Mitsubishi Melsec A User manual

PROGRAMMABLE CONTROLLER
~flsE(-A
B
User's Manual
Intelligent communication module
type
ADSIE
A
MlTSUBlSHl
ELECTRIC

REVISIONS
Print
Nov..
May.
Date
, 1986
, 1987
----
"Manual number
%The manual number is given on the bottom left of the back cover.
Revision
First edition
I Correction 1
CONTENTS, APP-7
I Addition 1
APP-6

INTRODUCTION
Thank you for choosing the Mitsubishi MELSEC-A Series of General Purpose Programmable Con-
trollers. Please readthis manual carefully so that the equipment is used to its optimum.
A copy of this manual should be forwarded tothe end User.

CONTENTS
1 . INTRODUCTION ..................................................... 1-1 - 1-2
1.1 General 1-1
................................................................
1.2 Noteson Character Sets
................................................... 1-2
.
2 SYSTEMCONFlGURATlON ............................................ 2-1-2-6
2.1 Overall Configuration
..................................................... 2.1
2.2 Applicable A Series System
................................................. 2.4
2.3 Peripheral Equipment
..................................................... 2.5
3
. SPECIFICATIONS .................................................... 3-1 -3-20
PerformanceSpecifications
................................................. 3.1
Instructionset
.......................................................... 3.2
3.2.1 GPC-BASICcommands
.............................................. 3.2
3.2.2 System subroutines
................................................. 3.6
Software Configuration
.................................................... 3.9
MemoryMap
........................................................... 3.10
3.4.1 Memoryconfiguration
.............................................. 3.10
3.4.2 Memory mapwith ROM loaded
...................................... 3.11
InterfaceSpecifications
................................................... 3.13
3.5.1 RS-422connectorspecifications(CHI
) ................................. 3-13
3.5.2 RS-422terminal block specifications(CH2)
............................. 3-14
3.5.3 RS-232Cconnectorperformancespecifications (CH3and 4)
................ 3.15
I/O Interfacewith ProgrammableController CPU
............................... 3-16
BufferMemory
......................................................... 318
Communicationbetween AD51 and PC CPU
.................................. 3.19
4 . PRE-STARTUP PROCEDURES ......................................... 4.1 -4-10
4.1 General Procedure 4.1
........................................................
4.2 Nomenclature 4.2
...........................................................
4.3 Hardwaresetting ......................................................... 4.5
4.3.1 Memory protect range
............................................... 4.5
4.3.2 Consolechannel
................................................... 4.7
4.3.3 Terminal resistor
................................................... 4-7
4.3.4 ROM installation 4.8
...................................................
4.3.5 Loadingthe battery 410
................................................
. 5 WIRING ................................................................. 5.3
5.1 Wiring Instructions
....................................................... 5.1
5.2 RS-232CConnection 5.1
......................................................
5.3 RS-422Connection 5.2
.......................................................

6 . AD51 PROGRAMMING NOTES ......................................... 6-1 - 6-10
6.1 BASIC Program Address Data
............................................... 6.1
. .
6.2 Start Cond~tlons ......................................................... 6.3
6.2.1 Program runsonce after power on
...................................... 6.3
6.2.2 Program runscontinuously after power on
............................... 6-3
6.2.3 Program runsafter an interrupt signal from the PC CPU
..................... 6-4
6.2.4 Program runs
at preset intervals in real time .............................. 6-4
6.3 Noteson the Use of BASIC Commands
........................................ 6.5
6.3.1 Key input commands
............................................... 6.5
6.3.2 Printingcommands
................................................. 6.5
6.3.3 CRT display commands
.............................................. 6.7
......................................... 6.3.4 OPEN and CLOSE commands 6.8
......................................................
6.3.5 Zcommands 6-8
...................................................6.4 AD51 and PC CPU Reset 6.9
............................................. ) 6.5 Noteson BASIC Programming 6-10
7 . COMMUNICATION WITH PROGRAMMABLE CONTROLLER CPU ............. 7-1 - 7-31
7.1 General-Purpose
110 ReadIWrite ............................................. 7-1
7.1
. 1 General-purpose 110 address .......................................... 7.2
7.1.2 Write togeneral-purposeinput
........................................ 7.3
7.1.3 Read from general-purposeoutput
..................................... 7-5
7.2 ReadIWrite of Buffer Memory............................................... 7.6
7.2.1 Readlwritewith BASIC program
....................................... 7.6
.....................................
7.2.2 Readlwritewith sequence program 7.7
7.3 Device Memory ReadIWrite
................................................. 7.9
7.3.1 System subroutines and device ranges
................................... 7~9
7.3.2 BASIC program examples
........................................... 7.12
SADR
.......................................................... 7-12
SADW .......................................................... 7-14
SADT .......................................................... 7~16
......................................................... SADMO 7-19
.........................................................
SADMl 7-20
7.4 Interrupt from PC CPU to
AD51 ............................................ 7-22
7.5 Interrupt from AD51 to PC CPU
............................................ 7.23
7.6 ReadIWrite of Sequence Program and TIC Set Values
............................ 7-24
7.6.1 System subroutines and functions
..................................... 7-24
7.6.2 Read and write procedure ........................................... 7-26
7.6.3 BASIC program examples
........................................... 7-27
SAAR, SAPR
.................................................... 7-27
SAPW, SAPS, SAAW
............................................... 7.28
7.7 Remote RUNISTOP of PC CPU
............................................ 7-30

8 . TROUBLESHOOTING ................................................ 8-1-8-12
8.1 Screen Error Messages
..................................................... 8.1
8.2 Error Code List
.............................................. : ........... 8.2
8.3 Troubleshooting
......................................................... 8.6
8.3.1 Troubleshootingflow chart
........................................... 8.6
8.3.2 Start-uptroubleshooting
............................................. 8-7
8.3.3 FDDtroubleshooting
............................................... 8.8
8.3.4 ROMtroubleshooting
............................................... 8.9
8.3.5 Multitask troubleshooting
.......................................... 8-10
8.3.6 CRT troubleshooting
............................................... 8.11
8.3.7 Print-outtroubleshooting
........................................... 8-12
9
. MAINTENANCE ................. : .................................... 9-1-9-3
9.1 Battery Life
............................................................. 9.1
9.2 Battery Changing Procedure
................................................ 9.2
APPENDICES
....................................................... APP-1-APP-7
APPENDIX 1 GPPIHGP Display Control Codes
................................. .APP.l
APPENDIX 2 VT220 Control Codes
.......................................... .APP.2
APPENDIX 3 GPPIHGP Key Codes and Character Codes
.......................... .APP.3
........... APPENDIX 4 Storingthe AD51E Memory Data into ROM Using the A6WU .APP.6
APPENDIX 5 External View
................................................ .APP.7

1, lNTRoDucTloN /MELSEC-A
1. INTRODUCTION
1.1 General
The AD51E Intelligent Communication Unit has two RS-232C and
two RS-422 interfaces and allows multitask processing of BASIC
programs.
User application programs running inthe AD51
E allow the following
functions:
(1) Supervision of PC operating conditions
Allows graphical monitoring of the PC operating conditions on
a CRT.
(2) Data transfer
Allows data to be transferred between the PC and a computer for
collection and analyses.
(3) Data logging
Allows process data and fault information to be down loaded to
a printer from the PC. The AD51
E also includes an on-board real
time clock for time, event data recording.
(4) PC CPU remote runlstop
Allows the PC CPU to be remote-controlled by the AD51
E user
program.
(5) UPIDOWN load of PC sequence programs
Allows PC data (includingsequence programs and parameters) to
be transferred between the AD51
E and the PC CPU in machine
code. PC sequence programs can therefore bechanged according
tothe control operation required.
(6) Computer communication
Allows data transfer between a computer and the PC CPU.
Either RS-422 or RS-232C may be used and the communications
system can be configuired as a multidrop link for up to 32 sta-
tions.

2. SYSTEM CoNFlGuRATloN /MELSEC-A
2. SYSTEM CONFIGURATION
2.1 Overall Configuration
(1) Al, A2, A3 type PC
Battery Intelligent communication unit
1
AliElCPU
A3iEICPU
CPU
unit
A386
Main base unit
I I
Extension cable
L,
Extension bare unit
Fig. 2.1 Building Block CPU Configuration

2. SYSTEM CoNFlGuRATloN /MELSEC-A
(2) AOJ2 type PC
Battery
-
Intelligent communlca
unit
E CPU unit
,
Extension cable
?i?!L Extension bare unit
Fig. 2.2 Compact CPU Configuration

2. SYSTEM CoNFlGuRATloN /MELSEC-A
(3) Peripherals
, 0 Intelligent communlcatmn unit
.g. printer, computer
jeneral-purpose Type AC30R2 AC30R4
terminal
Type AC300R4
RS-232Ccable RS-422cable
K6PR KGPRK General-purpose
110 canrole
Type A6HGP
KD51PR
Printer Intelligent GPP Handy graphic programmer
I
eneral-purpose CRl
qzq
Keyboard
Fig. 2.3 Peripheral Device Configuration
The consul select switch must be set to determine which
programmingterminal is to be used.

2. SYSTEM CONF~GURAT~ON /MELSEC-A
2.2 Applicable A Series Systems
The AD51 can be used withthe following CPU units.
Applicable models A1(E)CPU
A2(E)CPU
A3(E)CPU
The AD51 may be loaded into any slot on the base unit with the
following precautions:
(1) When using the AD51E with the A55B or A58B extension bases
(i.e. those without power supplies) select the power supply for
the main base unit in accordancewith the A1, A2 A3CPU User's
manual.
(2) The AD51 may be loaded into the master station or a local sta-
tion but not intoa remote I/O station ina MELSEC-NETsystem.
The following CPU unitsare required for the MELSEC-NETdata
link system.
Applicable models A1(EKPU P21/R21
(master or local stations) A2(E)CPU P21lR21
A3(E)CPU P21IR21
AOJ2CPU P231R23
(local only)
(3) One AD51E or AOJ2C214 (computer/multidrop link unit) may
be used with the AOJ2 PC. The Al, A2, A3 CPUs can accomo-
date two AD51Es or two AJ71C24s or one of each.
POINT
1
The AD51 may only be used with PC CPUs manufactured in
March, 1986 and thereafter. The name plate shown below
indicatesthe date of manufacture.
(4) The AD51E cannot be used inthe last slot of the seventh exten-
sion stage inan A3CPU system.

2. SYSTEM CoNFlGuRATloN /MELSEC-A
2.3 Peripheral Equipment
The following table lists the peripheral equipment suitable for use
with the AD51.
Dercriotion
Intelligent
Communication unit
EP-ROM
Battery
Intelligent GPP
Handy graphic
programmer
System dirk
Urer dirk
Composite video cable
General-purpose
110 conrole
Printer
RS-422cable
RS-232Ccable
Tvoe
AGBAT
AGGPP-SET
AGHGP-SET
SWO-GPPU
AClOMD
VT-220
KGPR
KGPR-K
K7PR
A7PR
KD51PR
AC300R4
Remarks
Main unit
RAMsupport battery supplied
16K bytes, for channels 1and 2
32K bytes, for channels 1and 2
24K byter available to AD51
For details,
refer to Section 3.52 lpage 3-14)
For ICRAMsupport and real time clack
o Consistsof the following models:
I Tvoe I Remarks I
1 AGGPP I . Programmin~unit with CRT.
. Eau~ooedwith ROMwrmr. FDD. and minter interface functions. I
SWII-GPPK K rerier system disk
o Consistsof the following:
I Tvoe I Remarks I
1s~::-HGPA~ A series watem disk I
AGHGP
. Programming unit with LCD
. Equippedwith FDD and printer interface functions.
SWi:-HGPK
- ~
System software package far the AGGPP or AGHGP
(back-uo
coo" orovided)
K rerier system dirk
AC30R4
Urer dirk (already formatred) far staring programs.
SW::-GPPU
I
User disk 13.5 inch. formattedl
Cable far connection of AD51E and AGHGP. ACPU, AJ71C24
Optional cable for GPP external monitor
lmlenqth
Display control codes equivalent to VT-220.
For program hard copy and data print out
For prinrlng data
Cable between AD51 and AGGPP
3m length
Connecr8oncable between AD51 and printer and
for VT~220.
3m length
Table 2.1 System Equipment
List (Continue)

2. SYSTEM CoNFlGuRATloN /MELSEC-A
I Demrimion I ~v.0 I Remarks I
Ink ribbon
I Interface connector I 232-CON I Connector for RS422and RS232Cinterfaces
I
I
Printer paper
Table 2.1 System Equipment List
K6PR-R
K7PR-R
-
A7PR-R
KD5lPR-R
Ink
ribbon for KGPR and K6PR-K
Ink
ribbon for K7PR
Ink
ribbon for A7PR
Ink
rbbon for KDSIPR
KGPR-Y Printer paper for KGPR and K6PR-K
KD51PR-Y
I
Printer paper for KD51PR

3. SPEclFlcATloNs /MELSEC-A
3. SPECIFICATIONS
3.1 Performance Specifications
Processor
Program language
Number of tarkr
Task start conditions
Internal memory
General-purpose
110
Buffer memory
Memory protect
address range
RS-422
Interfaces
RS-232C
Arithmetic and logic unit
IALUI
Clock element
Power failure compensation
Console
Number of
I10 points occupied
nternal current connumptior
(5V1
Size
Weight
Specification
HD64180
GPC-BASIC
Maximum 8
Power
on
Interrupt from PC CPU
Real time interrupt
[ Set inthe range 0.01 to 9.99 seconds in
units
of 0.01 second. 1
Vlaximum: 114K bytes = 64K bytes + 2K byter + 48K byte!
Common work
area
Two 16KROMs loaded -J
'For details. refer toSection 3.5 (page3-13)
General-purpose input
: 13 paints
General-purpose output
: 10points
'For details, refer to Section 3.6 (page 3-16].
3K words (6Kbytes)
'For details, refer
to Section 3.7 (page3-18].
4F00
to 4FFF (system data areal
8000 to DFFF (channel 1 to41
Conforms to EIA. RS-422.
Channel
1: D shell connector.
Channel 2: Terminal block
Transmission distance:
< 500m
Conforms to EIA. RS-232C.
Channel 3.4: D shell connector.
Tranrmirrion distance:
< 15m
Performs high-speed processing of BASIC's intrinsic func-
tions (trigonometric, inverse trigonometric, logarithm.
exoonential.
T. absolute value).
Year, month, day, hour, minute, second Readlwrite
24 hour mode, automatic leap year compenration
Internal memory.
lithium battery for back-up of real time clock
Total back-uptime
: 130dayr
Battery life
: 5 wars
Table 3.1 AD51 Performance Specifications

3. SPEclFlcATloNs /MELSEC-A
3.2 Instruction Set
The AD51 is programmed in GPC-BASIC.
In addition to the BASIC commands a series of subroutines are avail-
able which can be called from the BASIC program.
3.2.1 GPC-BASIC commands
The following table lists the GPC-BASIC commands. For full infor-
mation refer to the "GPC-BASIC Handbooks". The graphics com-
mands described in the "GPC-BASIC" Handbooks are not available
on the AD51.
Command I Function 1
AUTO
LIST
Autamatc generation of lone number
CONT
COMPILE
DELETE
EDIT
EXECUTE
Displaysprogram
on screen
Resumerprogram
run after BREAK
Compilesmultitask executable program
Deletesprogram from rpecified line number torpecified
line number
Correctsstatement in
one line
Runof program after "RUN"
or "COMPILE"
BYE
Renumbersline numbers
Returns to BASIC program addressdataween.
LLlST Prints
out program
- I Deletesline I
NEW I Erases~lrogram
RUN Executesprogram
CLS
pJ
ZDV I Displays IIO console
BREAK
Clears CRT rcreen
Resumes program
run after stop and "CONT"
Table 3.2 BASlCCommand List (Continue)
CALL
END
:OR...NEXT
GOT0
Calk machine language program
Declaresend of program
run
Repeats program run from "FOR" to"NEXT"
Mover to specified line number

3. SPEclFlcATloNs /MELSEC-A
land I Function
INPUT Input from keyboard
joSuB ......
-.-RETURN
IF
Mover tospecified rubroutine
Returnsfrom subroutine
Judger result
of exprerrion
.OCATE Mover
cursor position
INKEY
LET
A
Prints out data
Arrignr input from keyboard to variable
Assigns value of expression tovariable
I
Movestto rubroutine inline number specified by value
of exorersion
ONGOTO
I Mover to line number rpecified by value of expression
OPEN Opens specified RS-232ClRS-422channel
PRINT Displays data
on screen
D
PEEK
POKE
Reads 1-bytedata from specified memory address
Writer 1-bytedata to specified memory address
A
SIZE Displays text program capacity
B
1-1
STOP I Stoos oraaram run
REM
Underline
ZCOFF Type A when the conaole is GPPIHGP.
Tv~eB when theconsale is VT-220.
Used towrite comment.
RC.BX ..ndcr
ne l~rco after "ZCOFF")
ZCOh Tvnr A
hncn the conso c F GPPlrlGP
TV~JCB wncn inc conso I- is VT-220.
DV
[ Changer input console
ZCRV Reverses character color
on CRT screen
Table 3.2 BASIC Command List (Continue)
ZMOV
ZNOR
ZDATE
Transfers data from memory to memory
Returnsthe character reversed after "ZCRV" to
its original coloi
Reads year. rnonth.dav. hour. and minute

3. SPEclFlcATloNs /MELSEC-A
Command I Function
ZODV B Changesoutput console
G
Program
ommand ZRDl Reads 1-bytedata from specified channel
Reads 2-bytedata from specified channel
ZTlME Stops execution for specified intervalof time
I ZWRl I Writes 1-bvtedata tospecified channel
ZWR2 Wrltee 2-byteoata to specifiedchannel
I ABF I Absolute vs ue of real number in mathematlealexpression
ABS Absolute value of integer inmathematicalexpression
ACOS
I Arccosine (coil I of mathematicalex~ression
I ASlN I Arcsine (sin-' I of mathematical expression
I ATAN I Arctsnaent (tan-' I of mathematical ex~rersion
I COS I Cosine (codof mathematical expression
Intrinsic
I
EXp I Value of Exponential tobase "e"
Function (e
= 2.718281)
LN
Value of natural logarithm (loge1
LOG
1 Value ofcommon logarithm (log,.l
Generates "1" when value of mathematical expression is
"0
I I
and generates "0" when the value is not "0".
RND Assigns random number to variable
SIN
I Sine (sin1of mathematical expression
SQRT Value of square root
of mathematical expression
I TAN I Tangent (tan1of mathematical expression
1 + 1 Addition
- Subtraction
irithmetic
X Multiplicati~n
Operator
I I Division
pJJ A Exponent
1-1 sianreversion
/%I Remainder calculation
Table 3.2 BASICCommand List (Continue)
Where commands have several options (indicated as
m, @,
etc.) only
those shaded(
[7 ) may be used on the AD51.

3. SPEclFicATloNs /MELSEC-A
1 Command I Function
Table 3.2 BASIC Command List
Comparw
son
operator
Logical
operator
jtOGl!
L
L -
<
>
<
>
-
&
f
I6 equal to
IS no1 equal to
Is less than
1s grealer than
Is nor greater than
Is not leis rhan
Negaton (NOT)
Logical product (AND1
Log~cai rum IORI
Exclurve logtcal rum IEXOR)

3. SPEclFlcATloNs /MELSEC-A
3.2.2 System subroutines
System subroutines are machine code programs used for special
AD51 functions (for example PC CPU transactions etc.). They are
already written inchannel
0 of the AD51 at specified address loca-
tions. System subroutine operation
is initiatedbyusing the "CALL"
instruction inthe BASIC program.
System subroutines on the'~~51are shown inTable 3.3.
[Initializingthe system subroutine]
1) The system subroutine is called from the GPC-BASIC program
usingthe "CALL" command.
2) The format of the CALLstatement
is as follows.
I
A = CALL (variable 1, variable 2, [variable 3, variable41 )
Variable 1: Always 0. All system subroutines are located in
channel
0.
Variable 2: Head address of system subroutine in channel 0
(See table 8.2)
Variable 3: Variable for system subroutine stored in (D)(E)
registers.
Variable 4: Variable for system subroutine stored in (B)(C)
registers.
3) For information on variable 3 and variable 4, refer to the GPC-
BASIC Handbooks.
4) Before executing the CALL command, transfer variables to the
work area.
Function
I Channel I Address I
1 I SAI I ASCII lhexadecimall -.BIN I 0 I 8060H I
2 1 SlA I BIN - ASCII Ihexadecimall I 0 1 80631-1 1
3
5
SAN
171
SBF I Inteaer - real number I 0 I 806CH
4
1 SNA I BIN -, ASCII ldecimall
6
1 SFA I Real number - ASCII I 0 1 8069H
SAF
I
8
9
10
11
12
13
ASCII (decimal1
-. BIN
14
0
ASCII
-real number
SFB
SEO4
SO84
SBD6
SOB6
SEA
0
8075H
Table
3.3 System Subroutine List (Continue)
SBS
8072H
0
Real number
-, integer
BIN
- 4-digit BCO
4-digil 8COABIN
BIN
- 6-dig,! BCD
6-digit BCD- BIN
BINaddition 124 bits1
8066H
BINsubtraction 124 bit4
0
0
0
0
0
0
806FH
8042H
8045H
8048H
804BH
804EH
0 8051H