GOC35 and GOC43 are programmable controllers with integrated display, button and bi-colour LEDs. Just like any PLC – they come with range of IO points, among which some may (depending whether it’s GOC35 or 43) serve as analog or high-speed inputs. Although GOC43 is positioned as higher-performing unit, some functionalities are superior or available exclusively on smaller and cheaper GOC35 model. Therefore, it is important to choose GOC model applicable for given task.

Please note that GOC35 does not come with built-in communication port – connection with PC requires installing additional module (GC-ENET-COM).

USB port may be used only for the purpose of F/W update. It is not possible to establish connection between GOC Toolkit (CodeSys) and GOC panel that way.

Please note that neither GOC35, nor GOC43 have built-in high-speed outputs, whereas GOC43 doesn’t have it even as an option.

Main differences between GOC35 and GOC43

      Screen

      

      GOC35 (on the left) has 8 illuminated bi-color buttons + 10 function buttons, of which 5 are configurable.

      GOC43 (on the right) has 4 illuminated bi-color buttons + 4 function buttons, all of which are configurable.

      The buttons and diodes are available under dedicated registers in controllers’ memory, as well as there are dedicated variables linked with said memory addresses.

Built-in peripherals

High-speed I/O

Both panels do come with built-in high speed inputs (2 channels), utilized on standard digital input points. Those inputs support functions, such as counter (up to frequencies of 20kHz), AB-phase encoder input and ABZ-phase encoder input (up to 10kHz in both cases).

None of the panels come with built-in high speed (pulse train) output.

What differs those two though, is additional high-speed IO module, which may be attached to GOC35, but not to GOC43. This module provide additional 2 channels for analog inputs (with input signal frequency increased to 100kHz / 50kHz for counter / encoder operation) as well, as 2 channels for pulse train differential output rated at 5V and frequency of up to 100kHz. Both channels are equipped with pair of differential outputs for pulse train and a pair of outputs for direction control.

Please pay additional attention when wiring high-speed outputs, as there is no short-circuit protection, nor photocoupler isolation from internal circuit, therefore incorrect wiring may easily damage control circuit.

 Analog I/O

Both panels do support analog inputs and outputs via connectable modules, although built-in analog inputs are only present on GOC43 panel (2-channel, with resolution of 12 bits). There are no built-in analog outputs on either of these units.

Both panels have similar capabilities in terms of connectable analog modules (they share most of them), although only GOC43 has mixed analog input-output module.

Overview

Please pay attention to role expected from either panel in designed system, when working with specific communication protocols, as some of combinations are not supported. In GOC manual master term refers to client, and slave refers to server in Ethernet part.

GOC35 requires extension unit to utilize any form of communication. GOC43 has built-in Ethernet port, but Serial communication requires extension unit as well.

Serial communication

Currently, in terms of RS-485 and RS-232 communication, only Modbus RTU protocol is supported. When using Modbus RTU protocol, either of the panels may serve as Master, or as Slave in such communication. GOC43 working as Modbus RTU master can connect to up to 16 slave devices (RS-485; RS-232 is point-to-point communication). Although it is not mentioned in GOC35 specification, it is likely that the same applies to this unit due to the same Serial communication module.

Ethernet communication

In Ethernet communication, user can choose to use Modbus TCP communication, as well, as CC-Link IE Field Basic.

While using Modbus TCP, it is possible to maintain 8 simultaneous connections to slave / master devices (depending on the role of GOC in such communication). The total number of possible Modbus TCP connections depend on current usage of Ethernet port by other protocols though.

While using CC-Link IE Field Basic where GOC is Master device, it is possible to maintain connection to up to 4 stations. 

Unlike our standard PLCs, here established CC-Link IE Field Basic connections are also counted when determining the maximum number of connections.

It is not yet possible to utilize open protocol communication over Ethernet, although it is currently under development.

MQTT protocol is not yet available in Europe (GC-MODEM-40 module is not yet available for European market). Built-in Ethernet port MQTT support is under development though.

Engineering software

The software is free and does not require any license.

GOC system uses integrated PLC and HMI programming tool based on CoDeSys with add-ons, although the software version does differ between GOC35 and GOC43 as follows:

1. GOC35 – GOC Toolkit (CoDeSys V2.3)
   
2. GOC43 – GOC Toolkit V3 (CoDeSys V3.5)
   

URL: https://www.mitsubishielectric.com/fa/in_en/products/cnt/goc/index.html

The programming software does not support online program change. Offline simulation is only possible for GOC43.

Although the manual officially states that visualization simulation is not supported:

In fact it works quite fine.

GOC35 allows for connection of up to 2 I/O extension units, as well, as up to 2 communication extension units – please note, that there can be only one Ethernet unit installed at a time, and it’s compulsory to install it in slot COM1. Serial communication modules do not have such limitations.

GOC43 allows for connection of up to 2 I/O extension units, as well, as up to 1 Serial communication extension unit – there is no possibility of installing additional Ethernet communication unit.

As mentioned before, GOC35 and 43 share the same modules and extension units, although some of them are model-specific and cannot be used with the other one. For details, please refer to table below: