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C200H-PID0 PID Control Unit Operation Manual
C200H-PID0j PID Control Unit Operation Manual Revised March 2000 Notice: OMRON products are manufactured for use according to proper procedures by a qualified operator and only for the purposes described in this manual The following conventions are used to indicate and classify precautions in this manual Always heed the information provided with them Failure to heed precautions can result in injury to people or damage to property DANGER Indicates an imminently hazardous situation which, if not avoided, will result in death or serious injury ! WARNING Indicates a potentially hazardous situation which, if not avoided, could result in death or serious injury ! Caution Indicates a potentially hazardous situation which, if not avoided, may result in minor or moderate injury, or property damage ! OMRON Product References All OMRON products are capitalized in this manual The word “Unit” is also capitalized when it refers to an OMRON product, regardless of whether or not it appears in the proper name of the product The abbreviation “Ch,” which appears in some displays and on some OMRON products, often means “word” and is abbreviated “Wd” in documentation in this sense The abbreviation “PC” means Programmable Controller and is not used as an abbreviation for anything else Visual Aids The following headings appear in the left column of the manual to help you locate different types of information Note Indicates information of particular interest for efficient and convenient operation of the product 1, 2, Indicates lists of one sort or another, such as procedures, checklists, etc OMRON, 1993 All rights reserved No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of OMRON No patent liability is assumed with respect to the use of the information contained herein Moreover, because OMRON is constantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice Every precaution has been taken in the preparation of this manual Nevertheless, OMRON assumes no responsibility for errors or omissions Neither is any liability assumed for damages resulting from the use of the information contained in this publication v TABLE OF CONTENTS PRECAUTIONS Intended Audience General Precautions Safety Precautions Operating Environment Precautions Application Precautions SECTION System Configuration and Features 1-1 1-2 Features Basic System Configuration SECTION Connections and Settings 2-1 2-2 2-3 Nomenclature Switch Settings Wiring SECTION Data Setting Console Operation 3-1 3-2 3-3 3-4 Operating Procedure Data Flow Nomenclature and Features Parameter Displays and Settings SECTION PC Memory Allocation and Programming 4-1 4-2 4-3 Memory Allocation Data Flow Programming SECTION Troubleshooting Error Detection xi xii xii xii xiii xiii 8 12 19 20 21 22 24 33 34 42 42 51 52 Appendices A Specifications B Dimensions C Parameters and Key Operations Index Revision History 55 57 59 61 63 vii About this Manual: This manual describes the installation and operation of the C200H-PID0j PID Control Unit and includes the sections described below Also briefly described is the basic operation and installation of the C200H-DSC01 Data Setting Console Please read this manual carefully and be sure you understand the information provided before attempting to install and operate the C200H-PID0j PID Control Unit and Data Setting Console Section provides PID Control Unit features and describes its basic system configuration Section provides information on the connections and settings of the PID Control Unit Section provides the basic operating procedures of the Data Setting Console including parameter settings and displays Section provides the C200H PC’s memory allocation for the PID Control Unit Basic programming procedures and examples are also provided Section describes possible errors and provides measures for dealing with them The three Appendices provide references dealing with specifications, dimensions, and key operations ! WARNING Failure to read and understand the information provided in this manual may result in personal injury or death, damage to the product, or product failure Please read each section in its entirety and be sure you understand the information provided in the section and related sections before attempting any of the procedures or operations given ix PRECAUTIONS This section provides general precautions for using the C200H-PID0j PID Control Unit and related devices The information contained in this section is important for the safe and reliable application of the C200H-PID0j PID Control Unit You must read this section and understand the information contained before attempting to set up or operate the C200H-PID0j PID Control Unit Intended Audience General Precautions Safety Precautions Operating Environment Precautions Application Precautions xii xii xii xiii xiii xi Safety Precautions Intended Audience This manual is intended for the following personnel, who must also have knowledge of electrical systems (an electrical engineer or the equivalent) • Personnel in charge of installing FA systems • Personnel in charge of designing FA systems • Personnel in charge of managing FA systems and facilities General Precautions The user must operate the product according to the performance specifications described in the relevant manuals Before using the product under conditions which are not described in the manual or applying the product to nuclear control systems, railroad systems, aviation systems, vehicles, combustion systems, medical equipment, amusement machines, safety equipment, and other systems, machines, and equipment that may have a serious influence on lives and property if used improperly, consult your OMRON representative Make sure that the ratings and performance characteristics of the product are sufficient for the systems, machines, and equipment, and be sure to provide the systems, machines, and equipment with double safety mechanisms This manual provides information for programming and operating the Unit Be sure to read this manual before attempting to use the Unit and keep this manual close at hand for reference during operation ! WARNING It is extremely important that a PC and all PC Units be used for the specified purpose and under the specified conditions, especially in applications that can directly or indirectly affect human life You must consult with your OMRON representative before applying a PC system to the above-mentioned applications Safety Precautions ! WARNING Do not attempt to take any Unit apart while the power is being supplied Doing so may result in electric shock ! WARNING Do not touch any of the terminals or terminal blocks while the power is being supplied Doing so may result in electric shock ! WARNING Do not attempt to disassemble, repair, or modify any Units Any attempt to so may result in malfunction, fire, or electric shock ! WARNING Provide safety measures in external circuits (i.e., not in the Programmable Controller), including the following items, in order to ensure safety in the system if an abnormality occurs due to malfunction of the PC or another external factor affecting the PC operation Not doing so may result in serious accidents • Emergency stop circuits, interlock circuits, limit circuits, and similar safety measures must be provided in external control circuits • The PC will turn OFF all outputs when its self-diagnosis function detects any error or when a severe failure alarm (FALS) instruction is executed As a countermeasure for such errors, external safety measures must be provided to ensure safety in the system xii Application Precautions • The PC outputs may remain ON or OFF due to deposition or burning of the output relays or destruction of the output transistors As a countermeasure for such problems, external safety measures must be provided to ensure safety in the system • When the 24-VDC output (service power supply to the PC) is overloaded or short-circuited, the voltage may drop and result in the outputs being turned OFF As a countermeasure for such problems, external safety measures must be provided to ensure safety in the system Operating Environment Precautions ! Caution Do not operate the control system in the following locations: • Locations subject to direct sunlight • Locations subject to temperatures or humidity outside the range specified in the specifications • Locations subject to condensation as the result of severe changes in temperature • Locations subject to corrosive or flammable gases • Locations subject to dust (especially iron dust) or salts • Locations subject to exposure to water, oil, or chemicals • Locations subject to shock or vibration ! Caution Take appropriate and sufficient countermeasures when installing systems in the following locations: • Locations subject to static electricity or other forms of noise • Locations subject to strong electromagnetic fields • Locations subject to possible exposure to radioactivity • Locations close to power supplies ! Caution The operating environment of the PC system can have a large effect on the longevity and reliability of the system Improper operating environments can lead to malfunction, failure, and other unforeseeable problems with the PC system Be sure that the operating environment is within the specified conditions at installation and remains within the specified conditions during the life of the system Application Precautions Observe the following precautions when using the PC system ! WARNING Always heed these precautions Failure to abide by the following precautions could lead to serious or possibly fatal injury • Always ground the system to 100 Ω or less when installing the Units Not connecting to a ground of 100 Ω or less may result in electric shock • Always turn OFF the power supply to the PC before attempting any of the following Not turning OFF the power supply may result in malfunction or electric shock • Mounting or dismounting I/O Units, CPU Units, Memory Units, or any other Units • Assembling the Units • Setting DIP switches or rotary switches • Connecting cables or wiring the system • Connecting or disconnecting the connectors xiii Application Precautions ! Caution Failure to abide by the following precautions could lead to faulty operation of the PC or the system, or could damage the PC or PC Units Always heed these precautions • Fail-safe measures must be taken by the customer to ensure safety in the event of incorrect, missing, or abnormal signals caused by broken signal lines, momentary power interruptions, or other causes • Always use the power supply voltages specified in this manual An incorrect voltage may result in malfunction or burning • Take appropriate measures to ensure that the specified power with the rated voltage and frequency is supplied Be particularly careful in places where the power supply is unstable An incorrect power supply may result in malfunction • Install external breakers and take other safety measures against short-circuiting in external wiring Insufficient safety measures against short-circuiting may result in burning • Do not apply voltages to the Input Units in excess of the rated input voltage Excess voltages may result in burning • Do not apply voltages or connect loads to the Output Units in excess of the maximum switching capacity Excess voltage or loads may result in burning • Disconnect the functional ground terminal when performing withstand voltage tests Not disconnecting the functional ground terminal may result in burning • Be sure that all the mounting screws, terminal screws, and cable connector screws are tightened to the torque specified in this manual Incorrect tightening torque may result in malfunction • Leave the label attached to the Unit when wiring Removing the label may result in malfunction if foreign matter enters the Unit • Remove the label after the completion of wiring to ensure proper heat dissipation Leaving the label attached may result in malfunction • Double-check all wiring and switch settings before turning ON the power supply Incorrect wiring may result in burning • Wire correctly Incorrect wiring may result in burning • Mount Units only after checking terminal blocks and connectors completely • Be sure that the terminal blocks, Memory Units, expansion cables, and other items with locking devices are properly locked into place Improper locking may result in malfunction • Check the user program for proper execution before actually running it on the Unit Not checking the program may result in an unexpected operation • Confirm that no adverse effect will occur in the system before attempting any of the following Not doing so may result in an unexpected operation • Changing the operating mode of the PC • Force-setting/force-resetting any bit in memory • Changing the present value of any word or any set value in memory • Resume operation only after transferring to the new CPU Unit the contents of the DM Area, HR Area, and other data required for resuming operation Not doing so may result in an unexpected operation • Do not pull on the cables or bend the cables beyond their natural limit Doing either of these may break the cables • Do not place objects on top of the cables or other wiring lines Doing so may break the cables • Use crimp terminals for wiring Do not connect bare stranded wires directly to terminals Connection of bare stranded wires may result in burning • When replacing parts, be sure to confirm that the rating of a new part is correct Not doing so may result in malfunction or burning xiv Application Precautions • Before touching a Unit, be sure to first touch a grounded metallic object in order to discharge any static built-up Not doing so may result in malfunction or damage xv SECTION System Configuration and Features This section provides PID Control Unit features and the basic system configuration 1-1 1-2 Features Basic System Configuration Programming Section 4-3 Sample Program Insert the program below before the END instruction in the program on page 44 25313 MOV (21) Normally ON 103 DM0000 Read Loop PV from IR103 to DM 0000 Read operation is not affected by SW2-1 and SW2-2 settings 23208 DIFD (14) 23300 23207 S KEEP(11) 23208 (A) 10608 23300 Write complete 10701 R 10700 23301 (C200H) Runs next Read command when final write complete is detected Normal 23307 repeatedly executes the Read command when each Read Complete is detected 23307 23301 MOV (21) #1020 #1020 100 DIFD (14) 23302 S 23302 KEEP(11) 23303 10600 Control output variable monitor command Bank number not required Bit data: 0001 Loop Read Read complete Wait for Read Complete to read data R 23303 DIFD (14) 23304 23304 Read data from IR105 to DM 0001 MOV (21) 105 DM0001 MOV (21) #0000 2000 DIFD (14) 23307 (B) 46 Programming Section 4-3 Change the above program as shown below if only reading is to be carried out Replace part (A) of the program with the following program 10701 10700 DIFU (13) (C200H) Normal 25315 10701 23200 SW2-2 (10701) switch ON detection (C200H PC) 10700 23300 cycle (C200H) Normal ON Program runs when operation is started or SW2-2 turned ON 23200 Add an END instruction (01) at position (B) of the program Timing Chart cycle 23301 23302 23303 23304 23307 Wd 105 (Read data) 10600 (Read complete) 140 ms (see note) ↑: Point of Read command execution Note It takes more than 140 ms for the Read Complete Flag (10600) to turn ON again after it is turned OFF 47 Programming Section 4-3 4-3-4 Operation Timing Write Operation Timing Command (Wd n) Write data (Wd n+1) Data (1) Data (2) Data (3) Data (4) ON Write request (Wd n+2), bit 00 Write complete (Wd n+6), bit 08 OFF ON OFF Approx 140 ms 1, 2, The data is written to the PID Control Unit EEPROM when the Write Request Flag turns ON The Write Complete Flag turns ON when the data writing operation is completed It takes approximately 140 ms to write the data The Write Complete Flag automatically turns OFF when the Write Request Flag turns OFF Check to be sure that the Write Complete Flag has turned ON before turning OFF the Write Request Flag If the Write Request Flag is set to OFF before the Write Complete Flag turns ON, the write operation will not be successful Temporarily turn the Write Request Flag OFF before executing the second and subsequent write operations Writing is enabled on the ON rising edge of the Write Request Flag The Loop and executed bank number (Wd n+2) sets data directly The data is written to the PID Control Unit RAM If the value is set out of this range, the bank number reverts to the previous value (default value = 1) Timing for a Read Operation Command (n) Read complete ON (Wd n+6), OFF bit 00 Read data (Wd n+5) 1, 2, I/O Refresh Command (A) Command (B) Approx 140 ms Read data (A) Read data (B) The read data is output to Wd (n+5) approximately 140 ms after the Read command is executed The read data is updated every 100 ms When the Read command is modified, turn OFF the Read Complete Flag to execute the next read operation PID control will not be executed properly unless there are at least 20 ms between I/O refresh operations When creating the program, be sure that all of the conditions descried below are satisfied • The cycle time must be a minimum of 20 ms If the program processing time is short, it is recommended that the fixed cycle time instruction (SCAN18) be used • When IORF(97) is executed for the PID Control Unit, there must be an interval of at least 20 ms between prior and subsequent end refreshes 48 Programming Section 4-3 • The time interval for executing IORF(97) must be a minimum of 20 ms Normal I/O refresh (End refresh) Normal I/O refresh (End refresh) 20 ms (cycle time) 20 ms IORF(97) (I/O refresh instruction) 20 ms IORF(97) (I/O refresh instruction) 20 ms Normal I/O refresh (End refresh) 49 SECTION Troubleshooting This section describes possible errors and provides measures for dealing with them Error Detection 52 51 Section Error Detection Error Detection When an error occurs in an input or in the Unit, details of the error are output to the Data Setting Console and input relays (words n+8 and n+9) Sensor Input Errors The following table shows the Data Setting Console display and error contents Display ser1 ser2 Error name Loop sensor error Loop sensor error Output status after error Control output: The transistor output or voltage output turns OFF or the current output falls below mA Cause Reading is ±10%FS out of sensor measurement range (i.e., 10%FS below the lower limit or 10%FS above the upper limit) Alarm output: The alarm is output assuming the input is ±10%FS Remedy Check the sensor wiring Replace the sensor Replace the Unit Correctly set switch SW203-4 Broken or incorrect input wiring Defective input sensor Defective Unit SW203-4 is OFF (Loop enabled) but no sensor connected to Loop Data Setting Console When a sensor error occurs, one of the codes above and the detected value are displayed alternately If a Loop sensor error ser1 and a Loop sensor error ser2 occur simultaneously, ser1 is displayed preferentially Even if a sensor error is detected in one Loop, the other Loop continues to operate normally Control operation restarts automatically five seconds after the cause of the error is corrected The following bits are set when a sensor input error occurs Loop sensor error Wd n+8, bit 14 = Loop sensor error Wd n+9, bit 14 = Alarm Display Error name Cause ALM1 indicator lit Alarm The value is in the alarm range set with Alarm SV ALM2 indicator lit Alarm Remedy Check the object being controlled The value is in the alarm range set with Alarm SV Error displayed when an abnormality occurs in the loop currently being displayed No indicator is provided to show an ALM2 alarm The bits shown in the table below are set to when an alarm occurs Wd (n+8) Alarm Bit 00 = Alarm Bit 01 = Alarm Bit 00 = Wd (n+9) Bit 01 = Loop Alarm Loop EEPROM Error Display e111 Error name EEPROM error Output status after error Control output: The transistor output or voltage output is OFF or the current output is less than mA Alarm output is OFF 52 Cause Defective EEPROM Remedy Replace the Unit Section Error Detection The RUN indicator turns off when an EEPROM error occurs Duplicate I/O Unit The Unit number duplicates the number of another Special I/O Unit The SR bit 25415 turns ON when an Duplicate I/O Unit error occurs Refer to AR0000 to AR0011 for the duplicated Unit number The C200H PC will not operate during a duplicate I/O error Set the Unit number to a separate number Special I/O Unit Error I/O refresh not operating correctly between the CPU Unit and PID Unit The PID Control Unit is operating based on the contents of the previous refresh Refer to AR0000 to AR0015 for the Unit number where the error occurred After correcting the cause of the error, set the Special I/O Unit Restart Flag (AR0100 to AR0109) to restart operation RUN Indicator Unlit The C200H power supply is turned on but the RUN indicator is not lit None of the errors described previously are detected Replace the Unit No Data Setting Console Display • No 24-VDC power supply is connected to the PID Control Unit input terminals A8 and A9 • The connecting cable is disconnected • The connecting cable is broken • A circuit in the Data Setting Console is defective • A circuit in the PID Control Unit is defective After determining the cause of the error, correct the problem or replace the Unit 53 Appendix A Specifications General Specifications Conforms to the C200H PC specifications Item C200H-PID0j Specifications Input signal refresh to 20 mA, to V, to V, to 10 V No of input points (loops) Two points (two loops, each of which consists of a voltage and a current) Control mode Setting/designation accuracy PID, ON/OFF (selectable with a switch on the rear panel) (advanced PID control with auto-tuning) ±0.5% FS ±1 digit max The SV and displayed value match There is no relative error Hysteresis 0.0 to 100.0% FS (in units of 0.1 %FS) Alarm hysteresis 0.0 to 100.0% FS (in units of 0.1 %FS) Proportional band 0.0 to 999.9 (in units of 0.1) Integral (reset) time to 9999 s (in units of s) Derivative (rate) time to 9999 s (in units of s) Control period to 99 s (in units of s) Sampling period 100 ms Output refresh period 100 ms Display refresh period 100 ms Input shift range –999 to 9999 (see note 1) Scaling setting range –999 to 9999 (see note1) Digital filter setting range to 100 s (in units of s) Alarm output setting range –999 to 9,999 Manual output setting range –5 to 105% No of banks banks Internal current consumption VDC, 0.33 A max External supply voltage 24 VDC +10%/–15%, 0.2 A Dimensions (see note 2) 34.5 mm (W) x 130 mm (H) x 120.5 mm (D) Weight 360 g Note The decimal point position is designated by a parameter setting Refer to Appendix B Dimensions 55 Appendix A Specifications Output Characteristics Transistor Output (Pulse) C200H-PID01 External supply voltage 24 VDC +10%/–15% Max load voltage 24 VDC ( collector supplied voltage) max Max load current 100 mA max Residual voltage when ON V max Leakage current when OFF 0.3 mA max Voltage Output (Pulse) C200H-PID02 Output voltage 12 VDC Max load current 40 mA (with short-protective circuit) Current Output (Linear) C200H-PID03 Output current 600 Ω max Current value accuracy 56 to 20 mA Permissible load impedance 4±0.3 to 20±1 mA Appendix B Dimensions PID Control Unit Weight: 360 g Unit Dimensions 130 20 11 100.5 120.5 34.5 131.5 Base unit Mounting Dimensions 17 Approx 200 Data Setting Console Weight: 120 g Unit Dimensions 96 91 48 12 45 44 57 57 Appendix B Dimensions Mounting Dimensions Panel Cutout Clearance 92 +0.8 45 +0.6 Panel thickness to mm Clearance of at least 150 mm Allow a clearance of at least 150 mm behind the Data Setting Console when it is installed in the panel to allow cable connectors to be inserted A clearance of 50 mm is sufficient if the rear panel can be opened 58 Appendix C Parameters and Key Operations The Data Setting Console key operations and their relation to parameters are shown in the following table Display Level Display Level LVL Power on (MAN) dp Decimal point position Display Level LVL o LVL Output variable monitor o PV inl Scaling lower limit at Auto-tuning start/stop PV SP inh bk Bank number df Digital filter in-t al-1 Alarm SV cp Control period alt1 Alarm mode hys Hysteresis alt2 Alarm mode al-2 Alarm SV in-s Input shift value Scaling upper limit bcpy Copy bank Input-type monitor hysa Alarm hysteresis p Proportional band i Integral time d Derivative time 59 Index A-B advanced PID control, input wiring, precautions, 12 installation, precautions, xiii integral time setting, 27 alarm indicators, 52 allocating memory, 34 applications, precautions, xiii auto-tuning start/stop setting, 30 bank number setting, 26 M-O memory contents, 36 operating environment, precautions, xiii C command codes, settings, 40 Connector Terminal Block Converter Unit, 16 control output variable monitor setting, 30 control period setting, 29 Operation and Function Setting, 10 operation timing, 48 output wiring, 13 circuit diagrams, 14 connectors and cable, 15 diagrams, 15 precautions, 15 cover, removal and replacement, D data flow, 21 data setting, 21 operating procedure, 20 Data Setting Console connecting cable and precautions, 16 features, 23 mounting, 58 parameter and setting tables, 24 physical features, 22 P-R precautions, xi, applications, xiii general, xii operating environment, xiii safety, xii programming, examples, 42, 45 proportional band setting, 27 read operation timing, 48 Remote I/O Terminal, 16 data settings, 42 decimal point position, 28 derivative time setting, 27 S detecting errors, 52 safety precautions See precautions Duplicate I/O Unit, 53 selecting allocated memory, 34 sensor-type setting, 30 E-F EEPROM error alarm, 52 error display, 26 errors, data setting, 52 features, sensors, setting type, 10 setting and displaying parameters, method, 25 settings, source, 10 Slave Rack, number of mountable Units, Special I/O Unit error, 53 specifications, general, table, 55 I switch settings, switching memory contents, indicators, switching memory contents and setting direction, input shift value setting, 27 system configuration, 61 Index T-U troubleshooting alarm, 52 data setting errors, 52 duplicate I/O unit, 53 62 EEPROM error, 52 power supply, 53 RUN Indicator Unlit, 53 Special I/O Unit error, 53 Unit, models, Unit components, dimensions, 57 Revision History A manual revision code appears as a suffix to the catalog number on the front cover of the manual Cat No W241-E1-2 Revision code The following table outlines the changes made to the manual during each revision Page numbers refer to the previous version Revision code Date November 1993 1A March 1995 March 2000 Revised content Original production Page 38: Auto-tuning start/stop in the table corrected Page 44: Sample program corrected Added PRECAUTIONS section Page : Added descriptions about RAM write commands Page : Added the use of RAM write commands in the SP write mode Page 11 : Changed descriptions about the terminal block connections Page 19 : Changed descriptions about the data flow to include information about EEPROM write commands and RAM write commands Page 39 : Added the RAM write commands table Page 39 : Changed some values in the sample program Page 40 : Added comments about EEPROM write commands and RAM write commands in the sections on descriptions and conditions Page 42: Changed the sample program Page 43 : Changed the information at the end of timing chart Page 44 : Changed the sample program Page 45 : Changed the timing chart 63 ... (C200H) 25 315 10701 23 200 10700 23 201 cycle ON (C200H) SW2 -2 (10701) switch ON detection (C200H PC) Program runs when operation is started or SW2 -2 turned ON Normal 23 200 23 201 MOV (21 ) # 125 0 # 125 0... required Bit data: 0110 Loop Write MOV (21 ) #00 02 101 23 208 10608 S Write complete KEEP(11) 1 020 0 R 23 201 DIFD (14) 23 203 23 208 23 205 23 207 END (01) 44 Write data (2nd digit) Write request ... KEEP(11) 23 2 02 10608 Write complete R 23 203 # 620 0 MOV (21 ) SP setting command Bank number Bit data: 0110 # 620 0 100 MOV (21 ) Loop Write #0805 101 23 204 Write data (8.05) DIFD (14) 23 205 23 203 10608