Document release | Description | Notes | Date |
---|---|---|---|
01 | New manual | / | 03/12/2012 |
The controller has been designed for industral environments in conformity to EC directive 2004/108/CE.
The Ordering Code provides the exact product characteristics. Make sure that the product characteristics meet your requirements.
Model | Characteristics | |||||||
J1 | - | P51 | - | FA | - | 30 | / | TP01 |
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There are currently 6 hardware versions available:
Hardware Versions | |||||||
---|---|---|---|---|---|---|---|
A | B | C | D | E | W | ||
SLOT 2 (Base Card) | USER PORT (RS232, RS422, RS485) | 1 | 1 | 1 | 1 | 1 | 1 |
AUX1 PORT (RS232, RS422, RS485) | - | - | - | - | - | - | |
AUX2 PORT (RS485) | - | - | - | - | - | - | |
CAN1 PORT | 1 | 1 | 1 | 1 | 1 | 1 | |
CAN2 PORT | - | - | - | - | - | - | |
ETHERNET PORT | - | 1 | 1 | 1 | 1 | 1 | |
USB PORT1) | - | - | - | - | - | - | |
SLOT 3 (Specialist card) | Standard digital inputs | - | 32 | 32 | 32 | 32 | - |
Fast digital inputs 2) | - | 2 | 2 | 2 | 2 | - | |
12bit analog inputs | - | 4 | 4 | 4 | 4 | - | |
16bit analog inputs | - | - | - | - | - | - | |
PT100 inputs 3) | - | - | - | - | - | - | |
Thermocouple inputs 4) | - | - | - | - | - | - | |
20kHz two-way count inputs, ABZ (24V-PP, 5V-LD) | - | - | - | - | - | - | |
200kHz two-way count inputs, ABZ (24V-PP, 5V-LD) | - | 2 | 4 | 6 | 8 | - | |
Protected digital outputs | - | 32 | 32 | 32 | 32 | - | |
Digital relay outputs | - | - | - | - | - | - | |
0-10V, 12bit analog outputs | - | - | - | - | - | - | |
+/-10V, 16bit analog outputs | - | 2 | 4 | 6 | 8 | - | |
Stepper outputs | - | - | - | - | - | - | |
Qem remote keypad connector 5) | - | - | - | - | - | - | |
Card software code declared in SLOT 3 | - | 1MG8F | 1MG8F | 1MG8F | 1MG8F | - |
Version | Description |
---|---|
10 | Fully programmable with PLC functions |
20 | Fully programmable with PLC and Motion control functions |
30 | Fully programmable with PLC, Motion control, Camming and Interpolation functions |
For more details about the firmware, consult Devices enabled in the controllers.
A) Function keys and led's
B) System led's
J1-P51-F has a specialist card in slot 3.
Slot | Description |
---|---|
Slot Supply | Power connector on base card |
Slot 2 | Base card |
Slot 3 | Expansion card |
Weight (full hardware) | 2Kg |
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Housing | Sheet metal |
Front panel | Aluminium |
Outer Frame | Self-extinguishing Noryl |
Display | 10.4” LCD TFT-256 COLOURS-800 x 600px |
Touch screen | 4-wire Resistive |
Display dimensions/diagonal | 211.2 x 158.4mm/ 10.4“ |
User led's | 6 |
System led's | 4 on front panel, 8 on back |
Function keys | 6 |
System keys | 3 |
Operating temperature | 0 - 50°C |
Relative humidity | 90% condensate free |
Altitude | 0 - 2000m a.s.l. |
Transport and storage temperature | -25 - +70 °C |
Front protection rating | IP64 |
RISC microprocessor (32 bit) | |
---|---|
Work frequency | 200MHz |
RAM | 16MB |
Flash | 8MB |
For more information on the memory consult Memories used
Lengths in mm.
Fit the controller in the hole.
Apply the brackets.
![]() | Before fixing the controller, check it is mounted firmly in the hole and the gasket under the frame makes a good seal. No liquids must enter and the frame must not deform. |
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Screw the controller in place.
![]() | Warning: after putting the pin of fixing, do only half rotation to not tear the frame! |
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![]() | • Please read carefully. • See technical notes on Weidmuller terminals BLZF, BLZ and B2L. |
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Family | Wire Section no end caps | Wire section with end caps | Characteristics of contact | Tools | |
---|---|---|---|---|---|
![]() | BLZF 3.5 | 0.3-1.50 mm2 | 0.3-1 mm2 | ![]() | Open the self-locking, spring clip terminals with a flat blade screwdriver to DIN 5264-A as shown below See the table below for recommended cap ends To crimp the cap ends to the wire use the tool below |
![]() | B2L 3.5 | 0.3-1.00 mm2 | 0,3-0.5 mm2 | ||
![]() | BLZF 5.08 | 0.3-2.50 mm2 | 0.3-2.00 mm2 | ||
![]() | BLZ 5.00 | 0.2-2.50 mm2 | 0.1-1 mm2 | ![]() | The screw terminals can be tightened with a flat blade screwdriver to DIN 5264 as shown in fig.4.7 Tightening torque: 0.4 - 0.5 Nm. |
For a safer cabling, always use wire end caps
Wire section | End cap section | Make | Model |
---|---|---|---|
0.1-0.3 mm2 | 0.95 mm2 | Cembre | PKE 308 |
0.3-0.5 mm2 | 1.32 mm2 | Cembre | PKE 508 |
BM | BM00601 | ||
1 mm2 | 2.5mm2 | BM00603 | PK 108 |
BM | BM00603 |
Use a crimp tool type “Cembre ND#4
cod. 2590086”
Screwdriver for opening self-locking spring clip terminals:
A = 0.6mm
B = 2.5mm max
C = 7 mm min
Screwdriver for tightening screw terminals:
A = 0.6mm
B = 3.5mm
Strip 10mm of copper wire
Fit the end cap and crimp it with a crimping tool
a) fit the screwdriver without turning it
b) fit the cable in the terminal
Remove the screwdriver
![]() | The cabling must be carried out by specialist personnel and fitted with suitable anti-static precautions. Before handling the controller, disconnect the power and all parts connected to it. To guarantee compliance with EC regulations, the power supply must have a galvanic isolation of at least 1500Vac. |
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Power supply | 24 Vdc |
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Voltage range | 22 - 27 Vdc |
Max. absorption | 30W |
CN1 | Terminal | Symbol | Description |
---|---|---|---|
![]() ![]() | 1 | L1/+ | DC power positive |
2 | GROUND | Gnd-PE (signals) | |
3 | L2/- | DC power 0V |
![]() | Use an isolated power unit with 24Vdc +/-5% output conform to EN60950-1. |
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![]() | Use two separate power units: one for the control circuit and one for the power circuit |
![]() | For a single power unit, use two separate lines: one for the control and one for the power |
![]() | DO NOT use the same lines for the power circuit and the controller |
CN2 | Terminal | RS232 | RS422 | RS485 | Description |
---|---|---|---|---|---|
![]() | 1A | - | - | A | Terminal A - RS485 |
2A | - | - | B | Terminal B - RS485 | |
3A | 0V | 0V | 0V | USER PORT common | |
4A | 0V | 0V | 0V USER PORT common | ||
5A | TX | - | - | Terminal TX - RS232 | |
6A | Terra | ||||
1B | - | RX | - | Terminal RX - RS422 | |
2B | - | RXN | - | Terminal RX N - RS422 | |
3B | - | TX | - | Terminal TX - RS422 | |
4B | - | TXN | - | Terminal TX N - RS422 | |
5B | RX | - | - | Terminal RX - RS232 | |
6B | Ground |
CN3 | Terminal | RS232 | RS422 | RS485 | Description |
---|---|---|---|---|---|
![]() | 1A | - | - | A | Terminal A - RS485 |
2A | - | - | B | Terminal B - RS485 | |
3A | 0V | 0V | 0V | USER PORT common | |
4A | 0V | 0V | 0V | USER PORT common | |
5A | TX | - | - | Terminal TX - RS232 | |
6A | Ground | ||||
1B | - | RX | - | Terminal RX - RS422 | |
2B | - | RXN | - | Terminal RX N - RS422 | |
3B | - | TX | - | Terminal TX - RS422 | |
4B | - | TXN | - | Terminal TX N - RS422 | |
5B | RX | - | - | Terminal RX - RS232 | |
6B | Ground |
CN4 | Terminal | Symbol | Description |
---|---|---|---|
![]() | 1 | 0V | RS485 serial common |
2 | B | Terminal RS485 B | |
3 | A | Terminal RS485 A |
CAN1 PORT CAN2 PORT | Terminal | Symbol | Description |
---|---|---|---|
![]() | 1 | 0V | CAN common |
2 | CAN L | Terminal CAN L | |
3 | CAN H | Terminal CAN H |
ETHERNET PORT | Description |
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![]() | Connector RJ45. LED: * LINK: green led = cable connected (led on signals the cable is connected to both ends) * DATA: yellow led = data transmission (flashing led signals data transmission) |
![]() | Memory card slot (marked by an arrow) |
![]() | The USB mini-B connector does not support USB electrical standards, it can only be used with an interface IQ009 or IQ013. |
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It is used for the transfer and debugging of the application program in the CPU.
Electrical standard | TTL (Use serial interface IQ009 or IQ013) |
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Communication speed | Min. 9.6 Kbaud - max 115200 Kbaud settable by dip1 and 2 of the switch SW1 |
Insulation | None |
.
![]() | ![]() | ![]() |
Connection between Qmove+ e PC using the accessory IQ009 |
.
![]() | ![]() | ![]() |
Connection between Qmove+ and a device fitted with a RS232 serial port (e.g. a MODEM), using the interface IQ013 |
Communication speed | 4800, 9600, 19200, 38400, 57600, 115200 baud |
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Communication mode | Full duplex |
Operating mode | Referred to 0V |
Max. number of devices connected on the line | 1 |
Max. cable length | 15 m |
Input impedence | > 3 Kohm |
Short-circuit current limit | 7 mA |
Communication speed | 4800, 9600, 19200, 38400, 57600, 115200 baud |
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Communication mode | Full duplex |
Operating mode | Differential |
Max. number of devices connected on the line | 1 |
Max. cable length | 1200 m |
Input impedence | > 12 Kohm |
Short-circuit current limit | 35 mA |
![]() | To activate the internal termination resistance see paragraph Setup of USER PORT electric standard, Setup of AUX1 PORT electric standard or Setup of AUX2 PORT polarization and termination resistances |
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Communication speed | 4800 baud (only if used with SERCOM and/or MODBUS device), 9600 baud, 19200 baud, 38400 baud, 57600 baud |
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Communication mode | Half duplex |
Operating mode | Differential |
Max. number of devices connected on the line | 32 |
Max. cable length | 1200 m |
Input impedence | > 12 Kohm |
Short-circuit current limit | 35 mA |
To activate the internal termination resistance see paragraph Setup Termination resistances
.
Communication speed | 125, 250, 500, 1000 Kbit/s |
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Max. number of Drivers/Receivers on the line | 100 |
Max. cable lengths | 500m @ 125Kbit/s, 250m @ 250Kbit/s, 100m @ 500Kbit/s, 25m @ 1000Kbit/s |
Input impedence | >15Kohm |
Short-circuit current limit | 45mA |
CAN BUS connection examples.
Caution:
Close DIP's JP1 and JP2 and insert the termination resistances (RL, RH) on the last device of the chain.
Ethernet Interface 10/100 Base T (IEEE 802.3) on RJ45 connector.
Connection between Qmove + and PC:
Type of Memory Card to use | MMC, SD and SDHC up to 8GB For proper operation it is necessary that the device conforms to the standards set by “SD Association” (www.sdcard.org) or “Multi Media Card Association” (www.mmca.org). |
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![]() | To use the Memory Cards they must first be formatted with FAT16 or FAT32 file system. |
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![]() | The electrical features are given in paragraph Electrical Features. The wiring examples are given in paragraph Connection examples |
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CN11 | Terminal | Symbol | Description | Address | |
---|---|---|---|---|---|
![]() | 1 | I01(PNP) | PNP type fast input I01 | External terminal configuration1) | FREQ12) |
2 | I01(NPN) | PNP type fast input I01 | |||
3 | 0V | Common for digital inputs | |||
4 | I1 | Input I1 | 3.INP01 | ||
5 | I2 | Input I2 | 3.INP02 | ||
6 | I3 | Input I3 | 3.INP03 | ||
7 | I4 | Input I4 | 3.INP04 | ||
8 | I5 | Input I5 | 3.INP05 | ||
9 | I6 | Input I6 | 3.INP06 | ||
10 | I7 | Input I7 | 3.INP07 | ||
11 | I8 | Input I8 | 3.INP08 | ||
12 | 0V | Common for digital inputs |
CN12 | Terminal | Symbol | Description | Address | |
---|---|---|---|---|---|
![]() | 1 | I02(PNP) | PNP type fast input I02 | External terminal configuration1) | FREQ22) |
2 | I02(NPN) | NPN type fast input I02 | |||
3 | 0V | Common for digital inputs | |||
4 | I9 | Input I9 | 3.INP09 | ||
5 | I10 | Input I10 | 3.INP10 | ||
6 | I11 | Input I11 | 3.INP11 | ||
7 | I12 | Input I12 | 3.INP12 | ||
8 | I13 | Input I13 | 3.INP13 | ||
9 | I14 | Input I14 | 3.INP14 | ||
10 | I15 | Input I15 | 3.INP15 | ||
11 | I16 | Input I16 | 3.INP16 | ||
12 | 0V | Common for digital inputs |
CN13 | Terminal | Symbol | Description | Address | |
---|---|---|---|---|---|
![]() | 1 | I03(PNP) | PNP type fast input I03 | External terminal configuration1) | 1.INT09 |
2 | I03(NPN) | NPN type fast input I03 | |||
3 | 0V | Common for digital inputs | |||
4 | I17 | Input I17 | 3.INP17 | ||
5 | I18 | Input I18 | 3.INP18 | ||
6 | I19 | Input I19 | 3.INP19 | ||
7 | I20 | Input I20 | 3.INP20 | ||
8 | I21 | Input I21 | 3.INP21 | ||
9 | I22 | Input I22 | 3.INP22 | ||
10 | I23 | Input I23 | 3.INP23 | ||
11 | I24 | Input I24 | 3.INP24 | ||
12 | 0V | Common for digital inputs |
CN14 | Terminal | Symbol | Description | Address | |
---|---|---|---|---|---|
![]() | 1 | I04(PNP) | PNP type fast input I04 | External terminal configuration1) | 1.INT10 |
2 | I04(NPN) | NPN type fast input I04 | |||
3 | 0V | Common for digital inputs | |||
4 | I25 | Input I25 | 3.INP25 | ||
5 | I26 | Input I26 | 3.INP26 | ||
6 | I27 | Input I27 | 3.INP27 | ||
7 | I28 | Input I28 | 3.INP28 | ||
8 | I29 | Input I29 | 3.INP29 | ||
9 | I30 | Input I30 | 3.INP30 | ||
10 | I31 | Input I31 | 3.INP31 | ||
11 | I32 | Input I32 | 3.INP32 | ||
12 | 0V | Common for digital inputs |
![]() | The electrical features are given in paragraph Electrical features. The wiring examples are given in paragraph Connection examples |
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CN15 | Terminal | Symbol | Description | Address | ||
---|---|---|---|---|---|---|
![]() | 1A | Internal bridge 1A -1B 1) | ||||
2A | PHA1 | Phase A | Count 1 PNP Push-Pull2) | 3.INP33 | 3.CNT01 | |
3A | PHB1 | Phase B | 3.INP34 | |||
4A | Z1 | Z | 1.INT01 | |||
5A | 0V | Common for count inputs | ||||
6A | 0V | |||||
7A | 0V | |||||
1B | Internal bridge 1A -1B3) | |||||
2B | PHA1+ | + PHA | Count 1 Line Driver | 3.INP33 | 3.CNT01 | |
3B | PHB1+ | + PHB | 3.INP34 | |||
4B | Z1+ | + Z | 1.INT01 | |||
5B | PHA1- | - PHA | ||||
6B | PHB1- | - PHB | ||||
7B | Z1- | - Z |
CN16 | Terminal | Symbol | Description | Address | ||
---|---|---|---|---|---|---|
![]() | 1A | Internal bridge 1A -1B 1) | ||||
2A | PHA2 | Phase A | Count 2 PNP Push-Pull2) | 3.INP35 | 3.CNT02 | |
3A | PHB2 | Phase B | 3.INP36 | |||
4A | Z2 | Z | 1.INT02 | |||
5A | 0V | Common for count inputs | ||||
6A | 0V | |||||
7A | 0V | |||||
1B | Internal bridge 1A -1B3) | |||||
2B | PHA2+ | + PHA | Count 2 Line Driver | 3.INP35 | 3.CNT02 | |
3B | PHB2+ | + PHB | 3.INP36 | |||
4B | Z2+ | + Z | 1.INT02 | |||
5B | PHA2- | - PHA | ||||
6B | PHB2- | - PHB | ||||
7B | Z2- | - Z |
CN17 | Terminal | Symbol | Description | Address | ||
---|---|---|---|---|---|---|
![]() | 1A | Internal bridge 1A -1B 1) | ||||
2A | PHA3 | Phase A | Count 3 PNP Push-Pull2) | 3.INP37 | 3.CNT03 | |
3A | PHB3 | Phase B | 3.INP38 | |||
4A | Z3 | Z | 1.INT03 | |||
5A | 0V | Common for count inputs | ||||
6A | 0V | |||||
7A | 0V | |||||
1B | Internal bridge 1A -1B3) | |||||
2B | PHA3+ | + PHA | Count 3 Line Driver | 3.INP37 | 3.CNT03 | |
3B | PHB3+ | + PHB | 3.INP38 | |||
4B | Z3+ | + Z | 1.INT03 | |||
5B | PHA3- | - PHA | ||||
6B | PHB3- | - PHB | ||||
7B | Z3- | - Z |
CN18 | Terminal | Symbol | Description | Address | ||
---|---|---|---|---|---|---|
![]() | 1A | Internal bridge 1A -1B 1) | ||||
2A | PHA4 | Phase A | Count 4 PNP Push-Pull2) | 3.INP39 | 3.CNT04 | |
3A | PHB4 | Phase B | 3.INP40 | |||
4A | Z4 | Z | 1.INT04 | |||
5A | 0V | Common for count inputs | ||||
6A | 0V | |||||
7A | 0V | |||||
1B | Internal bridge 1A -1B3) | |||||
2B | PHA4+ | + PHA | Count 4 Line Driver | 3.INP39 | 3.CNT04 | |
3B | PHB4+ | + PHB | 3.INP40 | |||
4B | Z4+ | + Z | 1.INT04 | |||
5B | PHA4- | - PHA | ||||
6B | PHB4- | - PHB | ||||
7B | Z4- | - Z |
CN19 | Terminal | Symbol | Description | Address | ||
---|---|---|---|---|---|---|
![]() | 1A | Internal bridge 1A -1B 1) | ||||
2A | PHA5 | Phase A | Count 5 PNP Push-Pull2) | 3.INP41 | 3.CNT05 | |
3A | PHB5 | Phase B | 3.INP42 | |||
4A | Z5 | Z | 1.INT05 | |||
5A | 0V | Common for count inputs | ||||
6A | 0V | |||||
7A | 0V | |||||
1B | Internal bridge 1A -1B3) | |||||
2B | PHA5+ | + PHA | Count 5 Line Driver | 3.INP41 | 3.CNT05 | |
3B | PHB5+ | + PHB | 3.INP42 | |||
4B | Z5+ | + Z | 1.INT05 | |||
5B | PHA5- | - PHA | ||||
6B | PHB5- | - PHB | ||||
7B | Z5- | - Z |
CN20 | Terminal | Symbol | Description | Address | ||
---|---|---|---|---|---|---|
![]() | 1A | Internal bridge 1A -1B 1) | ||||
2A | PHA6 | Phase A | Count 6 PNP Push-Pull2) | 3.INP43 | 3.CNT06 | |
3A | PHB6 | Phase B | 3.INP44 | |||
4A | Z6 | Z | 1.INT06 | |||
5A | 0V | Common for count inputs | ||||
6A | 0V | |||||
7A | 0V | |||||
1B | Internal bridge 1A -1B3) | |||||
2B | PHA6+ | + PHA | Count 6 Line Driver | 3.INP43 | 3.CNT06 | |
3B | PHB6+ | + PHB | 3.INP44 | |||
4B | Z6+ | + Z | 1.INT06 | |||
5B | PHA6- | - PHA | ||||
6B | PHB6- | - PHB | ||||
7B | Z6- | - Z |
CN21 | Terminal | Symbol | Description | Address | ||
---|---|---|---|---|---|---|
![]() | 1A | Internal bridge 1A -1B 1) | ||||
2A | PHA7 | Phase A | Count 7 PNP Push-Pull2) | 3.INP45 | 3.CNT07 | |
3A | PHB7 | Phase B | 3.INP46 | |||
4A | Z7 | Z | 1.INT07 | |||
5A | 0V | Common for count inputs | ||||
6A | 0V | |||||
7A | 0V | |||||
1B | Internal bridge 1A -1B3) | |||||
2B | PHA7+ | + PHA | Count 7 Line Driver | 3.INP45 | 3.CNT07 | |
3B | PHB7+ | + PHB | 3.INP46 | |||
4B | Z7+ | + Z | 1.INT07 | |||
5B | PHA7- | - PHA | ||||
6B | PHB7- | - PHB | ||||
7B | Z7- | - Z |
CN22 | Terminal | Symbol | Description | Address | ||
---|---|---|---|---|---|---|
![]() | 1A | Internal bridge 1A -1B 1) | ||||
2A | PHA8 | Phase A | Count 8 PNP Push-Pull2) | 3.INP47 | 3.CNT08 | |
3A | PHB8 | Phase B | 3.INP48 | |||
4A | Z8 | Z | 1.INT08 | |||
5A | 0V | Common for count inputs | ||||
6A | 0V | |||||
7A | 0V | |||||
1B | Internal bridge 1A -1B3) | |||||
2B | PHA8+ | + PHA | Count 8 Line Driver | 3.INP47 | 3.CNT08 | |
3B | PHB8+ | + PHB | 3.INP48 | |||
4B | Z8+ | + Z | 1.INT08 | |||
5B | PHA8- | - PHA | ||||
6B | PHB8- | - PHB | ||||
7B | Z8- | - Z |
![]() | The electrical features are given in paragraph Electrical features. The wiring examples are given in paragraph Connection examples |
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CN28 | Terminal | Symbol | Description | Address |
---|---|---|---|---|
![]() | 1 | GAI | Common for analog inputs | |
2 | IA1 | analog input 1 | 3.AI01 | |
3 | SEL1V | Analog input selector 1 voltmetric 0-10V1) | ||
4 | SEL1C | Analog input selector 1 amperometric 0-20mA2) | ||
5 | GAI | Common for analog inputs | ||
6 | IA2 | analog input 2 | 3.AI02 | |
7 | SEL2V | Analog input selector 2 voltmetric 0-10V3) | ||
8 | SEL2C | Analog input selector 2 amperometric 0-20mA4) | ||
9 | VREF | Reference voltage |
CN29 | Terminal | Symbol | Description | Address |
---|---|---|---|---|
![]() | 3 | GAI | Common for analog inputs | |
2 | IA3 | analog input 3 | 3.AI03 | |
3 | SEL3V | Analog input selector 3 voltmetric 0-10V1) | ||
4 | SEL3C | Analog input selector 3 amperometric 0-20mA2) | ||
5 | GAI | Common for analog inputs | ||
6 | IA4 | analog input 4 | 3.AI04 | |
7 | SEL4V | Analog input selector 4 voltmetric 0-10V3) | ||
8 | SEL4C | Analog input selector 4 amperometric 0-20mA4) | ||
9 | VREF | Reference voltage |
![]() | The electrical features are given in paragraph Electrical features. The connection examples are given in paragraph Connection examples |
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CN7 | Terminal | Symbol | Description | Address |
---|---|---|---|---|
![]() | 1 | V+ | Output supply in (12÷28Vdc) | |
2 | O1 | Digital output 1 | 3.OUT01 | |
3 | O2 | Digital output 2 | 3.OUT02 | |
4 | V- | Common for output supply | ||
5 | O3 | Digital output 3 | 3.OUT03 | |
6 | O4 | Digital output 4 | 3.OUT04 | |
7 | V- | Common for output supply | ||
8 | O5 | Digital output 5 | 3.OUT05 | |
9 | O6 | Digital output 6 | 3.OUT06 | |
10 | O7 | Digital output 7 | 3.OUT07 | |
11 | O8 | Digital output 8 | 3.OUT08 |
CN8 | Terminal | Symbol | Description | Address |
---|---|---|---|---|
![]() | 1 | V+ | Output supply in (12-28Vdc) | |
2 | O9 | Digital output 9 | 3.OUT09 | |
3 | O10 | Digital output 10 | 3.OUT10 | |
4 | V- | Common for output supply | ||
5 | O11 | Digital output 11 | 3.OUT11 | |
6 | O12 | Digital output 12 | 3.OUT12 | |
7 | V- | Common for output supply | ||
8 | O13 | Digital output 13 | 3.OUT13 | |
9 | O14 | Digital output 14 | 3.OUT14 | |
10 | O15 | Digital output 15 | 3.OUT15 | |
11 | O16 | Digital output 16 | 3.OUT16 |
CN9 | Terminal | Symbol | Description | Address |
---|---|---|---|---|
![]() | 1 | V+ | Output supply in (12-28Vdc) | |
2 | O17 | Digital output 17 | 3.OUT17 | |
3 | O18 | Digital output 18 | 3.OUT18 | |
4 | V- | Common for output supply | ||
5 | O19 | Digital output 19 | 3.OUT19 | |
6 | O20 | Digital output 20 | 3.OUT20 | |
7 | V- | Common for output supply | ||
8 | O21 | Digital output 21 | 3.OUT21 | |
9 | O22 | Digital output 22 | 3.OUT22 | |
10 | O23 | Digital output 23 | 3.OUT23 | |
11 | O24 | Digital output 24 | 3.OUT24 |
CN10 | Terminal | Symbol | Description | Address |
---|---|---|---|---|
![]() | 1 | V+ | Output supply in (12-28Vdc) | |
2 | O25 | Digital output 25 | 3.OUT25 | |
3 | O26 | Digital output 26 | 3.OUT26 | |
4 | V- | Common for output supply | ||
5 | O27 | Digital output 27 | 3.OUT27 | |
6 | O28 | Digital output 28 | 3.OUT28 | |
7 | V- | Common for output supply | ||
8 | O29 | Digital output 29 | 3.OUT29 | |
9 | O30 | Digital output 30 | 3.OUT30 | |
10 | O31 | Digital output 31 | 3.OUT31 | |
11 | O32 | Digital output 32 | 3.OUT32 |
![]() | The electrical features are given in paragraph Electrical features. The wiring examples are given in paragraph Connection examples |
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CN23 | Terminal | Symbol | Description | Address | |
---|---|---|---|---|---|
![]() | 1A | - | n.c. | ||
2A | DIR1+ | DIRECTION output 1 | Push-Pull Line Driver | 3.PULSE01 | |
3A | STEP1+ | STEP output 1 | |||
4A | DIR2+ | DIRECTION output 2 | 3.PULSE02 | ||
5A | STEP2+ | STEP output 2 | |||
6A | 0V | Common for stepper outputs | |||
1B | - | n.c. | |||
2B | DIR1- | Complementary output DIRECTION 1 | Complementary outputs for use in drivers with Line-Driver inputs | ||
3B | STEP1- | Complementary output STEP 1 | |||
4B | DIR2- | Complementary output DIRECTION 2 | |||
5B | STEP2- | Complementary output STEP 2 | |||
6B | 0V | Common for stepper outputs |
CN24 | Terminal | Symbol | Description | Address | |
---|---|---|---|---|---|
![]() | 1A | - | n.c. | ||
2A | DIR1+ | DIRECTION output 3 | Push-Pull Line Driver | 3.PULSE03 | |
3A | STEP1+ | STEP output 3 | |||
4A | DIR2+ | DIRECTION output 4 | 3.PULSE04 | ||
5A | STEP2+ | STEP output 4 | |||
6A | 0V | Common for stepper outputs | |||
1B | - | n.c. | |||
2B | DIR1- | Complementary output DIRECTION 3 | Complementary outputs for use in drivers with Line-Driver inputs | ||
3B | STEP1- | Complementary output STEP 3 | |||
4B | DIR2- | Complementary output DIRECTION 4 | |||
5B | STEP2- | Complementary output STEP 4 | |||
6B | 0V | Common for stepper outputs |
CN25 | Terminal | Symbol | Description | Address | |
---|---|---|---|---|---|
![]() | 1A | - | n.c. | ||
2A | DIR5+ | DIRECTION output 5 | Push-Pull Line Driver | 3.PULSE05 | |
3A | STEP5+ | STEP output 5 | |||
4A | - | n.c. | |||
5A | - | n.c. | |||
6A | 0V | Common for stepper outputs | |||
1B | - | n.c. | |||
2B | DIR5- | Complementary output DIRECTION 5 | Complementary outputs for use in drivers with Line-Driver inputs | ||
3B | STEP5- | Complementary output STEP 5 | |||
4B | - | n.c. | |||
5B | - | n.c. | |||
6B | 0V | Common for stepper outputs |
![]() | The electrical features are given in paragraph Electrical features. The wiring examples are given in paragraph Connection examples |
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CN26 | Terminal | Symbol | Description | Address |
---|---|---|---|---|
![]() | 1 | GAO | Common for analog outputs | |
2 | AO1 | Analog output 1 | 3.AN01 | |
3 | AO2 | Analog output 2 | 3.AN02 | |
4 | GAO | Common for analog outputs | ||
5 | AO3 | Analog output 3 | 3.AN03 | |
6 | AO4 | Analog output 4 | 3.AN04 |
CN27 | Terminal | Symbol | Description | Address |
---|---|---|---|---|
![]() | 1 | GAO | Common for analog outputs | |
2 | AO5 | Analog output 5 | 3.AN05 | |
3 | AO6 | Analog output 6 | 3.AN06 | |
4 | GAO | Common for analog outputs | ||
5 | AO7 | Analog output 7 | 3.AN07 | |
6 | AO8 | Analog output 8 | 3.AN08 |
The electrical characteristics of the hardware are given below.
The maximum and minimum frequencies, and real acquisition times, may depend on eventual additional software filters, for example see the system variable “QMOVE:sys004” at paragraph System Variables.
Type of polarisation | PNP |
Min. acquisition time (hardware) | 3ms |
Isolation | 1000Vrms |
Rated operating voltage | 24Vdc |
Voltage of logic state 0 | 0-2 V |
Voltage of logic state 1 | 10.5 - 26.5 V |
Internal voltage drop | 5V |
Input resistance (Ri) | 2700Ω |
Sink current | 2mA ÷ 8mA1) |
Tipo di polarizzazione | NPN / PNP |
Frequenza massima | 200KHz |
Tempo min. di acquisizione (hardware) | 5µs |
Isolamento | 1000Vrms |
Tensione di funzionamento nominale | 24Vdc |
Tensione stato logico 0 | 0÷2 V |
Tensione stato logico 1 | 10,5 ÷ 26,5 V |
Caduta di tensione interna | 1,2 V |
Resistenza di ingresso | 2700Ω |
The values given in the table refer to input signals A, B and Z.
The max. frequency given in the table refers to A and B phase signals with a DutyCycle = 50%
With count frequencies over 50KHz the use of Line-Driver type encoders is recommended.
Type of polarisation | PNP/PP |
Max frequency | 200KHz |
Min. acquisition time | 5µs |
Insulation | 1000Vrms |
Rated operating voltage | 24Vdc |
Voltage of logic status 0 | 0 - 2 V |
Voltage of logic status 1 | 10.5 - 26.5 V |
Internal voltage drop | 1.2V |
Input resistance | 3100Ω |
Type of polarisation | Line-Driver |
Max. frequency | 200KHz |
Min. acquisition time | 5µs |
Insulation | 1000Vrms |
Rated operating voltage (PHx+ ? PHx-) | 5Vdc |
Voltage of logic status 0 (PHx+ ? PHx-) | 0-1.5 V |
Voltage of logic status 1 (PHx+ ? PHx-) | 2-5 V |
Internal voltage drop | 1.2V |
Input restistance | 150Ω |
Type of connection | Potentiometric 1KΩ-20KΩ |
Resolution | 12bit/16bit |
Reference voltage output | 2.5Vdc |
Max output current from reference | 10mA |
Input resistance | 10MΩ |
Max. linearity error | + 0,1% Vfs |
Max. offset error | + 0,1% Vfs |
S.n. | 71 dB |
Update speed | 1ms |
Insulation | 1000 Vrms |
Type of connection | Voltmetric 0-10V |
Resolution | 12bit/16bit |
Input resistance (Rin) | 20KΩ |
Damage value | 20V |
Max. linearity error | + 0.1% Vfs |
Max. offset error | + 0.1% Vfs |
S.n. | 71 dB |
Update speed | 1ms |
Insulation | 1000 Vrms |
Type of connection | Amperometric (0-20 mA) |
Resolution | 12bit/16bit |
Input resistance | 125Ω |
Damage value | 25 mA |
Max. linearity error | + 0,1% Vfs |
Max. offset error | + 0,1% Vfs |
S.n. | 71 dB |
Update speed | 1ms |
Insulation | 1000 Vrms |
Switchable load | Dc (PNP) |
Max. operating voltage | 28V |
Insulation | 1000Vpp |
Max. internal voltage drop | 600mV |
Max internal resistance @ON | 90mΩ |
Max. protection current | 12A |
Max. operating current | 2A |
Max. current @OFF | 5µA |
Max switching time from ON to OFF | 270µs |
Max switching time from OFF to ON | 250µs |
Type of polarisation | Push-Pull / Line-Driver |
Max output frequency | 50KHz |
Insulation | 1000Vpp |
Max. operating current | 20mA |
Type of connection | Common mode |
Insulation | 1000Vrms |
Voltage range (minimum no load) | -9.8V - +9.8V |
Max. offset variation depending on temperature* | +/- 5mV |
Resolution | 16bit |
Max. current | 1mA |
Output variation depending on load | 100 µV/mA |
Output resistence | 249Ω |
![]() | • On the first (1) and on the last (3) device of the chain, the termination resistances must be inserted. • The cable shoes must be connected to ground by the fastons provided on the metal body. |
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![]() | • To activate the internal termination resistance see paragraph Setup of CAN1 and CAN2 PORT Termination resistances |
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SW1 | Dip | DIP settings | Function | |||
---|---|---|---|---|---|---|
![]() | 1 | OFF | OFF | ON | ON | Select PROG PORT transmission speed |
2 | OFF | ON | OFF | ON | ||
Baud-rate 38400 | Baud-rate 115200 | Baud-rate 19200 | Baud-rate 57600 |
|||
3 | OFF | OFF | ON | ON | Select USER PORT transmission speed | |
4 | OFF | ON | OFF | ON | ||
Baud-rate 38400 | Baud-rate 115200 | Baud-rate 19200 | Baud-rate 57600 |
|||
5 | CANbus baud-rate selector. See paragraph CANbus baud-rate selector | |||||
6 | OFF | ON | Select PROG PORT functioning mode | |||
PROG PORT can also be used by SERCOM and MODBUS devices | PROG PORT cannot be used by SERCOM and MODBUS devices | |||||
7 | CANbus baud-rate selector. See paragraph CANbus baud-rate selector | |||||
8 | OFF | ON | Select the USER PORT as PROG PORT1) | |||
PROG PORT normal | PROG PORT on USER PORT connector |
The system led's “pow, run, stop, err” are found on the front panel and on the rear of controllers with display and only on the top of controllers without display.
The user led's “L1, L2, L3 e L4” are found on the rear:
Led | Colour | Status | Description |
---|---|---|---|
pow | Green | ![]() | Power on |
![]() | Only this led on, signals the CPU reset status | ||
run | Green | ![]() | CPU in RUN status |
![]() | CPU in READY status | ||
stop | Yellow | ![]() | With pow on, signals the STOP status of the CPU With pow off, signals the BOOT status of the CPU |
err | Red | ![]() | With pow off, signals a hardware error. See paragraph Hardware Error codes With pow blinking, the flash rate gives the type of error. See paragraph err led signals |
N. flashes | Error | Description | Recommended action |
1 | Bus error | Bus configuration different to application software. | Check the correspondence between the QMOVE application (BUS section of configuration unit) and the product configurations (cards mounted in BUS). |
2 | CheckSum Error | Negative outcome on the integrity control of retentive variables . (see Reset Error Checksum) | Restore the machine data from a backup (.DAT file) or cancel the error with in system functions and enter the values manually. |
3 | Index Out of Bound | An array index is pointing on an inexistent element | Open a unit editor in Qview development environment and use the “Edit→Go to PC” command to find the program line that is cause of the error. In general the index value has a value <1 or >array dimension. |
4 | Program Over Range | The program selection index in the DATAGROUP has attempted to access an inexistent program. | With the Qview development environment open the editor of a unit and user the “Edit→Go to PC” command to highlight the program line that has caused the error. In general the value used as index is lower than 1 or over the array dimension. |
5 | Step Over Range | The step selection index in the DATAGROUP has attempted to access an inexistent step. | With the Qview development environment open the editor of a unit and user the “Edit→Go to PC” command to highlight the program line that has caused the error. In general the value used as index is lower than 1 or over the array dimension. |
6 | Division By Zero | The denominator of a division operation of the application program has a zero value. | With the Qview development environment open the editor of a unit and user the “Edit→Go to PC” command to highlight the program line that has caused the error. |
7 | Syntax Error | The application program has an invalid instruction | This error may appear because the program counter has met the QCL END instruction. |
8 | Watch Dog Error | A CAN module does not function correctly, or a specialist card has a hardware problem | With the Qview development environment open the “Monitor→Bus” panel and the righthand column called “Watchdog Bus” indicates the card that caused the problem. |
9 | Stack Error | The applciation program has used all permitted levels of calls to subroutines | With the Qview software environment open the editor of a unit and use the “Edit→Go to PC” command to highlight the program line that caused the error. Analyse the unit execution flow, the call to subroutines nestings have a limit, over which this error is generated. |
During the startup sequence, if a malfunction of any peripheral is detected, the system blocks and the error is signaled by the flashing led err while the other system led's remain off.
The number of flashes indicates the type of error according to the following table :
Number of flashes | Error |
---|---|
1 | Display |
2 | FPGA |
3 | Media |
4 | Bootloader |
5 | FW |
6 | Bus |
7 | Signal not active |
8 | Signal not active |
9 | Exception |
Each of these signals indicates a serious error situation. The product must be sent to the QEM aftersales service.
Name | Description |
---|---|
![]() | Press on startup of the controller to access the System functions |
![]() | Press on startup of the controller to set the CPU in Boot status and then access the firmware update functions |
![]() | Reset CPU. the system is restarted restoring the initial conditions (after a startup ) |
This chapter covers aspects and descriptions of the product functionalities that are often related to the firmware, which enable the functionalities that enable its operation as a QEM Qmove+ programmable system.
To best understand the terms used in this chapter, it is important to know the organisation of data and memory in a QMOVE application. QMOVE applications are programs written in QCL language that, translated in binary code, are transferred onto QMOVE hardware and saved there. In the hardware, the microprocessor runs has a program called firmware that interprets the above binary code instructions and performs the operations associated to them.
A QCL application, in addition to the instructions, is also composed of variables that the QCL instructions act on.. Some of these variables are retentive, i.e. their values remain unaltered from shut-off to start up. The flow chart below illustrates the organisation of data in a QCL application transferred to the memory of any QMOVE hardware:
It can be noted that, the QMOVE hardware has several mass storage devices with different technology (e.g. the non volatile data memory may be a §ram tamponata rather than an eeprom or a magneto-resistiva ram, …), they have been divided in the following categories:
“Nonvolatile memory”, where the following is saved:
“Non volatile data memory”, which stores:
“Volatile data memory”, which stores:
The volatile data memory is also used as dynamic memory. i.e. the memory used by the firmwarefor internal operations and active HMI screen management.
“Internal mass memory” is managed by a standard filesystem and is useful to save information by the DATASTORE device (read - write binary or csv files with recipes, logs, variuous setups, etc).
E' inoltre utilizzato per memorizzare il backup dell'applicativo QMOVE.
“External mass storage” is managed by a standard filesystem and is useful for loading the QMOVE application, data loading/saving, firmware update or to save information by the DATASTORE device.
The CPU has several operating statuses. The figure below shows the main status changes from the controller startup.
The main operatiing statuses are RESET, READY, RUN and STOP.
The CPU events that determine a transition from one status to another are mainly linked to commands being sent by the development environment: Run, Reset, Stop and Restart.
Application download is the development environment procedure that allows to transfer a QMOVE application to the CPU.
Application download is the development environment procedure that allows to transfer a QMOVE application to the CPU.
The BOOT state can be used to access the firmware updating functions.
During the startup, after scanning the system led's, the controller performs a series of self-diagnostic operations. When any faults are detected or the operator has to be informed of any given situation, the self-doagnosis procedure is temporarily interrupted, signalling the event.
The fault signal is made by led's L1, L2 and a message is given on display (if present).
When the condition detected allows to continue to the start stage (type C) and waits for the FUNC button to be pressed to continue the boot procedure.
The controller waits 5 seconds before continuing with the startup stage, without waiting for a button to be pressed.
When the situation does not allow to continue the startup stage (tipo B), the led err flashes continuously.
During the condition SELF-DIAGNOSTICS and SYSTEM BOOTING on the instrument with the display, you see some important information about the system as shown in the following picture:
![]() | WARNING: The values shown in the diagram are examples and may change depending on the instrument in question. |
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Nr. | Message | Description |
---|---|---|
1 | Boot status: POWER-ON | Displays the boot status: POWER-ON Sterting the instrument INIT Initializing application downloads RESTART Restart the instrument software BACKUP Backup operation RESTORE Restore operation |
2 | Firmware: 1K31F-30.5.6 | Displays the name, version, major release and minor release of the firmware. Example: 1K31F Firmware name 30 Version 5 Major release 6 Minor release (build) |
3 | S/N: 12345678 | Serial number of the instrument. |
4 | Date(DMY)/Time: 31/12/2010 - 12:34:56 | Clock and calendar: GG/MM/YYYY - HH:MM:SS |
5 | Dip-Switch = 0x2E | You receive a “hexadecimal value representing the status of the switch SW1. Is equivalent to the value of the system variable SYS002. |
6 | MMC: PRESENT 510/31250 KB | If you inserted the MMC/SD, at this stage appear the device data as used KB (510) and total KB (31250). In case the device does not exist message appears: “not present !” |
7 | NAND: PRESENT 40510/63794 KB | It checks the internal device NAND and and then displays the used KB and the total KB. In the event that the device is not found, an error is reported and appears “NAND: NOT PRESENT !” |
8 | Touch Screen: PRESENT | In the instruments with touch screen, it is detected and then checks the calibration data. In the event that should still be performed calibration, you receive the message “CALIBRATION REQUIRED !”. The touch calibration is possible with the system function “Touch Calibration”. |
9 | ETHERNET: IP = 192.168.0.253 | In the instruments with ethernet interface, are visualized the parameters for the address (IP), net mask (NM) and gateway (GW). Set this parameters with the function “Set Ethernet communic. parameter” |
10 | BACKUP: VALID | Checked in NAND of a good backup and displays the creation data and time of application (QCL App), the data (QCL Dat) and the QTP data (QTP App). If after the “BACKUP” message appears the “VALID” message means that the backup can be restored properly by using the system function “Restore from NAND”. If after the “BACKUP” message appears the “NOT PRESENT” message means that the backup is not present. If after the “BACKUP” message appears the “NOT VALID” message means that the backup cannot be restored properly because the checksum between the file aren't the same. After any file (QCL App, QCL Dat e QTP App), in addition to the date and time of creation, also displays additional informations: “MATCH” indicates that the file is the same with the RUN application. “NO MATCH” indicates that the file isn't the same with the RUN application. “SIZE ERROR” indicates that the file size is invalid. “NOT PRESENT” indicates that the file does not exist. |
11 | Press F1/FUNC for 2s to System Functions | This message indicates that the pressure of F1 or FUNC buttons for 2 seconds, provides access to system functions as described in the procedure. The message is visible for 4 seconds. |
12 | !!! WARNING detected !!! | If during the previous stages, warning messages are displayed, wait for about 20 seconds. If you not wait, press the F1 or FUNC keys. |
13 | !!! ERROR detected !!! | Message displayed if in previous phases, you receive error messages. To continue you are press F1 or FUNC keys. |
![]() | WARNING: The values shown in the diagram are examples and may change depending on the instrument in question. For the instrument without the display, during this phase you don't see the informations. |
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The SYSTEM FUNCTIONS status can be used to access the SYSTEM FUNCTIONS, which are special procedures that allow the user to perform various operations. For more details see the System Functions chapter.
Led status | ![]() ![]() |
Status cause | No application in memory. |
The condition that can put the CPU in this status | RESET command. |
This condition can only pass onto a READY status by downloading the applicaiton, using the Qview6 development environment.
Led status | ![]() ![]() |
Status cause | Application valid and waiting for execution. |
Conditions that can put the CPU in this status | Application download. |
This condition can pass onto to the RUN or RESET statuses.
Led status | ![]() ![]() |
Status cause | Application in execution. |
Condition that can put the CPU in this status | RUN command. |
This condition can pass onto all other CPU statuses.
Led status | ![]() ![]() ![]() |
Status cause | Stop on application in execution. |
Condition that can put the CPU in this status | A breakpoint has been encountered in the application code interpretation. |
This condition can pass onto all other CPU statuses.
IMPORTANT: The use of these procedures could represent a risk (e.g. see deletion of application), therefore it is highly recommended that they are performed by qualified experts.
The system functions are spefici procedures that allow the user to perform various operations, e.g. the configuration/calibration of peripherals, data and application save/restore on/from removable mass memory, deletion of the application and management of the mass memories.
Controllers with display have some system functions that are only accessible by password and if access attempts are made the “Function is locked” message is given.
All the system functions are listed below.
If the “PWD” column shows 'Y', this means that the function requires a system password (default: “123”).
System Functions
NB: To exit system functions press the keep the F1 key or FUNC button for at least two seconds.
To access the System Functions, start up the controller with FUNC button pressed. FUNC
The QMOVE application, if present, it not executed and the led L1 lights up.
Use the FUNC button to scroll through the functions.
The selected function is indicated by the combination of L1-L2-L3-L4 leds lighted up.
The “System Functions” table gives the list of system functions and related led combinations.
Press the BOOT button for 2 seconds to execute the selected function.BOOT
The POW led starts flashing to indicate taht the selected function is being executed.POW
When the function ends the POW led stops flashing. POW
Press the FUNC button to restart the controller. FUNC
The number of flashes indicates the type of error as shown in the table System Function Error Messages.
When a system function ends with an error, the number of led flashes err indicates the type of error.
If there is a display, a message is given to describe the cause of the error.
Error/Number of ERR led flashes | Message |
---|---|
1 | Generic error |
2 | Open/Exist/Create file error |
3 | Read file error |
4 | Write file error |
5 | Out of Memory error |
6 | QMos Version error |
7 | Checksum Error |
8 | Symbols checksum No Match |
9 | Configuration / Symbols error |
10 | File format error |
11 | Format error |
12 | Device not present or unformatted |
13 | Application not present error |
14 | Touch calibration failure |
15 | File compression type not support |
16 | Target don't match project ! |
17 | Fw version don't match project ! |
18 | File copy error |
19 | File size error |
20 | Crypt operation error |
21 | Invalid Product Serial Number |
22 | Function is locked |
23 | Function not enabled |
The system runs an integrity control of retentive variables by the applicaiton of a CRC to the nonvolatile data memory. This detects any corruption and prevents the application from starting up, signalling the situation by flashing the led err as shown in Err led signals.
For the application to function again, a new download of the application must be performed with the development environment, or the “Reset Error Checksum” system function. These operations delete the error status and zero-setsall retentive variables.
The procedure:
“Clear power down data…”
fino al termine della procedura.“Clear power down data…”
until the end of the procedure.This procedure copies all files in the root and “DS” directory of the external MMC/SD or USB card to the NAND internal mass storage.
The following table gives the sequence of operations and any possible errors:
Message | Description | Possible errors |
---|---|---|
Check DEVICE presence | Checking for the presence of the external mass storage card On DEVICE appears MMC or USB, depending on what is selected | Device not present or unformatted |
Mounting device… | Mounting the external mass storage card | Device not present or unformatted |
Searching files… | Searching for compatible files | No Files Found |
Copy <filename>…. | Making a copy of the files indicating the name currently in copy |
This procedure copies all files contained in the root and “DS” directory of the NAND internal mass storage to the external MMC/SD or USB card memory.
The following table gives the sequence of operations and any possible errors:
Message | Description | Possible errors |
---|---|---|
Check DEVICE presence | Checking for the presence of the external mass storage card On DEVICE appears MMC or USB, depending on what is selected | Device not present or unformatted |
Mounting device… | Mounting external mass storage device | Device not present or unformatted |
Searching files… | Searching for compatible files | No Files Found |
Copy <filename>…. | Copying the files indicating the name of the one currently in copy |
This deletes the application and empties the nonvolatible data memory, deleting the QCL program and, if present, deleting the HMI program.
The following table gives the sequence of operations performed and any possible errors:
Message | Description | Possible errors |
---|---|---|
Reset retentive data | Empty nonvolatible data memory | Write file error |
Delete QCL application | Deletion of the QCL program | Write file error |
Delete HMI application | Delection of the HMI program (if display installed) | Write file error |
This loads an application from the external MMC/SD or USB mass memory card to the non volatile memory.
This allows to load all or one of the QCL program, HMI program and retentive data.
The external MMC/SD or USB mass memory card must contain at least one of the following files:
Message | Description | Possible errors |
---|---|---|
Check DEVICE presence | Checking for the presence of the external mass storage card On DEVICE appears MMC or USB, depending on what is selected | Device not present or unformatted |
Mounting device… | Mounting external mass storage card | Device not present or unformatted |
If the applic.bin is present:
Message | Description | Possible errors |
---|---|---|
Upload QCL application | Uploading the QCL program | Open/Exist/Create file error |
If the applic.bin file is not present, an application must already be loaded in the nonvolatile memory otherwise the “Application not present” message is given.
If the applic.dat file is present:
Message | Description | Possible errors |
---|---|---|
Upload retentive data | Uploading retentive data to the nonvolatile data memory | Open/Exist/Create file error |
The procedure performs the following steps:
“Check DEVICE presence”
message is given.“Upload QCL application”
message is given.“Upload retentive data”
message is given.“Upload HMI application”
message is given.
This procedure sets the system clock/calendar.
Press ENTER or the BOOT button to enter a new setting in the boxes. Each time a setting is confirmed the next box is accessed for modification. At the last box the new settings are saved.
This function creates a file on external mass storage (MMD/SD or USB) containing the retentive data values.
The file created is named “applic.dat” and is the same as the file obtained by the “Save Data…” procedure in the QView development environment.
The function can only be performed if there is a valid QCL application in the controller.
The procedure performs the following steps:
“Check DEVICE presence”
message is given.“Mounting device…”
message is given.“Checking application presence…”
message is given.“Checking retentive data…”
message is given.“Open destination file…”
message is given.“Write headers to destination file”
message is given.“Write data to destination file”
.
This modifies the password to access the system functions. The password is a number of max 3 digits. The default password is: 123 The procedura first asks for the current password (Actual Pwd) and, if correct, then allows a new password to be entered (New Pwd).
When the new password has been entered the “saving data…”
message is given to indicate that the new data is being saved.
NB: if 0 (zero) is entered as a new password, the password request is disabled.
Delete all files contained on the internal NAND flash mass storage.
Unlike the “Format NAND Flash” function, this acts at a filesystem level aqnd can therefore be performed as many times as necessary.
The procedure performs the following steps:
“Searching files…”
message is given.“No Files Found”
message is given and the function ends, otherwise the “Delete <filename>”
is given indicating the delection of every file found.
This views the name and size of all files found in the internal NAND flash mass storage.
The procedure performs the following steps:
“Searching files…”
message is given.“No Files Found”
message is given and the procedure ends.“<filename> - <size>B”
of each file found is shown.“Press BOOT or ENT to show next filename”
message is given
This views and modifies the communication parameters of the ETHERNET port.
When the function is accessed all data saved on the controller is shown.
![]() | To change a parameter press ENTER and introduce the new setting. Press ENTER to go to and change the next box. When the last box is confirmed, the data is saved and the “saving data…” message is given |
The backup procedure creates a copy of the QCL and HMI applications in execution and a dump of the retentive data, as files saved in the NAND mass storage. The files created have the following names:
The procedure performs the following steps:
“Checking application presence…”
message is given.“Write QCL application”
message is given with the percentage progress of the operation.“Checking retentive data…”
message is given.“Write QCL data”
message is given with the percentage progress of the operation.“Write QTP application”
message is given with the percentage progress of the operation.“QTP application error”
message is given.“HMI application not present”
message is given.The restore procedure allows to recover from the NAND mass storage, the saved backup files of the QCL and HMI applications and an dump of the retentive data.
The procedure :
The use of system functions Backup to NAND and Restore from NAND allows to save in backup and restore a QMOVE application.
The backup and restore operations use the NAND internal memory device. The backup procedure creates a file copy of the QCL program, the HMI program (if the controller has a Qem display) and an image of the ritentive data.
The files created:
The files are encrypted and only the controller that generated them can run the Restore procedure so as to safeguard unauthorised data copies. The backup file copied to external memory such as MMC/SD or USB card can be carried out with the system function Copy all NAND files -> DEVICE. A directory named “QBK” is created in the MMC/SD or USB that contains the above files. In the same way backup files can be transferred to the controller using the system function Copy all files DEVICE -> NAND. In this case, the files in the MMC/SD or USB must always be contained in the directory “QBK”.
Backup/restore is an important function that can be used in the following cases:
This chapter outlines all product information that is necessary for programming, in other words during the development of a QCL application.
The product programming requires the Qview-5 environments to program the QCL code and if the product has a graphic display, also the Q paint-5 environment to design the screen graphics. Noth these softwares are available in the Qworkbench software package that can be downloaded as freeware from the Qem website.
The contoller has 3 slots, as indicated in chapter Back terminal blocks. The slots 4 to 12 can be declared and must be used to address recources installed in the Canopen modules.
A typical BUS declaration to use in the BUS section of the configuration unit:
BUS 1 1P51F 10 2 . . 3 1MG8F . 4 C401A .
The firmware version must naturally correspond and the specialist card name at slot 3 must be correct. This name can be obtained from the far raight column of the table: Hardware Versions.
To program with the QPaint-5 development environment it is important to select the correct target. To do so, in the environment select Project ? Target Configuration then select the right controller according to the ordering code.
This paragraph looks at how to measure an estimate of use of the product's memories. The nonvolatile memory is available to memorise the QCL program and has a capacity of 512KB.
The memory space occupied is equal to the size of the .BIN file generated by Qview. The percentage memory occupied can be viewed in the CPU panel of Qview under “Used CODE memory”, or this information can be obtained from the value of parameter “sizeapp” of the QMOS device.
The nonvolatile memory available to memorise the HMI program has a capacity of 5.5MB.
The memory space occupied is equal to the size of the .BIN file generated by Qpaint, whose value (in bytes) is viewed in parameter “memqtp” of the MMIQ2 device.
The nonvolatile data memory used to memorise retentive variables, has a capacity of 819KB.
The percentage memory occupied can be viewed in the CPU panel of Qview, under “Used RETENTIVE”, or this information can be obtained from the value of parameter “sizeret” of the QMOS device.
The volatile data memory used to memorise non ritentive variables has a capacity that depends on various factors (e.g. the HMI and QCL program sizes, the HMI screen being viewed, etc)
The general memory of the free system, available as volatile data memory, is indicated by parameter “memfree” in the MMIQ2 device.
The PROG and USER serial ports implement the QEM proprietary communication protocol called BIN1.
The SERCOM and MODBUS devices can be used with all communication serial ports including PROG PORT. Use the following number settings during the device declaration to select the communication channel:
<QCL code>
0 PROG PORT 1 USER PORT 2 AUX1 PORT 3 AUX2 PORT
</code>
When the SERCOM and MODBUS devices use the PROG PORT or USER PORT, they address the channel only if the communication status of the device is open (st_opencom = 1). When the channel of the device is closed (st_opencom = 0) in the serial, the BIN1 protocol returns active. To force the BIN1 protocol on the PROG port (thereby preventing the SERCOM device from occupying the channel) active the SW1 dip 6.
When using the MODBUS RTU protocol with RS485 electric configuration, remember that take when the serial port is transmitting, the controller maintains the the channel (DE) active for a longer time than the “MODBUS RTU” specification. For Per questo bisogna consider a minimum time of 5 milliseconds after which it is possible to receive a new message. Anche il device SERCOM device quando, it ends a transmission, has the same time the channel is active (DE).
The Ethernet communication port uses the TCP/IP transport protocol, where the BIN1 protocol packages travel inside TCP/IP data packages. Two connections are active, identified by two communication ports freely set in the communication parameters of the Ethernet port.
In detail:
The port set in “Port nr.1:” represents a communication channel equivalent to PROG PORT.
The port set in “Port nr.2:” represents a channel equivalente to USER PORT.
The ports 3 e 4 are not used.
A detailed list of limitations in the QCL language:
Description | Notes |
---|---|
FSTEP,FPROG | This instruction cannot be used. So there is not a direct compatibility with applications written for level A CPU's. Conversion of the application is very simple. |
Details of other limitations:
Description | Notes |
---|---|
Watchpoint | Not available |
When downloading the Qmove application, the QView-6 development environment can give error messages that are not described in the development environment manual. These errors are special and the description string given by QView-6 is generated directly by the firmware.
The table below describes possible error messages generated by the firmware.
Possible error message | Description |
---|---|
Error: SYSTEM + ARRSYS + DATAGROUP + INTDEVICE size overflow by 234bytes. | Given when the retentive variables exceed the maximum limit. |
Error: serial port not avaliable in SERCOM or MODBUS device declaration. | Given when the wrong number is used during the device declaration to select the communication channel. |
Error: CANOPEN device required if you use more than 3 slots. | In the BUS definition more than 3 slots are being used and so the application requests the use of Canopen modules. To manage this, a CANOPEN device must be declared. |
Error: incorrect bus fault mode in CANOPEN declaration. | The CANOPEN device declaration indicates a fault mode (last value in the declaration) that is not supported. |
Error: incorrect canbus speed in CANOPEN declaration. | The CANOPEN device declaration indicates an invalid speed. |
Error: too much CANOPEN device declaration. | Only one CANOPEN device can be declared. |
Error: absol. encoder resource num in ABSCNT device declar. is not avail. | The ABSCNT device declaration indicates an inexistent resource. |
Error: COUNT in ABSCNT device declaration is not a simulated counter. | The counter address used in the ABSCNT device declaration cannot be a simulated type (e.g. 1.CNT01). |
QMos version error. Unsupported instructions set. | One or more statements in the project QCL are not supported by the firmware. |
Error: compression file type not support. | The compression of the compiled QCL program is not supported by the firmware. |
Error: too mutch slots in bus declarations. | They were declared under BUS more slots than those allowed by the hardware. |
The development environment provides a series of ready-made variables that can be used by putting the word “QMOVE.” before the name. For example “QMOVE.is_suspend”, “QMOVE.sys001”, etc. This paragraph is designed to illustrate the 16 system variables called sys001-sys016, whose meaning depends on the firmware that is being used.
This is a read only variable that indicates the status of the FUNC (bit 0) and BOOT (bit 1) buttons. The following settings are possible:
0 = no button pressed.
1 = FUNC button pressed.
2 = BOOT button pressed.
3 = FUNC and BOOT buttons pressed.
This variabile allows to read a dump of the SW1 dip-switches. The dump is acquired only after the controller is powered. The Bit 0 corresponds to dip 1 and so on.
NOTE: Some dips are not connected to the microprocessor and is therefore always read at logic level 0.
This variable allows the command of led's L1-L2-L3-L4. The bit 0 corresponds to L1, the bit1 to L2 and so on.
This variable allows toxet the anti-glitch filter on the phase signals in the two-way counters. The setting is expressed in KHz and refers to the signal frequency of one phase. The setting range is 30-220. The default setting is 220KHz. The variable can also be reread. The filter can be modified at any time.
Not used.
The term device identifies a category of software devices designed to perform more or less complex support and control actions, to solve problems tied to the automation of systems. There are two types of device: internal and external. Internal devices have their codes residing and performed by the firmware of the actual product. External devices have the code residing and executed in the “intelligent” specialist cards that have their own calculation capability. The controller can only manage internal type devices . The list of devices implemented in the firmware depends on the firmware version. This paragraph is designed to illustrate the list and characteristics of the devices available.
Firmware version 10 implements the following devices:
Device name | Sampling time minimum (msec) | Sampling time maximum (msec) | Execution time (%) |
---|---|---|---|
CANOPEN | 1 | 250 | 100 |
CALENDAR | - | - | 0 |
DATASTORE | 1 | 20 | 90,5 |
FREQ | 1 | 250 | 4,75 |
DAC | - | - | 0 |
ANINP | 1 | 250 | 14,25 |
COUNTER3 | 1 | 250 | 5,94 |
SERCOM | 1 | 250 | 9,26 |
MODBUS | 1 | 250 | 32,07 |
MMIQ2 | 1 | 10 | 90,5 |
RECDATA | 1 | 250 | 5,34 |
QMOS | - | - | 0 |
Firmware version 20 implements the following extra devices:
Device name | Sampling time minimum (msec) | Sampling time maximum (msec) | Execution time (%) |
---|---|---|---|
EANPOS | 1 | 250 | 55,94 |
OOPOS3 | 1 | 250 | 27,91 |
HEAD2 | 1 | 125 | 23,75 |
Firmware version 30 also implements the following devices:
Device name | Sampling time minimum (msec) | Sampling time maximum (msec) | Execution time (%) |
---|---|---|---|
CAMMING3 | 1 | 250 | 55,94 |
JOINT1) | 1 | 250 | 95,01 |
If the device declaration CANOPEN indicates the zero speed, then it can be set by SW1 dip's 5 and 7. The first slot to address resources that reside in Canopen modules is 4.
The files processed by the device DATASTORE are all contained in the /DS directoty. If this directory does not exist, it is created automatically. The device DATASTORE can operate both with the MMC/SD card and with the internal NAND memory (not removable). To define which mass memory to operate the priority paramenter is used (0=MMC/SD, 1=NAND). If the application has to access the two supported devices frequently and the physical removal of the MMC/SD card is not required, a special setup can be used for the priority parameter that avoids having to continuously run the memory MOUNT UMOUNT. In pratice, when wanting to change memory, before running the UMOUNT command, set “priority = -1”. This avoids the UMOUNT phase is avoided in the device, making the next MOUNT command to the memory very fast.
An example of QCL code to change device:
SUB SETMMC WAIT NOT Mmc:st_busy IF Mmc:st_mount Mmc:priority = -1 UMOUNT Mmc WAIT NOT Mmc:st_mount CALL CHECK_ERR_WRN ENDIF Mmc:priority = 0 MOUNT Mmc WAIT Mmc:st_mount ENDSUB SUB SETNAND WAIT NOT Mmc:st_busy IF Mmc:st_mount Mmc:priority = -1 UMOUNT Mmc WAIT NOT Mmc:st_mount CALL CHECK_ERR_WRN ENDIF Mmc:priority = 1 MOUNT Mmc WAIT Mmc:st_mount CALL CHECK_ERR_WRN ENDSUB
There is a particular setting of the parameters that allows to check the existence of a file in the device. Use the “filenum” parameter set to -1 and with the OPENFILE command the device, instead of opening the file, it searches for the first file in the “/DS/” directory of the selected memory. When it is found, the file name is set by the device in the parameter “filenum” (and its type in the parameter “filetype”). Setting -1 in “filenum” again and running the OPENFILE command, the next file name is found and so on. Every time an OPENFILE operation is run with filenum different to -1, the search loog is closed. When the search has ended and there are no more files present, then the device will set as answer to the command OPENFILE “filenum = -2”. The execution of the command is signalled by the flag st_busy = 0. If the file extension is not HEX or CSV, the file is ignored by the search. If the file name is not compatible with those managed by DATASTORE (numbers 0 to 9999999) then “filenum” will remain set to -1 and a warning is given.
The device can memorise up to 10000 step.
The parameter “frwuvalue01” contains the number value of the product serial number.
To define the input associated to the device FREQ use the number field provided in the device declaration. The availability of frequency inputs has to be checked with the hardware version of the product. To ricavare the relation between number and terminal pin, use the information contained in the “Address” column given in the terminal tables.
The parameters related to the sectors (CodeQm, CodeQs…) are not retentive. On startup they always take on the value 0.