UM-TS03∗∗∗-E032 PROGRAMMABLE CONTROLLER PROSEC USER’S MANUAL TOSHIBA CORPORATION T3H
Important Information Misuse of this equipment can result in property damage or human injury. Because controlled system applications vary widely, you should satisfy yourself as to the acceptability of this equipment for your intended purpose. In no event will Toshiba Corporation be responsible or liable for either indirect or consequential damage or injury that may result from the use of this equipment.
Safety Precautions This manual is prepared for users of Toshiba’s Programmable Controller T3H. Read this manual thoroughly before using the T3H. Also, keep this manual and related manuals so that you can read them anytime while the T3H is in operation. General Information 1. The T3H has been designed and manufactured for use in an industrial environment. However, the T3H is not intended to be used for systems which may endanger human life.
Safety Precautions Safety Precautions Installation: ! CAUTION 1. Excess temperature, humidity, vibration, shocks, or dusty and corrosive gas environment can cause electrical shock, fire or malfunction. Install and use the T3H and in the environment described in the T3 User’s Manual - Hardware. 2. Improper installation directions or insufficient installation can cause fire or the units to drop. Install the T3H in accordance with the instructions described in the T3 User’s Manual - Hardware -. 3.
Safety Precautions Operation: ! WARNING 1. Configure emergency stop and safety interlocking circuits outside the T3H. Otherwise, malfunction of the T3H can cause injury or serious accidents. ! CAUTION 2. Operate the T3H and the related modules with closing the terminal covers. Keep hands away from terminals while power on, to avoid the risk of electrical shock. 3. When you attempt to perform force outputs, RUN/HALT controls, etc. during operation, carefully check for safety. 4.
Safety Precautions Maintenance: ! CAUTION 1. Do not charge, disassemble, dispose in a fire nor short-circuit the batteries. It can cause explosion or fire. Observe local regulations for disposal of them. 2. Turn off power before removing or replacing units, terminal blocks or wires. Failure to do so can cause electrical shock or damage to the T3H and related equipment. 3. Replace a blown fuse with a specified one. Failure to do so can cause fire or damage to the T3H. 4.
Safety Precautions Safety Label The safety label as shown on the right is attached to the power terminal of the T3H. Remove the mount paper before wiring. Peel off the label from the mount paper and stick it near the power terminals where it can be readily seen. Contact Toshiba if the label is damaged. ! CAUTION Do not touch terminals while power on. Hazardous voltage can shock, burn or cause death. Do not touch terminals while power on. Read related manual thoroughly for safety.
About This Manual About This Manual The T3H is a high speed and large capacity version of the T3. All the hardware components used for the T3 system, i.e. rack, power supply module, I/O modules, etc., are used with the T3H CPU. Regarding software function, the T3H has all the T3’s functions and has some expanded functions. This manual explains the expanded functions of the T3H and functional differences between the T3H and the T3.
Contents Contents Safety Precautions .................................................................................. 1 About This Manual ...................................................................................... 6 1. T3H Overview ................................................................................. 9 1.1 1.2 1.3 1.4 Introducing the T3H .......................................................................... Differences between T3H and T3 ..............................
8 PROSEC T3H
Section 1 T3H Overview 1.1 1.2 1.3 1.
1. T3H Overview 1.1 Introducing the T3H The T3H is a high performance large scale programmable controller. Program memory capacity: The T3H is available in two CPU types, PU325H and PU326H. Each type has the following user program memory capacity. PU325H: 32 k steps PU326H: 64 k steps I/O points: The T3H can handle up to 76 I/O modules in its local configuration. And the T3H has 512 words of external I/O register (data memory). If all the I/O modules are discrete I/Os, the T3H can control up to 4864 points.
1. T3H Overview 1.2 Differences between T3H and T3 The table below summarizes the differences between the T3H and T3. All other functions supported by the T3 can also be supported by the T3H as same. Item Program memory capacity T3H 32 k steps (PU325H) 64 k steps (PU326H) Built-in EEPROM Yes (PU325H and PU326H) Programming instructions All T3’s instructions plus FUN042 D∗/ FUN156 PID3 FUN232 FPID3 FUN239 SEND FUN240 RECV 0.09 / contact Execution speed (µs) 0.18 / coil 0.9 / addition Max.
1. T3H Overview 1.3 T3H components (1) CPU module Two types of T3H CPU modules are available.
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1. T3H Overview Battery cover: A battery has been installed inside this cover at the factory shipment. The battery keeps the RAM contents (user program and user data), and supports the clockcalendar operation during power off. The same battery as the T3’s is used. Programmer port: The programmer (T-PDS) is connected to the T3H through this port. The same connection cable as the T3’s is used. Computer link port: The T3H CPU module has the computer link function as standard.
1. T3H Overview (2) Expansion interface module The expansion interface modules for the T3, i.e. IF311, IF351, IF312, IF352 and IF353, are also used with the T3H. When the IF311 or IF312 is used with the T3H, up to three expansion units can be connected, as same as the T3. On the other hand, the IF321 is a dedicated expansion interface module for the T3H. When the IF321 is used instead of the IF311, up to 6 expansion units can be connected.
1. T3H Overview The figure below shows the T3H’s maximum expansion configuration.
1. T3H Overview (3) Power supply module The power supply module for the T3 is also used with the T3H. The following two types are available depending on power voltage. Type PS361 PS332 NOTE Rated voltage 100 - 120 Vac/200 - 240 Vac (selectable) 24 Vdc Frequency 50/60 Hz − For details, refer to the T3 User’s Manual. (4) Rack The rack (base board) for the T3 is also used with the T3H. The following four types are available.
1. T3H Overview (6) I/O module The following types of I/O modules are available.
1. T3H Overview (7) Data transmission module The following types of data transmission modules are available.
1. T3H Overview 1.
1. T3H Overview Instruction execution speed FUN No. 18 19 20 21 22 23 24 25 26 27 28 29 30 Name Symbol Execution time (µs) ┤├ NO contact 0.09 ┤/├ NC contact 0.09 ┤↑├ Transitional contact 0.36 (rising) ┤↓├ Transitional contact 0.36 (falling) Coil -( )┤ 0.18 ×-( )┤ Forced coil 0.09 ┤I├ Inverter 0.09 Invert coil -( I )┤ 0.18 ┤P├ Positive pulse 0.36 contact ┤N├ Negative pulse 0.36 contact Positive pulse coil -( P )┤ 0.36 Negative pulse coil -( N )┤ 0.36 Jump control set JCS 0.09 Jump control reset JCR 0.
1. T3H Overview Instruction execution speed (continued) FUN Name Symbol Execution No. time (µs) 59 Table Exclusive OR TEOR 23.31 +0.72n 60 Table Not exclusive TENR 23.31 OR +0.72n 64 Bit test TEST 3.76 65 Double-word bit test DTST 4.68 66 Bit file bit test TTST 8.98 68 1 bit shift right SHR1 4.12 69 1 bit shift left SHL1 4.68 70 n bit shift right SHR 4.77 +0.27n 71 n bit shift left SHL 5.33 +0.27n 72 m bit file n bit shift TSHR (Word) right 14.59 -0.08n +0.45m (Bit) 21.3 -0.02n +0.
1. T3H Overview Instruction execution speed (continued) FUN Name Symbol Execution No. time (µs) 104 Double-word equal D= 4.48 105 Double-word not D<> 4.48 equal 106 Double-word less D< 4.84 than 107 Double-word less D<= 4.48 than or equal 108 Unsigned greater U> 3.76 than 109 Unsigned greater U>= 3.76 than or equal 110 Unsigned equal U= 3.76 111 Unsigned not equal U<> 3.76 112 Unsigned less than U< 3.76 113 Unsigned less than U<= 3.76 or equal 114 Device/register set SET (Device) 3.6 (Register) 2.
1. T3H Overview Instruction execution speed (continued) FUN Name No.
1. T3H Overview Instruction execution speed (cont’d) FUN Name No. 226 Floating point tangent 227 Floating point arcsine 228 Floating point arccosine 229 Floating point arctangent 230 Floating point exponential 231 Floating point logarithm 232 Floating point essential PID 235 Direct I/O 236 Expanded data transfer 237 Special module data read 238 Special module data write 239 Network data send 240 Network data receive 241 SFC initialize Symbol Execution time (µs) FTAN 259.48 FASIN 213.98 FACOS 221.
1. T3H Overview NOTE When index modification, digit designation or direct I/O register (IW/OW) is used for an operand, the additional time is required per one operand as shown below. Additional time by operand modification (µs) Index modification Digit designation Direct I/O Basic unit Expansion unit Direct I/O with Basic unit digit designation Expansion unit 26 PROSEC T3H Single 5.4 6.0 4.3 8.8 14.6 23.6 Operand format Double Table 6.7 6.7 10.0 11+3.0(n+1) 7.2 3+3.5n 16.2 3+8.0n 22.3 14+6.26(n+1) 35.
Section 2 Expanded Functions 2.1 2.2 2.3 2.
2. Expanded Functions 2.1 System operation 2.1.1 Auto-RUN / Standby selection The initial operation mode (HALT or RUN) just after power on is determined by the user-setting status of the Auto-RUN / Standby selection. When the setting status is; Auto-RUN: The T3H’s initial operation mode is determined by the mode control switch (HALT / RUN / P-RUN). When this switch is in RUN or P-RUN, the T3H moves into RUN mode automatically.
2. Expanded Functions 2.1.3 Saving the sampling trace condition The sampling trace function is available on the T3H as well as the T3. In addition to all the sampling trace functions on the T3, the T3H can save the sampling trace condition into the IC memory card. By using this function, the sampling trace data which is collected and saved in the IC memory card on one T3H can be displayed using other T3H via the IC memory card. This function is used as follows.
2. Expanded Functions 2.2 Expanded registers The T3H has the same types of registers as the T3. However, the address ranges of some registers are expanded in the T3H. This section explains the expanded registers and the notes. NOTE 2.2.1 For details of functions of each register/device, refer to the T3 User’s Manual. External I/O register The T3H can handle up to 76 I/O modules. Accordingly, the T3H has 512 words of external I/O register.
2. Expanded Functions 2.2.3 Timer The T3H has 1000 points of timer. Function type Timer register Timer device Type code T T. Address range Quantity 000 - 999 000 - 999 1000 words 1000 points Expression example T670 T.670 The proportion of the 0.01 s base and the 0.1 s base timers within this 1000 points can be specified by user. This setting information is stored in the system information. 10 ms Timer Range Setting: T000 - T [ ] NOTE User setting (max.
2. Expanded Functions Regarding the network assignment, the W register is divided into 32 blocks. (64 words per one block) The S20 has 1024 words of scan memory. In case of the T3H, even if two S20’s are used, the scan memory of each S20 can be fully mapped to the W register. Channel 1 S20 is allocated to the blocks 1 to 16, and channel 2 S20 is allocated to the blocks 17 to 32. The allocation example below shows the case of all the blocks are set as “LINK”.
2. Expanded Functions When “GLOBAL” setting is used, the link registers of “GLOBAL” setting block are assigned to both CH1 and CH2 S20’s.
2. Expanded Functions 2.2.5 File register The T3H has 32768 words of file register in the CPU module. Function type Type code F File register Address range Quantity 0000 - 9999 (10000 - 32767) 32768 words Expression example F9000 For the address range F0000 to F9999, normal direct addressing is available as follows. ─[ D1000 MOV F9999 ]─ However, for the addresses F10000 and after, direct addressing is not possible. To use this address range with an instruction, the index modification must be used.
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2. Expanded Functions 2.3 Network support function 2.3.1 IC memory card data access through computer link The expanded file register data stored in the IC memory card can be read/written through RS-485 computer link. There are two types of data storage format for the IC memory card. They are 8 k words per bank and 64 k words per bank. (Refer to XFER instruction) Note that the computer link command for these formats are slightly different.
2. Expanded Functions Expanded file register data Write [MW] Request message format (Host → T3H): 1 2 3 ( A ADR 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 , Bank , N , Starting register M W 20 21 22 23 Data #1 Can be shortened n-5 n-4 n-3 n-2 n-1 , Data #N-1 , Data #N Can be shortened ADR: & Sum n ) CR Can be omitted Station address ... 01 to 32 Starting register: For 8 k words per bank ..... F0000 to F8191 For 64 k words per bank ...
2. Expanded Functions NOTE (1) The maximum message text length is limited to 255 bytes. (2) Shortening expression for starting register, bank, number and data (MW only) are available. E.g. F9 for F00009. When shortening expression is used, the maximum number of MW command can be increased more than 46 words. In this case, it is limited by the maximum message text length (255 bytes). (3) When an error has occurred, error response CE or EE is returned.
2. Expanded Functions 2.3.2 TOSLINE-S20LP (loop) support In addition to the standard bus connection type TOSLINE-S20 (here called S20), the optical loop connection type TOSLINE-S20LP (here called S20LP) can be used with the T3H. (SN325: T3H station module of S20LP) By using the S20LP, high speed control-data linkage is available as same as the S20. Furthermore, peer-to-peer communication between T3H’s becomes available via S20LP. • Up to two S20LP can be installed on a T3H.
2. Expanded Functions 2.3.3 Ethernet support The Ethernet module (EN311) is available for the T3H. By using the EN311, the T3H can be connected to Ethernet network. Using the Ethernet module, the T3H supports the following communication functions. • Computer link function: Host computer on the Ethernet can perform data read/write, T3H status read, program up-load/down-load, etc. for the T3H, by using the T-series computer link command.
2. Expanded Functions 2.4 Instructions This section explains the specifications of the following instructions. Double-word multiplication and division (FUN042 D∗ ∗/) Combination instruction of multiplication and division for double-word data. This instruction is not available on the T3. Essential PID (FUN156 PID3) PID (Proportional, Integral, Derivative) control instruction which has the following features.
2. Expanded Functions ∗/ ) 2.4.1 Double-word multiplication and division (D∗ FUN 042 D∗/ Double-word multiplication and division Expression Input ─[ A+1⋅A D∗/ B+1⋅B → C+1⋅C ]─ Output Function When the input is ON, the data of A+1⋅A is multiplied by the data of B+1⋅B, and the product is divided by B+3⋅B+2, then the quotient is stored in C+1⋅C and the remainder in C+3⋅C+2. The data range is -2147483648 to 2147483647. If the result (quotient) is out of the data range, the following limit value is stored.
2. Expanded Functions If the data of D0351⋅D0350 is 23437688, D0262⋅D0261 is 1876509, and D0264⋅D0263 is 113487, the quotient (387542471) is stored in D0401⋅D0400 and the remainder (64815) is stored in D0403⋅D0402. D0351⋅D0350 23437688 × D0262⋅D0261 D0264⋅D0263 ÷ D0401⋅D0400 387542471 D0403⋅D0402 64815 113487 1876509 Note • Edge execution modifier is also available for this instruction.
2. Expanded Functions 2.4.2 Essential PID (PID3) FUN 156 PID3 Essential PID Expression Input ─[ A PID3 B → C ]─ Output Function Performs PID (Proportional, Integral, Derivative) control which is a fundamental method of feed-back control. (Pre-derivative real PID algorithm) This PID3 instruction has the following features.
2. Expanded Functions Control block diagram Integral control Integral ASV 1 TI⋅s Auto mode DSV ∆In MVn Proportional Differential SVn CSV + Gap en 1 ∆Pn + + KP ∆MVn MVS H/L DMV MVCn MV - - Derivative Cascade mode TD⋅s 1+η⋅TD⋅s PVn MMV ∆Dn DMMV Differential limit (η = 0.
2. Expanded Functions PID algorithm: ∆MVn = KP ⋅ ( ∆Pn + ∆In + ∆Dn) MVn = MVn − 1 ± ∆MVn Here, ∆Pn = en − en − 1 en = SVn − PVn ∆In = en ⋅ ∆t + Ir TI (If GP ≠ 0, Gap is applied) (If TI = 0, ∆In = 0) TD ⋅ (PVn − 1 − PVn) − ∆t ⋅ Dn − 1 + Dr ∆t + η ⋅ TD 1 n n n − = + ∆ D D D η = 0.1 (Fixed) ∆ Dn = Parameter details A A+1 A+2 A+3 A+4 A+5 Process input value PVC (0.00 to 100.00 %) Auto mode set value ASV (0.00 to 100.00 %) Cascade mode set value CSV (0.00 to 100.00 %) Manual mode MV MMV (-25.00 to 125.
2. Expanded Functions B+8 Initial status STS F C 8 4 0 Initial operation mode 00 : Manual mode 01 : Auto mode 10 : Cascade mode 11 : (Reserve) Direct / reverse selection 0 : Direct 1 : Reverse B+9 B+10 B+11 B+12 MV upper limit MH (-25.00 to 125.00 %) Data range: -2500 to 12500 MV lower limit ML (-25.00 to 125.00 %) Data range: -2500 to 12500 MV differential limit DMV (0.00 to 100.
2. Expanded Functions • Manual mode In this mode, the manipulation value MV can be directly controlled by the input value of MMV. MV differential limit for manual mode DMMV is effective. MH/ML and DMV are not effective. When mode is changed from manual to auto or cascade, the operation is started from the current MV. • Cascade mode This is a mode for PID cascade connection. PID is executed with CSV as set value. Different from the auto mode, set value differential limit is not effective.
2. Expanded Functions 2.4.3 Floating point essential PID (FPID3) FUN 232 FPID3 Floating point essential PID Expression Input ─[ A+1⋅A FPID3 B+1⋅ B → C+1⋅ C ]─ Output Function Performs PID (Proportional, Integral, Derivative) control which is a fundamental method of feed-back control. (Pre-derivative real PID algorithm) The operation of this FPID3 instruction is the same as the PID3 (FUN156) instruction except for dealing data as floating point data.
2. Expanded Functions Control block diagram Integral control Integral ASV 1 TI⋅s Auto mode DSV ∆In MVn Proportional Differential SVn + CSV Gap en 1 ∆Pn + + KP ∆MVn MVS H/L DMV MVCn MV - - Derivative Cascade mode TD⋅s 1+η⋅TD⋅s PVn MMV ∆Dn DMMV Differential limit (η = 0.
2. Expanded Functions PID algorithm: ∆MVn = KP ⋅ ( ∆Pn + ∆In + ∆Dn) MVn = MVn − 1 ± ∆MVn Here, ∆Pn = en − en − 1 (If GP ≠ 0, Gap is applied) en = SVn − PVn ∆In = en ⋅ ∆t + Ir TI (If TI = 0, ∆In = 0) TD ⋅ (PVn − 1 − PVn) − ∆t ⋅ Dn − 1 + Dr ∆t + η ⋅ TD 1 n n n − = + ∆ D D D η = 0.
2. Expanded Functions B+17⋅B+16 Initial status STS B+17 F B+16 0 F C 8 4 0 Initial operation mode 00 : Manual mode 01 : Auto mode 10 : Cascade mode 11 : (Reserve) Direct / reverse selection 0 : Direct 1 : Reverse B+19⋅B+18 B+21⋅B+20 B+23⋅B+22 B+25⋅B+24 MV upper limit MH (-25 to 125 %) Data range: -25.0 to 125.0 MV lower limit ML (-25 to 125 %) Data range: -25.0 to 125.0 MV differential limit DMV (0 to 100 %/∆t) Data range: 0.0 to 100.0 Control interval setting n (1 to 32767 times) Data range: 1.
2. Expanded Functions • Manual mode In this mode, the manipulation value MV can be directly controlled by the input value of MMV. MV differential limit for manual mode DMMV is effective. MH/ML and DMV are not effective. When mode is changed from manual to auto or cascade, the operation is started from the current MV. • Cascade mode This is a mode for PID cascade connection. PID is executed with CSV as set value. Different from the auto mode, set value differential limit is not effective.
2. Expanded Functions 2.4.4 Expanded data transfer (XFER) FUN 236 XFER Expanded data transfer Expression Input ─[ A XFER B → C ]─ Output Function When the input is ON, data block transfer is performed between the source which is indirectly designated by A and A+1 and the destination which is indirectly designated by C and C+1. The transfer size (number of words) is designated by B. The transfer size is 1 to 256 words.
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2. Expanded Functions CPU register ↔ S20/S20LP scan memory Example: Source designation RW000 H00 H01 RW001 00000 Transfer size RW002 00010 W0000 (CPU register) 10 words transfer Destination designation RW010 H01 H10 RW011 00000 Channel 1 S20/S20LP scan memory address 00000 When R0000 is ON, 10 words data starting with W0000 is transferred to scan memory address 00000 and after of channel 1 S20/S20LP.
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2. Expanded Functions Note • Edge execution modifier is also available for this instruction. • The XFER instruction is not executed as error in the following cases. (ERF = S0051 is set to ON) Transfer Between CPU registers CPU register to expanded F register CPU register to S20/S20LP 1) 2) 1) 2) 3) 4) 5) 1) 2) 3) 4) 5) 6) 7) CPU register to EEPROM Others 8) 1) 2) 3) 4) 5) 1) 2) 3) Error cause When the transfer size is 0 or more than 256.
2. Expanded Functions 2.4.5 Network data send (SEND) FUN 239 SEND Network data send Expression Input ─[ A SEND B ]─ Output Function This instruction sends the designated range of register data to another T3H through the network. (Network: TOSLINE-S20LP or Ethernet) The transfer source register (self-station) is designated by A+3 and A+4. The transfer destination register (target-station) is designated by A+5 and A+6. The transfer size (number of words) is designated by A+2.
2. Expanded Functions F E B Abn Busy B+1 D C B 8 7 0 Status 0 TermSTS Transmission error information (if TermSTS is H0B) Inside the parameter: Transfer parameter MID (network type) CH (channel of self-station) Target station No. Request command Transfer size (number of words) Register type Leading address Response time limit Target-station IP address Target-station UDP port No. S20LP 2 1 or 2 (max. two S20LP’s on T3H) 1 to 64 0 (fixed) Ethernet 3 1 to 4 (max.
2. Expanded Functions Inside the parameter (cont’d): Status S20LP Ethernet 0: Normal complete 1: Error complete 0: Initial state 1: Transmission port busy 0: Initial state 1: While send requesting 2: While waiting response 3: Complete H00: Normal complete H01: Register designation error H02: Response time-out H03: Parameter error H04: Register write protect H05: (Reserve) H06: Module error (send time-out) H07: No send channel H08: Invalid station No.
2. Expanded Functions TOSLINE-S20LP Station No. 3 T3H (self-station) T3H (target-station) RW100 RW101 D1000 D1001 RW227 D1127 When R0020 is ON, 128 words data starting with RW100 is transferred to D1000 and after of the T3H on which station No. 3 S20LP is installed. When the operation is completed, the status is set in RW050 and instruction output comes ON. Note • Keep the input ON until the output comes ON. • This instruction becomes error complete in the following cases.
2. Expanded Functions 2.4.6 Network data receive (RECV) FUN 240 RECV Network data receive Expression Input ─[ A RECV B ]─ Output Function This instruction reads the designated range of register data from another T3H through the network. (Network: TOSLINE-S20LP or Ethernet) The transfer source register (target-station) is designated by A+5 and A+6. The transfer destination register (self-station) is designated by A+3 and A+4. The transfer size (number of words) is designated by A+2.
2. Expanded Functions F E B Abn Busy B+1 D C B 8 7 0 Status 0 TermSTS Transmission error information (if TermSTS is H0B) Inside the parameter: Transfer parameter MID (network type) CH (channel of self-station) Target station No. Request command Transfer size (number of words) Register type Leading address Response time limit Target-station IP address Target-station UDP port No. S20LP 2 1 or 2 (max. two S20LP’s on T3H) 1 to 64 0 (fixed) Ethernet 3 1 to 4 (max.
2. Expanded Functions Inside the parameter (cont’d): Status S20LP Ethernet 0: Normal complete 1: Error complete 0: Initial state 1: Transmission port busy 0: Initial state 1: While send requesting 2: While waiting response 3: Complete H00: Normal complete H01: Register designation error H02: Response time-out H03: Parameter error H04: Register write protect H05: (Reserve) H06: Module error (send time-out) H07: No send channel H08: Invalid station No.
2. Expanded Functions Ethernet IP address = 133.113.98.10 T3H (self-station) T3H (target-station) F5000 F5001 D4000 D4001 F5199 D4199 When R0030 is ON, 200 words data starting with D4000 of the T3H on which EN311 (IP address = 133.113.98.10) is installed, is read and stored in F5000 and after. When the operation is completed, the status is set in RW060 and instruction output comes ON. Note • Keep the input ON until the output comes ON.
70 PROSEC T3H
TOSHIBA CORPORATION Industrial Equipment Department 1-1, Shibaura 1-chome, Minato-ku Tokyo 105-8001, JAPAN Tel: 03-3457-4900 Fax: 03-5444-9268
