the module for easy module replacement.
(2) Do not mount the PLC in a vertical or horizontal position because it affects on ventilation.
(3) Do not mount the base board together with a large-sized electromagnetic contact or no-fuse breaker,
which produces vibration, on the same panel. Mount them on different panels, or keep the base board
away from such a vibration source.
(4) Mount the wire duct as it is needed.
If the clearances are less than those in Fig 10.1, follow the instructions shown below.
• If the wire duct is mounted on the upper part of the PLC, make the wiring duct clearance 50mm or
less for good ventilation. Also, allow the distance enough to press the hook in the upper part from
the upper part of the PLC.
• If the wire duct is mounted on the lower part of the PLC, make optic or coaxial cables contact it and
consider the minimum diameter of the cable.
(5) To protect the PLC from radiating noise or heat, allow 100 mm or more clearances between it and
parts. Left or right clearance and clearance from other device in the left or right side should be 50 mm
or more.

board

board

[Fig. 10.1] PLC mounting

10 - 5
 Chapter 10. INSTALLATION AND WIRING

[Fig.10.2] Clearance from the front device [Fig. 10.3] Vertical mounting [Fig 10.4] Horizontal mounting

10 - 6
 Chapter 10. INSTALLATION AND WIRING

10.1.3 Mounting and Dismounting of module

The following explains the mounting and dismounting of various modules.

1) Module mounting
• Insert the module to mounting slot with sliding guide.
• Check that the module is firmly mounted onto the base board.

Locking part for Hook

Hook

Sliding

Locked Hook

Note : The CPU module should be mounted on the next of the power module. If the CPU module is mounted other slot
when a power module that has ± 15VDC output (GM6-PAFB), the CPU module will be damaged. Therefore, please be
sure to mount CPU module on the proper slot.

10 - 7
Chapter 10. INSTALLATION AND WIRING

2) Module dismounting
• First, push the locked hook(①) and pull the module with direction of arrow ②.

10 - 8
Chapter 10. INSTALLATION AND WIRING

10.2 Wiring

The followings explains the wiring instructions for use of the system.

10.2.1 Power Supply Wiring

1) When voltage fluctuations are larger than the specified value, connect a constant-voltage transformer.

2) Use a power supply which generates minimal noise across wire and across PLC and
ground. (When excessive noise is generated, connect an insulating transformer)
3) When wiring, separate the PLC power supply from the I/O and power device as shown
below.

10 - 9
Chapter 10. INSTALLATION AND WIRING

4) Notes on using 24 VDC output of the power supply module

• To protect the power supply modules, do not supply one I/O module with 24 VDDC from several power
supply modules connected in parallel.
• If 24 VDC output capacity is sufficient for one power supply module, supply 24 VDC from the external 24
VDC power supply as shown below.

5) Twist the 110 VAC, 220 VAC, and 24 VDC cables as closely as possible. Connect modules with the
shortest possible wire lengths.
7) To minimize voltage drop, use the thickest (max. 2 mm2 ) wires possible for the 100 VAC, 200VAC and
24 VDC cables.
8) Do not bundles the 100 VAC and 24 VDC cables with main-circuit(high voltage, large current) wires or
the I/O signal wires. If possible, provide more than 100 mm distance between the cables and wires.
8) As a lightning-protection measure, connect a surge absorber as shown below.

REMARK
1) Ground the surge absorber (E1) and the PLC(E2) separately from each other.
2) Select a surge absorber making allowances for power voltage rises.
9) Use a insulating transformer or noise filter for protection against noise .
10) Twist every input power supply wires as closely as possible. Do not allow the transformer or noise filter
across the duct.

10 - 10
Chapter 10. INSTALLATION AND WIRING

10.2.2 Input and Output Devices Wiring

1) Applicable size of wire for I/O wiring is 0.3 to 2 mm2. However, it is recommended to use wire of 0.3mm2 for
convenience.
2) Separate the input and output lines.
3) I/O signal wires must be at least 100 mm away from high voltage and large current main circuit wires.
4) When the I/O signal wires cannot be separated from the main circuit wires and power wires, ground on the
PLC side with batch-shielded cables.

5) If wiring has been done with a piping, ground the piping.

6) Separate the 24 VDC I/O cables from the 110 VAC and 220 VAC cables.
7) If wiring over 200 m or longer distance, problems can be caused by leakage currents due to line capacity.
Refer to the Section 12.4 Examples.

10.2.3 Grounding

1) This PLC has sufficient protection against noise, so it can be used without grounding except for special
much noise. However, when grounding it should be done conforming to below items.
2) Ground the PLC as independently as possible. Class 3 grounding should be used (grounding resistance
100 Ω or less).
3) When independent grounding is impossible, use the joint grounding method as shown in the figure below (B).

(A) Independent grounding : Best (B) Joint grounding : Good (C) Joint grounding : Not allowed
4) Use 2 mm2 or more wire for grounding line. Make the distance as short as possible with the grounding point
located to nearest to the PLC.

10 - 11
Chapter 10. INSTALLATION AND WIRING

5) Ground LG (Power Supply Module) separately with FG (Base board).

(A) Independent grounding : BEST (B) Joint grounding : GOOD (C) Joint Grounding : Not Allowed

6) If a malfunction occurs depend on grounding point, separate FG (Base Board) with ground.

10.2.4 Cable Specifications for wiring

Cable Specifications (㎟)

Kinds of external connection
Minimum Maximum
Digital Input 0.18 (AWG 24) 1.5 (AWG16)
Digital Output 0.18 (AWG24) 2.0 (AWG14)
Analog Input/Output 0.18 (AWG24) 1.5 (AWG16)
Communication 0.18 (AWG24) 1.5 (AWG16)
Main Power 1.5 (AWG16) 2.5 (AWG12)
Grounding 1.5 (AWG16) 2.5 (AWG12)

10 - 12
Chapter 11. MAINTENACE

Chapter 11. MAINTENANCE

Be sure to perform daily and periodic maintenance and inspection in order to maintain the PLC in the best
conditions.

11.1 Maintenance and Inspection

The I/O module mainly consist of semiconductor devices and its service life is semi-permanent. However,
periodic inspection is requested for ambient environment may cause damage to the devices. When inspecting
one or two times per six months, check the following items.
Check Items Judgment Corrective Actions
Ambient Temperature 0 to +55°C Adjust the operating temperature and
environment Humidity 5 to 95%RH humidity with the defined range
Vibration No vibration Use vibration resisting rubber or the
vibration prevention method
Play of modules No play allowed Securely enrage the hook
Connecting conditions of No loose allowed Retighten terminal screws
terminal screws
Change rate of input voltage -15% to 15% Hold it with the allowable range
Spare parts Check the number of spare parts Cover the shortage and improve the storage
and their storage conditions condition

11.2 Daily Inspection

The following table shows the inspection and items which are to be checked daily
Corrective
Check Items Check points Judgment
Actions
Base unit mounting
Check for loose mounting screws The base unit should be securely mounted Retighten Screws
conditions
Mounting conditions of • Check if the hook is securely engaged Securely engage
The hook should be securely engaged
I/O modules • Check if the upper cover is securely mounted the hook
Retighten
Check for loose terminal screws Screws should not be loose
Connecting conditions terminal screws
of terminal block or Check the distance between solderless
Proper clearance should be provided Correct
extension cable terminals
Check connectors of extension cable Connectors should not be loose Correct
Power LED Check that the LED is ON ON(OFF indicates an error) See chapter 12
Indic Run LED Check that the LED is ON during Run ON(ON or flickering indicates an error) "
atin Stop LED Check that the LED is OFF during Run OFF(ON indicates an error) "
g
LED Input LED Check that the LED turns ON and OFF ON when input is ON, OFF when input is off "
ON when output is ON.
Output LED Check that the LED turns ON and OFF
OFF when output is OFF "

11 - 1
Chapter 11. MAINTENACE

11.3 Periodic Inspection

Check the following items once or twice every six months, and perform the needed corrective actions.

Check Items Checking Methods Judgment Corrective Actions

temperature 0 to 55°C
Ambient Measure with thermometer
Ambient 5 to 95% RH
humidity and hygrometer Measure
environment
corrosive gas There should be no corrosive
Ambience
gases
Looseness, The module should be
Move the unit
play mounted securely
PLC Ingress of
Retighten screws
conditions dust or
Visual check No dust or foreign material
foreign
material
Loose
terminal Re-tighten Screws should not be loose Retighten
screws
Connecting Distance
conditions between Visual check Proper clearance Correct
terminals
Loose Connectors should not be Retighten connector
Visual check
connector loose mounting screws
85 ~ 264VAC (GM6-PAFA/B))
Measure voltage across
Line voltage check 10.5 ~ 28VDC (GM6-PDFA) Change supply power
110/ 220 VAC terminal
20 ~ 28VDC (GM6-PD3A)
• Check total power failure If battery capacity
Check battery replacement time and the specified source reduction is not
Battery time and battery capacity life indicated, Change the
reduction • Battery capacity reduction battery when specified
should not be indicated service life is exceeded
If fuse melting
disconnection, change
Fuse Visual check No melting disconnection the fuse periodically
because a surge current
can cause heat

11 - 2
Chapter 12. TROUBLE SHOOTING

Chapter 12. TROUBLE SHOOTING

The following explains contents, diagnosis and corrective actions for various errors that can occur during system
operation

12.1 Basic Procedures of Troubleshooting

System reliability not only depends on reliable equipment but also on short down-times in the event of faults.
The short discovery and corrective action is needed for speedy operation of system.
The following shows the basic instructions for troubleshooting.
1) Visual checks
Check the following points
• Machine motion(In stop and operating status)
• Power ON or OFF
• Status of I/O devices
• Condition of wiring (I/O wires, extension and communications cables)
• Display states of various indicators(such as POWER LED, RUN LED, STOP LED and I/O LED). After checking
them, connect the peripheral devices and check the operation status of the PLC and the program contents.
2) Trouble Check
Observe any change in the error conditions during the following.
• Set the mode setting switch to the STOP position, and then turn the power ON and OFF
3) Narrow down the possible causes of the trouble
Deduce where the fault lies, i. e:
• Inside or outside of the PLC
• I/O module or another module
• PLC program ?

12.2 Troubleshooting

This section explains the procedure for determining the cause of troubles as well as the errors and corrective
actions for the error codes.

Occurrence of error

Is the power LED turned OFF? Flowchart used when the POWER LED is turned OFF

Is the stop LED flickering ? Flowchart used when the STOP LED is flickering

Are the RUN and STOP LED turned OFF? Flowchart used when the RUN and STOP LED is turned OFF

I/O module dose not operate properly Flowchart used when the output load of the output module dose not turn on

Program cannot be written Flowchart used when a program cannot be written to the PLC

12 - 1
Chapter 12. TROUBLE SHOOTING

12.2.1 Troubleshooting flowchart used when the POWER LED turns OFF.

The following flowchart explains corrective action procedure used when the power is all lied or the POWER
LED turns OFF during operation

Power LED is turned OFF

No
Is the power
Apply the power supply
supply operating

Yes No Yes
Does the Power
LED turn ON?

No See the supply power to within the

Is the line voltage rated power
85 to 264VAC?

Yes No Yes
Does the Power
LED turn ON?

Yes
Is Fuse disconnected ? Replace the fuse

No No Yes
Does the Power
LED turn ON?

No
Is the power supply module Fix the power supply module correctly
Fixed to the base?

Yes No Yes
Does the Power
LED turn ON?

Yes
Over current protection 1) Eliminate the excess current
Device activated? 2) Switch the input power OFF, then ON

No
No Yes
Does the Power
LED turn ON?
Write down the troubleshooting questionnaires
and contact the nearest service center
Complete

12 - 2
Chapter 12. TROUBLE SHOOTING

12.2.2 Troubleshooting flowchart used when the STOP LED is flickering

The following flowchart explains corrective action procedure use when the power is applied starts or the
STOP LED is flickering during operation

Stop LED goes OFF

Read the error code in the system flag

Yes S/W error.

Program error? Correct the program

No

Set the operation mode to the STOP

mode
Correct in accordance with the error
contents

Write the program newly

Yes Set the operation mode to the RUN

Program error? mode

No

Write down the troubleshooting

questionnaires and contact the nearest
Complete service center

12 - 3
Chapter 12. TROUBLE SHOOTING

12.2.3 Troubleshooting flowchart used when the RUN and STOP LEDs turns off.

The following flowchart explains corrective action procedure use when the power is applied starts or the RUN
and STOP LED is turned OFF is flickering during operation

RUN and STOP LED is turned OFF

Turn the power supply module

from OFF to ON

No
Are RUN and STOP
LED Turned OFF?

Yes

contact the nearest service center

Complete

12 - 4
Chapter 12. TROUBLE SHOOTING

12.2.4 Troubleshooting flowchart used when the output load of the output module does not turns on.

The following flowchart explains corrective action procedure used when the output load of the output module
does not turn ON during operation

Output load does not turn

ON.

No
Check the output status in monitor Measure the voltage
Is the indicator LED of the across module input
mode of the peripheral devices
output module ON terminal and CPU
terminal

Yes

Is the indicator LED Of the

input module ON

No Check the input signal OFF in

Is the voltage of power monitor mode with the peripheral
supply for load applied? devices

Yes

Check the wiring load of the power

Is the voltage of power supply for load and restore the
supply for load applied? power
Check external
wiring and
external input
equipment
Output module defect Check the wiring load of the power
supply for load and restore the
power

Contact the nearest

service center

REMARK
1) If the input or load signals are not switched OFF, see Section 12.4.1

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Chapter 12. TROUBLE SHOOTING

12.2.5 Troubleshooting flowchart used when a program cannot be written to the CPU module.

The following flowchart shows the corrective action procedure used when a program cannot be written to the
PLC module

Program cannot be written to the PC CPU

No Set the mode setting switch to the

Is the mode setting switch remote STOP mode and execute
set the remote STOP the program write
mode

Yes

Yes Read the error code using the

Is the STOP LED peripheral devices and correct the
flickering? contents.

12 - 6
Chapter 12. TROUBLE SHOOTING

12.3 Troubleshooting Questionnaire

When problems have been met during operation of the GM6 series PLC, please write down this questionnaires
and contact the service center via telephone or facsimile
• For errors relating to special or communications modules, use the questionnaire included in the user's Manual
of the unit
1. Telephone & FAX No. Tel)
FAX)
2. Used Equipment ( )
3. Details of used Equipment
- CPU module : - OS version No.( ), - Serial No.( )
- GMWIN version No. used to compile programs
4. General description of the device or system used as the control object

5. Operations used by the CPU module

- Operation by the mode setting switch( ),
- Operation by the GMWIN or communications. ( )
6. Is the STOP LED of the CPU module turned ON? Yes( ), No( )
7. GMWIN error message :
8. Used initialization program : initialization program( )
9. History of corrective actions for the error message in the article 7.
10. Other tried corrective actions
11. Error character sties
• Repetitive( ) : Periodic( ), Related to a particular sequence( ), Related to environment( )
• Sometimes( ) : General error assurance interval
12. Detailed Description of error contents :

13. Configuration Diagram for the applied system :

12 - 7
Chapter 12. TROUBLE SHOOTING

12.4 Troubleshooting Examples

Possible troubles with various circuits and their corrective actions are explained.

12.4.1 Input circuit troubles and corrective actions

The followings describe possible troubles with input circuits, as well as corrective actions.
Condition Cause Corrective Action
Input signal close not Leakage current of external device • Connect an appropriate register and
turn OFF (such as a drive by non-contact switch) capacity which will make the voltage
across the terminals of the input module
lower than

Input signal does not Leakage current of external device

turn OFF (Drive by a limit switch with neon lamp)

• C and R values are determined by the

leakage current value
- Reminded value C : 0.1 ~ 0.47 ㎌
R : 47 ~ 120Ω (1/2W)
Or make up another independent display
circuit
Input signal does not Leakage current due to line capacity of • Power supply is located on the
turn OFF wiring cable external device side as shown below

Input signal does not Leakage current of external device • Connect an appropriate register which
turn OFF (Drive by switch with LED indicator) will make the voltage across input
module terminal and common higher
than the OFF voltage, as shown below

Input signal does not • Sneak current due to the use of two • Use only one power supply
turn OFF different power supplies • Connect a sneak current prevention
diode, as shown below

• E1 > E2, Sneaked

12 - 8
Chapter 12. TROUBLE SHOOTING

12.4.2 Output circuit troubles and corrective actions

The following desires possible troubles with output circuits, as well as corrective actions
Condition Cause Corrective Action
When the output is Off, • Load is half-wave rectified inside • Connect registers of tens to hundreds
excessive voltage is (in some cases, it is true of a solenoid) kΩ across the load in parallel
applied to the load • When the polarity of the power supply
is as shown in À, C is charged. When
the polarity is as shown inÁ, the voltage
charged in C plus the line voltage are
applied across D. Max voltage is approx.

If a resistor is used in this way, it does not pose a

problem to the output element. But it may make
the performance of the diode(D), which is built in
the load, drop to cause problems
The load does not turn • Leakage current by surge absorbing • Connect C and R across the load,
OFF circuit which is connected to output which are of registers of tens kΩ
element in parallel When the wiring distance from the output module
to the load is long, there may be a leakage current
due to the line capacity

When the load is C-R • Leakage current by surge absorbing • Drive the relay using a contact and
type timer, time constant circuit which is connected to output drive the C-R type timer using the since
fluctuates element in parallel contact
• Use other timer than the C-R contact
Some timers have half-ware rectified internal
circuits therefore, be cautious .

The load does not turn • Sneak current due to the use of two • Use only one power supply
OFF different power supplies • Connect a sneak current prevention
diode(Figure below)

• E1 < E2 : sneak current

• E1 is switched Off and E2 is switched If the load is the relay, etc, connect a
ON : sneak current counter-electromotive voltage absorbing
code as show by the dot line

12 - 9
Chapter 12. TROUBLE SHOOTING

Output circuit troubles and corrective actions(continued)

Condition Cause Corrective Action

The load off response • Over current at Off state • Insert a small L/R magnetic contact
time is long [The large solenoid current fluidic load and drive the load using the same
(L/R is large) such as is directly driven contact
with the transistor output

• The off response time can be delayed

by one or more second as some loads
make the current flow across the diode
at the off time of the transistor output
Output transistor is Surge current of the white lamp • To suppress the surge current make
destroyed the dark current of 1/3 to 1/5 rated
current flow

A surge current of 10 times or more

when turned ON.

12 - 10
Chapter 12. TROUBLE SHOOTING

12.5 Error code list

STOP
Operati Re-
Error LED
Cause Corrective Action on Diagnosis time start
code Flickerin
status mode
g cycle
Contact the service center if it reactively occurs when
2 OS ROM error
the power is re-applied.
Defect 0.4 sec When power is applied -
3 OS ROM error " Defect 0.4 sec When power is applied -
4 RTC fault " Defect 0.4 sec When power is applied -
Dedicated processor
5 fault
" Defect 0.4 sec When power is applied -
6 Program memory fault " Defect 0.4 sec When power is applied -
7 Data memory fault " Defect 0.4 sec When power is applied -
Watch dog error due to
10 OS program congestion
RE-apply the power Reset 0.4 sec During run Cold
Replace the battery if it has error check the program
Program memory
20 backup error
after cc-loading it, and if an error is detected replace STOP 0.4 sec When power is applied Cold
the CPU module
Check and correct the memory module mounting
21 Memory module defect condition Re-apply the power and if an error occurs, STOP 0.4 sec When power is applied Cold
replace the memory module
Memory module Correct the memory module program and re-operate Change into the RUN
22 program fault the system STOP 0.4 sec Cold
mode
Change into the RUN
23 An normal program Re-load the program and start it STOP 0.4 sec Cold
mode
Inconsistency between Module type inconsistency error
the specified modules Refer to the flags(_IO_TYER,_IO_ DEER_N, Change into the RUN
30 STOP 0.4 sec Cold
by parameters and the _IO_TYER [n]) and correct the incorrective slot, and re- mode
loaded modules start the system
Module mounting/ dismounting error
Module dismounting or
Refer to the flags(_IO_DEER,_IO_ DEER_N,
31 additional mounting
IO_DEER [n]) and correct the in corrective slot, and re-
STOP 0.4 sec When scan completes Cold
during run
start the system
Fuse disconnection error
Fuse disconnection Refer to the flags(_FUSE_ER,_FUSE _ER_N,
32 during run FUSE_ER[n]) and correct the in corrective slot, and re-
STOP 0.4 sec When scan completes Cold
start the system
I/O module read/ write error When scan completes
Abnormal I/D module
33 data access during run
Refer to the flags(IO_RWER, _IP_RWER_N, STOP 0.4 sec During execution of cold
_IO_RWER [n]) and restart the system program
When power is applied
Abnormal special/ link Special/ link module interface error
When scan completes
34 module data access Refer to the flags(_SP_IFER,_IP_ IFER_N,_IP_IFER STOP 0.4 sec cold
during run [n]) and restart the system During execution of
program
During run, Scan time
Check the scan delay time specified by parameters and
over than the scan During execution of
40 delay time specified by
correct the parameters or the program, and then re- STOP 0.4 sec cold
start the program program
parameters
Unreadable instructions During execution of
41 in the user program
Re-load the program and re-start it STOP 0.4 sec cold
program
Refer to the external device fatal error
External device fatal
50 error
flags(_ANNUN_ER,_ANC_ERR[n]) and correct the STOP 0.4 sec When scan completes cold
fault devices and then re-start the system
Correct the program so that the error elements that
The 'E-STOP' function During execution of
60 has been executed
invoked the 'E_STOP' function can be eliminated in the STOP - cold
program and re-start the system(Cold re-start) program
Communications
If the number of computer 4communications module is
100 module configuration
included, then adjust the maximum number with in 8
STOP 0.4 sec When power is applied cold
error
Special/
Communications Adjust the number of high speed communications
101 module initialization modules loaded STOP 0.4 sec When power is applied cold
failure
Data memory backup
500 error
If the battery has no error RUN - When power is applied cold
If the battery has no error, re-set the time using the When power is applied
501 RTC data error
GMWIN RUN 2 sec -
When scan completes
When power is applied
502 Lower battery voltage Replace the battery which the power is being applied. RUN 4 sec -
When scan completes

12 - 11
Chapter 13. Dedicated Cnet communication for GM6

Chapter 13. Dedicated Cnet communication for GM6

13.1 Introduction

The GM6 CPU module provides some basic Cnet communication functions without Cnet module. Although all
functions of Cnet module are not supported, it will be very useful functions for users to perform simple Cnet
communication. If your needs are read/write variables (I,Q,M devices) and Monitoring, you don’ t need to buy Cnet
module. It will save your money and slot for Cnet module.
The Cnet functions provided by CPU (A-type) module are as following;
n Individual read instruction
n Continuous read instruction
n Individual write instruction
n Continuous write instruction
n Monitoring variables registration
n Monitoring execution
n 1:1 communication only (dedicated protocol)
n RS-232 communication only

Note Because the dedicated Cnet communication for GM6 does not support all functions of Cnet
module, there are some limitations as following comparison with using Cnet module.
1) At the pressing time, the RS-422 protocol is not supported. Only RS-232C protocol is supported. (RS422
protocol will be available with the next version of GM6 CPU.)
2) Only the 1:1 communication is available. The 1:N communication (multi-drop) which have Master & Slave
station will be available with the next version of GM6 CPU.
3) Because the GM6 CPUA module has only one serial port supports RS-232C, the general RS-232C cable
can not be used. Also the cable for Cnet module can not be used with GM6 CPUA module. See the chapter
13.3 of this manual for the detailed pin assign for GM6 CPUA module.

13 - 1
Chapter 13. Dedicated Cnet communication for GM6

13.2 The example of system configuration

Generally, the system configuration have two types; the 1:1 communication with PC and the connection with
monitoring device (like PMU).

The configuration when connected to PC

: With this configuration, the communication program of PC can be a user’ s own program (written in C or other
programming language) or a commercial software like FAM or CIMON.

G L O F A PLC(GM6)

P C O
P I
W U
U N
R T
GM6

IBM
Compatible
PC
RS-232C Interface

The example of 1:1 connection

(Cnet connection with PC)

The configuration when connected to PMU

G L O F A PLC(GM6)

P C O
P I
W U
U N
R T
GM6

PMU(LGIS)

RS-232C Interface

The example of 1:1 connection with LGIS protocol

(Cnet connection with PMU)

13 - 2
Chapter 13. Dedicated Cnet communication for GM6

13.3 The pin assignment of RS-232C connector of the GM6 dedicated Cnet communication

The 1:1 connection with PC

PC PLC(GM6)
1 1

2 2

3 3

4 4

5 5

6 6

7 7

8 8

9 9

<The pin assignment of RS232C connector which are used the connection of PC and GM6 CPU>

The 1:1 connection with the monitoring unit like PMU

PMU PLC(GM6)

1 1

2 2

3 3

4 4

5 5

6 6

7 7

8 8

9 9

<The pin assignment of RS232C connector which are used the connection of PMU and GM6 CPU>

13 - 3
Chapter 13. Dedicated Cnet communication for GM6

13.4 Frame structure

1) Basic structure of frame

(1) Request frame(external communication devices→Cnet module)

(Max. 256 Bytes)

Header Station Type of Tail Frame
Command Structurized data area
(ENQ) No. command (EOT) check(BCC)

(2) ACK response frame(Cnet module→external communication devices, when data is normally received)

(Max. 256 Bytes)

Header Station Type of Tail Frame
Command Structurized data area or null
(ENQ) No. command (ETX) check(BCC)

(3) NAK response frame(Cnet module→external communication devices, when data is abnormally received)

(Max. 256 Bytes)

Header Station Type of Tail Frame
Command Error code (ASCII 4 Bytes)
(NAK) No. command (ETX) check(BCC)

Remark
The contents of the code used are as below Table. Control characters are importantly used during serial

communication, so they must be well acquainted.

Table 13.1 Control characters

Code Hex value Original word Contents

ENQ(Header) H05 Enquire Start code of request frame
ACK(Header) H06 Acknowledge Start code of ACK response frame
NAK(Header) H15 Not acknowledge Start code of NAK response frame
EOT(Tail) H04 End of text End ASCII code of request frame
ETX(Tail) H03 End Text End ASCII code of response frame

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 Chapter 13. Dedicated Cnet communication for GM6

Remark

Numerical data of all frames is ASCII code of hex value as long as there is not any definition. The contents that is

indicated into hex-decimals are as follows :

• Station number

• Command type in case that command type is numerical(means data type) when main commands are R(r) and W(w).

• All items indicating data size of data area structurized.

• Command type(register number) for monitor register and execution command M(n).

• All contents of data

• Frame number of domain

Remark
For hex-decimal data, ‘ H’ such as H01, H12345, H34, H12, or H89AB indicates that the data is a type of hex-decimal.

13 - 5
Chapter 13. Dedicated Cnet communication for GM6

2) Sequence of command frame

(1) Sequence of command request frame

ENQ Station No. Command Formatted data EOT BCC (PLC ACK response)

ACK Station No. Command Data or null ETX BCC

NAK Station No. Command Error code ETX BCC

(PLC NAK response)

(2) Sequence of Download/upload frame

ENQ Station No. Start Command Data EOT BCC

ACK Station No. Command Data or null ETX BCC

ENQ Station No. Command Formatted data EOT BCC (Down/upload command frame No. H0001)

ACK Station No. Command Data or null ETX BCC

ENQ Station No. Command Formatted data EOT BCC (Down/upload end command frame No. HFFFF)

ACK Station No. Command Data or null ETX BCC

13 - 6
 Chapter 13. Dedicated Cnet communication for GM6

13.5 List of commands

Commands used in dedicated communication service are as below Table :

[Table 13.2 List of commands]

Command
Main command Command type Contents
Sign ASCII code Sign ASCII code
H72 Reads direct variables of Bit, Byte, Word, Dword, and
Indivi. r (R) SS 5353
Direct (H52) Lword type.
var. Reads direct variables of Byte, Word, Dword, and
H72
Reading Contin. r (R) SB 5342 Lword type in block unit.
(H52)
(Continuous reading Bit is unavailable)
Reads data according to data type of named variable.
H72 H00-
Indivi. r (R) 3030-3134 (Variable to be read must be one registered in access
Named (H52) H14
variable area.)
Var.
Reads data of array named variable.
Reading 1 H72 H15-
Array r (R) 3135-3237 (Variable to be read must be one registered in access
(H52) H27
variable area.)
H77 Writes data to direct variable of Bit, Byte, Word,
Indivi. w(W) SS 5353
Direct (H57) Dword, Lword type.
var. Writes data to direct variable of Byte, Word, Dword,
H77
Writing Contin. w(W) SB 5342 Lword type in block unit.
(H57)
(Continuous reading Bit is unavailable)
Writes variable of each data type using variable
H77 H00- name.
Indivi. w(W) 3030-3134
Named (H57) H14 (Variable to be read must be one registered in access
Var. variable area.)
Writing 2 Writes data to array named variable.
H77 H15-
Array w(W) 3135-3237 (Variable to be read must be one registered in access
(H57) H27
variable area.)
Monitor Register variable to be monitored. If registered
H78 H00-
Var. x(X) 3030-3331 variable is named one, variable to be read must be
(H58) H31
Register one registered in access variable area.
Monitor
H79 H00-
Executi- y(Y) 3030-3331 Carries out the registered variable to monitor.
(H59) H31
on

Remark
In the main command, the capital and small letter have different meaning. In other field, however, it doesn’ t care letters

are capital or small. For example, %mW100 and %mw100 are exactly same command.

1
The CPU-A type does not support this function.

13 - 7
Chapter 13. Dedicated Cnet communication for GM6

13.6 Data type

When direct variables and named variables are read/written, attention must be paid to data type of direct and

named variables.

1) Data type of direct variables

Memory device type of GLOFA GM PLC : M(Internal memory), Q(Output), I(Input)

Memory device type of GLOFA GK PLC : P, M, L, K, C, D, T, S, F

Data type for direct variables is indicated next to direct variable indicating character '%'.

Table 13.3 List of data types of direct variables

Data type Ind. charac.. Example of use

BIT X(58H) %MX0, %QX0.0.0, %IX0.0.0, %PX0, %LX0, %FX0
BYTE B(42H) %MB10, %QB0.0.0, % IB0.0.0
WORD W(57H) %MW10, %QW0.0.0, % IW0.0.0, %PW0, %LW0, %FW0, %DW0
DOUBLE WORD D(44H) %MD10, %QD0.0.0, % ID0.0.0

Remark
1) The read/write of named variables will be available with the next version of CPU-A type.

2
The CPU-A type does not support this function.

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 Chapter 13. Dedicated Cnet communication for GM6

13.7 Execution of commands(Ex.)

1) Separately reading(RSS) direct variables

(1) Introduction

This is a function that reads PLC device memory directly specified in accord with memory data type.

Separate device memory can be read up to 4 at a time.

(2) Request format(PC-->PLC)

Number
Format Station Comman Variable Variable Fame
Header Command of Tail
name No. d type length name check
blocks ..........
Frame EO
ENQ H20 1) R(r) SS H01 H06 %MW100 BCC
(Ex.) T
ASCII H52 H254D573130
H05 H3230 H5353 H3031 H3036 H04
value (72) 30

1 block(Setting can be repeated up to 4 block)

• BCC : When command is one of lower case(r), only one lower byte of the value resulted by adding 1 Byte each to

ASCII values from ENQ to EOT is converted into ASCII and added to BCC.

• Number of blocks : This specifies how much of the blocks composed of '[Variable length][Variable name]' are in

this request format. This can be set up to 4. Therefore, the value of [Number of blocks] must be

H01(ASCII value:3031)-H04(ASCII value:3034).

• Variable length(Name length of direct variable) : This indicates the number of name's characters that means

direct variable, which is allowable up to 16 characters. This value is one of ASCII converted from hex

type, and the range is from H01(ASCII value:3031) to H10(ASCII value:3130).

• Direct variables : Address to be actually read is entered. This must be ASCII value within 16 characters, and in

this name, digits, upper/lower case, '%' and '.' only are allowable to be entered.

Remark

1) Numerical data of frame(Ex.) is hex value, and 'H' is unnecessary during preparing real frame.

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Chapter 13. Dedicated Cnet communication for GM6

Direct variables available according to PLC type are as follows :

Table 13.4 Type of direct variables

LONG
Type BOOL Byte WORD DOUBLE WORD
WORD
%ML,%
GM1 %MX,%QX,%IX %MB,%QB,%IB %MW,%QW,%IW %MD,%QD,%ID
QL,%IL
%ML,%
GM2 %MX,%QX,%IX %MB,%QB,%IB %MW,%QW,%IW %MD,%QD,%ID
QL,%IL
GM3 %MX,%QX,%IX %MB,%QB,%IB %MW,%QW,%IW %MD,%QD,%ID --
GM4 %MX,%QX,%IX %MB,%QB,%IB %MW,%QW,%IW %MD,%QD,%ID --
GM5 %MX,%QX,%IX %MB,%QB,%IB %MW,%QW,%IW %MD,%QD,%ID --
GM6 %MX,%QX,%IX %MB,%QB,%IB %MW,%QW,%IW %MD,%QD,%ID --
For how to specify the area of each device in GLOFA GM and GK series, see GLOFA PLC technical data.

Remark

Device data type of each must be same. If data type of the first block is WORD, and the second block is DOUBLE

WORD, error occurs.

(3) Response format(for PLC of ACK response)

Number
Format Stati- Comma-nd Variable Fame
Header Command of Data Tail
name on No. type length check
blocks ..........
Frame
ACK H20 R(r) SS H01 H02 HA9F3 ETX BCC
(Ex.)
ASCII H4139463
H06 H3230 H52(72) H5353 H3031 H3032 H04
value 3

1 block(Max. 4 blocks)

• Station number, commands, type of command, and number of blocks are the same as computer request format.

• BCC : When command is one of lower case(r), only one lower byte of the value resulted by adding 1 Byte each

to ASCII values from ACK to ETX is converted into ASCII, added to BCC, and sent.

• Number of data means Byte number of hex type, and is converted into ASCII. This number is determined

according to memory type(X,B,W,D,L) included in direct variable name of computer request format.

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Chapter 13. Dedicated Cnet communication for GM6

Table 13.5 Number of data according to variables

Available direct variable Number of data

BOOL(X) %MX,%QX,%IX,%(P,M,L,K,F,T,C,D,S)X 1(Only lowest bit of these is available)

Byte(B) %MB,%QB,%IB,%(P,M,L,K,F,T,C,D,S)W 1
WORD(W) %MW,%QW,%IW,%(P,M,L,K,F,T,C,D,S)W 2

DOUBLE WORD(D) %MD,%QD,%ID,%(P,M,L,K,F,T,C,D,S)W 4

• In data area, there are the values of hex data converted to ASCII code.

Ex.1

The fact that number of data is H04(ASCII code value:H3034) means that there is hex data of 4 Bytes in data(DOUBLE

WORD). Hex data of 4 Bytes is converted into ASCII code in data.

Ex.2

If number of data is H04 and the data is H12345678, ASCII code converted value of this is "31 32 33 34 35 36 37 38",

and this contents is entered in data area. Namely, highest value is first, lowest value is last.

Remark

If data type is BOOL, data read is indicated by one Byte of hex. Namely, if Bit value is 0, it indicated by H00, and if 1, by

H01.

(4) Response format(for NAK response)

Format Station Error code

Header Command Command type Tail Frame check
name No. (Hex 2 Byte)

Frame(Ex.) NAK H20 R(r) SS H1132 ETX BCC

ASCII value H15 H3230 H52(72) H5353 H31313332 H03

• Station number, commands, and type of command are the same as computer request format.

• BCC : When command is one of lower case(r), only one lower byte of the value resulted by adding 1 Byte each

to ASCII values from NAK to ETX is converted into ASCII, added to BCC, and sent.

• Error code is hex and 2 Bytes(ASCII code, 4 Bytes), which indicates type of error. For the details, see Appendix

'B. Error Code Table'.

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Chapter 13. Dedicated Cnet communication for GM6

(5) Example of use

• This example supposes when 1 WORD from %MW20 of station No.1 and 1 WORD from %QW0.2.1

address are read. Also it is supposed that H1234 is entered in %MW20, and data of H5678 is entered

in %QW0.2.1.

(Computer request format)

Number Variabl
Format Statio Comma- Variable Variable Variable
Header Command of e Tail BCC
name n No. nd type name length name
blocks length
Frame %QW0.2.
ENQ H01 R(r) SS H02 H05 %MW20 H08 EOT BCC
(Ex.) 1
H255157
ASCII H254D5
H05 H3031 H52(72) H5353 H3032 H3035 H3038 302E322 H04
value 73230
E31

(For PLC ACK response after execution of command)

Numbe Number
Format Station Comman Comman Number
Header r of Data of Data Tail BCC
name No. d d type of blocks
data data
Frame
ACK H01 R(r) SS H02 H02 H1234 H02 H5678 ETX BCC
(Ex.)
ASCII H3132 H3536
H06 H3031 H52(72) H5353 H3032 H3032 H3032 H03
value 3334 3738

(For PLC NAK response after execution of command)

Format Station Command
Header Command Error code Tail BCC
name No. type
Frame
NAK H01 R(r) SS Error code(2) ETX BCC
(Ex.)
ASCII
H15 H3031 H52(72) H5353 Error code(4) H03
value

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 Chapter 13. Dedicated Cnet communication for GM6

2) Continuous reading(RSB) of direct variable

(1) Introduction

This is a function that reads the PLC device memory directly specified in accord with memory data type. With

this, data is read from specified address as much as specified.

(2) Request format

Format Station Command Variable Variable Number of data Frame
Header Command Tail
name No. type length name (Max.120 Bytes) check
Frame
ENQ H10 R(r) SB H06 %MD100 H05 EOT BCC
(Ex.)
ASCII H52 H254D44
H05 H3130 H5342 H3036 H3035 H04
value (72) 313030

Remark

Number of data specifies the number according to the type of direct variable. Namely, if the data type of direct variable

is double word, and number of data is 5, it means that read 5 DOUBLE WORDs.

• BCC : When command is one of lower case(r), only one lower byte of the value resulted by adding 1 Byte each

to ASCII values from ENQ to EOT is converted into ASCII, added to BCC.

• Name length of direct variable : This indicates the number of name's characters that means direct variable, which

is allowable up to 16 characters. This value is one of ASCII converted from hex type, and the range is from

H01(ASCII value:3031) to H10(ASCII value:3130).

• Direct variables : Address to be actually read is entered in this. This must be ASCII value within 16 characters,

and in this name, digits, upper/lower case, '%' and '.' only are allowable to be entered. Continuous reading of

direct variables available according to PLC type are as follows :

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Chapter 13. Dedicated Cnet communication for GM6

Table 13.6 Readable continuous variable area

BOOL Byte WORD DOUBLE WORD LONG WORD
GM1 -- %MB,%QB,%IB %MW,%QW,%IW %MD,%QD,%ID %ML,%QL,%IL
GM2 -- %MB,%QB,%IB %MW,%QW,%IW %MD,%QD,%ID %ML,%QL,%IL
GM3 -- %MB,%QB,%IB %MW,%QW,%IW %MD,%QD,%ID %ML,%QL,%IL
GM4 -- %MB,%QB,%IB %MW,%QW,%IW %MD,%QD,%ID %ML,%QL,%IL
GM5 -- %MB,%QB,%IB %MW,%QW,%IW %MD,%QD,%ID %ML,%QL,%IL
GM6 -- %MB,%QB,%IB %MW,%QW,%IW %MD,%QD,%ID %ML,%QL,%IL

(3) For PLC ACK response after execution of command

Format Header Station Command Number Frame
Command Data Tail
name No. type of data check
Frame H112233445566778899AABBC
ACK H10 R(r) SB H14 EOT BCC
(Ex.) CDDEEFF1122334455
H313132323333343435353636
ASCII 3737383839394141424243434
H06 H3130 H52(72) H5342 H3134 H03
value 4444545464631313232333334
343535

• Station number, main commands, and type of command are the same as computer request format.

• BCC : When main command is lower case(like ‘r’), only one lower byte of the value resulted by adding ASCII

values from ACK to ETX is converted into ASCII, added to BCC, and sent.

When main command is upper case(like ‘r’), BCC is not used.

• Number of data means Byte number of hex type, and is converted into ASCII. This number is determined by

multiplying the data number of computer request format by the data size(in below Table) according to memory

type(B,W,D,L) included in direct variable name of computer request format.

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Chapter 13. Dedicated Cnet communication for GM6

Table 13.7 Available direct variables

Available direct variable Number of data
Byte(B) %MB,%QB,%IB 1
WORD(W) %MW,%QW,%IW,%(P,M,L,K,F,T,C,D,S)W 2
DOUBLE WORD(D) %MD,%QD,%ID 4

Ex.1

When memory type included in direct variable name of computer request format is W(WORD), and data number of

computer request format is 03, data number of PLC ACK response after execution of command is indicated by

• In data area, the value converted from hex data to ASCII code is entered.

Ex.2

In just above example, when data contents of 3 WORDs are 1234, 5678, and 9ABC in order, actual ASCII code

converted values are 31323334 35363738 39414243, and the contents is to be entered in data area.

(4) Response format( for PLC NAK response)

Format Error code Frame
Header Station No. Command Command type Tail
name (Hex 2 Bytes) check
Frame
NAK H10 R(r) SB H1132 ETX BCC
(Ex.)
ASCII
H15 H3130 H52(72) H5342 H31313332 H03
value

• Station number, commands, and type of command are the same as computer request format.

• BCC : When main command is lower case(like ‘r’), only one lower byte of the value resulted by adding ASCII

values from NAK to ETX is converted into ASCII, added to BCC, and sent.

When main command is upper case(like ‘r’), BCC is not used.

• Error code is hex and 2 Bytes(ASCII code, 4 Bytes), which indicates type of error. For the details, see Appendix

'B. Error Code Table'.

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Chapter 13. Dedicated Cnet communication for GM6

(5) Example of use

This example supposes when 2 DOUBLE WORDs from %MD0 of station No.10 are read. Also it is supposed

that the following data are entered in %MD0 and %MD1 :

%MD0 = H12345678

%MD1 = H9ABCDEF0

(Computer request format)

Number
Format Station Command Variable Variable
Header Command of Tail BCC
name No. type length name
data
Frame
ENQ H0A R(r) SB H04 %MD0 H02 EOT BCC
(Ex.)
ASCII
H05 H3041 H52(72) H5342 H3034 H254D4430 H3032 H04
value

(For PLC ACK response after execution of command)

Number Number
Format Station Command
Header Command of of Data Tail BCC
name No. type
blocks data
Frame H01
ACK H0A R(r) SB H08 12345678 9ABCDEF0 ETX BCC
(Ex.)
ASCII H3031 H313233343536373839
H06 H3041 H52(72) H5342 H3038 03
value 41424344454630

(For PLC NAK response after execution of command)

Format Station
Header Command Command type Error code Tail BCC
name No.
Frame
NAK H0A R(r) SB Error code(2) ETX BCC
(Ex.)
ASCII
H15 H3041 H52(72) H5342 Error code(4) H03
value

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Chapter 13. Dedicated Cnet communication for GM6

3) Separate writing of direct variable (WSS)

(1) Introduction

This is a function that directly specifies PLC device memory and writes in accord with data type. Device

memory can be separately written up to 4 memories at a time.

(2) Request format

Number
Format Statin Command Variable Variable Frame
Headr Command of Data Tail
name No. type length name check
blocks .........
Frame EO
ENQ H20 W(w) SS H01 H06 %MW100 H00E2 BCC
(Ex.) T
ASCII H57 H254D57 H3030
H05 H3230 H5354 H3031 H3036 H04
value (77) 313030 4532

1 blocks(can be repeatedly set up to 4 blocks)

• BCC : When command is one of lower case(w), only one lower byte of the value resulted by adding 1 Byte

each to ASCII values from ENQ to EOT is converted into ASCII, added to BCC, and sent.

• Number of blocks : This specifies how much of the blocks composed of '[Variable length][Variable name]'

are in this request format. This can set up to 4 blocks. Therefore, the value of [Number of blocks]

must be H01(ASCII value:3031)-H04(ASCII value:3034).

• Variable length(Name length of direct variable) : This indicates the number of the name's characters that

registered in direct variable of PLC, which is allowable up to 16 characters. This value is one of

ASCII converted from hex type, and the range is from H01(ASCII value:3031) to H10(ASCII

value:3130).

• Direct variable : This is an address of variable to be actually read. This must be ASCII value within 16

characters, and in this name, digits, upper/lower case, '%' and '.' only are allowable to be entered.

• Data : If the value to be written in %MW100 area is H A, the data format must be H000A. If the value to be

written in %MD100 area is H A, the data format must be H0000000A. In data area, the ASCII value

converted from hex data is entered.

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Chapter 13. Dedicated Cnet communication for GM6

The following shows direct variables available according to PLC type.

Type BOOL Byte WORD DOUBLE WORD

GM1/2 %MX,%QX,%IX %MB,%QB,%IB %MW,%QW,%IW %MD,%QD,%ID
GM3/4/5 %MX,%QX,%IX %MB,%QB,%IB %MW,%QW,%IW %MD,%QD,%ID
GM4 %MX,%QX,%IX %MB,%QB,%IB %MW,%QW,%IW %MD,%QD,%ID
GM5 %MX,%QX,%IX %MB,%QB,%IB %MW,%QW,%IW %MD,%QD,%ID
GM6 %MX,%QX,%IX %MB,%QB,%IB %MW,%QW,%IW %MD,%QD,%ID

Ex.1

If type of data to be currently written is DOUBLE WORD, the data is H12345678, ASCII code converted value of this is

"3132333435363738", and this content must be entered in data area. Namely, most significant value must be sent first,

least significant value must be last.

Remark

1) Device data types of each blocks must be same.

2) If data type is BOOL, the data to be written is indicated by 1 Byte of hex. Namely, if Bit value is 0, it must be

indicated by H00(3030), and if 1, by H01(3031).

(3) Response format(for ACK response)

Format name Header Station No. Command Command type Tail Frame check
Frame(Ex.) ACK H20 W(w) SS ETX BCC
ASCII value H06 H3230 H57(77) H5353 H03

• Station number, commands, and type of command are the same as computer request format.

• BCC : When command is one of lower case(w), only one lower byte of the value resulted by adding 1 Byte

each to ASCII values from ACK to ETX is converted into ASCII, added to BCC, and sent.

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Chapter 13. Dedicated Cnet communication for GM6

(4) Response format(for NAK response)

Station Command Error code

Format name Header Command Tail Frame check
No. type (Hex 2 Bytes)
Frame(Ex.) NAK H20 W(w) SS H4252 ETX BCC
ASCII value H15 H3230 H57(77) H5353 H34323532 H03
• Station number, commands, and type of command are the same as computer request format.

• BCC : When command is one of lower case(w), only one lower byte of the value resulted by adding 1 Byte

each to ASCII values from NAK to ETX is converted into ASCII, added to BCC, and sent.

• Error code is hex and 2 Bytes(ASCII code, 4 Bytes), which indicates type of error. For the details, see

Appendix 'B. Error Code Table'.

(5) Example of use

This supposes that "H00FF" is written in %MW230 address.

(Computer request format)

Variable
Format Head- Station Command Number of Variable
Command name Data Tail BCC
name er No. type blocks name
length
Frame
ENQ H01 W(w) SS H01 H06 %MW230 H00FF EOT BCC
(Ex.)
ASCII H254D573 H303046
H05 H3031 H57(77) H5353 H3031 H3036 H04
value 23330 46

(For PLC ACK response after execution of command)

Format
Header Station No. Command Command type Tail BCC
name
Frame
ACK H01 W(w) SS ETX BCC
(Ex.)
ASCII H06 H3031 H57(77) H5353 H03
value

(For PLC NAK response after execution of command)

Format Station
Header Command Command type Error code Tail BCC
name No.
Frame
NAK H01 W(w) SS Error code(2) ETX BCC
(Ex.)
ASCII
H15 H3031 H57(77) H5353 Error code(4) H03
value

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Chapter 13. Dedicated Cnet communication for GM6

4) Continuous writing of direct variable(WSB)

(1) Introduction

This is a function that directly specifies PLC device memory and continuously writes data from specified

address as much as specified length.

(2) Request format

Form- Stat- Comm

Head- Comm- Variable Variable Number of data Frame
at ion -and Data Tail
er and length name (Max.120 Bytes) check
name No. type
Frame H1111222
ENQ H10 W(w) SB H06 %MD100 H01 EOT BCC
(Ex.) 2
ASCII H57 H254D44 H3131313
H05 H3130 H5342 H3036 H3031 H04
value (77) 313030 132323232

Remark

1) Number of data specifies the number according to the type of direct variable. Namely, if the data type of direct

variable is DOUBLE WORD, and number of data is 5, it means that write 5 DOUBLE WORDs.

• BCC : When command is one of lower case(w), only one lower byte of the value resulted by adding 1 Byte

each to ASCII values from ENQ to EOT is converted into ASCII, added to BCC.

• Protocol of continuous writing function of direct variable has not [Number of blocks].

• Name length of direct variable : This indicates the number of name's characters that means direct variable,

which is allowable up to 16 characters. This value is one of ASCII converted from hex type, and the

range is from H01(ASCII value:3031) to H10(ASCII value:3130).

• Direct variables : Address to be actually read is entered in this. This must be ASCII value within 16

characters, and in this name, digits, upper/lower case, '%' and '.' only are allowable to be entered.

Direct variables available according to PLC type are as follows :

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Chapter 13. Dedicated Cnet communication for GM6

BOOL Byte WORD DOUBLE WORD LONG WORD

GM1 -- %MB,%QB,%IB %MW,%QW,%IW %MD,%QD,%ID %ML,%QL,%IL
GM2 -- %MB,%QB,%IB %MW,%QW,%IW %MD,%QD,%ID %ML,%QL,%IL
GM3 -- %MB,%QB,%IB %MW,%QW,%IW %MD,%QD,%ID %ML,%QL,%IL
GM4 -- %MB,%QB,%IB %MW,%QW,%IW %MD,%QD,%ID %ML,%QL,%IL
GM5 -- %MB,%QB,%IB %MW,%QW,%IW %MD,%QD,%ID %ML,%QL,%IL
GM6 -- %MB,%QB,%IB %MW,%QW,%IW %MD,%QD,%ID %ML,%QL,%IL

(3) Request format(for ACK response)

Format name Header Station No. Command Command type Tail Frame check
Frame
ACK H10 W(w) SB ETX BCC
(Ex.)
ASCII value H06 H3130 H57(77) H5342 H03

• Station number, command and command type are the same as computer request format.

• BCC : When command is one of lower case(w), only one lower byte of the value resulted by adding 1 Byte

each to ASCII values from ACK to ETX is converted into ASCII, added to BCC, and sent.

(4) Response format(for PLC NAK response)

Format Command Error code Frame

Header Station No. Command Tail
name type (Hex 2 Bytes) check
Frame(Ex.) ENQ H10 W(w) SB H1132 EOT BCC
ASCII value H05 H3130 H57(77) H5342 H31313332 H03

• Station number, command and command type are the same as computer request format.

• BCC : When command is one of lower case(w), only one lower byte of the value resulted by adding 1 Byte

each to ASCII values from ACK to ETX is converted into ASCII, added to BCC, and sent.

• Error code is hex and 2 Bytes(ASCII code, 4 Bytes), which indicates type of error. For the details, see

Appendix 'B. Error Code Table'.

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Chapter 13. Dedicated Cnet communication for GM6

(5) Example of use

This supposes that HAA15056F is written in %QD0.0.0 of No.1 address.

(Computer request format)

Format Head- Station Comm- Command Variable Variable Number Frame

Data Tail
name er No. and type length name of data check
Frame HAA150
ENQ H01 W(w) SB H08 %QD0.0.0 H01 EOT BCC
(Ex.) 56F
H414131
ASCII H254442302
H05 H3031 H57(77) H5342 H3038 H3031 3503536 H04
value E302E30
46

(For PLC ACK response after execution of command)

Format Station
Header Command Command type Tail Frame check
name No.
Frame
ACK H01 W(w) SB ETX BCC
(Ex.)
ASCII H06 H3031 H57(77) H5342 H03
value

(For PLC NAK response after execution of command)

Format Station
Header Command Command type Error code Tail Frame check
name No.
Frame
NAK 01 W(w) SB Error code(2) ETX BCC
(Ex.)
ASCII
H15 H3031 H57(77) H5342 Error code(4) H03
value

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Chapter 13. Dedicated Cnet communication for GM6

5) Monitor register(X##)

(1) Introduction

Monitor register can separately register up to 32 in combination with actual variable reading command, and

carries out the registered one through monitor command after registration.

(2) Request format

Format Station Register

Header Command Register format Tail Frame check
name No. No.
Frame
ENQ H10 X(x) H1F See register format EOT BCC
(Ex.)
ASCII
H05 H3130 H58(78) H3146 [※] H04
value

• BCC : When command is one of lower case(x), only one lower byte of the value resulted by adding 1 Byte

each to ASCII values from ENQ to EOT is converted into ASCII, added to BCC, and sent.

• Register No. : This can be registered up to 32(0-31, H00-H1F), and if an already registered No. is

registered again, the one of current execution is registered.

• Register format : This is used to before EOT in command of formats of separate reading of direct variable,

continuous reading, and named variable reading.

※ Register format : Register format of request formats must select and use only one of the followings.

① Separate reading of direct variable

RSS Number of blocks(2 Bytes) Variable length(2 Bytes) Variable name(16 Bytes) ....

1 block(Max. 4 blocks)

② Continuous reading of direct variable

RSB Variable length(2 Bytes) Variable name(16 Bytes) Number of data
1 block(Max. 4 blocks)

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Chapter 13. Dedicated Cnet communication for GM6

(3) Response format(for PLC ACK response)

Format name Header Station No. Command Register No. Tail Frame check
Frame(Ex.) ACK H10 X(x) H1F ETX BCC
ASCII value H06 H3130 H58(78) H3146 H03

• Station number, command and resister No. are the same as computer request format.

• BCC : When command is one of lower case(x), only one lower byte of the value resulted by adding 1 Byte each

to ASCII values from NAK to ETX is converted into ASCII, added to BCC, and sent.

(4) Response format(for PLC NAK response)

Format Station
Header Command Register No. Error code(Hex 2 Bytes) Tail Frame check
name No.
Frame
ACK H10 X(x) H1F H1132 ETX BCC
(Ex.)
ASCII
H06 H3130 H58(78) H3146 H31313332 H03
value

• Station number, main commands, and resister No. are the same as computer request format.

• BCC : When command is one of lower case(x), only one lower byte of the value resulted by adding 1 Byte each

to ASCII values from NAK to ETX is converted into ASCII, added to BCC, and sent.

• Error code is hex and 2 Bytes(ASCII code, 4 Bytes), which indicates type of error. For the details, see Appendix

‘ A2. Error Code Table’ .

(5) Example of use

This supposes that the variable which data type of station No.’ 1’ is UINT and the variable name is “ ASDF” is

monitor-registered with No.’ 1’ .

(Computer request format)

Register format
Format Head- Stat- Comm- Regist- Frame
Number Variable Variable Tail
name er ion No. and er No. R## check
of blocks length name
Frame(Ex.) ENQ H01 X(x) H01 R0A H01 H04 ASDF EOT BCC
H523 H4153444
ASCII value H05 H3031 H58(78) H3031 H3031 H3034 H04
041 6

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Chapter 13. Dedicated Cnet communication for GM6

(For PLC ACK response after execution of command)

Format name Header Station No. Command Register No. Tail Frame check
Frame(Ex.) ACK H01 X(x) H01 ETX BCC
ASCII value H06 H3031 H58(78) H3031 H03

(For PLC NAK response after execution of command)

Command Error code

Format name Header Station No. Command Tail Frame check
type (Hex 2 Bytes)
Frame(Ex.) NAK H01 X(x) H01 Error code(2) ETX BCC
ASCII value H15 H3031 H58(78) H3031 Error code(4) H03

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Chapter 13. Dedicated Cnet communication for GM6

6) Monitor execution(Y##)

(1) Introduction

This is a function that carries out the writing of the variable registered by monitor register. This also specifies

registered No. and carries out the writing of the variable registered in the No.

(2) Request format

Format name Header Station No. Command Register No. Tail Frame check
Frame(Ex.) ENQ H10 Y(y) H1F EOT BCC
ASCII value H05 H3130 H59(79) H3146 H03

• Register No. uses the same No. as the No. registered during monitor register for monitor execution.

• BCC : When main command is one of lower case(y), only one lower byte of the value resulted by adding 1

Byte each to ASCII values from ENQ to EOT is converted into ASCII, added to BCC, and sent.

• In computer request format, register No. can be set to 00-31(H00-H1F).

(3) Response format(for PLC ACK response)

¬ In case that the register format of register No. is the separate reading of direct variable

Format Station Register Number of Number Frame

Header Command Data Tail
name No. No. blocks of data check
Frame
ACK H10 Y(y) H1F H01 H04 H9183AABB ETX BCC
(Ex.)
ASCII H3931383341
H06 H3130 H59(79) H313F H3031 H3034 H03
value 414242

- In case that the register format of register No. is the continuous reading of direct variable

Format Station Register Number of Frame

Header Command Data Tail
name No. No. data check
Frame
ACK H10 Y(y) H1F H04 H9183AABB ETX BCC
(Ex.)
ASCII
H06 H3130 H59(79) H313F H3034 H3931383341414242 H03
value

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Chapter 13. Dedicated Cnet communication for GM6

® In case that the register format of register No. is the reading of named variable

Format Station Register Number of Number of Frame

Header Command Data Tail
name No. No. blocks data check
Frame
ACK H10 Y(y) H1F H01 H04 H9183AABB ETX BCC
(Ex.)
ASCII H3931383341
H06 H3130 H59(79) H313F H3031 H3034 H03
value 414242

• Data format such as number of blocks and number of data is the same as the contents of variable writing.

• Station number, commands, and register No. are the same as computer request format.

• BCC : When main command is one of lower case(y), only one lower byte of the value resulted by adding 1 Byte

each to ASCII values from ACK to ETX is converted into ASCII, added to BCC, and sent.

(4) Response format(for PLC NAK response)

Format Frame
Header Station No. Command Register No. Error code (Hex 2 Bytes) Tail
name check
Frame
NAK H10 Y(y) H1F H1132 ETX BCC
(Ex.)
ASCII
H15 H3130 H59(79) H3146 H31313332 H03
value

• Station number, commands, and register No. are the same as computer request format.

• BCC : When command is one of lower case(y), only one lower byte of the value resulted by adding 1 Byte each

to ASCII values from NAK to ETX is converted into ASCII, added to BCC, and sent.

• Error code is hex and 2 Bytes(ASCII code, 4 Bytes), which indicates type of error. For the details, see Appendix

‘ A2. Error Code Table’ .

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Chapter 13. Dedicated Cnet communication for GM6

(5) Example of use

This supposes that reading the variable registered with register No.’ 1’ in station No.’ 1’ is carried out. It is also

supposed that the one registered is a named variable reading, the number of blocks is 1, and the data type is

DINT.

(Computer request format)

Format
Header Station No. Command Register No. Tail Frame check
name
Frame(Ex.) ENQ H01 Y(y) H01 EOT BCC
ASCII value H05 H3031 H59(79) H3031 H04

(For PLC ACK response after execution of command)

Format Station Register Number of Number of Frame

Header Command Data Tail
name No. No. blocks data check
Frame
ACK H01 Y(y) H01 H01 H04 H23422339 ETX BCC
(Ex.)
ASCII H3233343232
H06 H3031 H59(79) H3031 H3031 H3034 H03
value 333339

(For PLC NAK response after execution of command)

Format
Header Station No. Command Register No. Error code Tail Frame check
name
Frame(Ex.) NAK H01 Y(y) H01 Error code(2) ETX BCC
ASCII value H15 H3031 H59(79) H3031 Error code(4) H03

13 - 28
Chapter 13. Dedicated Cnet communication for GM6

13.8 Error code during NAK occurrence(for GM6 dedicated communication)

Error
Error type Contents Action to take
code
H0001 PLC system error Interface with PLC impossible Power On/Off
Check whether another character than
* Error occurred when ASCII data
H0011 Data error upper and lower cases(‘ %’ ,’ -’ , ’ .’ ), and digits
value is converted into digits
has been used, correct, and execute again.
H0021 Instruction error * Using wrong instruction Inspect instruction
H0031 Instruction type error * Instruction is used in wrong type Inspect instruction type
H1132 Device memory error * Wrong specified device memory Inspect device type
* Execution data number ex-
H1232 Data size error Correct data length
ceeding 120 Bytes
* Data type mismatch with actual Equalize variable and data type of PLC
H2432 Data type error
variable program
Inspect format, correct, and then execute
H7132 Variable request format error * ‘ %’ is missing
again.
H2232 Area exceeding error * M,I,Q area exceeding error Inspect area difinition and execute again
Execute again after adjusting monitor
H0190 Monitor execution error Registered number exceeding range
registration number to 31 or less.
Execute again after adjusting monitor
H0290 Monitor registration error Registered number exceeding range
registration number to 31 or less.
H6001 Syntax error_6001 Not available instruction is used
H6010 Syntax error_6010 Over-run, Frame error Check the system is in stop mode
H6020 Syntax error_6020 Time out error Check the connection of RS-232C port
H6030 Syntax error_6030 Instructino syntax error Check each frame has ENQ, EOT
Devide the text into several frames as a text
H6040 Syntax error_6040 Text of one frame exceed 256byte
does not exceed 256 byte
H6050 Syntax error_6050 BCC error Check the BCC is correct

13 - 29
Chapter 14 The RS422/485 communication of GM6-CPUB

14.1 Introductions ........................................................................14-1

14.2 Features ...............................................................................14-1

14.3 Parameter setup.................................................................14-2

14.4 The status flag ....................................................................14-4

14.5 Monitoring............................................................................14-5

14.6 Communication method and termination resistor .........14-6

14.7 RS-422/485 pin assignment.............................................14-6

Chapter 14. The RS422/485 communication of GM6-CPUB

14 The RS422/485 communication of GM6-CPUB

14.1 Introductions

1) The GM6-CPUB module can be used as the master station of RS422/485 network and applicable for

the 1:N network of GLOFA PLCs and/or PC.

2) To operate the GM6-CPUB as the master station, basic parameters and high speed link parameters

should be set properly.

3) The dedicated GLOFA Cnet protocol is used for transmission control.

4) The GM6-CPUA and GM6-CPUC does not support the master station function.

14.2 Features

1) Max. 64 high speed link items can be assigned.

2) Max. 32 stations can be linked.

3) According to the parameter setting, the operation mode and error code of slave stations is stored at the

relevant flag.

4) The communication status can be monitored with the monitoring function of GMWIN software.

14-1
 Chapter 14. The RS422/485 communication of GM6-CPUB

14.3 Parameter setup

To start RS422/485 communication,

- The CPU module type should be a B-type CPU. (GM6-CPUB)

- Set the communication parameters of the ‘Basic Parameters’ of GMWIN software.

- Set the ‘High speed link 1’ of the ‘High Speed Link Parameters’

- Enable the high speed link 1 with ‘Link Enable …’ menu.

1) Basic parameter setup

a) Station number : Assign the station number of master station in the range of 0 ~ 31

b) Baud rate : Select the communication as 9600, 19200 or 38400 bps.

c) Master/Slave : Only GM6-CPUB can be set as master station. If the CPU is selected as

master station, the network type of high speed link 1 is automatically set as GLOFA 422/485.

d) Timeout : Set the period that the interval until a timeout error occurs. The default value is

500msec and minimum value is 10msec (1×10msec).

e) Read status of slave PLC : If check this item, the master station reads the status of slave

PLCs and store the status at the corresponding flags.

14-2
Chapter 14. The RS422/485 communication of GM6-CPUB

2) High speed link parameter setup

a) Only the ‘High speed link 1’ can be set as GLOFA 422/485 network type.

b) The setup is similar as the high speed link parameter setup with other communication

modules such as Fnet module.

- Max. 64 items can be assigned.

- The size of data block is assigned by the unit of word, and the Max. size is 60 words.

- Area setup

Send From : I / Q / M To : Q / M

Receive From : I / Q / M To : Q / M

14-3
 Chapter 14. The RS422/485 communication of GM6-CPUB

14.4 The status flag

1) Communication error counter flag

- Flag name : _M422_ERR_CNT[n] (Array_Byte Type, n = 0 ~ 31)

- Description

Each byte of the ‘_M422_ERR_CNT[n]’ array indicates how many times

communication errors occurred at the relevant station. For example, the

_M422_ERR_CNT[5] is the error counter of station 5.

2) The error code

- Flag name : _M422_ERR[n] (Array_Byte Type, n = 0 ~ 31)

- Description

0 : No error 1 : Timeout error 2 : NAK

3) Operation mode and error of slave station

- Flag name : _S422_STATE[n] (Array_Byte Type, n = 0 ~ 31)

- Description

Bit 0 : Indicates an error of slave PLC. (0 : No error, 1 : Error occurred)

Bit 1 ~ Bit 3 : Reserved

Bit 4 ~ Bit 7 : Indicates the operation mode of slave PLC

Bit 4 : STOP Bit 5 : RUN

Bit 6 : PAUSE Bit 7 : DEBUG

4) The status flag of master station

- Flag name : _M422_STATE (Byte Type, n = 0 ~ 31)

- Description

Bit 0 : Turn on when the CPU module is assigned as master station but it is not B type

(GM6-CPUB)

Bit 1 : Turn on when the master station number of basic parameter setting is duplicated

with one of the slave station numbers of high speed link parameters setting.

Bit 2 : Turn on when the M area of high speed link parameter setting is out of the range.

5) The scan time of RS422/485 communication

- Description _M422_SCAN_MAX (Time Type) : The maximum scan time

_M422_SCAN_MIN (Time Type) : The minimum scan time

_M422_SCAN_CUR (Time Type) : The current scan time

Remark

Scan time : A total time of the processing time of the all parameter settings. (From the execution of the first
parameter setting to the next execution)

14-4
Chapter 14. The RS422/485 communication of GM6-CPUB

14.5 Monitoring

Users can monitor the communication status of RS422/485 network with the monitor function of the

GMWIN software. The high speed link parameter 1 monitoring screen is used for monitoring the

RS422/485 network status.

- The CPU module should be a B-type, and assigned as master station in the basic

parameter setting. Otherwise, the monitor screen will show the status of high speed link

service.

- In the monitoring screen, the following flags are shown;

Master PLC parameter _M422_STATE (On / Off)

The scan time of communication _M422_SCAN_MAX (Maximum scan time)

_M422_SCAN_MIN (Minimum scan time)

_M422_SCAN_CUR (Current scan time)

No., Type, From, To, Size The contents of high speed link 1 parameters

Error counter and code _M422_ERR_CNT, _M422_ERR

Slave PLC _S422_STATE

14-5
 Chapter 14. The RS422/485 communication of GM6-CPUB

14.6 Communication method and termination resistor

1) Data type

Data bit : 8 bits

Stop bit : 1 bit

Parity : None

2) Communication speed (Baud rate) : Selectable one of 9600, 19200, 38400 bps

3) Termination resistor

When use a long cable for connecting two or more PLCs, a termination resistor should be

connected at the both ends of network. Otherwise, the communication can be disturbed by the

reflected wave of cable. The termination resistor should be 1/2W grade and have the equivalent

resistance with the characteristic impedance of cable. (When use the RS-422 protocol, connect

two termination resistors between SDA and SDB, RDA and RDB. With the RS-485 protocol,

connect a termination resistor between RDA and RDB, or SDA and SDB.)

14.7 RS-422/485 pin assignment

1) The RS-422 network is connected with 5-pin connector. The following table shows the name,

and description of each pins and direction of signal.

Pin No. MASTER Signal direction SLAVE

1 RDA SDA
2 RDB SDB
3 SDA RDA
4 SDB RDB
5 SG SG

2) When using RS-485 interface, connect cable as RS-422 interface, then interconnect RDA and

SDA, RDB and SDB. With the RS-485 interface, the send / receive signals share one line and

communication is performed as half-duplex method.

14-6
 Chapter 15 The PID function

15.1 Introductions............................................................................. 15-1

15.2 PID control................................................................................. 15-2
15.2.1 Control actions ................................................................................................15-2

15.2.2 Realization of PID control on the PLC.......................................................15-13

15.3 Function blocks ...................................................................... 15-15

15.3.1 The function block for PID operation (PID6CAL).....................................15-16

15.3.2 The error code of PID6CAL F/B..................................................................15-18

15.3.3 Auto tuning function block (PID6AT) ..........................................................15-19

15.3.4 Error codes of auto-tuning function block (PID6AT)................................15-21

15.4 Programming........................................................................... 15-22

15.4.1 System configuration....................................................................................15-22

15.4.2 Initial setting...................................................................................................15-22

15.4.3 Program description .....................................................................................15-23

Chapter 15. The PID functions

15 The PID functions

15.1 Introductions

This chapter will provide information about the built-in PID (Proportional Integral
Differential) function of B and C type CPU module. (GM6-CPUB and GM6-CPUC) The
GM6 series does not have separated PID module like GM3 and GM4 series, and the PID
function is integrated into the CPU module (B and C type)

The PID control means a control action in order to keep the object at a set value (SV). It
compares the SV with a sensor measured value (PV : Present Value) and when a
difference between them (E : the deviation) is detected, the controller output the
manipulate value (MV) to the actuator to eliminate the difference. The PID control consists
of three control actions that are proportional (P), integral (I), and differential (D).

The characteristics of the PID function of GM6 is as following;

- the PID function is integrated into the CPU module. Therefore, all PID control action
can be performed with F/B (Function Block) without any separated PID module.
- Forward / reverse operations are available
- P operation, PI operation, PID operation and On/Off operation can be selected easily.
- The manual output (the user-defined forced output) is available.
- By proper parameter setting, it can keep stable operation regardless of external
disturbance.
- The operation scan time (the interval that PID controller gets a sampling data from
actuator) is changeable for optimizing to the system characteristics.

15-1
 Chapter 15. The PID functions

15.2 PID control

15.2.1 Control actions

15.2.1.1 Proportional operation (P operation)

1) P action means a control action that obtain a manipulate value which is proportional
to the deviation (E : the difference between SV and PV)
2) The deviation (E) is obtained by multiplying a reference value to the actual
difference between SV and PV. It prevents the deviation from a sudden change or
alteration caused by external disturbance. The formula of deviation is as following;

MV = Kp × [b × SV − PV ]
Kp : the proportional constant (gain)
b : reference value
SV : set value
PV : present value
3) If the Kp is too large, the PV reaches to the SV swiftly, but it may causes a bad
effect like oscillations shown in the Fig. 2.1.
4) If the Kp is too small, oscillation will not occur. However, the PV reaches to the SV
slowly and an offset may appear between PV and SV shown in the Fig. 2.2.
5) The manipulation value (MV) varies from 0 to 4,000. User can define the maximum
value of MV (MV_MAX) and minimum value (MV_MIN) within the range 0 ~ 4,000.
6) When an offset remains after the system is stabilized, the PV can be reached to the
SV by adding a certain value. This value is called as bias value, and user can
define the bias value with GM-WIN software.

15-2
Chapter 15. The PID functions

Fig. 2.1 When the proportional constant (Kp) is large

Fig. 2.1 When the proportional constant (Kp) is small

15-3
 Chapter 15. The PID functions

15.2.1.2 Integral operation (I action)

1) With integral operation, the manipulate value (MV) is increased or decreased
continuously in accordance time in order to eliminate the deviation between the SV
and PV. When the deviation is very small, the proportional operation can not
produce a proper manipulate value and an offset remains between PV and SV. The
integral operation can eliminate the offset value even the deviation is very small.
2) The period of the time from when the deviation has occurred in I action to when the
MV of I action become that of P action is called Integration time and represented as
Ki.
3) Integral action when a constant deviation has occurred is shown as the following
Fig. 2.4.

Fig. 2.4 The integral action with constant deviation

4) The expression of I action is as following;

Kp
Ti ∫
MV = Edt

As shown in the expression, Integral action can be made stronger or weaker by

adjusting integration time (Ki) in I action.
That is, the more the integration time (the longer the integration time) as shown in
Fig. 2.5, the lesser the quantity added to or subtracted from the MV and the longer
the time needed for the PV to reach the SV.
As shown in Fig. 2.6, when the integration time given is short the PV will approach
the SV in short time since the quantity added or subtracted become increased. But,
If the integration time is too short then oscillations occur, therefore, the proper P
and I value is requested.

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Chapter 15. The PID functions

5) Integral action is used in either PI action in which P action combines with I action or
PID action in which P and D actions combine with I action.

Fig. 2.5 The system response when a long integration time given

Fig. 2.6 The system response when a short integration time given

15-5
 Chapter 15. The PID functions

15.2.1.3 Derivative operation (D action)

(1) When a deviation occurs due to alteration of SV or external disturbances, D

action restrains the changes of the deviation by producing MV which is
proportioned with the change velocity (a velocity whose deviation changes at
every constant interval) in order to eliminate the deviation.
4D action gives quick response to control action and has an effect to reduce
swiftly the deviation by applying a large control action (in the direction that the
deviation will be eliminated) at the earlier time that the deviation occurs.
4D action can prevent the large changes of control object due to external
conditions.
(2) The period of time from when the deviation has occurred to when the MV of D
action become the MV of P action is called derivative time and represented as Kd.
(3) The D action when a constant deviation occurred is shown as Fig. 2.7.

Fig. 2-7 Derivative action with a constant deviation

(4) The expression of D action is as following;

dE
MV = Kp × Td
dt

(5) Derivative action is used only in PID action in which P and I actions combine with

15-6
Chapter 15. The PID functions

D action.

15.2.1.4 PID action

1) PID action controls the control object with the manipulation quantity produced by
(P+I+D) action
2) PID action when a given deviation has occurred is shown as the following Fig. 2.8.

Fig. 2-8 PID action with a constant deviation

15-7
 Chapter 15. The PID functions

15.2.1.5 Forward / Reverse action

1) PID control has two kind of action, forward action and reverse action. The forward
action makes the PV reaches to SV by outputting a positive MV when the PV is less
than SV.
2) A diagram in which forward and reverse actions are drawn using MV, PV and SV is
shown as Fig. 2.9.

Reverse action Forward action

Fig. 2-9 MV of forward / reverse action

3) Fig 2.10 shows examples of process control by forward and reverse actions,
respectively.

Fig. 2-10 PV of forward / reverse action

15-8
Chapter 15. The PID functions

15.2.1.6 Reference value

In general feedback control system shown as the Figure 2-10, the deviation value is
obtained by the difference of PV and SV. P, I, and D operations are performed based
on this deviation value. However, each of P, I, and D operations use different deviation
values according to the characteristics of each control actions. The expression of PID
control is as following;

MV = K  Ep + ∫ Ei( s) ds + Td
1 t dEd 
 Ti 0 dt 

MV : Manipulate value
K : Proportional gain
Ti : Integral time
Td : Derivative time
Ep : Deviation value for proportional action
Ei : Deviation value for integral action
Ed : Deviation value for derivative action

The deviation values of P, I, and D action is described as following equations;

Ep = b × SV − PV
Ei = SV − PV
Ed = − PV

The b of the first equation is called as reference value. It can be varied according to
the load disturbance of measurement noise.

SV PID MV PV
+ controller
Process

-1

Fig. 2-10 Diagram of simple feedback system

15-9
 Chapter 15. The PID functions

The figure 2.11 shows the variation of PV according to the several different reference
values (b). As shown in the Fig. 2.11, the small reference value produces small
deviation value, and it makes the control system response be slow.
In general, control system is required to be adaptable to various external / internal
changes. Especially, it should shows a stable transient response with the sudden
change of the SV to be robust to load disturbances and/or measurement noise.

PV

SV

b=1 b=0.1

b=0.5

b=0.7

Time
Figure 2-11 The PI control with several reference values

15.2.1.7 Integral windup

All devices to be controlled, actuator, has limitation of operation. The motor has speed
limit, the valve can not flow over the maximum value. When the control system has
wide PV range, the PV can be over the maximum output value of actuator. At this time,
the actuator keeps the maximum output regardless the change of PV while the PV is
over the maximum output value of actuator. It can shorten the lifetime of actuator.
When the I control action is used, the deviation term is integrated continuously. It
makes the output of I control action very large, especially when the response
characteristic of system is slow.
This situation that the output of actuator is saturated, is called as ‘windup’. It takes a
long time that the actuator returns to normal operating state after the windup was
occurred.

15-10
Chapter 15. The PID functions

The Fig. 2-12 shows the PV and MV of PI control system when the windup occurs. As
shown as the Fig. 2-12, the actuator is saturated because of the large initial deviation.
The integral term increase until the PV reaches to the SV (deviation = 0), and then
start to decrease while the PV is larger than SV (deviation < 0). However, the MV
keeps the saturated status until the integral term is small enough to cancel the windup
of actuator. As the result of the windup, the actuator will output positive value for a
while after the PV reached to the SV, and the system show a large overshoot. A large
initial deviation, load disturbance, or mis-operation of devices can cause windup of
actuator.

PV
PV

SV

Time

MV

SV

Time
MV (without windup)
MV (with windup)
Integral term
Proportional term

15-11
 Chapter 15. The PID functions

There are several methods to avoid the windup of actuator. The most popular two
methods are adding another feedback system to actuator, and using the model of
actuator. The Fig. 2-13 shows the block diagram of the anti-windup control system
using the actuator model.
As shown in the Fig. 2-13, the anti-windup system feedback the multiplication of gain
(1/Tt) and Es to the input of integral term. The Es is obtained as the difference value
between actuator output (U) and manipulation value of PID controller (MV). The Tt of
the feedback gain is tracking time constant, and it is in inverse proportion with the
resetting speed of integral term. Smaller Tt will cancel the windup of actuator faster,
but too small Tt can cause anti-windup operation in derivative operation. The Fig. 2-14
shows several Tt value and PV in the PI control system.

E = -PV K × Td
Actuator model

MV U
E = SV-PV K + Actuator

– +
k / Ti + +
Es

1 / Tt

Fig. 2-13 The block diagram of anti-windup control system

Tt = 3
PV Tt = 2
Tt = 1
Tt = 0.1
SV

Time

Fig. 2-14 The PV output characteristics with different Tt values.

15-12
Chapter 15. The PID functions

15.2.2 Realization of PID control on the PLC

In this chapter, it will described that how to get the digitized formula of the P, I, and D
terms. Then, the pseudo code of PID control will be shown.

15.2.2.1 P control
The digitized formula of P control is as following;

P( n) = K [b × SV ( n) − PV ( n) ] n : sampling number
K : proportional gain constant
b : reference value
SV : set value
PV : present value

15.2.2.2 I control
The continuous formula of I control is as following;

K t
Ti ∫0
I (t ) = e( s )ds I(t) : integral term

K : proportional gain constant

Ti : integral time
e(s) : deviation value
By deviation about t, we can obtain;

dI K
= e e = (SV – PV) : deviation value
dt Ti

The digitized formula is as following;

I (n + 1) − I ( n) K
= e( n) h : sampling period
h Ti

Kh
I ( n + 1) = I ( n) + e( n)
Ti

15-13
 Chapter 15. The PID functions

15.2.2.3 D control
The continuous formula of derivative term is as following;

Td d dy
× D + D = −KTd
N dt dt
N : high frequency noise depression ration
y : the object to be controlled (PV)

The digitized formula is as following (Use Tustin approximation method)

2Td − hN
D( n) = D( n − 1) −
2 KTdN
[ y ( n) − y (n − 1)]
2Td + hN 2Td + hN

15.2.2.4 Pseudo code of PID control

The pseudo code of PID control is as following;
Step 1 : Get constants that are used for PID operation

h
Bi = K × : integral gain
Ti
( 2 × Td − N × h)
Ad = : derivation gain
( 2 × Td + N × h)
(2 × K × N × Td )
Bd =
( 2 × Td + N × h)
h
A0 = : anti-windup gain
Tt
Step 2 : Read SV and PV value
PV = adin(ch1)
Step 3: Calculate the proportional term.
P = K × (b × SV – PV)
Step 4 : Update the derivative term. (initial value of D = 0)
D = As × D – Bd × (PV – PV_old)
Step 5 : Calculate the MV. (initial value of I = 0)
MV = P + I + D
Step 6 : Check the actuator is saturated or not.
U = sat(MV, U_low, U_high)
Step 7 : Output the MV value to the D/A module
Step 8 : Update the integral term.
I = I + bi × (SV – PV) + A0 × (U – MV)
Step 9 : Update the PV_old value.
PV_old = PV

15-14
Chapter 15. The PID functions

15.3 Function blocks

For the PID operation of GM6-CPUB and GM6-CPUC, following 2 function blocks are
included in the GMWIN software. (version 3.2 or later)

No Name Description
1 PID6CAL Perform the PID operation
2 PID6AT Perform the auto tuning operation

Remarks
1. GM6 PID function blocks do not support array type.
2. Refer the GMWIN manual for the registration and running of function block.
3. GM6-CPUA does not support PID operation.

15-15
 Chapter 15. The PID functions

15.3.1 The function block for PID operation (PID6CAL)

Function block Description
Input
EN : enable signal of the PID6CAL F/B
MAN : manual operation mode
( 0 : auto, 1 : manual )
D / R : select direction of operation
( 0 : forward, 1 : reverse )
SV : set value data input
( input range : 0 ~ 4000 )
PV : present value data input
BIAS : feed forward or offset value input for
disturbance compensation
( input range : 0 ~ 4000 )
PID6CAL EN_P : enable signal of proportional control
BOOL EN DONE BOOL ( 0 : disable, 1 : enable )
BOOL MAN MV INT EN_I : enable signal of integral control
BOOL D/R STAT USINT ( 0 : disable, 1 : enable )
EN_D : enable signal of derivative control
INT SV Q_MAX BOOL
( 0 : disable, 1 : enable )
INT PV Q_MIN BOOL
P_GAIN : the proportional gain constant
INT BIAS
( range : 0.01 ~ 100.00 )
BOOL EN_P
I_TIME : the integration time
BOOL EN_I
( range : 0.0 ~ 2000.0 )
BOOL EN_D
D_TIME : the deviation time
( range : 0.0 ~ 2000.0 )
UINT P_GAIN MV_MAX : the maximum value of MV
UINT I_TIME ( range : 0 ~ 4000 )
UINT D_TIME MV_MIN : the minimum value of MV
UINT REF ( range : 0 ~ 4000 )
UINT TT MVMAN : the input data of manual operation mode
UINT N ( range : 0 ~ 4000 )
S_TIME : operation scan time
UINT MV_MAX ( range : 0.1 ~ 10 )
UINT MV_MIN REF : the reference value
UINT MVMAN ( range : 0.1 ~ 1 )
UINT S_TIME TT : tracking time constant
( range : 0.01 ~ 10.00 )
N : high frequency noise depression ratio
( range : 1 ~ 10 )

Output
DONE : completion flag of PID operation
MV : output manipulation value
( range : 0 ~ 4000 )
STAT : error code output
Q_MAX : shows MV is limited with maximum value
Q_MIN : shows MV is limited with minimum value

15-16
Chapter 15. The PID functions

1) SV (setting value : the designated value) and PV (process value : present value) of
GM6 PID operation have the range 0 ~ 4000. The range is set with the
consideration of the resolution of A/D and D/A module of GM6 series (12 bits) and
offset value.
2) The BIAS data is used for the compensation of offset in the proportional control.
3) In GM6-CPUB and GM6-CPUC, only the following 4 operation modes are available.
Other operation modes, such as PD or I, are not permitted.

No. EN_P EN_I EN_D Operation

1 1 (enable) 0 (disable) 0 (disable) P operation
2 1 (enable) 1 (enable) 0 (disable) PI operation
3 1 (enable) 1 (enable) 1 (enable) PID operation
4 0 (disable) 0 (disable) 0 (disable) On/Off operation

4) The GM6 CPU module can handle only integer, not the floating point type.
Therefore, to enhance the accuracy of PID operation, the PID6CAL function block is
designed to input the P_GAIN data as the 100 times scaled up. For example, if the
designated P_GAIN is 98, actual input data of P_GAIN should be 9800. If the
designated P_GAIN is 10.99, input 1099 to the P_GAIN.
5) I_TIME and D_TIME are 10 times scaled up. For example, input 18894 if the
designated I_TIME value is 1889.4. The range of actual input is 0 ~ 20000.
6) S_TIME is the period of reading data (sampling), and also 10 times scaled up.
Generally, it should be synchronized with external trigger input (EN input of function
block) to perform proper PID operation. The range of sampling time is 0.1 ~ 10
seconds, and actual input range is 0 ~ 100.
7) REF may be useful parameter according to the control system type, especially
velocity, pressure, or flux control system. The REF input is also 10 times scaled up,
and the actual range is 0 ~ 10.
8) TT (tracking time constant) parameter is used to cancel anti-windup operation. The
range of TT is 0.01 ~ 10 and the actual input range that are 100 times scaled up is
0 ~ 1000.
9) N (high frequency noise depression ratio) parameter is used for derivative control
operation, and shows the ratio of high frequency noise depression. If there is a lot
of high frequency noise in the control system, select the N value as higher value.
Otherwise, leave the N parameter as 1. The range of N is 0 ~ 10 and it is not scaled
up, so input the designated value directly.

15-17
 Chapter 15. The PID functions

15.3.2 The error code of PID6CAL F/B

The following table shows error codes and descriptions of PID6CAL function block.

Error code
Type Description Countermeasure
(STAT output)

0 Normal operation

1 SV is out of range Change the SV within 0 ~ 4000

2 MVMAN is out of range Change the MVMAN within 0 ~ 4000

3 P_GAIN is out of range Change the P_GAIN within 0 ~ 10000

4 I_TIME is out of range Change the I_TIME within 0 ~ 20000

5 D_TIME is out of range Change the D_TIME within 0 ~ 20000

6 S_TIME is out of range Change the S_TIME within 0 ~ 100

7 Local REF is out of range Change the REF within 0 ~ 10

8 TT is out of range Change the TT within 0 ~ 1000

9 N is out of range Change the N within 0 ~ 1000

Only P, PI, and PID controls are

available with GM6-CPUB and GM6-
EN_I and/or EN_D is set
10 CPUC. Please change the setting of
as 1 when EN_P is 0
EN_P, EN_I, and EN_D by reference
to the chapter 15.3.1.

Replace the CPU module with GM6-

40 CPU type is mismatched
CPUB or GM6-CPUC.

Remarks
1. Please be careful to input 100 times scaled up values for P_GAIN and TT.
2. I_TIME, D_TIME, S_TIME, and REF are 10 times scaled up, not 100 times.

15-18
Chapter 15. The PID functions

15.3.3 Auto tuning function block (PID6AT)

Function block Description

Input
EN : enable input of function block
SV : set value (goal value) data input
(range : 0 ~ 4000)
PV : present value input
PID6AT
(range : 0 ~ 4000)
AT
BOOL DONE BOOL
S_TIME : scan time input (sampling interval)
EN
MV INT
(range : 0 ~ 100)
INT RIPPLE RIPPLE : select the wave form to be used for auto
STAT USINT
INT SP
tuning operation. Select 1 in general case.
END BOOL
Output
INT PV
P UINT DONE : Turn on whenever the auto tuning operation
UINT S_TIME I UINT is completed.
D UINT END : Turns on when the F/B operation is
completed with no error, and keep the status
until next F/B execution
STAT : shows the error code
MV : the manipulated value of current loop on which
the auto tuning operation is performed.
(range : 0 ~ 4000)
P : the proportional gain constant obtained by auto
tuning operation. (range : 0.01 ~ 100.00)
I : the integral time constant obtained by auto tuning
operation.
D : the derivative time constant obtained by auto
tuning operation

15-19
 Chapter 15. The PID functions

1) SV (setting value : the designated value) and PV (process value : present value)
of GM6 PID operation have the range 0 ~ 4000. The range is set with the
consideration of the resolution of A/D and D/A module of GM6 series (12 bits) and
offset value. When setting the SV or PV, please be careful convert the analog
value of control object (temperature, velocity, etc.) to digital value that are the
output of A/D convert module. For example, assume that PID control is used for
temperature control with Pt100 (operation range : 0 °C ~ 250 °C), and the goal
value is 100 °C. The equivalent digital output of A/D module (voltage output
range : 1 ~ 5V) is 1600 if the A/D module outputs 0 (1V) with 0 °C, and 4000(5V)
with 250 °C. Therefore, the input of SV should be 1600, not 2.
2) S_TIME is the period of reading data (sampling), and 10 times scaled up for more
precious operation. Generally, it should be synchronized with external trigger input
(EN input of function block) to perform proper PID operation. The range of
sampling time is 0.1 ~ 10 seconds, and actual input range is 0 ~ 100.
3) The GM6-CPUB and GM6-CPUC module perform auto-tuning operation based on
the frequency response method. PID parameters are obtained by On/Off operation
during 1 cycle of PV variation. The RIPPLE parameter shows at which cycle the
CPU module will perform auto-tuning operation. If 0 is selected, the CPU will get
PID parameters during the first cycle of PV variation. If 1 is selected, the second
cycle will be used. (refer Fig. 12-15 for detailed information) Other choice of
RIPPLE parameter is not allowed. In general case, select 1 for proper auto-tuning
operation. The On/Off operation will be occur at the 80% of PV value.

Perform A/T operation at the 1st cycle Perform A/T operation at the 2nd cycle
(When the RIPPLE = 0) (When the RIPPLE = 1)

80% of PV

15-20
Chapter 15. The PID functions

15.3.4 Error codes of auto-tuning function block (PID6AT)

The following table shows error codes and descriptions of PID6AT function block.

Error code
Type Description Countermeasure
(STAT output)

0 Normal operation

1 SV is out of range Change the SV within 0 ~ 4000

It may caused by fault of A/D module.
2 PV is out of range
Local Check the A/D module.
3 S_TIME is out of range Change the S_TIME within 0 ~ 100

Replace the CPU module with GM6-

4 CPU type is mismatched
CPUB or GM6-CPUC.

15-21
 Chapter 15. The PID functions

15.4 Programming

15.4.1 System configuration

GM6- GM6-
PAFB CPUB Input Output A/D Input D/A Output
or module module module module module module
+5V GM6-
+15V CPUC

GMWIN
(V3.2 or later) PV : DC4 ~ 20mA
RS-232C (1 ~ 5V)

Signal converter MV : DC4 ~ 20mA

(1 ~ 5V)
Temperature
sensor

Electric oven
(0 ~ 200°C)
heater

Power converter

15.4.2 Initial setting

1) PID operation parameters

a) Auto / Manual operation setting : Auto
b) Forward / Reverse operation : Forward
c) SV setting : 1600 (100°C)
d) BIAS setting : 0 (If only P control is used, input proper value
other 0)
e) EN_P, EN_I, EN_D setting : EN_P=1, EN_I=1, EN_D=1 (PID operation)
f) REF, TT, N : REF=10, TT=5-, N=1
g) MV_MAX, MV_MIN, MVMAN : MV_MAX=4000, MC_MIN=0, MAMAN=2000
h) S_TIME : S_TIME=100 (sampling time = 10 seconds)
2) Auto-tuning parameters
a) PV setting : 1600 (100°C)
b) S_TIME : S_TIME=100 (sampling time = 10 seconds)

15-22
Chapter 15. The PID functions

3) A/D module setting

a) Channel setting : use channel 0
b) Output data type : – 48 ~ 4047
c) Input processing : Sampling
4) D/A module setting
a) Channel setting : use channel 0

15.4.3 Program description

15.4.3.1 Use only PID operation (without A/T function)

1) Convert the measured temperature (0 ~ 250°C) to current signal (4 ~ 20mA), and
input the current signal to the channel 0 of A/D module. Then, the A/D module
converts the analog signal to digital value (0 ~ 4000)
2) PID6CAL function block will calculate manipulate value (MV : 0 ~ 4000) based on
PID parameter settings (P_GAIN, I_TIME, D_TIME, etc.) and PV from A/D module.
Then, the calculated MV is output to the channel 0 of D/A module.
3) D/A module will convert the MV (0 ~ 4000) to analog signal (4 ~ 20mA) and output
to the actuator (power converter).

15.4.3.2 Use PID operation with A/T function

1) Convert the measured temperature (0 ~ 250°C) to current signal (4 ~ 20mA), and
input the current signal to the channel 0 of A/D module. Then, the A/D module
converts the analog signal to digital value (0 ~ 4000)
2) A/T function block will calculate manipulate value (MV : 0 ~ 4000) based on the SV
and PV from A/D module. Simultaneously, the A/T module will calculate P,I and D
parameters.
3) The END output of A/T module will be 1 when the A/T operation is completed. Then,
PID module will start operation with PID parameters that are calculated by A/T
module.
4) D/A module will convert the MV (0 ~ 4000) to analog signal (4 ~ 20mA) and output
to the actuator (power converter).

15-23
 Chapter 15. The PID functions

[ Example program of 15.4.3.1 ]

15-24
Chapter 15. The PID functions

[ Example program of 15.4.3.2 ]

(continue to next page)

15-25
 Chapter 15. The PID functions

[ Example program of 15.4.3.2 ] (continued)

15-26
Chapter 16 Built-in high speed counter of GM6-CPUC

16.1. Introductions..................................................................................... 16-16-1

16.2. Performance specifications.............................................................. 16-16-2
16.3. Input specifications........................................................................... 16-16-3
16.3.1. Function of input terminals ............................................................................ 16-16-3

16.3.2. Names of wiring terminals ............................................................................. 16-16-3

16.3.3. External interface circuit................................................................................. 16-16-4

16.4. Wiring ............................................................................................... 16-16-5

16.4.1. Wiring instructions ........................................................................................... 16-16-5

16.4.2. Wiring examples .............................................................................................. 16-16-5

16.5. Programming.................................................................................... 16-16-6

16.5.1. Function block (F/B)........................................................................................ 16-16-6
Chapter 16. Built-in high speed counter of GM6-CPUC

16.Built-in high speed counter of GM6-CPUC

16.1. Introductions

This chapter describes the specification, handling, and programming of built-in high speed
counter of GM6-CPUC module. The built-in high speed counter of GM6-CPUC (Hereafter called
HSC) has the following features;
- 3 counter functions as followings
- 1-phase up / down counter : Up / down is selected by user program
- 1-phase up / down counter : Up / down is selected by external B phase input
- 2-phase up / down counter : Up / down is automatically selected by the phase
difference between phase A and B.
- Multiplication (1, 2, or 4) with 2-phase counter
- 2-phase pulse input multiplied by one : Counts the pulse at the leading edge of phase A.
- 2-phase pulse input multiplied by two : Counts the pulse at the leading / falling edge of
phase A.
- 2-phase pulse input multiplied by four : Counts the pulse at the leading / falling edge of
phase A and B

16-1
 Chapter 16. Built-in high speed counter of GM6-CPUC

16.2. Performance specifications

Items Specifications

Types Phase A, Phase B, Preset

Input
Rated level 24VDC (13mA)
signal
Signal type Voltage input
Counting range 0 ~ 16,777,215 (Binary 24 bits)
Max. counting speed 50k pps
Up / 1-phase Sequence program or B-phase input
Down
selection 2-phase Auto-select by phase difference of phase A and B
Multiplication 1, 2, or 4
Preset input Sequence program or external preset input

16-2
Chapter 16. Built-in high speed counter of GM6-CPUC

16.3. Input specifications

16.3.1. Function of input terminals

Items Specifications

Rated input 24VDC (13mA)

A/B
On voltage 14VDC or higher
phase
Off voltage 2.5VDC or lower
Rated input 24VDC (10mA)
On voltage 19VDC or higher
Preset
Off voltage 6V or lower
input
On delay time Less than 1.5ms
Off delay time Less than 2ms

16.3.2. Names of wiring terminals

RUN
STOP
GM6-CPUC

No. of
Input signal
1 2

ROM MODE
ON

TEST MODE terminal

→
1 A phase input
2 B phase input
3 COM
4 Preset input
5 Preset COM

16-3
 Chapter 16. Built-in high speed counter of GM6-CPUC

16.3.3. External interface circuit

No. of
Internal circuit Signal type Operation voltage
terminal
14 ~ 26.4
3.3KΩ ON
A-phase pulse VDC
1
input 24VDC Less than
OFF
2.5VDC
14 ~ 26.4
Input ON
820Ω B-phase pulse VDC
2
input 24VDC Less than
OFF
2.5VDC
3 COM
19 ~
3.3KΩ ON 26.4
Preset input V
4
24V 6 V
Input OFF or
270Ω less

5 Preset COM

16-4
Chapter 16. Built-in high speed counter of GM6-CPUC

16.4. Wiring

16.4.1. Wiring instructions

A high speed pulse input is sensitive to the external noise and should be handled with special
care. When wiring the built-in high speed counter of GM6-CPUC, take the following
precautions against wiring noise.

1) Be sure to use shielded twisted pair cables. Also provide Class 3 grounding.
2) Do not run a twisted pair cable in parallel with power cables or other I/O lines which
may generate noise.
3) Before applying a power source for pulse generator, be sure to use a noise-
protected power supply.
4) For 1-phase input, connect the count input signal only to the phase A input; for 2-
phase input, connect to phases A and B.

16.4.2. Wiring examples

1) Voltage output pulse generator

24V
Pulse Generator

CHSC

COM

24VG

2) Open collector output pulse generator

24V
CHSC
Pulse Generator COM

24VG

16-5
 Chapter 16. Built-in high speed counter of GM6-CPUC

16.5. Programming

16.5.1. Function block (F/B)

CHSC_WR

CHSC_WR
GM1 GM2 GM3 GM4 GM5 GM6
l

FUNCTION BLOCK Description

Input REQ : Request signal of F/B execution

PHS : Operation modes selection
0 (1-phase counter), 1(2-phase counter)
CHSC_WR MULT : Assign the multiplication factor
BOOL REQ DONE BOOL (MULT = 1, 2, or 4)
U/D_I/E : Assign the count direction (up/down)
BOOL PHS STAT USINT selector
0 : Set by sequence program
USINT MULT 1 : Set by B-phase input signal
(1:up-count, 0:down-count)
BOOL
U/D_ CY_R : Carry reset signal ( 1: reset).
I/E
DOWN : Select the count direction (0:up/1:down)
BOOL CY_R when the counter is set as 1-phase counter
and up/down is selected by sequence
BOOL DOWN program. (PHS=0 & U/D_I/E=0)
CT_E : Counter enable signal
BOOL CT_E (0 : Counter disable, 1 : Enable)
PRE_I/E : Assign PRESET input
BOOL PRE_
0 : PRESET by sequence program
I/E 1 : PRESET by external input at the
PRESET terminal

Output
DONE : Turns on after the F/B is executed with no
error.
STAT : Indicate the operation status of F/B

- The MULT input will be dummy input when the HSC is set as 1-phase counter (PHS =
0). When the HSC is set as 2-phase counter, the U/D_I/E and DOWN input will be
dummy input. (PHS = 1)
- The current value of HSC will be cleared as 0 when the CT_E (counter enable) is 0.

16-6
Chapter 16. Built-in high speed counter of GM6-CPUC

CHSC_RD

CHSC_RD
Read the current value and operation GM1 GM2 GM3 GM4 GM5 GM6
l
status of HSC

FUNCTION BLOCK Description

Input REQ : Request signal for F/B execution

CHSC_RD Output
DONE : Turns on after the F/B is executed with no
BOOL REQ DONE BOOL
error.
STAT : Indicates the operation status of F/B
STAT USINT CNT : The current value of HSC
(0 ~ 16,777,215)
CNT UDINT CY : Carry flag (0 : OFF, 1 : ON)

CY BOOL

16-7
 Chapter 16. Built-in high speed counter of GM6-CPUC

CHSC_PRE

CHSC_PRE
Set the preset value of HSC GM1 GM2 GM3 GM4 GM5 GM6
l

FUNCTION BLOCK Description

Input REQ : Request signal for F/B execution

PSET : Set the preset value (0 ~ 16,777,215)

CHSC_PRE
Output
BOOL REQ DONE BOOL
DONE : Turns on after the F/B is executed with no
error.
UDINT PSET STAT USINT STAT : Indicates the operation status of F/B

- When the PRE_I/E is set as 0 (Preset input by sequence program), the current
value of HSC is changed as the assigned preset value with the rising edge of REQ
input.
- When the PRE_I/E is set as 1 (Preset input by external preset input), the current
value of HSC is changed as the assigned preset value with the rising edge of
external preset input. At this time, the REQ input of CHSC_PRE is ignored.
- The CY output is set off while the CHSC_PRE F/B is executing.
- The CHSC_PRE F/B is disabled while the CT_E input of CHSC_WR F/B is 0 (Counter
disabled).

16-8
Chapter 16. Built-in high speed counter of GM6-CPUC

CHSC_SET

CHSC_SET
Assign a setting value to be compared GM1 GM2 GM3 GM4 GM5 GM6
with the current value of HSC l

FUNCTION BLOCK Description

Input REQ : Request signal for F/B execution

SET : Set a setting value (0 ~ 16,777,215)

CHSC_SET
Output
BOOL REQ DONE BOOL DONE : Turns on after the F/B is executed with no
error.
UDINT SET STAT USINT STAT : Indicates the operation status of F/B

Run a task program when the current value of HSC reaches to the setting value.
To run a task program, define a high speed counter task program as following figure,
and write a task program.

HSC

16-9
 Chapter 16. Built-in high speed counter of GM6-CPUC

16.5.2 Error code of F/B

The following table shows error codes appear at the STAT output.

Error code Description

00 No error
01 Built-in high speed counter is not found
(GM6-CPUA, GM6-CPUB CPU module)
02 Input data error at MULT input of CHSC_WR
(2 Phase Mode 에서 1, 2, 4 이외의 숫자일 때)
03 PSET (CHSC_PRE) or SET (CHSC_SET) is out of specified
range (0 ~ 16,777,215).
04 Execute Preset command while the HSC is disabled status

16-10
Appendix 1. System definitions

Appendix 1. System Definitions

1) Basic Parameters
The basic parameters are necessary for operation of the PLC and used to allocate memory, set the
restart mode and set the scan watch dog time, etc.

(1) Configuration (PLC) Name

• It is a representative name for the PLC system. It is used to designate this PLC system when a
network system is configured using communication modules.
(2) Enabling/Disabling the control of the PLC via communications
• This parameter is used to enable or disable the remote control of this PLC system through the
FAM or computer link module, etc. except for the GMWIN. If this parameter has been set to
enable, change of the operation mode and download of programs are available via
communications.
(3) Restart Mode
• This parameter is used to set the restart mode in the PLC system. When the system re-starts,
one of the ‘ cold restart’ or ‘ warm restart’ is selected in compliance with the parameter setting.

APP1 - 1
Appendix 1. System definitions

(4) Resource (CPU) Name

• Resource Name is the name that each CPU module configuring the PLC has. When configuring
a network system the name is used to designate each CPU module that is used the system.
• Only one CPU module can be mounted in the GM3/4 series, therefore, only the resource 0 is
valid.
(5) Scan Watch Dog Time
• This parameter is used to set the maximum allowable execution time of an user program in order
to supervisor its normal or abnormal operation.
• Only one CPU module can be mounted in the GM3/4 series, therefore, scan watch dog is valid
to only the resource 0.
(6) Unable to Pause by mode setting switch
• Set : When switch mode is changed from run to pause/remote (RUN à PAU/REM),
PLC is operated as Local Pause mode.
• Default (do not set) : When switch mode is changed from run to pause/remote (RUN à PAU/REM),
PLC is operated as Remote RUN mode.

APP1 - 2
Appendix 1. System definitions

2) I/O Configuration Parameters

These parameters are used to set the configuration of a system that will be operated. They set the
modules that will be mounted and operated onto their own slot in the base unit. If a parameter that has
been set and the real mounted module are different, the operation will not be executed. When writing a
new project I/O configuration parameters will be all set to default (DEF_MODULE).
If I/O configuration parameters are set to default, the operation starts on the basis of the configuration
of the real mounted module when the power is applied. Therefore, though a power failure had occurred
during normal operation or the system configuration had been changed due to slip-out of a mounted
module, operation starts and continues when the power has been re-applied because the system
considers that it is a normal operation state. To prevent this error, be sure to set correctly the I/O
configuration parameters complying with the real modules that shall be mounted and operated.

APP1 - 3
Appendix 1. System definitions

<I/O Parameters Setting List>

Keywords Description Applicable Modules

DC input DC input module G6I-D22A(16 points), G6I-D24A(32 points), G6I-D22B(16 points)
G6I-D24B(32 points)
110 VAC input 110 VAC input module G6I-A11A(8 points)
220 VAC input 220 VAC input module G6I-A21A(8 points)
Relay output Relay output module G6Q-RY2A(16 points)
SSR output Triac output module G6Q-SS1A(8 points)
TR output Transistor output G6Q-TR2A(16 points), G6Q-TR4A(32 points)
A/D A/D conversion module G6F-AD2A(4 channels)
DAV, DAI D/A conversion module G6F-DA2V(4channels, voltage type)
G6F-DA2I(4channels, current type)
HSC High speed counting G6F-HSCA(1 channels)
module
GLOFA Fnet Fnet I/F module G6L-FUEA
GLOFA Cnet Cnet I/F module G6L-CUEB, G6l-CUEC
DEF_I All input modules G6I-D22A(16 points), G6I-D24A(32 points), G6I-D22B(16 points)
G6I-D24B(32 points), G6I-A11A(8 points), G6I-A21A(8 points)
DEF_O All output modules G6Q-RY2A(16 points), G6Q-SS1A(8 points),
G6Q-TR2A(16 points), G6Q-TR4A(32 points)
DEF_IO All mixed I/O modules -
DEF_SP All communications / • All special modules
special modules • All communications modules
DEF_MODULE All modules • All input modules
• All output modules
• All mixed I/O modules
• All special modules
• All communications modules
DEF_EMPTY Empty slot −

APP1 - 4
Appendix 1. System definitions

3) Communications Parameters
These high speed link parameters are used to set the opposite station for data communications, data
and communications cycle when communicating a defined data repeatedly through communication
modules.
(For detailed descriptions, refer to the User’ s Manual relating to data communications)

(1) Network type : Used to set the type of the communications module
(2) Slot No. : Location number of slot where the communications module has been mounted.
(3) Local No. : Local number of the module which executes high speed link communications.

(1) Station type : Type of the communications module in the opposite station. Local or remote will be set.
(2) Station No. : Used to indicate the station that has invoked data during communications.
(3) Mode : Used to set the communications mode to Send or Receive.
(4) Block No. : Designating number for identification of a data block in the same communications
module.
(5) Data communications cycle : Used to set the cycle of sending and receiving of data.
(6) Area: I, Q and M areas should be set by the decimal number or word.
(7) Size : Number of words that will be sent and received.

APP1 - 5
Appendix 2. Flag List

Appendix 2. Flag List

1) User Flag List
Keyword Type Write Name Description
Operation error latch Operation error latch flag by the program block(BP). Error indication
_LER BOOL Enable
flag occurred while executing a program block
Operation error latch Operation error flag by the operation function (FN) or function block(FB).
_ERR BOOL Enable
flag It is newly changed whenever an operation is executed.
_T20MS * BOOL − 20 ms Clock These clock signals are used in the user programs, toggles on/off every
_T100MS * BOOL − 100 ms Clock half cycle. The clock signal can be delayed or distorted in accordance
_T200MS * BOOL − 200 ms Clock with program execution time as the signal toggles after scan has been
_T1S * BOOL − 1s Clock finished, therefore, it is recommended that clock of enough longer than
_T2S * BOOL − 2s Clock scan time be used. Clock signals starts from Off when the initialization
_T10S * BOOL − 10s Clock program or scan program starts
_T20S * BOOL − 20s clock • Example : _T100MS clock
_T60S * BOOL − 60s Clock
_ON * BOOL − Always On Usable in user programs.
_OFF * BOOL − Always Off Usable in user programs
_1ON * BOOL − First scan On Turn On only during the first scan after the operation has started.
_1OFF * BOOL − First scan Off Turn Off only during the first scan after the operation has started.
− Toggles On/Off at every scan while a user program is being executed. (On
_STOG * BOOL Scan Toggle
at the first scan)
Initialization Program If this flag is set to on in the initialization program in an user program, the
_INT_DONE BOOL Enable
Complete initialization program stop its operation and the scan program will starts.
_INT_DATE DATE − RTC present date Date Data of standard format (Reference date – Jan. 1, 1984)
_RTC_TOD TOD − RTC present time Time Data( Reference time – 00:00:00)
Day data (0: Monday, 1:Thuesday, 2: Wednesday , 3: Thursday, 4: Friday,
_RTC_WEEK UNIT − RTC present day
5: Saturday, 6:Sunday)
REMARK
1) Flags with the mark ‘ *’ are initialized when the initialization program starts, and after its execution has been competed the flags will change in
accordance with the restart mode set.
• If cold or warm restart has been set, the flags will be initialized when the scan program starts its execution.
If hot restart has been set , the flags will be restored to the state before the last stop when the scan program starts its execution.
2) Representative System Error Flag List
Keyword Type Bit No. Name Description
Representati- System error
_CNF_ER WORD This flag handles the following operation stop error flags in batch.
ve keyword (fatal error)
This representative flag indicates that I/O configuration parameters differ
Module type from the real loaded module or that a certain module is loaded onto a slot
_IO_TYER BOOL Bit 1
inconsistency error where it should not be loaded. (Refer to _IO_TYER_N and _IO_DEER[n] )

Module This representative flag indicates that module configuration of each slot
_IO _DEER BOOL Bit 2 loading/unloading has been changed during operation. (Refer to _IO_DEER_N and
error _IO_DEER[n])
Fuse disconnection This representative flag indicates that one of fuses of slots including them
_FUSE _ER BOOL Bit 3
error has disconnection. (Refer to _FUSE_ER_N and _FUSE_ER[n])
I/O module This representative flag indicates that a I/O module does normally
_IO _RWER BOOL Bit 4
read/write error executes read/write. (Refer to _IP_RWER_N and _IP_IFER[n])

Special/communicat This representative flag indicates that special or communications module

_SP _IFER BOOL Bit 5 -ions module has failed in initialization or normal interface is impossible due to module
interface error malfunction. (Refer to _IP_IFER_N and _IP_IFER[n])
External device fatal This representative flag indicates that an external device has fatal error.
_ANNUN_ER BOOL Bit 6
fault detection error The error code has been written to _ANC_ERR[n].
− − Bit 7 − −
Scan watch dog This flag indicates that the scan time of a program has overrun the scan
_WD_ER BOOL Bit 8
error watchdog time specified by the parameter.
This flag indicates that an unreadable instruction has been met while
_CODE_ER BOOL Bit 9 Program code error
executing an user program.
This flag indicates that program execution is impossible due to destroyed
_P_BCK_ER BOOL Bit 11 Program error
memory or program error.

APP2 - 1
Appendix 2. Flag List

3) Representative System Warning Flag List

Keyword Type Bit No. Name Description
Representa
This flag treats the below warning flags relating to continuous operation
_CNF _WAR WORD tive System warning
in batch.
keyword
_D_BCK_ER BOOL Bit 1 Data backup error This flag indicates
This flag indicates that the program had been stopped during restore
from power failure due to causes such as power off, and then cold
restart has been executed and the continuous operation which retains
Abnormal
_AB_SD_ER BOOL Bit 3 the data is impossible. Usable in the initialization program. Automatically
shutdown
reset when the initialization program has finished. (The same things
given above will be applied when the program has been stopped by the
‘ ESTOP’ function)
Task collision This flag indicates that task collision has occurred as execution request
_TASK_ERR BOOL Bit 4 (plus cycle and for a same task had been repeatedly invoked. (Refer to the flag
external tasks) _TC_BMAP[n] and _TC_CNT[n])

This flag detects and indicates that the voltage of the battery, which is
_BAT_ERR BOOL Bit 5 Battery fault used to backup user programs and data memory, is lower than the
defined value.

This representative flag indicates that the user program has detected an
External device
_ANNUN_WR BOOL Bit 6 ordinary fault of external devices and has written it to the flag _ANC_WB
warning detection [n].

− − Bit 7 − −
High speed link
_HSPMT1_ER BOOL Bit 8
parameter 1 error
High speed link
_HSPMT2_ER BOOL Bit 9 This representative flag detects error of each high speed link parameter
parameter 2 error
when the high link has been enabled and indicates that high speed link
High speed link cannot be executed. It will be reset when the high speed link is disabled.
_HSPMT3_ER BOOL Bit 10
parameter 3 error
High speed link
_HSPMT4_ER BOOL Bit 11
parameter 4 error

APP2 - 2
Appendix 2. Flag List

4) Detailed System Error and Warning Flag List

Data setting
Keyword Type Name Description
range
This flag detects that I/O configuration parameters of each slot differ
The number of slot
from the real loaded module configuration or a particular module is
_IO_TYER_N UINT 0 to 15 whose module type is
loaded onto the slot where modules cannot be loaded, and indicates
inconsistent.
the lowest slot No. of the detected slot numbers.
This flag detects that I/O configuration parameters of each slot differ
The location of slot
_IO_TYERR[n] BYTE n: 0 to 1 from the real loaded module configuration or a particular module is
where module type is
loaded onto the slot where modules cannot be loaded, and indicates
inconsistent.
the slot locations in the bit map of base units.
The number of slot This flag detects that module configuration of each slot has been
where module changed, that is, module mounting/dismounting error has been
_IO_DEER_N UINT 0 to 15
mounting/dismounting occurred, and indicates the lowest slot No. of the detected slot
error occurred. numbers.
The location of slot This flag detects that module configuration of each slot has been
where module changed, that is, module mounting/dismounting error has been
_IO_DEERR[n] BYTE n: 0 to 1
mounting/dismounting occurred, and indicates the slot locations in the bit map of base
error occurred. units.

The number of slot This flag detects that fuses of fuse-mounted modules has broken,
_FUSE_ER_N UINT 0 to 15
where fuse breaks. and indicates the lowest slot No. of the detected slot numbers.

The location of slot This flag detects that fuses of fuse-mounted modules has broken,
_FUSE_ERR[n] BYTE n: 0 to 1
where fuse breaks. and indicates the slot locations in the bit map of base units.

The number of slot This flag detects that input modules of a slot cannot be normally
_IO_RWER_N UINT 0 to 15 where I/O module read from or written to, and indicates the lowest slot No. of the
read/write occurred. detected slot numbers.

The location of slot This flag detects that input modules of a slot cannot be normally
_IO_RWERR[n] BYTE n: 0 to 1 where I/O module read from or written to, and indicates the slot locations in the bit map
read/write occurred. of base units.

This flag detects that initialization cannot be executed for special or

Special/link module link module of a slot, or normal interface is impossible due to module
_IP_IFER_N UINT 0 to 15
interface error slot No. malfunction, and indicates the lowest slot No. of the detected slot
numbers.
This flag detects that initialization cannot be executed for special or
Special/link module link module of a slot, or normal interface is impossible due to module
_IP_IFERR[n] BYTE n: o to 1
interface error location malfunction, , and indicates the slot locations in the bit map of base
units.

This flag detects fatal error of external devices and its content is
External device fatal written to this flag. A number that identifies error type will be written
_ANC_ERR[n] UINT n : 0 to 7
error to each of the sixteen locations. (The number 0 is not allowed)

If the user program indicates a warning on the flag _ANC_WB[n], the

External device
_ANC_WAR[n] UINT n : 0 to 7 bit locations are sequentially written to _ANC_WAR[n] from
ordinary error
_ANC_WAR[0] complying with their occurrence sequence.

External device The user program detects ordinary error of external device and the
_ANC_WB[n] BIT n: 0 to 127
ordinary error bit map errors are indicated on a bit map. (The number 0 is not allowed)

The flag detects that task collision has occurred because, while a
task was being executed or ready for execution, an execution
_TC_BMAP[n] BIT n : 0 to 7 Task collision bit map
request has occurred for the same task, indicates the errors on a bit
map.

This flag detects task collision occurrence time for each task when
_TC_CNT[n] UINT n : 0 to 7 Task collision counter executing a user program, indicates the task collision occurrence
time.

APP2 - 3
Appendix 2. Flag List

4) Detailed System Error and Warning Flag List (continued)

Data setting
Keyword Type Name Description
range
DATE & The first detection date and time of battery voltage drop are written
_BAT_ER_TM  Batter voltage drop time
TIME to this flag. It will be reset if the battery voltage has been restored.

Momentary power The accumulated momentary power failure occurrence times during
_AC_F_CNT UINT 0 to 65535
failure occurrence count operation in the RUN mode is written to this flag.

DATE & Momentary power

_AC_F_TM[n] n : 0 to 15 The times of the latest sixteen momentary power failures are written.
TIME failure history

The times and error codes of the latest sixteen errors are written to
this flag.
_ERR_HIS[n] n : 0 to 15 Error history
• Stop time : DATE & TIME (8 bytes)
• Error code : UINT (2 bytes)

The times, operation modes and restart modes of the latest sixteen
operation mode changes are written to this flag
Operation mode • Change time : DATE & TIME (8 bytes)
_MODE_HIS[n] n : 0 to 15
change history
• Operation mode : UINT (2 bytes)
• Restart : UINT (2 bytes)

* Write is available in user programs.

APP2 - 4
Appendix 2. Flag List

5) System Operation status Information Flag List

Data setting
Keyword Type Name Description
range
GM1 : 0, GM2 : 1, (GM3 : 2, GM4 : 3, GM% : 4)
_CPU_TYPE Unit 0 to 16 System type
(FSM : 5,6), Twofold : 16
_VER_NUM Unit - O/S version No. System O/S version No.
Memory module
_MEM_TYPE Unit 1 to 5 Type of program memory module (0: Unloading state, type : 0 to 5)
type
Representati PLC mode and
System operation mode and operation state information
ve keyword operation status
Bit 0 Local control Operation mode change is possible only by mode change switch or GMWIIN
Bit 1 STOP
Bit 2 RUN
CPU module operation state
Bit 3 PAUSE
Bit 4 DEBUG
Operation mode
Bit 5 Operation mode change by mode change switch
change factor
Operation mode
Bit 6 Operation mode change by GMWIN
change factor
Operation mode
_SYS_STATE Word Bit 7 Operation mode change by remote GMWIN
change factor
Operation mode
Bit 8 Operation mode change by communications
change factor
STOP by STOP Operation in the RUN mode is stopped by STOP function after the scan has
Bit 9
function finished
Bit 10 Force input Input junction force On/Off is being executed.
Bit 11 Force output Output junction force On/Off is being executed
STOP by ESTOP
Bit 12 Operation in the RUN mode is directly stopped by ESTOP function.
function
Bit 13 - -
Bit 14 During monitoring External monitoring is being executed for programs or variables
Bit 15 Remote mode ON Operation in the remote mode
Representati GMWIN
Connection state between CPU module and GMWIN
ve keyword connection state
Local GMWIN
Bit 0 Local GMWIN connection state
connection
_GMWIN_CNF Byte Remote GMWIN
Bit 1 Remote GMWIN connection state
connection
Remote
Bit 2 communications Remote communications connection state
connection
Representati Restart mode
Restart type of program which is being executed in present. (History)
ve keyword information
_RST_TY Byte Bit 0 Cold restart
Bit 1 Warm restart See the Section 4.5.1
Bit 2 Hot restart
During
_INIT_RUN Bool - An initialization program written by the user is being executed
initialization
Maximum scan
_SCAN_MAX Unit - Maximum scan time is written during operation.
time (ms)
Minimum scan
_SCAN_MIN Unit - Minimum scan time is written during operation.
time (ms)
Present scan time
_SCAN_CUR Unit - Present scan time is continuously updated during operation.
(ms)
BCD data of present time of RTC
(Example : 96-01-12-00-00-00-XX)
_RTC _TIME[0] : year, _RTC _TIME[1] : month, _RTC _TIME[2] : day,
_RTC_TIME[n] BCD N : 0 to 7 Present time
_RTC _TIME[3] : hour, _RTC _TIME[4] : minute, _RTC _TIME[5] : second,
_RTC _TIME[6] : day of the week, _RTC _TIME[7] : unused
Day of the week : 0 : Mon., 1: Tue., 2: Wed., 3:Thur., 4:Fri., 5: Sat., 6:Sun.
_SYS_ERR Unit Error code Error type See the Section 12.5 Error Code List

APP2 - 5
Appendix 2. Flag List

6) System Configuration status Information Flag

(1) User Program Status Information

Data setting
Keyword Type Name Description
range
Representative System S/W GM1 : 0, GM2 : 1, (GM3 : 2, GM4 : 3, GM% : 4)
keyword configuration information (FSM : 5,6), Twofold : 16

Bit 0 Basic parameter error Checks and indicates Basic parameter error
I/O configuration
Bit 1 Checks and indicates I/O configuration parameter error
_DOMAN_ST BYTE parameter error
Bit 2 Program error Checks and indicates Program error

Bit 3 Access variable error Checks and indicates Access variable error
High speed link
Bit 4 Checks and indicates High speed link parameter error
parameter error

(2) Operation Mode change switch Status Information

Data Setting
Keyword Type Name Description
range
Representative Mode setting switch
Indicates the state mode setting switch of CPU module
keyword position

_KEY_STATE BYTE Bit 0 KEY_STOP Indicates that the mode setting switch is in the STOP state.

Bit 1 KEY_RUN Indicates that the mode setting switch is in the RUN state.
Indicates that the mode setting switch is in the PAUSE/REMOTE
Bit 2 KEY_PAUSE/REMOTE
state.

(3) I/O Module Installation Status Information

Data Setting
Keyword Type Name Description
range
I/O module installation Locations of slots where I/O modules are loaded are indicated in
_IO_INSTALL[n] BYTE n : 0 to 1
location the bitmap of base units.

APP2 - 6
Appendix 2. Flag List

7) Communications Flag
- GLOFA Mnet / Fnet / Cnet Flag List
(1) Communication Module Information Flag List
• n is the number of slot where a communications module is loaded. ( n = 0 to 7)
Applicable
Keyword Type Name Description
Net
_CnVERNO UINT Mnet/Fnet/Cnet Communications module • Communications module O/S version No.
version No.
_CnSTNOH UINT Mnet/Fnet/Cnet Communications module station • Indicates the number which is set on communications module station switch.
_CnSTNOL UDINT No. Mnet : MAC station No. marked on the front of communication module.
Fnet : Station switch No. marked on the front of communications module.
Cnet : Station No. set by the frame editor
_CnSTNOH : Station No. set on the side of RS-232C
_CnSTNOL : Station No. set on the side of RS-422
_CnTXECNT UINT Mnet/Fnet/Cnet Communications frame sending • Increments by one whenever sending error of communications frame occurs.
error • Connection condition of network is evaluated by this value.
• In Cnet, this value is the sum of errors occurred during receiving through RS-
232 and RS-422.
_CnRXECNT UINT Mnet/Fnet/Cnet Communications frame • Increments by one whenever communications service fails.
receiving error • Connection condition of network is evaluated by this value. Overall network
communications quantity and program stability are also evaluated by this
value.
_CnSVCFCNT UINT Mnet/Fnet/Cnet Communications service • Indicates the maximum time that is spent until every station connected to
processing error network has the token at least one time and sends a sending frame.
_CnSCANAV UINT Mnet/Fnet/Cnet Maximum communications scan • Indicates the average time that is spent until every station connected to
time (unit : 1 ms) network has the token at least one time and sends a sending frame.
_CnSCANMN UINT Mnet/Fnet/Cnet Average communications scan • Indicates the minimum time that is spent until every station connected to
time (unit : 1 ms) network has the token at least one time and sends a sending frame.
_CnLINF UINT Mnet/Fnet/Cnet Minimum communications scan • Indicates operation state of communications module with a word.
time (unit : 1 ms)

_CnLNKMOD BIT 15 Operation mode (RUN=1, • Indicates that operation mode of communications module is in the normal
TEST=0) operation mode or test mode.

_CnINRING BIT 14 In-ring (IN_RING = 1) • Indicates that the communications module can communicates(IN_RING = 1)
with other station or not.

_CnIFERR BIT 13 Interface error (error = 1) • Indicates that interface with communications modules has been stopped.

• Indicates that service cannot be offered due to insufficient common RAM.

_CnSVBSY BIT 12 Insufficient common RAM
(Insufficient = 1) • Indicates communications module hardware defect or system O/S error.

_CnCRDER BIT 11 Communications module

system error (error = 1)
_NETn_LIV[k] BIT Fnet Stations connected to the • Indicates whether k remote station or local PLC is connected to the network
( k = 0 to 63, ARRAY network (1=connected, or not. The state value is written to each bit. These values shows present
k:Station No. ) 0=disconnected) state of the network. (Write is disabled)
_NETn_RST[k] BIT Fnet Re-connection of a station • Indicates re-connected stations, which had been disconnected before, on a
( k = 0 to 63, ARRAY (1=re-connected, 0=no changed bitmap. Because this value has been replaced with ‘ 1’ when re-connected,
k:Station No. ) condition) the user program has to clear this value with ‘ 0’ so that next re-connection
can be detected. (Write is enabled)
_NETn_232[k] BIT Cnet The indication that the user • When a receiving frame is received through RS-232C while the part of RS-
( k = 0 to 63, ARRAY defined frame has been 232C in Cnet is operating in the user-defined mode, the bit corresponding to
k:Station No. ) received. Indicated at each setting No. is turned ON. If RCV_MSG F/B has read that, that bit will be
setting No. (Received = 1). cleared with 0.
_NETn_422[k] BIT Cnet The indication that the user • When a receiving frame is received through RS-422 while the part of RS-
( k = 0 to 63, ARRAY defined frame has been 232C in Cnet is operating in the user-defined mode, the bit corresponding to
k:Station No. ) received. Indicated at each setting No. is turned ON. If RCV_MSG F/B has read that, that bit will be
setting No. (Received = 1). cleared with 0.

APP2 - 7
Appendix 2. Flag List

(1) Communications Module Information Flag List (continued)

Applicable
Keyword Type Name Description
Net
_FSMn_reset BIT Fnet Remote I/O station S/W reset • Requests reset for remote I/O station (Write is enabled)
Request can be done individually or wholly complying with the settings in the
FSMn_st_no.
_FSMn_io_reset BIT Fnet Remote I/O station digital output • Requests output reset for remote I/O station (Write is enabled)
reset • Request can be done individually or wholly complying with the settings in the
FSMn_st_no.
_FSMn_hs_reset BIT Fnet Remote I/O station high speed • If a momentary power failure occurs in the remote I/O station, the operation
link information initialization mode bit of high speed link information turns off and link trouble has the value
1. If the bit is turned on to clear that bit, the operation mode bit turns on and
link trouble is cleared with 0.
• Request can be done individually or wholly complying with the settings in the
FSMn_st_no.
_FSMn_st_no USINT Numbers of I/O stations where • Sets the numbers of I/O stations where _FSMn_reset, _FSMn_io_reset and
_FSMn_reset, _FSMn_io_reset _FSMn_hs_reset will be executed. (Write is enabled)
and _FSMn_hs_reset will be • 00 to 63 è individual station No. setting
executed. (Write is enabled) • 255 è Whole station No. setting

(2) Detailed High Speed Link Information Flag List

Applicable
Keyword Type Name Description
Net
_HSmRLINK Bit Fnet/Mnet High speed link RUN link • Indicates that all stations are normally operating complying with the parameter
information set in the high speed link. This flag turns on under the following conditions.
1) All stations set in the parameter are in the RUN mode and have no error,
and
2) All blocks set in the parameter normally communicate, and
3) The parameter set in all stations, which are set in the parameter, normally
communicate.

• Once this flag is turned on, it maintains that state as long as link enable does
not make that state stopped.
_HSmLTRBL Bit Fnet/Mnet High speed link trouble • This flag turns on when, under the condition that _HSmRLINK is turned on,
information communications of the stations and data blocks set in the parameter is under
the following conditions.
1) A station set in the parameter is not in the RUN mode, or
2) A station set in the parameter has an error, or
3) The communications of data blocks set in the parameter does not normally
operate.
• This flag turns on if the above conditions 1), 2) and 3) occur. If those
conditions are restored, it will turn off again.
_HSmSTATE[k] Bit Fnet/Mnet K Data Block overall • Indicates overall communications state of every blocks of the parameters set.
(k = 0 to 63, Array communications state _HSmSTATE[k] = _HSmMOD[k] & _HSmTRX[k] & _HSmERR[k]
k:Station No.) information
_HSmMOD[k] Bit Fnet/Mnet K Data Block setting stations • Indicates the operation modes of stations set the K data block of parameters.
(k = 0 to 63, Array mode information. (RUN = 1,
k:Station No.) others =-0)
_HSmTRX[k] Bit Fnet/Mnet K Data Block communications • Indicates that communications of the K data block of parameters are normally
(k = 0 to 63, Array state information (Normal = 1, operating as set or not. .
k:Station No.) abnormal = 0)
_HSmERR[k] Bit Fnet/Mnet K Data Block setting stations • Indicates that the stations set in the K data block of parameters have an error
(k = 0 to 63, Array state information. (Normal = 1, or not.
k:Station No.) abnormal = 0)

APP2 - 8
Appendix 3. Function/Function Block List

Appendix 3. Function/Function Block List

1) Function List
Size of Processing speed
Size of PB
Name Function library (µsec) *3
(byte) *1
(byte) *2 GM6
ABS (int) Absolute value operation 24  1.2
ADD(int) Addition 24  1.7
AND (word) Logical multiplication 16  4.3
DIV(int) Division 32  32.9
DIV(dint) Division 32  62.9
EQ (int) ‘ Equality’ comparison 20  1.6
LIMIT(int) To output upper and lower limits 48 794 11.8
MAX(int) To output the maximum input value 48 738 12.9
MOVE To copy data 8 1.0
MUL(dint) Multiplication 24 65.9
MUL (int) Multiplication 24 35.9
MUX (int) To output a selected input value 56 682 15.8
MUX(dint) To output a selected input value 84 682 53.2
ROL To rotate left 40 160 9.7
BCD_TO_DINT Conversion of BCD type into DINT type 12 300 273.9
BCD_TO_INT Conversion of BCD type into INT type 12 200 111.9
BCD_TO_SINT Conversion of BCD type into SINT type 12 140 40.9
BYTE_TO_SINT Conversion of BCD type into SINT type 8 0.4
DATE_TO_STRING Conversion of DATE type into string 48 458 205.9
DINT_TO_INT Conversion of DINT type into INT type 8 1.3
DINT_TO_BCD Conversion of DINT type into BCD type 12 278 446.9
DT_TO_DATE Conversion of DT type into DATE type 16 3.3
DT_TO_TOD Conversion of DT type into TOD type 16 12 4.1
DT_TO_STRING Conversion of DT type into string 48 780 524.9
DWORD_TO_WORD Conversion of DWORD type into WORD type 8 1.3
INT_TO_DINT Conversion of INT type into DINT type 12 0.9
INT_TO_BCD Conversion of INT type into BCD type 12 180 129.9
NUM_TO_STRING (int) Conversion of number into string 52 808 159.9
SINT_TO_BCD Conversion of SINT type into BCD type 12 140 67.9
STRING_TO_INT Conversion of string into INT type 16 1308 281.9
CONCAT To concatenate strings 72 248 54.9
DELETE To delete string 68 298 63.9
EQ ‘ Equality’ comparison 20 788 38.3
FIND To find a string 40 222 73.9
INSERT To insert a string 68 524 418.9
LEFT To obtain the left part of a string 56 158 33.4
LEN To obtain the length of a string 16 48 17.5
LIMIT (str) To output upper or lower limits 80 794 80.9
MAX (str) To output the maximum input value 76 738 68.4
MID To obtain the middle part of a string 64 236 47.1
REPLACE To replace a string with another 73 584 97.9
RIGHT To obtain the right part of a string 56 226 53.9
ADD_TIME (time) Time addition 40 280 11.6
DIV_TIME(i1 = time) Time division 40 266 67.9

REMARK
1)The items marked with ‘ *’ has following meaning.
*1 : The size of the program memory which a program occupies when it uses the function once.
*2 : The size of the program memory which a program occupies only one time though it uses the function many times.
*3: of IL programs (2 input variables, 10 strings)
2)The above shows the function list when programs are written with IL(Instruction List) language. If programs are written with LD(Ladder diagram),
the following differences occur.
(1) 16 byte will be added to the size of the PB.
(2) In non-execution, 0.4 will be added to the processing speed. In execution, 0.8 µsec will be added.

APP3 - 1
Appendix 3. Function/Function Block List

2) Function Block List

Size of library Processing speed (µsec)
Size of PB
Name Function Size of instance
(byte) *1 Size (byte) *2 GM3 GM4
memory *3
CTU Addition counter 72 110 6 10.2 12.8
CTUD Addition/subtraction counter 112 186 6 15.6 18.4
F_TRIG Descending edge detection 40 38 1 5.7 6.6
RS Preference reset table 48 72 2 7.5 8.7
TON ON delay timer 56 200 2000 8.5 11.1

REMARK
1) The items marked with ‘ *’ has following meaning.
*1 : The size of the program memory which a program occupies when it uses the function once.
*2 : The size of the program memory which a program occupies only one time though it uses the function many times.
*3: The size of the program memory which a program occupies whenever it uses the function block once.
2) The occupied memory size and processing speed of IL programs are same as LD programs.

APP3 - 2
Appendix 4. Outer Dimensions

Appendix 4. Dimensions (Unit : mm)

1) CPU module
RUN
STOP
GM6-CPUA

RUN
PAU/REM
STOP

110
38 35

90

2)I/O Module
110

38 35

90

APP4 - 1
Appendix 4. Outer Dimensions

3) Power Supply Module

POWER ○

GM6-PAFA

110
38 45

90

4) Basic/Extension Base Unit

B
E

(Unit : mm)

A B C D E

GM6-B04M 230.5 244 92.0 110 62

GM6-B06M 300.5 314 92.0 110 62

GM6-B08M 370.5 384 92.0 110 62

GM6-B12M 510.5 524 92.0 110 62

APP4 - 2
Appendix 4. Outer Dimensions

APP4 - 3