IS200STCIH2A机器人模块卡件
GMR应用程序的在线应用程序存储可以通过标准串行端口（无需重新连接电缆）从PC完成，并连接到GMR编程器套件中提供的多点电缆上的所有CPU。GMR软件附带的下载实用程序文件允许多个CPU方便地存储程序。该实用程序由提示驱动。单次按键输入可使实用程序在下载步骤中移动。由于在线更改被视为潜在危险，GE Fanuc TMR系统提供了一种替代下载方法。使用这种替代方法，单个CPU可以单独接收新程序。如果存在任何差异，将通过CPU故障表报告。如果观察到任何不期望的响应，可以修改程序，而不会对控制系统操作产生任何不利影响。注意：一旦实施了关键系统，TÜV要求在最终调试期间禁用在线编程[TW1]。这是使用GMR配置软件实用程序完成的。在将配置和程序逻辑存储到CPU之后，初始化时检查系统硬件。配置数据与实际硬件系统进行检查，以确保其匹配。通过Logicmaster 90故障表报告GMR配置不匹配，并提供故障位置和描述。GMR配置实用程序允许将源代码保存在单独的文件中，以便将来对系统进行审查、更新和修订。GMR配置的硬拷贝打印输出是配置、寻址分配和整个系统内存映射的宝贵参考。离线程序下载一旦调试，TÜV批准的系统通常会离线接收新的程序更改。在STOP模式下，通过编程器的单一连接下载所有CPU，无需重新连接电缆。当CPU处于RUN模式时，将比较校验和，以确保所有CPU中都存在相同的程序。编程器可位于CPU机架的本地。对于某些应用，远程编程和/或监控可以通过网络、电话调制解调器或其他方式完成。附加参考材料以下参考手册以印刷形式和CD-ROM形式提供：n Genius模块冗余（GMR）用户手册（GFK-1277）。本文件的当前版本将取代其他手册中的信息。）n Genius系统和通信手册（GEK-90486-1）n Genius离散和模拟块用户手册（GEK 90486-2）n Series 90-70 PLC安装和操作手册（GFK-0262）。n Logicmaster 90-70用户手册（GFK-0263）。n Series 90-70 Genius总线控制器用户手册（GFK-0398）。C P U C P U P U RS-232/422转换器多点电缆PLC A多点电缆的目录号为IC690CBL714（1根电缆）。3个CPU需要两根电缆。PLC B PLC C编程器和GMR PLC之间的多点编程器连接46623 5-10 Genius®模块冗余灵活三模块冗余（TMR）GFT-177A系统技术产品概述–1998年2月5程序功能GMR系统可以利用90-70系列PLC可用的大量线圈、触点和程序功能。这些包括标准线圈和触点、故障和报警触点、逻辑和关系功能、数学功能、位操作、计时器和计数器以及下表中列出的许多其他高级功能。所有Series 90-70指令均可用于GMR应用程序的非安全部分。
of the GMR Application Program Online application program storing may be done from a PC through a standard serial port (without any reconnection of cables), and to all CPUs connected on the multidrop cable provided in the GMR programmer’s kit. The download utility file included with the GMR software allows multiple CPUs to have programs stored conveniently. The utility is prompt-driven. Single keystroke entries move the utility through the downloading steps. Because online changes are considered potentially dangerous, the GE Fanuc TMR system provides an alternative method of downloading. Using this alternate method, a single CPU may receive the new program alone. If there are any discrepancies, they are reported via the CPU fault tables. If any undesired response is observed, the program may be modified without any averse effect on the control system operation. NOTICE: Once a critical system has been implemented, TÜV requires that online programming be disabled during the final commissioning [TW1]. This is done using the GMR configuration software utility. After storing the configuration and program logic to the CPU, the system hardware is checked upon initialization. The configuration data is checked with the actual hardware system to insure it matches. GMR configuration mismatches are reported through the Logicmaster 90 fault tables, with a location and description of the fault. The GMR configuration utility allows the source code to be saved in a separate file for future review, update and revision to the system. A hard copy printout of the GMR configuration is a valuable reference to configuration, addressing assignment and overall system memory map. Offline Program Downloading Once commissioned, a TÜV approved system normally receives new program changes offline. All CPUs are downloaded without cable reconnection through the single connection from the programmer while in STOP mode. When the CPUs are placed in RUN mode, the checksums are compared to assure that the same program exists in all CPUs. The programmer may be located local to the CPU racks. For some applications, remote programming and/or monitoring may be accomplished via a network, phone modem, or other means. . Additional Reference Material The following reference manuals are available in printed form and on CD-ROM: n Genius Modular Redundancy (GMR) User’s Manual (GFK-1277). The current revision of this document supersedes information in other manuals.) n Genius System and Communications Manual (GEK-90486-1) n Genius Discrete and Analog Blocks User’s Manual (GEK-90486-2) n Series 90-70 PLC Installation and Operation Manual (GFK-0262). n Logicmaster 90-70 User’s Manual (GFK-0263). n Series 90-70 Genius Bus Controller User’s Manual (GFK-0398). C P U C P U C P U RS-232/422 Converter Multidrop Cable PLC A Multidrop cable is catalog number IC690CBL714 (1 cable). Two cables are needed for 3 CPUs. PLC B PLC C Multidrop Programmer Connection Between Programmer and GMR PLCs 46623 5-10 Genius® Modular Redundancy Flexible Triple Modular Redundant (TMR) GFT-177A System Technical Product Overview – February 1998 5 Program Functions The GMR system can take advantage of the extensive set of coils, contacts, and program functions that are available for the Series 90-70 PLC. These include standard coils and contacts, fault and alarm contacts, logical and relational functions, math functions, bit operations, timers and counters, and many other advanced functions as listed in the following table. All Series 90-70 instructions can be used in the non– safety portion of the GMR application program.
