User’s Manual
LG Programmable Logic Controller
MASTER-K 120S series
LG Industrial Systems
- When using LGIS equipment, thoroughly read this datasheet and associated
manuals introduced in this datasheet. Also pay careful attention to safety and
handle the module properly.
- Keep this datasheet within easy reach for quick reference
Download from Www.Somanuals.com. All Manuals Search And Download.
SAFETY INSTRUCTIONS
Design Precautions
Warning
ꢀ Install a safety circuit external to the PLC that keeps the entire system
safe even when there are problems with the external power supply or
the PLC module. Otherwise, serious trouble could result from
erroneous output or erroneous operation.
- Outside the PLC, construct mechanical damage preventing interlock
circuits such as emergency stop, protective circuits, positioning upper
and lower limits switches and interlocking forward/reverse operation.
When the PLC detects the following problems, it will stop calculation and
turn off all output in the case of watchdog timer error, module interface
error, or other hardware errors.
However, one or more outputs could be turned on when there are
problems that the PLC CPU cannot detect, such as malfunction of output
device (relay, transistor, etc.) itself or I/O controller. Build a fail safe
circuit exterior to the PLC that will make sure the equipment operates
safely at such times. Also, build an external monitoring circuit that will
monitor any single outputs that could cause serious trouble.
ꢀ Make sure all external load connected to output does NOT exceed the
rating of output module.
Overcurrent exceeding the rating of output module could cause fire, damage
or erroneous operation.
ꢀ Build a circuit that turns on the external power supply when the PLC
main module power is turned on.
If the external power supply is turned on first, it could result in erroneous
output or erroneous operation.
Download from Www.Somanuals.com. All Manuals Search And Download.
SAFETY INSTRUCTIONS
Design Precautions
Caution
ꢀ Do not bunch the control wires or communication cables with the main
circuit or power wires, or install them close to each other. They should
be installed 100mm (3.94inch) or more from each other.
Not doing so could result in noise that would cause erroneous operation.
Installation Precautions
Caution
ꢀ Use the PLC in an environment that meets the general specification
contained in this manual or datasheet.
Using the PLC in an environment outside the range of the general
specifications could result in electric shock, fire, erroneous operation, and
damage to or deterioration of the product.
ꢀ Completely turn off the power supply before loading or unloading the
module.
Not doing so could result in electric shock or damage to the product.
ꢀ Make sure all modules are loaded correctly and securely.
Not doing so could cause a malfunction, failure or drop.
ꢀ Make sure I/O and extension connector are installed correctly.
Poor connection could cause an input or output failure.
ꢀ When install the PLC in environment of much vibration, be sure to
insulate the PLC from direct vibration.
Not doing so could cause electric shock, fire, and erroneous operation.
ꢀ Be sure to there are no foreign substances such as conductive debris
inside the module.
Conductive debris could cause fires, damage, or erroneous operation.
Download from Www.Somanuals.com. All Manuals Search And Download.
SAFETY INSTRUCTIONS
Wiring Precautions
Warning
ꢀ Completely turn off the external power supply when installing or
placing wiring.
Not doing so could cause electric shock or damage to the product.
ꢀ Make sure that all terminal covers are correctly attached.
Not attaching the terminal cover could result in electric shock.
Caution
ꢀ Be sure that wiring is done correctly be checking the product’s rated
voltage and the terminal layout.
Incorrect wiring could result in fire, damage, or erroneous operation.
ꢀ Tighten the terminal screws with the specified torque.
If the terminal screws are loose, it could result in short circuits, fire, or
erroneous operation.
ꢀ Be sure to ground the FG or LG terminal to the protective ground
conductor.
Not doing so could result in erroneous operation.
ꢀ Be sure there are no foreign substances such as sawdust or wiring
debris inside the module.
Such debris could cause fire, damage, or erroneous operation.
Download from Www.Somanuals.com. All Manuals Search And Download.
SAFETY INSTRUCTIONS
Startup and Maintenance Precautions
Warning
ꢀ Do not touch the terminals while power is on.
Doing so could cause electric shock or erroneous operation.
ꢀ Switch all phases of the external power supply off when cleaning the
module or retightening the terminal or module mounting screws.
Not doing so could result in electric shock or erroneous operation.
ꢀ Do not charge, disassemble, heat, place in fire, short circuit, or solder
the battery.
Mishandling of battery can cause overheating or cracks which could result in
injury and fires.
Caution
ꢀ Do not disassemble or modify the modules.
Doing so could cause trouble, erroneous operation, injury, or fire.
ꢀ Switch all phases of the external power supply off before mounting or
removing the module.
Not doing so could cause failure or malfunction of the module.
ꢀ Use a cellular phone or walky-talky more than 30cm (11.81 inch) away
from the PLC
Not doing so can cause a malfunction.
Disposal Precaution
Caution
ꢀ When disposing of this product, treat it as industrial waste.
Not doing so could cause poisonous pollution or explosion.
Download from Www.Somanuals.com. All Manuals Search And Download.
Revision History
Date
Code
Revision history
2002.7.
2003.5.
10310000380
10310000380
First edition is published
A revised edition is published
–
–
Main unit and expansion modules are added
Built-in function are upgraded
2003.9
10310000380
A revised edition is published.
-
-
Main units are added
Built-in functions are upgraded.
Download from Www.Somanuals.com. All Manuals Search And Download.
◎ Contents ◎
Chapter 1. General
1.1 Guide to Use This Manual ················· 1 - 1
1.2 Features ······················· 1 - 2
1.3 Terminology ······················ 1 - 3
Chapter 2. System Configuration
2.1 Overall Configuration ··················· 2 - 1
2.1.1 Basic System································································································ 2 - 1
2.1.2 Cnet I/F System····························································································· 2 - 2
2.2 Product Functional Model ················· 2 - 4
2.2.1 Product Functional Block················································································· 2 - 4
2.2.2 MASTER-K120S Series System Equipment Product ············································· 2 - 5
Chapter 3. General Specifications
3.1 General Specifications ·················· 3 - 1
Chapter 4. Names of Parts
4.1 Main Unit ······················· 4 - 1
4.1.1 60 Points Main Unit (Standard) ········································································· 4 - 2
4.1.2 40 Points Main Unit (Standard) ··········································································4 -3
4.1.3 30 Points Main Unit (Standard) ········································································· 4 - 4
4.1.4 20 Points Main Unit (Standard) ········································································· 4 - 5
4.1.5 30 Points Main Unit (Economic) ········································································ 4 - 6
4.1.6 20 Points Main Unit (Economic) ·········································································4 -7
4.1.7 14 Points Main Unit (Economic) ········································································ 4 - 7
4.1.8 10 Points Main Unit (Economic) ········································································ 4 - 7
4.2 Expansion I/O Module··················· 4 - 8
4.2.1 20 Point I/O Module························································································ 4 - 8
4.2.2 10 Point I/O Module························································································ 4 - 8
4.2.3 8 Point I/O Module ························································································· 4 - 9
4.3 Special Module ····················
4 - 10
4.3.1 A/D·D/A Combination Module········································································4 - 10
4.3.2 D/A Conversion Module··················································································4 - 11
4.3.3 A/D Conversion Module··················································································4 - 11
4.3.4 Analog Timer Module·····················································································4 - 12
4.3.5 RTD Input Module·························································································4 - 12
Download from Www.Somanuals.com. All Manuals Search And Download.
4.4 Communication I/F Module ················· 4 - 13
4.4.1 Cnet I/F Module····························································································4 - 13
4.4.2 Fnet I/F Module ····························································································4 - 13
4.4.3 Pnet I/F Module····························································································4 - 14
4.4.4 DeviceNet I/F Module ····················································································4 - 14
4.5 Option Module ····················· 4 - 14
Chapter 5. Power Supply / CPU
5.1 Power Supply Specifications ················ 5 - 1
5.1.1 Standard Type······························································································· 5 - 1
5.3.2 Economic Type······························································································ 5 - 1
5.2 CPU Specifications ···················· 5 - 2
5.2.1 Standard Type······························································································· 5 - 2
5.2.2 Economic Type······························································································ 5 - 4
5.3 Operation Processing ··················· 5 -6
5.3.1 Operation Processing Method··········································································· 5 - 6
5.3.2 Operation Processing at Momentary Power Failure Occurrence······························· 5 - 7
5.3.3 Scan Time···································································································· 5 - 8
5.3.4 Scan Watchdog Timer····················································································· 5 - 8
5.3.5 Timer Processing ························································································· 5 - 9
5.3.6 Counter Processing·······················································································5 - 12
5.4 Program························································································ 5 - 14
5.4.1Classifications of Program ·············································································5 - 14
5.4.2 Program Execution Procedure ·········································································5 - 14
5.4.3 Interrupt Programs ························································································5 - 15
5.4.4 Error Handling······························································································5 - 17
5.5 Operation Modes ···················· 5 - 19
5.5.1 RUN Mode ··································································································5 - 19
5.5.2 STOP Mode·································································································5 - 20
5.5.3 PAUSE Mode·······························································································5 - 20
5.5.4 DEBUG Mode(Standard Type Only)··································································5 - 20
5.5.5 Operation Mode Change ················································································5 - 21
5.6 Function························ 5 - 23
5.6.1 Self-diagnosis ······························································································5 - 23
5.6.2 I/O Force On/Off function ··············································································5 - 24
5.6.3 Direct I/O Operation function ···········································································5 - 27
5.6.4 System error history ······················································································5 - 27
5.7 Memory Configuration··················· 5 - 28
5.8 I/O Address Allocation ··················· 5 - 29
5.9 Built-in Cnet Selection switch ··························································· 5 - 30
5.9.1 Structure·····································································································5 - 30
Download from Www.Somanuals.com. All Manuals Search And Download.
5.9.2 Usage ········································································································5 - 30
5.10 External Memory Module ················· 5 - 32
5.10.1 Structure ···································································································5 - 32
5.10.2 Usage·······································································································5 - 32
5.11 RTC Module ······················ 5 - 34
5.11.1 Structure ···································································································5 - 34
5.11.2 Usage······································································································5 – 34
Chapter 6. Input and Output Modules
6.1 Input / Output Specifications ················ 6 - 1
6.2 Digital Input Specifications ················· 6 - 2
6.2.1 Main Unit ····································································································· 6 - 2
6.2.2 Expansion Module ························································································· 6 - 5
6.3 Digital Output Specification ················· 6 - 6
6.3.1 Main Unit (Relay Output) ················································································· 6 - 6
6.3.2 Main Unit (Tr Output :DRT/DT Type Only) ··························································· 6 - 9
6.3.3 Expansion Module ························································································6 - 11
Chapter 7. Usage of Various Functions
7.1 Built-in Functions ···················· 7 - 1
7.1.1 High Speed Counter Function··········································································· 7 - 1
7.1.2 Pulse Catch Function·····················································································7 - 14
7.1.3 Input Filter Function·······················································································7 - 16
7.1.4 External Interrupt Function··············································································7 - 17
7.1.5 PID Control Function(Standard Type Only) ·························································7 - 19
7.2 Special Module ····················· 7 - 39
7.2.1 A/D·D/A Combination Module········································································7 - 40
7.2.2 A/D Conversion Module··················································································7 - 49
7.2.3 D/A Conversion Module··················································································7 - 55
7.2.4 Analogue Timer ··························································································7 - 61
7.2.5 RTD input Module ·······················································································7 - 63
7.3 Positioning Function(DRT /DTtype only) ············ 7 - 69
7.3.1 Specification································································································7 - 69
7.3.2 Positioning Function ······················································································7 - 72
7.3.3 Positioning parameter and Operation Data ·························································7 - 85
7.3.4 Instructions ································································································7 - 91
7.3.5 Flag list and Error code ··············································································7 - 100
7.3.6 Wiring with servo and stepping motor driver······················································7 - 104
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 8. Communication Function
8.1 Dedicated Protocol Communication ·············· 8 - 1
8.1.1 Introduction ·································································································· 8 - 1
8.1.2 System configuration method ··········································································· 8 - 2
8.1.3 Frame Structure ···························································································· 8 - 5
8.1.4 Lists of Commands ························································································ 8 - 7
8.1.5 Data Type ···································································································· 8 - 8
8.1.6 Execution of Commands ················································································· 8 - 9
8.1.7 1:1, 1:n Built-in Communication between MASTER-K120S’s ································8 - 28
8.1.8 Error Codes·································································································8 - 38
8.2 User Defined Protocol Communication ············· 8 - 39
8.2.1 Introduction ·································································································8 - 39
8.2.2 Parameter Setting·························································································8 - 39
8.2.3 Instruction ·································································································8 - 47
8.2.4 Example of usage ·······················································································8 - 48
8.3 Modbus Protocol Communication··············· 8 - 57
8.3.1 Introduction ·································································································8 - 57
8.3.2 Basic Specifications ······················································································8 - 57
8.3.3 Parameter Setting·························································································8 - 60
8.3.4 Instruction and examples ··············································································8 - 62
8.4 No Protocol Communication ················ 8 - 67
8.4.1 Introduction ·································································································8 - 67
8.4.2 Parameter Setting·························································································8 - 68
8.4.3 Instructions··································································································8 - 69
8.4.4 Examples ··································································································8 - 71
8.5 Remote Connection and Communication I/F module ········ 8 - 73
8.5.1 Remote Connection·······················································································8 - 73
8.5.2 Communication I/F Module ·············································································8 - 76
Chapter 9. Installation and Wiring
9.1 Installation ······················· 9 - 1
9.1.1 Installation Environment ·················································································· 9 - 1
9.1.2 Handling Instructions ······················································································ 9 - 3
9.1.3 Connection of Expansion Module ······································································ 9 - 6
9.2 Wiring ························ 9 - 7
9.2.1 Power Supply Wiring ······················································································ 9 - 7
9.2.2 Input and Output Devices Wiring ······································································· 9 - 8
9.2.3 Grounding···································································································· 9 - 9
9.2.4 Cable Specifications for wiring·········································································· 9 - 9
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 10. Maintenance
10.1 Maintenance and Inspection ················ 10 - 1
10.2 Daily Inspection ···················· 10 - 1
10.3 Periodic Inspection ··················· 10 - 2
Chapter 11. Troubleshooting
11.1 Basic Procedure of Troubleshooting ············· 11 - 1
11.2 Troubleshooting ············································································ 11 - 1
11.2.1 Troubleshooting flowchart used when the power LED turns off ·····························11 - 2
11.2.2 Troubleshooting flowchart used when the error LED is flickering ····························11 - 3
11.2.3 Troubleshooting flowchart used when the RUN LED turns off································11 - 4
11.2.4 Troubleshooting flowchart used when the I/O devices doesn’t operate normally ········11 - 5
11.2.5 Troubleshooting flowchart used when a program can’t be written to the CPU············11 - 7
11.3 Troubleshooting Questionnaire ························································· 11 - 8
11.4 Troubleshooting Examples······························································· 11 - 9
11.4.1 Input circuit troubles and corrective actions ·······················································11 - 9
11.4.2 Output circuit troubles and corrective actions··················································· 11 - 10
11.5 Error code list ··············································································11 - 12
Appendix ··················································································································
Appendix 1 System Definitions·······························································App1-1
Appendix 2 Flag Lists···········································································App2-1
Appendix 3 Dimensions········································································App3-1
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 1 General
Chapter 1. General
1.1 Guide to Use This Manual
This manual includes specifications, functions and handling instructions for the MASTER-K120S series PLC.
This manual is divided up into chapters as follows:
No.
Title
Contents
Chapter 1
General
Describes configuration of this manual, unit's features and terminology.
Chapter 2
System configuration
Describes available units and system configurations in the MASTER-K120S series.
Chapter 3
Chapter 4
Chapter 5
Chapter 6
General Specification
Names of Parts
Power Supply / CPU
Input and Output
Usage of Various
Functions
Describes general specifications of units used in the MASTER-K120S series.
Describes each kind of manufacturing goods, titles, and main functions
Describes each kind of manufactured goods' usage
Chapter 7
Chapter 8
Chapter 9
Communication Function Describes built-in communication functions
Installation and Wiring
Maintenance
Describes installation, wiring and handling instructions for reliability of the PLC system
Describes the check items and method for long-term normal operation of the PLC
system.
Chapter 10
Chapter 11
Appendix 1
Appendix 2
Appendix 3
Troubleshooting
System Definitions
Flag List
Describes various operation errors and corrective actions.
Describes parameter setting for basic I/O and communications module
Describes the types and contents of various flags.
Dimensions
Shows dimensions of the main units and expansion modules
REMARK
-. This manual does not describes the programming method. For their own functions, refer to the related user's
manuals.
1-1
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 1 General
1.2. Features
1) MASTER-K120S series is extremely compact, to fit a wide range of applications and have following features.
(1) High speed processing
High speed processing of 0.1~0.9µs/step with an general purpose processor included .
(2) Various built-in functions
The main unit can perform many functions without using separate modules. Therefore, It is possible to construct various
systems just using the main unit.
• Fast Processing Applications
- Pulse catch: Allows the main unit to read a pulse which has width as small as 10 ㎲.
- High speed counter(Economic): Support high-speed counting up to 100(10)kHz for 1 phase, 50(5)kHz for 2 phase.
- External interrupts : Using in applications that have a high-priority event which requires immediate responses.
• The input filter function help reduce the possibility of false input conditions from external noise, such as signal
chattering. The filter time can be programmed from 0 to 1000ms.
• Using RS-232C and RS-485 built-in port, MASTER-K120S can connects with external devices, such as personal
computers or monitoring devices and communicate 1:N with MASTER-K120S system.
• Using built-in PID control function, PID control system can be constructed without using separate PID module.
• Using built-in Positioning function, position control system can be constructed without using separate position control
module.(only DRT/DT type has built-in positioning function)
(3) Battery-less
The user’s program can be saved permanently, because it is stored to EEPROM.
(4) When program is edited during processing, it is stored to EEPROM automatically
(5) Open network by use of communication protocols in compliance with international standard specifications.
(6) Various special modules that enlarge the range of application of the PLC
(7) It can easily do On/Off of the system, using RUN/STOP switch.
(8) It can easily save the user program in EEPROM by simple manipulation in KGLWIN without using external memory.
(9) Strong self-diagnostic functions
It can detect the cause of errors with more detailed error codes.
(10) It can prevent unintentional reading and writing, using password.
(11)Debugging function(Standard type)
On-line debugging is available when the PLC Operation mode is set to debug mode.
y executed by one command.
y executed by break-point settings.
y executed by the condition of the device
y executed by the specified scan time.
(12) Various program execution function
External and internal interrupt program as well as scan program can be executed by setting the execution condition.
Therefore, user can set variously program execution mode.
1-2
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 1 General
1.3 Terminology
The following table gives definition of terms used in this manual.
Terms
Definition
Remarks
Example)
CPU module
Power Supply module
I/O module
A standard element that has a specified function which configures the
system. Devices such as I/O board, which inserted onto the mother board
or base unit.
Module
A single module or group of modules that perform an independent
Operation as a part of PLC system.
Example)
Main unit
Unit
A system which consists of the PLC and peripheral devices. A user program
can control the system.
PLC system
A program and debugging tool for the MASTER-K series. It executes
program creation, edit, compile and debugging(A computer software).
KGLWIN
A hand-held loader used for program creation, edit, compile and debugging
for MASTER-K series.
KLD-150S
I/O Image Area Internal memory area of the CPU module which used to hold I/O statuses.
Supervisors the pre-set execution times of programs and warns if a
Watch Dog Timer
program is not completed within the pre-set time.
Abbreviation of the word ‘Factory Automation Monitoring S/W’. It is used to
call S/W packages for process supervision.
FAM
Fnet
Fieldbus network
Cnet
RTC
Computer network(RS-232C, RS-422/485)
Abbreviation of ‘Real Time Clock’. It is used to call general IC that
contains clock function.
1-3
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 1 General
Terms
Definition
Remarks
Current flows from the switch to the PLC input terminal if a input signal turns on.
Sink Input
Current flows from the PLC input terminal to the switch after a input signal turns
on.
Source
Input
Current flows from the load to the output terminal and the PLC output turn on.
Output
Contact
Sink Output
Current flows from the output terminal to the load and the PLC output turn on.
Source
Output
Output Contact
1-4
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 2 System Configuration
Chapter 2. System Configuration
The MASTER-K120S series has suitable to configuration of the basic, computer link and network systems.
This chapter describes the configuration and features of each system.
2.1 Overall Configuration
2.1.1 Basic system
expansion
Main unit
module
expansion
cable
Total I/O points
• 10-120 points
Standard
Economic
• 2 modules
Digital I/O module
• 3 modules
Maximum number
of expansion
modules
A/D-D/A module
Analog timer
• 3 modules
• 2 modules
• 2 modules
• 1 modules
• 3 modules
Cnet I/F module
Economic
• 1 module
• K7M-DR10/14/20/30UE
• K7M-DR//DRT/DT20/30/40/60U
Main unit
Standard
Digital I/O module
•
G7E-DR10A, G7E-DR20A, G7E-TR10A, G7E-DC08A, G7E-RY08A
Expansion Analog I/O module
• G7F-ADHA, G7F-ADHB, G7F-AD2A, G7F-DA2I, G7F-DA2V
module
Analog timer
• G7F-AT2A
Resistance Temperature Detactor • G7F-RD2A
Items
Cnet I/F modules
• G7L-CUEB, G7L-CUEC
Communic
ation I/F
module
DeviceNet I/F module
• G7L-DBEA
FieldBus I/F module
Profibus I/F Module
RTC
• G7L-FUEA
• G7L-PBEA
• G7E-RTCA
• G7M-M256B
Option
module
Memory
2-1
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 2 System Configuration
2.1.2 Cnet I/F system
Cnet I/F System is used for communication between the main unit and external devices using RS-232C/RS-422 Interface.
The MK120S has a built-in RS-232C port, RS-485 port and has also G7L-CUEB for RS-232C, G7L-CUEC for RS-422. It is
possible to construct communication systems on demand.
1) 1:1 Communications system
(1) 1:1 ratio of an external device (computer) to main unit using a built-in port
MASTER-K120S
Monitoring Device
RS-232C
RS-485
(2) 1:1 ratio of an external device (monitoring unit) to main unit using a built-in RS-485 port
RS-485
MASTER-K120S
MASTER-K120S
Monitoring Device
RS-232C
2-2
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 2 System Configuration
(3) RS-232C Communication over a long distance via modem by Cnet I/F modules
MASTER-K120S
G7L-CUEB
G7L-CUEB
MASTER-K120S
Modem
Modem
MASTER-K120S
G7L-CUEB
Modem
Modem
2) 1:n Communications system
This method can connect between one computer and multiple main units for up to 32 stations
Can be connected Max. 32 stations
RS-232C ⇔ RS-422 Converter
G7L-CUEC
G7L-CUEC
MASTER-K120S
MASTER-K120S
MASTER-K120S
RS-232C ⇔ RS-485
Converter
Built-in RS-485
Built-in RS-485
Built-in RS-485
* Refer to ‘chapter 8. communication function’ for details.
2-3
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 2 System Configuration
2.2 Product Functional Model
The following describes functional model of the MASTER-K120Sseries.
2.2.1 Product Functional Block
Product function block for the K120S series is as follows.
Main Unit
Expansion Modules
Input signal
Power supply
Input signal
Input
Power
supply
Input
DC24V
Power
Special/communication
modules
•
supply
CPU
Output
Output
Comm. I/F
Built-in
RS-485
Built-in RS-232C I/F
Output signal
Output signal
Description
Sub-system
CPU
• Signal processing function
-. Operating system function
-. Application program storage / memory function
-. Data storage / memory function
-. Application program execution function
Input
• The input signals obtained from the machine/process to appropriate signal levels for
processing
Output
• The output signals obtained from the signal processing function to appropriate signal
levels to drive actuators and/or displays
Power Supply
Communication
Interface
• Provides for conversion and isolation of the PLC system power from the main supply
• Provides the data exchange with other systems or PADT, such as KGLWIN, personal
computers
2-4
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 2 System Configuration
2.2.2 K120S Series System Equipment Product
1) Main Unit – Standard type
I/O Point &
Items
Models
Built-in Function
Remark
Power Supply
12 DC inputs(24VDC)
8 relay outputs
• Program capacity : 10 k steps
K7M-DR20U
• Max. expansion : 3 modules
85~264 VAC
• High-speed counter :
18 DC inputs(24VDC)
12 relay outputs
- 1 Phase : 100 kHz 1channel, 20 kHz 2channel.
- 2 Phase : 50 kHz 1channel, 10 kHz 1channel.
• Pulse catch : pulse width 10 ㎲2 points, 50 ㎲6 points,
• External interrupt: : 10 ㎲2 points, 50 ㎲6 points
• Input filter: 0 ~ 1000ms (can be designated with groups)
• PID control function
K7M-DR30U
K7M-DR40U
K7M-DR60U
85~264 VAC
24 DC inputs(24VDC)
16 relay outputs
85~264 VAC
36 DC inputs(24VDC)
24 relay outputs
• RS-232C communication, RS-485 communication
85~264 VAC
12 DC inputs(24VDC)
4/0 relay outputs
4/8 TR outputs
• Program capacity : 10 k steps
K7M-
DRT/DT20U
• Max. expansion : 3 modules
Main Unit
• High-speed counter :
85~264 VAC
- 1 Phase : 100 kHz 1channel, 20 kHz 2channel.
- 2 Phase : 50 kHz 1channel, 10 kHz 1channel.
• Pulse catch : pulse width 10 ㎲- 2 points, 50 ㎲- 6 points,
• External interrupt: : 10 ㎲- 2 points, 50 ㎲- 6 points
• Input filter: 0 ~ 1000ms (can be designated with groups)
• PID control function
18 DC inputs(24VDC)
8/0 relay outputs
4/12 TR outputs
85~264 VAC
K7M-
DRT/DT30U
24 DC inputs(24VDC)
12/0 relay outputs
4/16 TR outputs
85~264 VAC
K7M-
DRT/DT40U
• RS-232C communication, RS-485 communication
• Positioning function
- 2axes 100 kpps
36 DC inputs(24VDC)
20/0 relay outputs
4/24 TR outputs
85~264 VAC
- Absolute / Incremental positioning method
- Single / Repeat operation method
K7M-
DRT/DT60U
- End / Keep / Continuous mode
- Return to origin, JOG, PWM, velocity control
2) Main Unit – Economic type
I/O Point &
Items
Models
Built-in Function
Remark
Power Supply
6 DC inputs(24VDC)
4 relay outputs
85~264 VAC
• Program capacity : 2 k steps
K7M-DR10UE
• Max. expansion : 2 modules
• Pulse catch : pulse width 50 ㎲ 4 points,
• High-speed counter :
8 DC inputs(24VDC)
6 relay outputs
K7M-DR14UE
K7M-DR20UE
K7M-DR30UE
- 1 Phase : 10 kHz 2channel.
85~264 VAC
Main Unit
- 2 Phase : 5 kHz 1channel.
12 DC inputs(24VDC)
8 relay outputs
• External interrupt: : 50 ㎲4 points
• Input filter: 0 ~ 1000ms (can be designated with groups)
• RS-232C communication
85~264 VAC
18 DC inputs(24VDC)
12 relay outputs
• RS-485 communication(K7M-DR10/14UE only)
• Built-in analog timer(K7M-DR10/14UE only)
85~264 VAC
2-5
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 2 System Configuration
3) Expansion Modules
Section
Items
Models
Description
Remark
G7E-DR10A • 6 DC inputs / 4 relay outputs
G7E-DR20A • 12 DC inputs / 8 relay outputs
G7E-DC08A • 8 DC inputs
Slim Type
Expansion
module
Digital I/O module
G7E-TR10A • 10 Transistor outputs
G7E-RY08A • 8 relay outputs
Slim Type
G7E-DR08A • 4 DC Input, 4 Relay output
G7F-ADHA
G7F-ADHB
G7F-AD2A
G7F-DA2I
• A/D : 2 channel , D/A : 1 channel
• A/D : 2 channel , D/A : 2 channel
• A/D : 4 channel
A/D-D/A
Combination module
Slim
Type
A/D conversion module
D/A conversion module
• D/A : 4 channel(current output)
• D/A : 4 channel(voltage output)
Slim
Type
G7F-DA2V
G7F-AT2A
G7F-RD2A
G7L-CUEB
G7L-CUEC
G7L-DBEA
G7L-FUEA
G7L-PBEA
G7E-RTCA
• Points : 4points
Analog timermodule
RTD module
• Digital output range : 0~200
• Resistance temperature detactor
- 4 channel(Pt100, JPt100)
Slim
Standard
Special
module
Type type only
• RS-232C : 1 channel
• RS-422 : 1 channel
Communication I/F module
• DeviceNet I/F module (Slave)
• FieldBus I/F module
Standard
type only
• Profibus I/F module (Slave)
• Real Time Clock module
RTC module
External Memory
G7M-M256B • External Memory module
* External memory G7M-M256 isn’t supported in K120S series. Only G7M-M256B is available for K120S series.
2-6
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 3 General Specifications
Chapter 3. General Specifications
3.1 General Specifications
The following table shows the general specifications of the MASTER-K120S series.
No.
1
Item
Specifications
References
Operating ambient
Temperature
Storage ambient
Temperature
Operating ambient
Humidity
0 ~ 55 °C
2
3
4
−25 ~ +70 °C
5 ~ 95%RH, non-condensing
5 ~ 95%RH, non-condensing
Storage ambient
Humidity
Occasional vibration
-
Frequency
Acceleration
Amplitude
Sweep count
0.075mm
10 ≤ f < 57Hz
57 ≤ f ≤ 150Hz
−
9.8m/s2 {1G}
Continuous vibration
Acceleration
−
5
6
Vibrations
Shocks
IEC 61131-2
IEC 61131-2
10 times for each
X, Y, Z axis
Frequency
Amplitude
0.035mm
−
10 ≤ f < 57Hz
57 ≤ f ≤ 150Hz
−
4.9m/s2 {0.5G}
• Maximum shock acceleration: 147 m/s2 {15G}
• Duration time: 11ms
• Pulse wave: half sine pulse ( 3 shocks per axis, on X, Y, Z axis )
Square wave
Impulse noise
LGIS’ Internal
Standard
1,500 V
IEC 61131-2,
IEC 1000-4-2
Electronic
discharge
Voltage: 4 kV ( Discharge by contact )
Radiated
electromagnetic
field noise
IEC 61131-2,
IEC 1000-4-3
27 ~ 500 MHz, 10 V/m
7
Noise Immunity
Digital I/O
(less than24V)
Analog I/O
Interface
Digital I/O
(24V and up)
Item
Power supply
2kV
Fast transient &
burst noise
IEC 61131-2
IEC 1000-4-4
Voltage
1kV
0.25kV
8
9
Atmosphere
Altitude
Free of corrosive gases and excessive dust
Up to 2,000m
10
11
2
Pollution degree
Cooling method
Air-cooling
REMARK
1) IEC (International Electrotechnical Commission): An international civilian institute who establishes international standards in area of electric
and electronics.
2) Pollution degree: An indicator, which indicates pollution degree, which determine insulation performance of equipment.
* Pollution degree 2 : Normally, only non-conductive pollution occurs. Occasionally, however, a temporary conductivity caused by
condensation shall be expected.
3-1
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 4 Names of Parts
Chapter 4. Names of Parts
4.1 Main Unit
④
⑤
⑧
BUILT_IN CNET
OFF
RUN
PAU/REM
STOP
ON
⑦
②
ROM MODE
①
⑥
③
③
⑨
-
+
RS-485
No.
Name
Description
Indicates status of power supply to the system
PWR LED
RUN LED
ERR LED
y On : When the supplied power is normal
y Off : When the supplied power is abnormal
Indicates operating status of main unit
y On : Indicates local key switch or remote running mode
y Off : with the followings, LED turns off
- When the supplied power to the main unit is abnormal.
- While key switch is on stop mode
CPU
Condition
LED
①
- Detecting an error which makes operation stop
Indicates operating status of CPU
y Flickering : self-inspected error
y Off: CPU is working normal.
4 -1
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 4 Names of Parts
No
Name
Description
②
I/O LED
Indicates operating status of I/O
Built-in RS-485 connector
(Except K7M-DR10/14UE)
③
④
2-pin connector for built-in RS-485 communications.
Designates main unit’s operation mode
y RUN : Run program operation
Key switch for mode creation
.(Except economic type)
y STOP: Stop program operation
y PAU / REM: usage of each modules are as follows:
- PAUSE : temporary stopping program operation
- REMOTE : designates remote driving
⑤
⑥
⑦
⑧
⑨
Dip-switch for Cnet I/F
RS-232C connector
See Chapter 5.
9-pin DIN connector to connect with external devices like KGLWIN
Connector cover to connect with expansion unit
Protection cover for wiring of terminal block
Private part hook for DIN rail
Expansion connector cover
Terminal block cover
Private hook DIN rail
4.1.1 60-points main unit (Standard)
1) K7M-DR60U
4 -2
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 4 Names of Parts
2) K7M-DRT60U
3) K7M-DT60U
4.1.2 40-points main unit (Standard)
1) K7M-DR40U
4 -3
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 4 Names of Parts
2) K7M-DRT40U
3) K7M-DT40U
4.1.3 30-points main unit (Standard)
1) K7M-DR30U
4 -4
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 4 Names of Parts
2) K7M-DRT30U
3) K7M-DT30U
4.1.4 20-points main unit (Standard)
1) K7M-DR20U
4 -5
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 4 Names of Parts
2) K7M-DRT20U
3) K7M-DT20U
4.1.5 30-points main unit (Economic)
1) K7M-DR30UE
4 -6
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 4 Names of Parts
4.1.6 20-points main unit (Economic)
1) K7M-DR20UE
4.1.7 14-points main unit (Economic)
1) K7M-DR14UE
4.1.8 10-points main unit (Economic)
1) K7M-DR10UE
4 -7
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 4 Names of Parts
4.2 Expansion I/O Module
4.2.1 20points I/O Module
1) G7E-DR20A
④
③
No.
Names
①
②
③
④
⑤
⑥
⑦
⑧
Input LED
①
⑧
Output LED
Input contact
⑦
Input common terminal
Output contact
Output common terminal
Expansion cable
②
⑤
⑤
Expansion Cable Connecting Terminal
⑥
⑥
4.2.2 10points I/O Module
1) G7E-DR10A
④
③
No.
Names
①
②
③
④
⑤
⑥
⑦
⑧
Input LED
①
⑧
Output LED
Input contact
⑦
Input common terminal
Output contact
Output common terminal
Expansion cable
②
⑥
⑥ ⑤ ⑥ ⑤
Expansion Cable Connecting Terminal
⑤
1) G7E-TR10A
①
⑥
No.
Names
①
②
③
④
⑤
⑥
Output LED
Output contact
⑤
Output common terminal
External Power Supply Terminal (DC24V)
Expansion cable
Expansion Cable Connecting Terminal
②
④
③
4 -8
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 4 Names of Parts
4.2.3 8points I/O Module
1) G7E-DC08A
②
③
No.
①
②
③
④
⑤
Names
①
Input LED
Input contact
⑤
④
Input common terminal
Expansion cable
Expansion Cable Connecting Terminal
②
③
2) G7E-RY08A
③
②
No.
①
②
③
④
⑤
Names
①
Output LED
Output contact
⑤
④
Output common terminal
Expansion cable
Expansion Cable Connecting Terminal
②
③
4 -9
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 4 Names of Parts
4.3 Special Module
4.3.1 A/D·D/A Combination Module
1) G7F-ADHA
Names
No.
⑤
②
①
RUN LED
②
③
④
⑤
⑥
⑦
Analog Output Terminal
Analog Input (Voltage/current) selecting jumper pin
Analog Input Terminal
⑥
⑦
External Power Supply Terminal (DC24V)
Expansion Cable
①
④
③
Expansion Cable Connecting Terminal
2) G7F-ADHB
③
Names
No.
①
RUN LED
②
Analog Input Terminal
③
④
⑤
Analog Output Terminal
External Power Supply Terminal (DC24V)
Expansion Cable
⑤
⑥
①
⑥
Expansion Cable Connecting Terminal
④
②
4 -10
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 4 Names of Parts
4.3.2 D/A Conversion Module
1) G7F-DA2I
Names
No.
①
RUN LED
②
③
④
⑤
Analog Output Terminal
Expansion Cable
③
④
Expansion Cable Connecting Terminal
External Power Supply Terminal (DC24V)
①
⑤
②
2) G7F-DA2V
⑤
Names
No.
①
②
RUN LED
Analog Output Terminal
④
③
③
④
⑤
Expansion Cable
Expansion Cable Connecting Terminal
External Power Supply Terminal (DC24V)
①
②
4.3.3 A/D Conversion Module
④
①
No. Names
24V 24G
①
②
③
④
RUN LED
Input
Analog Input Terminal
⑥
⑤
Analog Input (Voltage/current) selecting jumper
pin
Input
Select
CH0
CH1
CH2
CH3
V3 COM
CH3
CH2
CH1
CH0
V0 COM V1 COM V2 COM
I0
I1
I2
I3
External Power Supply Terminal (DC24V)
·
·
·
·
⑤
⑥
Expansion Cable
Expansion Cable Connecting Terminal
②
③
4 -11
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 4 Names of Parts
4.3.4 Analog timer Module
②
Names
No.
①
RUN LED
②
③
④
Analog Timer Volume Control Resistor
Expansion Cable
③
④
Expansion Cable Connecting Terminal
①
4.3.5 RTD Input Module
⑤
②
Names
No.
①
②
③
④
RUN LED
Analog Timer Volume Control Resistor
Expansion Cable
④
③
Expansion Cable Connecting Terminal
①
②
4 -12
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 4 Names of Parts
4.4 Communication I/F Module
4.4.1 Cnet I/F Module
1) G7L-CUEB
No.
①
②
③
④
⑤
Names
RS-232C connector
Communication status LED
Expansion cable
Expansion cable connecting terminal
TM/TC selecting dip switch
2) G7L-CUEC
No.
①
②
③
④
Names
RS-422/485 connector
Power supply/Communication status LED
Expansion cable
Expansion cable connecting terminal
4.4.2 Fnet I/F Module
1) G7L-FUEA
No.
①
②
③
④
⑤
Names
Station No. selecting switch
Fnet cable connector 1 and 2
Expansion cable
Expansion cable connecting terminal
Communication status LED
4 -13
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 4 Names of Parts
4.4.3 Pnet I/F Module
1) G7L-PBEA
No.
①
②
③
④
⑤
Names
Station No. selecting switch
Pnet cable connector
Expansion cable
Expansion cable connecting terminal
Communication status LED
4.4.4 DeviceNet I/F Module
1) G7L-DBEA
No.
①
②
③
④
⑤
⑥
Names
Station No. selecting switch(NA)
DeviceNet cable connector
Expansion cable
Expansion cable connecting terminal
Baud rate selecting switch
Power supply/Communication status LED
4.5 Option Module
Option modules are attached the expansion slot of main unit or expansion unit, and supplies optional functions such as
memory expansion or real time clock. MASTER-K120S series have two option modules – External memory module and RTC
module.
No.
Names
①
②
①
Option module
Connector
②
4 -14
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 5 Power Supply / CPU
Chapter 5. Power Supply / CPU
5.1 Power Supply Specifications
5.1.1. Standard Type
Items
K7M –
DR/DRT/DT20U
K7M –
DR/DRT/DT30U
K7M –
K7M –
DR/DRT/DT40U DR/DRT/DT60U
Rated voltage
Rated frequency
Rated current
Inrush current
Efficiency
85 ~ 264 VAC
50 / 60 Hz (47 ~ 63 Hz)
0.5A(110VAC)/0.25A(220VAC)
Up to 30A
0.6A(110VAC)/0.3A(220VAC)
Up to 60A
Input
65% min.(rated input/maximum load)
2A/AC250V (Time Lag Type)
10 ms
Input fuse
Permitted Momentary
power failure
Output voltage
Output current
Output voltage
Output current
DC 5V
Output(1)
Output(2)
1.2A
2A
DC 24V
0.2A
Power supply status indication
5.1.2. Economic Type
Items
PWR LED On when power supply is normal
K7M – DR10UE
K7M – DR14UE
K7M – DR20UE
K7M – DR30UE
Rated voltage
Rated frequency
Rated current
85 ~ 264 VAC
50 / 60 Hz (47 ~ 63 Hz)
0.3A(110VAC) / 0.15A(220VAC)
Up to 30A
0.5A(110VAC) / 0.25A(220VAC)
Inrush current
Efficiency
Input
65% min.(rated input/maximum load)
2A/AC250V (Time Lag Type)
10 ms
Input fuse
Permitted Momentary
power failure
Output voltage
Output current
Output voltage
Output current
DC 5V
Output(1)
Output(2)
0.5A
1.2A
DC 24V
0.2A
Power supply status indication
PWR LED On when power supply is normal
5-1
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 5 Power Supply / CPU
5.2 CPU Specifications
The following table shows the general specifications of the MASTER-K120S series
5.2.1. Standard Type
Specifications
Items
Remarks
K7M-DR/DRT/DT20U
K7M-DR/DRT/DT30U
K7M-DR/DRT/DT40U K7M-DR/DR`T/DT60U
Program control method Cyclic execution of stored program, Time-driven interrupt, Process-driven interrupt
I/O control method
Program language
Indirect mode(Refresh method), Direct by program command
Instruction list, Ladder diagram
Numbers of instructions Basic : 30, Application : 277
Processing speed
0.1µs/step
10ksteps
Program capacity
I/O points
20
30
40
60
P
M
K
L
P000 ~ P63F
M000 ~ M191F
K000 ~ K31F
L000 ~ L63F
F000 ~ F63F
I/O relay,TR.
Auxiliary relay
Keep relay
Link relay
F
Special relay
100msec : T000 ~ T191 (192 points)
10msec : T192 ~ T250 (59 points)
1msec : T251 ~ T255 (5 points)
-. Adjustable by parameter setting
C000 ~ C255
Memory
device
T
Timer
C
S
D
Counter
S00.00 ~ S99.99
Step controller
Data register
D0000 ~ D4999
Operation modes
RUN, STOP, PAUSE, DEBUG
Self-diagnosis functions Detects errors of scan time, memory, I/O and power supply
Data back-up method
Max. expansion level
Latch area back-up
Up to 3 level
(External memory or RTC module can be connected as 4th expansion module)
5-2
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 5 Power Supply / CPU
(continued)
Specifications
Items
Remarks
K7M-DR/DRT/DT20U
K7M-DR/DRT/DT30U
K7M-DR/DRT/DT40U K7M-DR/DRT/DT60U
Controlled by commands, Relay and PRC auto tuning,
PWM output, manual output, adjustable operation scan time,
Anti-windup, SV-Ramp, Delta MV, Position and Velocity algorithm
Dedicated protocol support
PID control function
MODBUS protocol support
User defined protocol support
No protocol support
RS-232C - 1port
RS-485 - 1 port
Cnet I/F Function
Capacity
1 phase : 100 kHz-2 channel, 20 kHz-2 channel
2 phase : 50 kHz-1 channel, 10 kHz-1 channel
4 different counter modes as following;
-. 1 phase operation mode.
High-
speed
counter
Counter function
-. 2 phase CW/CCW mode.
-. 2 phase Pulse + Direction mode.
-. 2 phase Multiplication mode(MUL4)
Internal/External preset function
Additional
function
Latch Counter function
Built-in
RPM function
Function
Comparison Output function
N0. of control axis : 2 Axis
Operation
Control method : Point-to-Point, Speed Control
Control unit : Pulse
Specification
Positioning data : 20 data / axis(Operation step N0. 1 ~ 20)
Positioning method : Absolute / Incremental
Operation method : Single / Repeat
Operation mode : End / Keep / Continuous
Address range : -2,147,483,648 ~ 2,147,483,647
Speed : Max. 100kpps(setting range 5 ~ 100,000)
Acceleration / Deceleration method : trapezoidal method
Origin detection when approximate origin turns off
Position-
ing
DRT / DT
Positioning
Type Only
Return to Origin Origin detection after deceleration when approximate origin turns on.
Origin detection by approximate origin.
JOG
Pulse catch
Setting range : 5~100,000 ( High / Low speed)
Minimum pulse width : 10 ㎲( 2 points) and 50 ㎲(6 points)
10 ㎲(2 points) and 50 ㎲(6 points)
External interrupt
Input filter
0~1000ms(Adjustable)
Weight (g)
520
540
660
850
5-3
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 5 Power Supply / CPU
5.2.2. Economic Type
Specifications
K7M-DR14UE K7M-DR20UE
Program control method Cyclic execution of stored program, Time-driven interrupt, Process-driven interrupt
Items
Remarks
K7M-DR10UE
K7M-DR30UE
I/O control method
Program language
Indirect mode(Refresh method), Direct by program command
Instruction list, Ladder diagram
Numbers of instructions Basic : 30, Application : 269
Processing speed
0.4µs/step
2ksteps
Program capacity
I/O points
10
14
20
30
P
M
K
L
P000 ~ P63F
M000 ~ M191F
K000 ~ K31F
L000 ~ L63F
F000 ~ F63F
I/O relay
Auxiliary relay
Keep relay
Link relay
F
Special relay
100msec : T000 ~ T191 (192 points)
10msec : T192 ~ T250 (59 points)
1msec : T251 ~ T255 (5 points)
-. Adjustable by parameter setting
C000 ~ C255
Memory
device
T
Timer
C
S
D
Counter
S00.00 ~ S99.99
Step controller
Data register
D0000 ~ D4999
Operation modes
RUN, STOP, PAUSE
Self-diagnosis functions Detects errors of scan time, memory, I/O and power supply
Data back-up method
Max. expansion level
Latch area back-up
Up to 2 level
(External memory or RTC module can be connected as 3th expansion module)
5-4
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 5 Power Supply / CPU
(continued)
Specifications
Items
Remarks
K7M-DR10UE
K7M-DR14UE K7M-DR20UE K7M-DR30UE
Dedicated protocol support
MODBUS protocol support
RS-485 is available
on K7M-DR10/14UE
only
RS-232C - 1port
Cnet I/F Function
Capacity
User defined protocol support RS-485 - 1 port
No protocol support
1 phase : 10 kHz-2 channel
2 phase : 5 kHz-1 channel
4 different counter modes as following;
-. 1 phase operation mode.
-. 2 phase CW/CCW mode.
-. 1 phase Pulse + Direction mode.
-. 2 phase Multiplication mode(MUL4)
Internal/External preset function
Latch Counter function
Counter
Built-in
High-speed
counter
function
Function
Additional
function
RPM function
Comparison Output function
Minimum pulse width : 50 ㎲(4 points)
50 ㎲(4 points)
Pulse catch
External interrupt
Input filter
0 ~ 1000ms(Adjustable)
Weight (g)
360
370
500
510
5-5
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 5 Power Supply / CPU
5.3 Operation Processing
5.3.1 Operation Processing Method
1) Cyclic operation
A PLC program is sequentially executed from the first step to the last step, which is called scan. This sequential
processing is called cyclic operation. Cyclic operation of the PLC continues as long as conditions do not change
for interrupt processing during program execution. This processing is classified into the following stages:
Stages
Processing
-
Operation Start
• Stage for the start of a scan processing. it is executed only one
time when the power is applied or reset is executed. It executes
the following processing..
Initialization
▶ I/O reset
▶ Execution of self-diagnosis
▶ Data clear
▶ Allocating I/O address and type
Input conditions are read and stored into the input image area
before starts processing.
Input image area refresh
Program is sequentially executed from the first step to the last step
Program operation processing
Program operation processing
Program starts
~
Program ends
The contents stored in the output image area is output to output part
when operation processing of a program is finished.
Output image area refresh
END processing
Stage for return processing after the CPU part has finished 1 scan.
The END processing following processing is executed.
▶ Self-diagnosis
▶ Change the present values of timer and counter, etc.
▶ Processing data communications between computer link module
and communications module.
▶ Checking the switch for mode setting.
5-6
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 5 Power Supply / CPU
2) Interrupt operation method
If a situation occurs which is requested to be urgently processed during execution of a PLC program, this opera
tion method processes immediately the operation, which corresponds to interrupt program. The signal, which infor
ms the CPU of those urgent conditions is called interrupt signal. The MASTER-K120S CPU has three kind of int
errupt operation methods, which are internal, external and high speed counter interrupt signal methods.
5.3.2 Operation Processing at Momentary Power Failure Occurrence
The momentary power failure occurs when the input line voltage to the power supply falls down below the rated
voltage. When momentary power failure within 10ms occurs, the CPU maintain operation processing. But If is exceeds
10ms, CPU stop processing and all output turns off. And The re-start process is executed as the power is re-applied.
1) Momentary power failure within 10 ms
→ The operation processing is maintained
Input power
Momentary power failure
within 1Oms
2) Momentary power failure exceeding 10 ms
→ The re-start process is executed as the power is re-applied.
Input power
Power failure exceeding 1Oms
REMARK
1) Momentary power failure
The PLC defining power failure is a state that the voltage of power has been lowered outside the allowable
variation range of it. The momentary power failure is a power failure of short interval (several to tens ms).
5-7
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 5 Power Supply / CPU
5.3.3 Scan Time
The processing time from a 0 step to the 0 step of next scan is called scan time.
1) Expression for scan time
Scan time is the sum of the processing time of scan program that the user has written, of the task program processing time
and the PLC internal processing time.
(1) Scan time = Scan program processing time + Interrupt program processing time + PLC internal processing time
• Scan program processing time = The processing time used to process a user program that is not specified
to a task program.
• Interrupt program processing time = Total of the processing times of interrupt programs executed during
one scan.
• PLC internal processing time = Self-diagnosis time + I/O refresh time + Internal data processing time
+ Communications service processing time
(2) Scan time differs in accordance with the execution or non-execution of interrupt programs and communications
processing, etc.
2) Flags
Scan time is stored in the following system flag area.
• F50 : Maximum scan time (unit: 1 ms)
• F51 : Minimum scan time (unit: 1 ms)
• F52 : Current scan time (unit: 1 ms)
5.3.4 Scan Watchdog Timer
1) Watchdog timer is used to detect a delay which is attributable to abnormal operation of sequence program
(Watchdog time is set in menu of basic parameter of KGLWIN.)
2) When watchdog timer detects an exceeding of preset watchdog time, the operation of PLC is stopped immediately
and all output is off.
3) If an exceeding of preset watchdog time is expected in sequence program, use ‘WDT’ instruction.
‘WDT’ instruction make elapsed watchdog time as zero.
4) In order to clear watchdog error, restarting the PLC or mode change to STOP mode are available.
REMARK
-. Setting range of watchdog : 10 ~ 6,000ms(unit : 10ms)
5-8
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 5 Power Supply / CPU
5.3.5 Timer Processing
The MASTER-K series use up count timer. There are 5 timer instructions such as on-delay (TON), off-delay (TOFF), integral
(TMR), monostable (TMON), and re-triggerable (TRTG) timer.
The measuring range of 100msec timer is 0.1 ~ 6553.5 seconds, 10msec timer is 0.01 ~ 655.35 seconds, and that of 1msec
timer is 0.001 ~ 65.53 seconds. Please refer to the ‘MASTER-K programming manual’ for details.
Preset value
Timer output relay
Timer type
1) On delay timer
The current value of timer starts to increase from 0 when the input condition of TON instruction turns on. When the
current value reaches the preset value, the timer output relay turns on.
When the timer input condition is turned off, the current value becomes 0 and the timer output relay is turned off.
input condition
t0
t1
t2 t3
t4
t5
Output relay
Pre value
t0+PT
t4+PT
t5
Current value
t0
t1
t2
t3
t4
t5
2) Off delay timer
The current value of timer set as preset value and the timer output relay is turned on when the input condition of TOFF
instruction turns on. When the input condition is turned off, the current value starts to decrease. The timer output relay is
turned off when the current value reaches 0.
Timer input condition
t3
t2
t4
t5
t0
t1
Timer output relay
Preset value
t1 + PT
t5 + PT
PT
PT
Current value
5-9
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 5 Power Supply / CPU
3) Integral timer
In general, its operation is same as on-delay timer. Only the difference is the current value will not be clear when the
input condition of TMR instruction is turned off. It keeps the elapsed value and restart to increase when the input
condition is turned on again. When the current value reaches preset value, the timer output relay is turned on.
The current value can be cleared by the RST instruction only.
Timer input condition
t5
t0 t1
t2
t4
Timer output relay
Preset value
PT = (t1-t0)+(t3-t2)
Current value
t2 t3
t0
t1
t5
t5+PT
Timer reset input
4) Monostable timer
In general, its operation is same as off-delay timer. However, the change of input condition is ignored while the timer is
operating (decreasing). When current value reaches preset value the timer output relay is turned off and current value is
cleared.
Timer input condition
t0
t0
t2
t2
t4
t4
t3
t1
Timer output relay
Preset value
t0+PT
t2+PT
t4+PT
Current value
t4
t0
t1
t2
5-10
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 5 Power Supply / CPU
5) Retriggerable timer
The operation of retriggerable timer is same as that of monostable timer. Only difference is that the retriggerable timer is
not ignore the input condition of TRTG instruction while the timer is operating (decreasing). The current value of
retriggerable timer will be set as preset value whenever the input condition of TRTG instruction is turned on.
Timer input condition
PT
Timer output relay
Preset value (PV)
(On operation)
Current value
REMARK
The Maximum timing error of timers of MASTER-K series is ‘1 scan time + the time from 0 step to timer instruction’
5-11
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 5 Power Supply / CPU
5.3.6 Counter Processing
The counter counts the rising edges of pulses driving its input signal and counts once only when the input signal is switched
from off to on. MASTER-K series have 4 counter instructions such as CTU, CTD, CTUD, and CTR. The followings shows
brief information for counter operation. Refer to the ‘MASTER-K Instruction Manual’ for details.
1) Up counter (CTU)
-. The counter output relay is turned on when the current value reaches the preset value.
-. When the reset input is turned on, the counter output relay and current value is cleared as 0.
2) Down counter (CTD)
-. When the CPU is switched to the RUN mode, the current value is set as preset value.
-. The current value is decreased by 1 with the rising edge of counter input signal.
-. The counter output relay is turned on when the current value reaches 0.
3) Up-down counter
-. The current value is increased with the rising edge of up-count input signal, and decreased with the rising edge of
down-count input signal.
-. The counter output relay is turned on when the current value is equal or greater than the preset value otherwise off.
5-12
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 5 Power Supply / CPU
4) Ring counter
-. The current value is increased with the rising edge of the counter input signal, and the counter output relay is turned on
when the current value reaches the preset value. Then the current value and counter output relay is cleared as 0 when
the next counter input signal is applied.
5) Maximum counting speed
(1) The maximum counting speed of counter is determined by the length of scan time. Counting is possible only when the
on/off switching time of the counter input signal is longer than scan time.
n
1
where, n : duty (%), ts : scan time
Maximum counting speed (Cmax) =
×
(times/sec)
100
t
s
(2) Duty
Duty is the ratio of the input signal’s on time to off time as a percentage.
T1
T2
OFF
ON
OFF
T1
If T1 ≤ T2, n =
×100 (%)
T1+ T2
T2
If T1 > T2, n =
×100 (%)
T1+ T2
5-13
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 5 Power Supply / CPU
5.4 Program
5.4.1 Classifications of Program
All functional elements need to execute a certain control process are called as a ‘program’. In MASTER-K120 series, a
program is stored in the EEPROM mounted on a CPU module or flash memory of a external memory module. The following
table shows the classification of the program.
Program type
Scan program
Description
The scan program is executed regularly in every scan
Time-driven interrupt
program (TDI)
The TDI programs are executed with a constant time interval specified with parameter setting.
Process driven interrupt
program (PDI)
The PDI programs are executed when external interrupt input is applied and the corresponding
interrupt routine is enabled by EI instruction.
High speed counter driven This interrupt programs are executed when comparison task signal is applied.
interrupt program(HSCDI)
(Standard Type only)
The subroutine programs are executed when they are called by the scan program with a CALL
instruction.
Subroutine program
5.4.2 Program Execution Procedure
The following diagram shows that how the CPU module process programs when the CPU module is powered on or switched to
RUN mode.
Start processing
Subroutine program
PDI program
Scan program
TDI program
HSCDI program
END processing
5-14
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 5 Power Supply / CPU
1) Scan program
-. The scan program is executed regularly in every scan from 0 step to last step.
-. When interrupts has occurred, CPU pauses scan program and executes corresponding interrupt program first.
-. When this interrupt program finished, scan program is to resume.
2) Interrupt program
-. When an interrupt occurs, the CPU module will stop the current operation and execute the corresponding interrupt routine
first. After finish the interrupt routine, the CPU resume the sequence program from the stopped step.
-. MASTER-K102S series provides 3 types of interrupt.
•
•
•
The TDI (Time driven interrupt) occurs with the constant period
The PDI (Process driven interrupt) occurs with the status of external input.
The HSCDI(High speed counter driven interrupt) occur with comparison task signal from high speed counter.
(Standard type only)
5.4.3 Interrupt Programs
1) Usage of interrupt program
(1) Before to use interrupt function in sequence program, the parameter setting should be done properly. Then the
corresponding interrupt routine should be written after END instruction. (Refer chapter 4 for details) If interrupt routines
are not matched with parameter settings, an error occurs and the operation of CPU will be stopped.
(2) To execute an interrupt routine, use the EI instruction to enable the corresponding interrupt. The interrupt routine is not
executed if an interrupt factor occurs before execution of an EI instruction. Once an interrupt is enabled with EI
instruction.
(3) When multiple interrupt factors occur simultaneously, interrupt routines are executed according to the priority given to
the each interrupt. If an interrupt factor that has higher priority occurs while other interrupt that has lower priority are
executing, the interrupt routine of lower priority will be stopped and the interrupt of higher priority will be executed first.
Following figure show how CPU handles multiple interrupts
1
Program starts
1
Scan Program
2
2
Interrupt 2 occurs
7
3
Stop main program and execute interrupt routine 2
4
5
Interrupt 1 occurs (higher priority)
Stop routine 2 and run routine 1
5
6
Interrupt routine 1
Interrupt routine 2
3
6
7
Finish routine 1 and return to routine2
Finish routine 2 and return to main program
4
5-15
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 5 Power Supply / CPU
2) parameter setting
3) Time driven interrupt
TDI occurs periodically with the constant interval assigned in parameter setting. The interrupt routine of TDI starts with the
TDINT instruction and ends with the IRET instruction.
When multiple interrupt factors occur simultaneously, interrupt routines are executed according to the priority given to the
each interrupt. If an interrupt factor has higher priority occurs while other interrupt of lower priority is executing, the interrupt
routine of lower priority will be stopped and the interrupt of higher priority will be executed first. In standard types of MK120S
series, Available TDI is P000 ~ P007 (8 points) assigned in parameter setting and period can be designated for each other.
In economic types, Available TDI is P000 ~ P003 (4 points) .
4) Process driven interrupt
In standard types of MK120S series, Available PDI is P000 ~ P007 (8 points) assigned in parameter setting.
In the parameter setting window, TDINT indicates time driven interrupt and INT indicates process driven interrupt.
PDI occurs when the input status of P000 ~ P007 is changed from Off to On or from On to Off or both.
In economic types of MK120S series, Available PDI is P000 ~ P003 (4 points), and occurs when the input status of P000 ~
P003 is changed from Off to On. It isn’t occurs falling edge of input condition.
5) HSC driven interrupt
HSCDI occurs when comparison task of HSC occurs and Available HSCDI is Ch0 ~ Ch4 (4 points) .
5-16
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 5 Power Supply / CPU
REMARK
Total available interrupt points is 8(In standard type).
-. Time driven interrupt + process driven interrupt + high speed counter driven interrupt
≤
8 points
Interrupt signal is ignored when self-interrupt occurs more than 2 times during interrupt processing is executing.
ignored
Interrupt executing time
Interrupt signal (ex : rising edge)
5.4.4 Error Handling
1) Error Classification
Errors occur due to various causes such as PLC system defect, system configuration fault or abnormal operation
result. Errors are classified into fatal error mode, which stops system operation for system stability, and ordinary
error mode, which continues system operation with informing the user of its error warning.
The main factors that occurs the PLC system error are given as followings.
•
•
•
•
PLC hardware defect
System configuration error
Operation error during execution of the user programs
External device malfunction
2) Operation mode at error occurrence
In case of error occurrence, the PLC system write the error contents the corresponding flags and stops or conti
nues its operation complying with its operation mode.
(1) PLC hardware defect
The system enters into the STOP state if a fatal error such as the CPU module defect has occurred, and
continues its operation if an ordinary error such as operation error has occurred.
(2) System configuration error
This error occurs when the PLC hardware configuration differs from the configuration defined in the
K120S series. The system enters into the STOP state.
(3) Operation error during execution of the user programs
It the numeric operation error of these errors occurs during execution of the user program, its contents are
marked on the error flags and the system continues its operation. If operation time overruns the watchdog
time or I/O modules loaded are not normally controlled, the system enters into the STOP state.
5-17
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 5 Power Supply / CPU
(4) External device malfunction
The PLC user program detects malfunctions of external devices. If a fatal error is detected the system ent
ers into the STOP state, and if an ordinary error is detected the system continues its operation.
REMARK
1) In occurrence of a error, the state is to be stored in the representative system error flag F006.
2) For details of flags, refer to Chapter 11. Troubleshooting.
5-18
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 5 Power Supply / CPU
5.5 Operation Modes
The CPU operates in one of the four modes - RUN, STOP, PAUSE and DEBUG mode. The following describes ope
ration processing in each operation mode.
5.5.1 RUN Mode
In this mode, programs are normally operated.
The first scan start in the RUN mode
Initialize data area according to the preset
restart mode.
Check the program and determine it can be
executed or not.
Execute input refresh
Execute programs and tasks
Check the availability of expansion units
Execute communication and internal service
Execute output refresh
No
Operation mode is changed?
Yes
Operate with new mode
1) Processing when the operation mode is changed.
Initialization of data area is executed when the first scan starts and The possibility of execution of the program
is decided with check on its effectiveness.
2) Operation processing contents
I/O Refresh and program operation are executed.
(1) Interrupt programs are executed with the detection of their start-up conditions.
(2) Normal or abnormal operation and mounting conditions of the loaded module are checked.
(3) Communications service or other internal operations are processed.
5-19
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 5 Power Supply / CPU
5.5.2 STOP mode
In this mode, programs are not operated.
1) Processing when the operation mode is changed.
The output image area is cleared and output refresh is executed.
2) Operation processing contents
(1) I/O refresh is executed.
(2) Normal or abnormal operation and mounting conditions of the loaded module are checked.
(3) Communications service or other internal operations are processed.
5.5.3 PAUSE mode
In this mode, the program operation is temporarily stopped. If it returns to the RUN mode, the operation continu
es from the state before the stop.
1) Processing when the operation mode changes
Data registers and input image areas are not cleared and the operating conditions just before the mode chang
e is maintained.
2) Operation processing contents
(1) I/O refresh is executed.
(2) Normal or abnormal operation and mounting conditions of the loaded module are checked.
(3) Communications service or other internal operations are processed.
5.5.4 DEBUG mode(Standard type only)
In this mode, errors of a program are searched and the operation sequence is traced. Changing into this mode
is only possible from the STOP mode. In this mode, a program can be checked with examination on its executi
on state and contents of each data.
1) Processing when the operation mode changes
(1) Data area is initialized at the starting time of the mode change complying with the restart mode, which
has been set on the parameters.
(2) The output image area is cleared and input refresh is executed.
2) Operation processing contents
(1) I/O refresh is executed.
(2) Debugging process is executed complying with setting.
I
(3) I/O refresh is executed after debugging process has executed to end of the program
(4) Normal or abnormal operation and mounting conditions of the loaded module are checked.
(5) Communications service or other internal operations are processed
5-20
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 5 Power Supply / CPU
3) Debug operation conditions
following four operation conditions can be specified.
Operation conditions
executed by one
command.
Description
When executed, Stop operation after executing one instruction
executed by break-point
settings.
When executed, Stop operation at designated break-point
executed by the
When executed, Stop operation by condition of designated device’s status
condition of the device
executed by the
When executed, Operates specified scan time.
specified scan time
4) Operation method
(1) Execute the operation after the debug operation conditions have been set in the KGLWIN.
(2) In interrupt programs, each task can be specified to operation enable/disable.
For detailed operation method, refer to the KGLWIN User’s Manual Chapter 9.
5.5.5 Operation Mode Change
1) Operation mode change methods
The following method is used to change the operation mode.
(1) Change by the mode-setting switch of CPU module.(Standard type only)
(2) Change by the KGLWIN connected with the CPU module communications port.
(3) Change by the KGLWIN connected to the remote CPU module through Cnet I/F
(4) Change by the ‘STOP’ instruction, during program execution.
(5) Change by the KGLWIN connected to the remote CPU module through Fnet(Standard type only)
2) Operation mode change by the mode-setting switch of CPU module.(Standard type only)
The following shows the operation mode change by the mode-setting switch of CPU module.
Mode setting switch position
Operation mode
Local RUN
RUN
STOP
Local STOP
Remote STOP
Local RUN
STOP
→
→
→
→
PAU / REM
RUN ∗ 1
PAU / REM * 2
STOP
PAU / REM
RUN
Local PAUSE
Local STOP
PAU / REM
REMARK
-. If the operation mode changes from RUN mode to local RUN mode by the mode setting switch, the
PLC operates continuously without stopping.
5-21
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 5 Power Supply / CPU
3) Mode change Remote operation
Remote operation mode change is available only when the operation mode is set to the remote STOP mode
(i.e., the mode setting switch position is in the STOP→ PAU/REM’).
Mode setting switch
position
Mode change by the
KGLWIN
Mode change using
FAM or Cnet I/F, etc.
Mode Change
○
○
Remote STOP Æ Remote RUN
Remote STOP Æ Remote PAUSE
Remote STOP Æ DEBUG
X
X
○
○
○
○
○
○
Remote RUN Æ Remote PAUSE
Remote RUN Æ Remote STOP
Remote RUN Æ DEBUG
X
X
PAU / REM
○
○
○
○
Remote PAUSE Æ Remote RUN
Remote PAUSE Æ Remote STOP
Remote PAUSE Æ Remote DEBUG
DEBUG Æ Remote STOP
X
X
○
○
DEBUG Æ Remote RUN
X
X
X
X
DEBUG Æ Remote PAUSE
5-22
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 5 Power Supply / CPU
5.6 Functions
5.6.1 Self-diagnosis
1) Functions
(1) The self-diagnosis function permits the CPU module to detect its own errors.
(2) Self-diagnosis is carried out when an error occurs during PLC power supply is turned on or operating process.
If an error is detected, the system stops operation to prevent faulty PLC operation.
2) WDT (Watch dog timer) function
The watch dog timer is an internal timer of a PLC to detect the error of hardware and a sequence program. it is
changeable with parameter setting.
The CPU resets the watch dog timer before step 0 is executed (after the END processing is finished). When the END
instruction has not been executed within the set value due to an error occurred in the PLC or the delay of a sequence
program, the watch dog timer will times out. When a watch dog timer error is occurred, all outputs of the PLC are turned
OFF, and the ERR LED of the CPU will flickers. (RUN LED will be turned OFF) Therefore, when use FOR ~ NEXT or
CALL instruction, insert WDT instruction to reset the watch dog timer.
Refer the MASTER-K programming manual for details on the parameter setting.
0
WDT
END
0
END
WDT Reset
WDT Reset
WDT Reset
3) I/O module check function
Mounting conditions of the loaded module are checked
4) Error history
When error occurs, Corresponding error code is stored in special relay F006.
5-23
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 5 Power Supply / CPU
5.6.2 I/O Force On/Off function
It is possible to input/output a designated data regardless of the program operation results. When used with OUTOFF
instruction simultaneously, OUTOFF is prior to I/O Force On/Off.
1) Forced I/O setting method.
-. I/O Force on/off setting is applied to input area and output area.
-. I/O Force on/off should be set for each input and output, the setting operates from the time that
Force I/O setting enable’ is set.
-. This setting can be done when I/O modules are not really loaded.
-. Select the ’set forced I/O’ from KGLWIN
Click
-. Select the I/O area and then double click.
5-24
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 5 Power Supply / CPU
Set ‘forced I/O data’ by bit
Set ‘forced I/O data enable’ by bit
-. When forced I/O set enables, forced I/O function is executing.
Click
5-25
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 5 Power Supply / CPU
2) Special data register for forced I/O
The contents of forced I/O setting is registered to special data register as below.
It is possible to use ‘forced I/O function’ to program.
Items
Special Device
All Forced I/O enable
Forced I/O enable by bit
Forced I/O set data
M1910
D4700 ~ D4763
D4800 ~ D4863
3) Force on/ off Processing timing and method
(1) Forced Input
After data have been read from input modules, at the time of input refresh the data of the junctions which
have been set to force on/off will be replaced with force setting data to change the input image area. And
then, the user program will be executed with real input data and force setting data.
(2) Forced output
When a user program has finished its execution the output image area has the operation results. At the time
of output refresh the data of the junctions which have been set to force on/off will be replaced with force se
tting data and the replaced data will be output. However, the force on/off setting does not change the output
image area data while it changes the input image area data.
(3) Precautions
y Turning the power off and on, changes of the operation mode or operation by reset switch does not change
the previous force on/off setting data. They remain within the CPU module and operation is executed with
the same data.
y Forced I/O data will not be cleared even in the STOP mode.
y When setting new data, disable every I/O settings using the setting data clear function and set the new data.
REMARK
-. For detailed operation, refer to the KGLWIN user’s Manual Chapter 7 ‘Force I/O setting.
5-26
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 5 Power Supply / CPU
5.6.3 Direct I/O Operation function
This function is useful when reads an input relay’s state directly during execution of a program and uses in the operation, or
write the operation result directly to an output relay. Direct input/output is executed by the ‘IORF’ instruction. If this instruction is
used, the input/output image area will be directly updated and applied to the continuing operations.
REMARK
-. For detailed operation, refer to the ‘MASTER-K Manual for instruction’.
5.6.4 System error history
When the system is stopped by error occurrence, the CPU stores the error occurrence time and error code to the special data
register area. The most recent 16 error occurring times and error codes are stored in the special data register.
1) Special data register for error history
Data area
Description
The 1st error information,
The 17th error information
:
D4901 ~ D4904
D4905 ~ D4908
:
The 2nd error information
:
Device
D4961 ~ D4964
The 16th error information
2) Description of each word
Data area
Contents
Description
D4900
D4901
D4902
D4903
H0001
H0305
h2812
h3030
Error occurred point
Year : 03, Month : 5
Date : 28, Hour : 12
Minute : 30, Second : 30
D4904
h0001
Error code (h0001)
3) Clear error data
Use a ‘data clear’ function of KGLWIN.
REMARK
Refer to the KGLWIN user’s Manual Chapter 7, for details.
5-27
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 5 Power Supply / CPU
5.7 Memory Configuration
The CPU module includes two types of memory that are available by the user. One is program memory, which is
used to store the user programs written to implement a system by the user. The other is data memory, which sto
res data during operation.
Bit Data Area
Word Data Area
User Program Area
0
~
F
0000
~
FFFF
“D”
P00
D0000
Parameter setting area
I/O relay
Data Register
Word
“P”
P63
M000
D4500
D4999
Reserved for special usage
Auxiliary relay
(3,040 points)
User Program Area
(10ksteps)
“M”
M189
M190
(economic type : 2ksteps)
Timer preset value
(256 words)
Special auxiliary relay
(32 points)
“M”
“K”
“F”
“L”
T255
T000
M191
K00
Keep relay
Timer elapsed value
(256 words)
(512 points)
K31
F00
T255
C000
Special relay
(1,024 points)
Counter preset value
(256 words)
F63
L00
C255
C000
Link relay
Counter elapsed value
(256 words)
(1,024 points)
C255
L63
T000
S00
S99
StepController
Timer (100ms)
192 points
(100 x 100 steps)
“T”
“T”
T191
T192
“S”
S00.00~S99.99
Timer (10ms)
59 points
T250
T251
Timer (1ms)
5 points
“T”
“C”
T255
C000
Counter
C255
5-28
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 5 Power Supply / CPU
5.8 I/O Address Allocation
I/O No. allocation means to give an address to each module in order to read data from input modules and output data to
output modules.
Max. 3 expansion module is available in standard type.
Mounting module
Expansion I/O module
A/D, D/A conversion module
Analog timer module
Max. module can be mounted
remark
3
3
3
1
2 modules in economic type
Not available on economic type
Communication module
1) I/O No. allocation method
-. Basically, I/O allocation is fixed point method.(the area which is not used can be used internal relay)
-. The special module is not allocated.
Module
Main
I/O
Allocation
P000 ~ P03F
P040 ~ P07F
P080 ~ P08F
P090 ~ P09F
P100 ~ P10F
P110 ~ P11F
P120 ~ P12F
P130 ~ P13F
None
Remark
Fixed 64 points
Fixed 64 points
Fixed 16 points
Fixed 16 points
Fixed 16 points
Fixed 16 points
Fixed 16 points
Fixed 16 points
A/D,A/T,Communication
Input
Output
Input
Expansion #1
Expansion #2
Output
Input
Output
Input
Expansion #3
Special
Output
5-29
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 5 Power Supply / CPU
5.9 Built-in Cnet Selection Switch
5.9.1 Structure
You can see dip switches as shown when you open I/O terminal block cover.
BUILT_IN CNET
OFF
Terminal block cover
ON
ROM MODE
5.9.2 Usage
Dip switch position
Description
upper switch is for Cnet.
Turn upper switch on to use built-in RS-232C communication
OFF
ROM MODE
ON
ON
Upper switch is for Cnet.
Turn upper off switch to use external communication modules.
OFF
ROM MODE
*The lower switch is for O/S download setting. Don’t handle this switch.
5-30
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 5 Power Supply / CPU
Dip switch for Built-in Cnet is placed in deep place to prevent a mistaken operation caused by terminal block cover, etc. Use
a small driver to operate it.
Driver
Dip switch
Terminal block cover
5-31
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 5 Power Supply / CPU
5.10 External Memory Module
MK120S series supplies external memory module for the user to save programs safely or download a program on the
system and use it in case of a program is damaged.
5.10.1 Structure
Installation connector
5.10.2 Usage
1) Saving the user’s program on the external memory module.
(1) Turn the power of the base unit off.
(2) Install the memory module.
-. When only main unit is used : Connect to the expansion connector of the basic unit.
-. When expansion units are used : Connect to the expansion connector of the last connected expansion unit.
(3) Turn the power of the main unit on.
(4) Connect KGLWIN and PLC.
(5) Select Online –Read Information – I/O Information in menu, and the following message box will displayed
5-32
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 5 Power Supply / CPU
(6) Select Online – Flash memory – Write to external memory in menu, and the following message box will displayed.
(7) Turn the power of the main unit off.
(8) Remove the external memory module.
Through the above steps a user can save a program into the external memory module.
2) Run the PLC with a program of external memory module
(1) Turn the power of the main unit off.
(2) Install the memory module
- When only main unit is used, connect to the expansion connector of the main unit And when expansion unit is used,
connect to the expansion connector of the last connected expansion unit.
(3) Turn on the power of the main unit.
Through the above steps the user can operate the PLC with program stored in the external memory module.
REMARK
1) When the PLC restarts, it always operated with the external memory module automatically if external memory is
connected.
2) Remove after writing is finished.
5-33
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 5 Power Supply / CPU
5.11 RTC Module
MK120S series supplies RTC(Real Time Clock) module for the time-scheduling control. To use RTC function with K120S series,
the RTC operation module should be attached to the expansion slot of main unit or expansion module. Clock operation by the
RTC function is continued with a super capacitor when the CPU is powered off.
5.11.1 Structure
Installation connector
5.11.2 Usage
1) Read RTC data
(1) Read RTC data from KGLWIN
-. Select Online –Write Information – Set PLC Clock in menu.
-. Following message box will be displayed
5-34
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 5 Power Supply / CPU
(2) Read RTC data from special register
Description
Special register Area
(Word)
Data
(BCD format)
Upper byte
Lower 2 digits of year
Lower byte
F053
F054
F055
F056
Month
Hour
Second
H0207
H2313
H5020
H2002
Day
Minute
Higher 2 digits of year Date
Example : 2002. 07. 23. 13:50:20, Tuesday
2) Write RTC data
There is two ways to write new RTC data to the CPU.
The first one is using a graphic loader (KGLWIN). For detailed information, refer the user’s manual of KGLWIN.
The second one is write sequence program. By switching a special bit on, user can replace the current RTC data with the
reset data stored in a specified memory area. The followings are the memory address of preset data and an example
program.
Description
Data register Area
(Word)
Data
(BCD format)
Upper byte
Lower byte
D4993
D4994
D4995
D4996
Lower 2 digits of year
Month
Hour
H0207
H1011
h5324
H2001
Day
Minute
Second
Higher 2 digits of year Date
Example : 2002. 7. 10. 11:53:24, Monday
* M1904 : RTC data change bit
When the M1904 bit is switched on, the new data in D4993 ~ D4996 will be moved to F53 ~ F56. After data is
moved, M1904 has to be switched off immediately because current data will be updated every scan while
M1904 is on.
3) Date expression
Number
Date
0
1
2
3
4
5
6
Sunday Monday Tuesday Wednesday Thursday
Friday
Saturday
REMARK
1) If RTC stops or error occurs, write new data to the RTC then error is called off.
2) There is no written clock data in the RTC when shipped.
3) Before using RTC module, write clock data to the RTC first
5-35
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 6 Input and Output Specification
Chapter 6 Input and Output Specification
6.1 Input / Output Specifications
Digital input that offers to MASTER-K120S series are made to use both of electric current sink and electric current source.
To keep use coil load as an output module, maximum opening and shutting frequency is 1 second on and 1 second off.
The following diagram shows maximum life relay for relay output.
100
×
50
30
20
10
AC 125V r/load
DC 30V r/load
AC 250V r/load
0.5
5
10
1
2
3
100(A)
Opening/shutting of electric current
6-1
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 6 Input and Output Specification
6.2 Digital Input Specification
6.2.1 Main unit
1) Specification
Model
Main unit
K7M-
K7M-
K7M-
K7M-
K7M-DR10UE
K7M-DR14UE
DR/DRT/DT20U DR/DRT/DT30U DR/DRT/DT40U DR/DRT/DT60U
Specification
K7M-DR20UE
12 points
K7M-DR30UE
18 points
K7M-DRT40U
24 points
K7M-DRT60U
36 points
Number of input points
Insulation method
6 points
8 points
Photo coupler
DC 24V
Rated input voltage
Rated input current
Operating voltage range
7 mA (Standard Type P0~P3:9mA, Economic Type P0,P1:9mA)
DC20.4 ~ 28.8V (ripple: less than 5%)
Max. simultaneous input points 100% simultaneously On
On voltage / On current
Off voltage / Off current
Input impedance
DC19V or higher / 5.7 mA or higher
DC6V or lower / 1.8 mA or lower
Approx.3.3 kΩ(Standard Type P0~P3:2.7 kΩ, Economic Type P0,P1:2.7 kΩ)
0,1,2,5,10,20,50,100,200,500,1000ms (Default : 10ms)
Off → On
On → Off
Response time
0,1,2,5,10,20,50,100,200,500,1000ms (Default : 10ms)
Common terminal
Operating indicator
6 points / COM 8 points/COM 12 points/COM 18 points/ COM 12points/COM 18points/COM
LED turns on at ON state of input
2) Circuit diagram
R
Internal
circuit
Standard Type
Economic Type
P000 ~ P001
None
R C
COM
Standard Type
Economic Type
P002 ~
P000 ~
R
Internal
circuit
R
COM
6-2
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 6 Input and Output Specification
3) Input wiring
Main unit’s wiring method is as follows. DC input specifications offered by MASTER-K120S is to be used for both electric
current sink and electric current source.
(1) Main unit
DC24V
DC24V
6-3
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 6 Input and Output Specification
4) Example of external devices.
To connect with external device of DC output type into DC input module, wire depending on the type of the external device
as shown.
External device
Input
Relay
IN
7mA
COM
Power for
sensor
Sensor
+
Output
IN
7mA
0V
COM +
Same power for sensor
and input
+
Constant
] current
Output
IN
0V
7mA
Power for
sensor
COM +
+
Power for
sensor
Output
IN
0V
7mA
COM -
+
COM +
IN
Output
0V
Power for
sensor
6-4
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 6 Input and Output Specification
6.2.2 Expansion Module
1) Specifications
Expansion Module
G7E-DC08A
Model
Specification
G7E-DR10A
6 points
G7E-DR20A
12 points
Number of input points
8 points
Insulation method
Photo coupler
Rated input voltage
DC 24V
7 mA
Rated input current
Operating voltage range
Max. Simultaneous input points
On voltage / On current
Off voltage / Off current
Input impedance
DC 20.4 ~ 28.8V (ripple: less than 5%)
100% simultaneously On
DC19V or higher/ 5.7 mA or higher
DC6V or lower / 1.8 mA or lower
Approx. 3.3 kΩ
Off → On
Response time
0,1,2,5,10,20,50,100,200,500,1000ms (Default : 10ms)
0,1,2,5,10,20,50,100,200,500,1000ms (Default : 10ms)
On → Off
Common terminal
Operating indicator
6 points / com
4 points / com
12 points / com
LED turns on at ON state of input
2) Circuit diagram
It’s the same with the one for the main unit.
3) Input wiring
DC24V
DC24V
6-5
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 6 Input and Output Specification
6.3 Digital Output Specification
6.3.1 Main unit (Relay Output)
1) Specification
(1) Standard type
Model
Main Unit
K7M-DR40U
K7M-DR20U
Specifications
K7M-DR30U
(K7M-DRT30U)
K7M-DR60U
(K7M-DRT60U)
(K7M-DRT20U)
(K7M-DRT40U)
Output point
8 points(4 points)
Relay insulation
12 points(8 points)
16 points(12 points)
24 points(20 points)
Insulation method
Rated load voltage/current
Min. load Voltage/current
Max. load voltage/current
Current leakage when off
Max. On/off frequency
Surge Absorber
DC24V / 2A (r/load), AC220V / 2A (COS Ψ = 1)/1 point , 5A / 1COM
DC5V / 1mA
AC250V, DC110V
0.1mA (AC220V, 60Hz)
1,200 times/hr
None
Mechanical
More than 20,000,000
Rated on/off voltage/current load 100,000 or more
AC200V / 1.5A, AC240V / 1A (COSΨ = 0.7) 100,000 or more
AC200V / 1A, AC240V / 0.5A (COSΨ = 0.35) 100,000 or more
DC24V / 1A, DC100V / 0.1A (L / R = 7ms) 100,000 or more
10 ms or lower
Life
Electrical
Response
time
Off → On
On → Off
12 ms or lower
Operation indication
LED is on at on status of output
6-6
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 6 Input and Output Specification
(2) Economic type
Model
Main Unit
K7M-DR20UE
Specifications
K7M-DR10UE
K7M-DR14UE
6 points
K7M-DR30UE
Output point
4 points
8 points
12 points
Insulation method
Relay insulation
Rated load voltage/current
Min. load Voltage/current
Max. load voltage/current
Current leakage when off
Max. On/off frequency
Surge Absorber
DC24V / 2A (r/load), AC220V / 2A (COS Ψ = 1)/1 point , 5A / 1COM
DC5V / 1mA
AC250V, DC110V
0.1mA (AC220V, 60Hz)
1,200 times/hr
None
Mechanical
More than 20,000,000
Rated on/off voltage/current load 100,000 or more
AC200V / 1.5A, AC240V / 1A (COSΨ = 0.7) 100,000 or more
AC200V / 1A, AC240V / 0.5A (COSΨ = 0.35) 100,000 or more
DC24V / 1A, DC100V / 0.1A (L / R = 7ms) 100,000 or more
10 ms or lower
Life
Electrical
Response
time
Off → On
On → Off
12 ms or lower
Operation indication
LED is on at on status of output
2) Circuit
L
Internal
Relay
circuit
L
COM
6-7
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 6 Input and Output Specification
3) Output wiring
(1) Main unit
U
L L L
L L
L L
L L
L
L L
L
L L
L
L L
L L
L
L
L
L
DC5V DC24V
AC110/220V
DC24V DC24V
6-8
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 6 Input and Output Specification
6.3.2 Main unit (TR Output : DRT/DT type only)
1) Specification
Model
Main Unit
K7M-DRT/DT40U
Specifications
K7M-DRT/DT20U
K7M-DRT/DT30U
4 points / 12 point 4 points / 16 point
K7M-DRT/DT60U
4 points / 24 point
Output point
4 points / 8 point
Photo coupler insulation
DC12/24V
Insulation method
Rated load voltage
Operation load Voltage
Max. load current
Current leakage when off
Voltage drop when on
Surge Absorber
DC10.2 ~ 26.4V
0.5A/1 point (DRT Type P40~P43: 0.1A/1point, DT Type P40~P41 0.1A/1point)
Less than 0.1mA
Less than DC0.3V
Zener diode
Inrush current
Less than 4A, 10ms
0.2 ms or lower
Response
time
Off → On
On → Off
0.2 ms or lower
Operation indication
LED is on at on status of output
P40,P41
24V
Internal
Circuit
TR1
R2
R
3
P42,P43
24V
P/C
Internal
Circuit
TR1
R2
R
3
REMARK
1) Output TR P000 ~ P003 of DRT Type(K7M-DRT20/30/40/60U) are for positioning function.
2) They also can be used as general transistor output, but can’t be used for AC load. When used for AC loads, they can be destroyed.
6-9
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 6 Input and Output Specification
2) Output wiring
AC100-240V
FG
P40 P41 P42
P
COM0
COM1 COM2
COM3
P43
L
L
L
L
DC12V/24V
6-10
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 6 Input and Output Specification
6.3.3 Expansion Module
1) Specifications
Expansion Module
G7E-DR08A G7E-RY08A
Model
Specifications
G7E-DR10A
G7E-DR20A
Output point
4 points
Relay insulation
8 points
Insulation method
Rated load Voltage/current
Min. load Voltage/current
Max. load voltage/current
Current leakage when off
Max. on/off frequency
Surge Absorber
DC24V / 2A (Resistive load), AC220V / 2A (COS Ψ = 1) / 1 point 5A / 1COM
DC5V / 1mA
AC250V, DC110V
0.1mA (AC220V, 60Hz)
1,200 times/hr
None
Mechanical
More than 20,000,000
Rated on/off voltage/current load 100,000 or more
AC200V / 1.5A, AC240V / 1A (COSΨ = 0.7) 100,000 or more
AC200V / 1A, AC240V / 0.5A (COSΨ = 0.35) 100,000 or more
DC24V / 1A, DC100V / 0.1A (L / R = 7ms) 100,000 or more
10 ms or lower
Life
Electrical
Off → On
Response time
12 ms or lower
On → Off
Operation indication
LED is on at on status of output
2) Circuit
It’s the same with the output circuit of the main unit.
3) Output wiring
…
…
L
L
L L
L
L
DC5V DC24V
AC110/220V
DC5V/24V AC110/220V
6-11
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 6 Input and Output Specification
Expansion Module
G7E-TR10A
Model
Specifications
Output point
10 points
Insulation method
Photo coupler insulation
DC12V/24V
Rated load Voltage/current
Operating load voltage range
Max. load current
DC10.2 ~ 26.4V
0.5A/1 point, 4A/1COM
0.1mA or lower
Current leakage when off
Max. inrush current
Max. Voltage drop when on
Surge Absorber
4A/10ms or lower
DC 1.5V or lower
Clamp diode
Off → On
Response time
2 ms or lower
On → Off
2 ms or lower
Common method
10 points/ 1COM,
LED is on at on status of output
Operation indication
…
L
L L L L
L L L L
L
DC12/24V
REMARK
1) Refer to 7.2 ‘Special Functions’ for the special modules
6-12
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
Chapter 7. Usage of Various Functions
7.1 Built-in Functions
7.1.1 High-speed counter function
This chapter describes the specification, handling, and programming of built-in high speed counter of MASTER-K120S. The
built-in high speed counter of MASTER-K120S(hereafter called HSC) has the following features;
Function
Description
• Linear counter : Up/Down counter.
Counter format
Counting range is from -2,147,483,648 to 2,147,483,647
• Ring counter : Counter value rotates from 0 to (set value-1)
4 counter functions as followings
• 1-phase operation mode
• 1-phase pulse + direction mode : Up / down is selected by direction pulse
• 2-phase CW/CCW mode : Up / down is selected by CW or CCW pulse input
• 2-phase multiplication mode : Up / down is automatically selected by the phase
difference between A-phase and B.(multiplied by 4)
Change current value to preset value.
Counter mode
Preset function
Latch counter
Latches current value.
Additional
function
Comparison output When current value is equal to comparison value, turns on the output contact points or
executes interrupt program
RPM function
Calculate the RPM(Rotates Per Minute) of input pulse
1) Performance Specifications
Items
Specifications
Standard Type
1 phase : 4 points, 2 Phase : 2 points
Economic Type
1 phase : 2 points, 2 Phase : 1 points
1-phase 100kHz/ 2-phase 50kHz ( Ch0, Ch1) 1-phase 10kHz/ 2-phase 5kHz
Points
Max. counting speed
1-phase 20kHz/ 2-phase 10kHz ( Ch2, Ch3)
( Ch0, Ch1)
Input types
Counting ranges
1-phase
A-Phase, B-Phase, Preset input
from -2,147,483,648 to 2,147,483,647(Binary 32 bits)
Up counter
1-phase Pulse +
direction input
A-Phase : Input pulse, B-Phase : Direction pulse
Up / Down
selection
2-phase
CW/CCW mode
2-phase
A-Phase : Up counting pulse, B-Phase : Down counting pulse
Auto-select by phase difference of A-phase and B
multiplication mode
Additional function
Ring counter, Latch counter, Preset, Comparison output, RPM function
2) Input specification
Items
Specifications
24VDC (7mA)
20.4 ~ 28.8VDC
Items
Specifications
24VDC (7mA)
Rated input
Rated input
On voltage
Off voltage
On voltage
Off voltage
20.4 ~ 28.8VDC
6VDC or lower
A / B phase
Preset input
On delay time
Off delay time
200 ㎲ or lower
200 ㎲ or lower
6VDC or lower
7-1
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
3) Names of wiring terminals
Input pulse
Preset input
①② ③④ ⑤ ⑥ ⑦ ⑧
⑨
BUILT_IN CNET
OFF
ON
ROM MODE
P10
P23
COM1
COM0
P00 P02 P04 P06 P08
P0F P11
P01 P03
P07
P05
24G 24V
P22
Terminal
No.
Names
Usage
No.
1Phase
2Phase
1Phase
2Phase
①
②
③
④
⑤
⑥
⑦
⑧
⑨
P00
P01
Ch0 Input
Ch1 Input
Ch0 A Phase Input
Ch0 B Phase Input
Ch2 A Phase Input
Ch2 B Phase Input
Ch0 Preset 24V
-
Counter input terminal A Phase Input terminal
Counter input terminal B Phase Input terminal
Counter input terminal A Phase Input terminal
Counter input terminal B Phase Input terminal
P02
Ch2 Input
P03
Ch3 Input
P04
P05
P06
Ch0 Preset 24V
Ch1 Preset 24V
Ch2 Preset 24V
Ch3 Preset 24V
Preset input terminal
Preset input terminal
Preset input terminal
Preset input terminal
Preset input terminal
-
Ch2 Preset 24V
-
Preset input terminal
-
P07
COM0
Input Common
< Standard Type >
Input common terminal
Terminal
No.
Names
Usage
No.
1Phase
2Phase
1Phase
2Phase
①
②
③
④
P00
P01
P02
P03
Ch0 Input
Ch1 Input
Ch0 A Phase Input
Ch0 B Phase Input
Ch0 Preset 24V
Counter input terminal A Phase Input terminal
Counter input terminal B Phase Input terminal
Ch0 Preset 24V
Ch1 Preset 24V
Preset input terminal
Preset input terminal
Preset input terminal
-
-
< Econnomic Type >
7-2
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
4) External interface circuit
Termi
nal
No.
Signal name
Operati
on
Input warranted
voltage
I/O
Internal circuit
1Phase
2Phase
Ch0
Input
pulse
Ch0 A
Phase
Input
On
Off
On
Off
On
20.4~28.8V
6V or lower
20.4~28.8V
6V or lower
20.4~28.8V
3.3 kΩ
P00
P01
P02
Ch1
Input
pulse
Ch0 B
Phase
Input
3.3 kΩ
Ch2
Input
pulse
Ch2 A
Phase
Input
Input
3.3 kΩ
Off
On
Off
6V or lower
20.4~28.8V
6V or lower
Ch3
Input
pulse
Ch2 B
Phase
Input
P03
3.3 kΩ
COM
0
Common
Ch0
Preset
input
Ch0
Preset
input
On
Off
On
Off
On
20.4~28.8V
6V or lower
20.4~28.8V
6V or lower
20.4~28.8V
3.3 kΩ
P04
P05
P06
Ch1
Preset
input
3.3 kΩ
-
Ch2
Preset
input
Ch2
Preset
input
Input
3.3 kΩ
Off
On
Off
6V or lower
20.4~28.8V
6V or lower
Ch3
Preset
input
P07
-
3.3 kΩ
COM
0
Common
5) Wiring instructions
A high speed pulse input is sensitive to the external noise and should be handled with special care. When wiring the built-in
high speed counter of MASTER-K120S, take the following precautions against wiring noise.
(1) Be sure to use shielded twisted pair cables. Also provide Class 3 grounding.
(2) Do not run a twisted pair cable in parallel with power cables or other I/O lines which may generate noise.
(3) Before applying a power source for pulse generator, be sure to use a noise-protected power supply.
(4) For 1-phase input, connect the count input signal only to the phase A input; for 2-phase input, connect to phases A and B.
7-3
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
6) Wiring example
(1) Voltage output pulse generator
24V
Pulse Generator
A
B
COM
24VG
(2) Open collector output pulse generator
24V
COM
A
Pulse Generator
B
24VG
7-4
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
7) Instruction(HSCST)
HSCAST
High speed counter
Flag
Zero
(F111) (F112)
Available device
No. of
steps
Error
(F110)
Carry
Instruction
M
P
K
L
F
T
C
S
D
#D integer
S
○
7/9
○
SV
CV
○ ○ ○ ○ ○ ○ ○
○ ○ ○ ○ ○ ○
○ ○
○ ○
○
Designation
Flag set
S
Channel which is designated at parameter(0~3)
Error
Set value (binary 32 bits)
Error flag turns on when designating area is over
SV
(F110)
Range : (-2,147,483,648 ~ 2,147,483,647)
CV Current value of HSC stored area
■ HSCST S SV CV
(1) Functions
• When input condition turns on, corresponding high speed counter is enabled.
• When input condition turns off, high speed counter stop counting and turns output point off . The current value is retained.
• The high speed counter can counts from -2,147,483,648 to 2,147,483,647(binary 32bits).
• When current value is greater than set value, output point F17*(* is channel number) turns on and it turns off when current
value is less than set value.
• If current value is greater than 2,147,483,647, carry flag F18* turns on and and it turns off when input condition turns off.
If HSC designated as ring counter, carry flag is set when current value reaches set value.
• If current value is smaller than -2,147,483,648, borrow flag F19* turns on and and turns off when input condition turns off
If designated as ring counter, if current value is 0, borrow flag is set at next pulse’s rising edge and current value goes ‘set
value –1’(in down counter mode)
(2) Error code
Code
Error
Corrective Actions
When Ch0 is set as 2-Phase, Ch 1 can’t be used and Ch3 can’t be
used if Ch2 is set to 2-Phase.
H’10
Mode setting error
H’11
H’12
Ring counter setting error
SV2 setting error
Adjust the range of ring counter within 2 ~ 2,147,483,647.
Set SV2 greater than SV1 if zone comparison set is selected.
Adjust the range of ring counter within 2 ~ 2,147,483,647 Set SV2
greater than SV1if zone comparison set is selected
H’13
Ring counter and SV2 setting error
7-5
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
8) Parameter Setting
(1) Format setting
(a) Linear counter
• If HSC is designate as Linear counter, it can counts from -2,147,483,648 to 2,147,483,647.
• The carry flag F18*(* is channel number) turns on when the current value of high speed counter is overflow during up
counting and HSC stop counting.
• The borrow flag F19*(* is channel number) turns on when the current value of high speed counter is underflow during
down counting and HSC stop counting.
• Carry and borrow flags can be reset by preset operation and HSC can re-starts its operation.
Carry occurs
2,147,483,647
Current value
0
Decreasing
Increasing
-2,147,483,648
Borrow occurs
(b) Ring counter
• If HSC is designate as Ring counter, it can counts from 0 to set value.
• The carry flag turns on when the current value of high speed counter reaches set value during up counting and current
value is changed to 0.
• The borrow flag turns on when the current value of high speed counter is reaches 0 during down counting and current
value is changed to ‘set value –1’.
• When set value is out of range(2 ~ 2,147,483,647), Ring counter setting error(h’11) occurs and HSC operates as linear
counter.
• When current value is changed to out of range(2 ~ 2,147,483,647) by preset operation, Ring counter setting error(h’11)
occurs and HSC operates as linear counter.
• The ring counter setting error can be corrected by re-start of instruction(HSCST) only.
Carry occurs
Current value
0
Decreasing
Borrow occurs
Increasing
7-6
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
(2) Mode setting
(a) 1-phase operation mode
- Current value increases by 1 at the rising edge of input pulse.
A-phase input pulse
Current value
1
2
3
4
5
(b) 1-phase pulse + direction mode
- Current value increases by 1 at the rising edge of A-Phase pulse when B-phase is ‘low’ state.
- Current value decreases by 1 at the rising edge of A-Phase pulse when A-phase is ‘High’ state.
A-phase input pulse
High
Low
B-phase input pulse
Current value
10
11
10
9
8
(c) 2-phase CW/CCW mode
- Current value increases by 1 at the rising edge of A-Phase pulse when B-phase is ‘low’ state.
- Current value increases by 1 at the rising edge of B-Phase pulse when A-phase is ‘low’ state.
A-phase input pulse
B-phase input pulse
Current value
10
11
12
11
10
7-7
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
(d) 2-phase multiplication mode (MUL4)
- Up or Down is set automatically by the phase difference between A and B phase.
• Up counter
- At the rising edge of A-Phase pulse when B-phase is ‘low’.
- At the falling edge of A-Phase pulse when B-phase is ‘high’.
- At the rising edge of B-Phase pulse when A-phase is ‘high’.
- At the falling edge of B-Phase pulse when A-phase is ‘low’.
• Up counter
- At the rising edge of A-Phase pulse when B-phase is ‘high’.
- At the falling edge of A-Phase pulse when B-phase is ‘low’.
- At the rising edge of B-Phase pulse when A-phase is ‘low’.
- At the falling edge of B-Phase pulse when A-phase is ‘high’.
A-phase input pulse
B-phase input pulse
Current value
10 11 12 13 14 15 16 17 18
17 16 15 14 13
(3) Preset setting
(a) Internal Preset
- Set internal preset area and preset value.
- Current value of high speed counter is replaced with preset value at the rising edge of internal preset device.
(b) External Preset
- Set external preset area and preset value.
- External devices are fixed as following
Ch0 : P4, Ch1 : P5, Ch2 : P6, Ch3 : P7
- Current value of high speed counter is replaced with preset value at the rising edge of external preset device.
7-8
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
(4) Latch Counter setting
If this function is enabled, Current value of high speed counter is always retained.
Current value
- When power supply is off.
- When is ‘Stop’ or ‘Pause’
- When input condition of
‘HSCST’ is off
0
Time
Latches CV
Latches CV
(5) Comparison Output setting
(a) Comparison set
- When current value of HSC is equal to SV1, corresponding output point turns on.
- P40 ~ P47 are available for comparison output point.
Input pulse
Output Contact
Current value
98
99
100
101
102
7-9
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
(b) Zone Comparison Set
- When current value of HSC isn’t less than SV1 and more than SV2. corresponding output point turns on.
- P40 ~ P47 are available for comparison output point.
- If SV2 is less than SV1, SV2 setting error(h’12) occurs and zone comparison set is disabled.
Input pulse
Output point
Current value
999
1000
2000
2001
(c) Comparison Task
- If Comparison Task is selected in parameter window, corresponding interrupts is enabled.
- When current value of HSC is equal to SV1, corresponding interrupt program is executed.
- For the details about programming, refer to ‘KGLWIN User’s Manual’.
7-10
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
(6) RPM setting
- Can calculates RPM of input pulse
- RPM is stored in designated device.
- The RPM is expressed as:
(CurrentValue- LastValue)× 60,000
Pulsesper rotate× refreshcycle[ms]
RPM =
(a) Examples of Program
- Refresh cycle : 1000ms, Pulses per rotate : 60, RPM save area : D0
Input pulse
Current value
1000
2000
2001
4000
D0, D1
Time
ⓑ 1000
ⓒ 2000
3000ms
ⓐ 500
1000ms
2000ms
ⓐ Last value = 500(Assumption), Current value = 1000
RPM = { (1000 – 500) * 60,000} / {60 * 1000} = 500
ⓑ Last value = 1000, Current value = 2000
RPM = { (2000 – 1000) * 60,000} / {60 * 1000} = 1000
ⓒ Last value = 2000, Current value = 4000
RPM = { (4000 – 2000) * 60,000} / {60 * 1000} = 2000
7-11
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
9) Programming example
(1) Parameter setting
• Channel : Ch0
• Counter format : Ring counter ( 0 ~ 100,000)
• Counter mode : 2-phase multiplication mode
- P0 : A-phase pulse input, P1 : B-phase pulse input
• Preset
- Preset type : internal preset (M100)
- Preset value : 0
• Last counter setting
- None
• Comparison output
- Output mode : Zone comparison set
- SV1 : 10,000 SV2 : 20,000
- Output point : P43
• RPM setting
- Refresh cycle : 100(*10ms)
- Pulses per rotate : 60
- RPM save area : D100
7-12
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
(2) Programming
• When M0 turns on, HSC starts its operation
• If current value is not less than 50,000, F170 turns on.
• Current value is saved in D0(double word).
Remark
The contact point which is designated as HSC input can’t be used for pulse catch or external interrupt.
Duplicated designation may cause faults.
7-13
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
7.1.2. Pulse Catch Function
In the main unit, 4(economic type) or 8(standard type) points of pulse catch input contact points are internalized. Through using
this contact point, short pulse signal short can be taken which can not be executed by general digital input.
1) Usage
When narrow width of pulse signal is input, a trouble occurs which can not be detected by general digital input, so the
operation does not perform as user's intention. But in this case through pulse catch function even narrow interval of pulse
signal as 10 ㎲ min. can be detected.
2) Minimum input pulse width.
Type
10 ㎲
50 ㎲
Standard
Economic
None
2 points (P0, P1)
6 points (P2 ~ P7) 4 points (P0 ~ P3)
3) Operating Explanation
10 ㎲
input signal
input image data
scan 1
scan 2
scan 3
step
executing contents
CPU senses input when pulse signal, min. 10 ㎲, is input, then saves the status.
used to turn on the region of input image
scan1
scan2
scan3
used to turn off the region of input image
4) using method
(1) click twice the basic parameter on the project window of KGLMIN
(2) Select no. to use for pulse catch input of the basic parameter window.
For details of KGLWIN refers to the manual.
7-14
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
Remark
1) Pulse catch input contact points operate as general digital input if they are not designated as pulse catch input.
2) Do not designate HSC input points as pulse catch input.
7-15
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
7.1.3 Input Filter Function
External input of MASTER-K120S selects input on/off delay time from the range of 0-1000ms of KGLWIN. Credibility
secured system may be established by adjustment of input correction no. through using environment.
1) Usage
Input signal status affects to the credibility of system in where noise occurs frequently or pulse width of input signal affects
as a crucial factor. In this case the user sets up the proper input on/off delay time, then the trouble by miss operation of input
signal may be prevented because the signal which is shorter than set up value is not adopted.
2) Operating Explanation
Input on/off delay time.(filter time)
input signal
input image data
time
input signal
input image data
narrower width pulse than input correction no. is not considered as input signal
3) Using method
(1) Click twice the basic parameter on the project window of KGLWIN.
(2) The value of filter can be set up as one of 0,1,2,5,10,20,50,100,200,500,1000ms to the input on/off delay time of the
basic parameter window.(Input on/off delay time is set up as default value of 10ms)
(3) Set up input on/off delay time is conformed to all input is used.
The range of 0-1000ms
7-16
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
7.1.4 External Interrupt Function
MASTER-K120S Series can perform max 4(economic) or 8(standard) points of external contact interrupt by using input of
main unit without special interrupt module.
1) Usage
This function is useful to execute a high speed execution regardless of scan time.
2) Minimum processing time.
Type
10 ㎲
50 ㎲
Standard
Economic
None
2 points (P0, P1)
6 points (P2 ~ P7) 4 points (P0 ~ P3)
3) Operating explanation
External input signal
Scan program
Scan program
External contact
In case of occurrence of external
End the interrupt program
process then resume to
execute scan program
interrupt signal pause being executed
scan program and process interrupt
program
interrupt program.
4) Function
(1) Max. 8 points can be used to external interrupt input within P000 ~ P007.(P000~P003 for economic type)
(2) The no. of external interrupt is decreased by using other interrupt (time driven interrupt and HSC driven task)
(3) The execution conditions of external interrupt is divided into following 3 kinds.
- Rising edge : Interrupt occurs at rising edge of external Interrupt contact point.
- Falling edge : Interrupt occurs at falling edge of external Interrupt contact point.
- Rising & falling edge : Interrupt occurs at both edge of external Interrupt contact point.
(4) In the economic type, falling edge and rising & falling edge interrupt are not available.
7-17
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
5) Usage
(1) Click twice the parameter on the project window of KGLWIN.
(2) Designate contact point, no. of priority and movement condition of the task program which is moved by interrupt inputting.
Time driven Interrupt
execution periodic set
interrupt input executing condition
◎ Rising
interrupt input contact No.
◎ Falling
◎ Rising/Falling
(3) For the details , refer to KGLWIN manual.
7-18
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
7.1.5 PID control function(Standard type only)
1) Introduction
This chapter will provide information about the built-in PID (Proportional Integral Derivative) function of MASTER-K120S
main unit. The MASTER-K120S series does not have separated PID module like MASTER-K300S and MASTER-
K1000S series, and the PID function is integrated into the main unit.
The PID control means a control action in order to keep the object at a set value (SV). It compares the SV with a sensor
measured value (PV : Present Value) and when a difference between them (E : the deviation) is detected, the controller
output the manipulate value (MV) to the actuator to eliminate the difference. The PID control consists of three control
actions that are proportional (P), integral (I), and derivative (D).
Manual MV
Manipulation
value
MV
SV
PV
Control
object
D/A
converting
module
Set Value
P I D
calculation
Automated MV
Present Value
A/D converting
module
Sensor
The characteristics of the PID function of MASTER-K120S is as following;
• the PID function is integrated into the CPU module. Therefore, all PID control action can be performed with
instruction (PID8,PID8AT) without any separated PID control module.
• P operation, PI operation, PID operation and On/Off operation can be selected easily.
• PWM(Pulse Width Modulation) output is available.
• The manual output (the user-defined forced output) is available.
• By proper parameter setting, it can keep stable operation regardless of external disturbance.
• The operation scan time (the interval that PID controller gets a sampling data from actuator) is changeable for
optimizing to the system characteristics.
• SV Ramp and Delta MV function are available.
7-19
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
2) Specification
(1) Control operation
(a) Proportional operation (P operation)
① P action means a control action that obtain a manipulate value which is proportional to the deviation
(E : the difference between SV and PV)
② The deviation (E) is obtained by difference between SV and PV and the formula of deviation is as following;
where, Kp : the proportional constant (gain), SV: set value, PV: present value
MV = Kp ×
[
SV − PV
]
③ When E happens, MV by P operation is like Fig.7.1
: Deviation
: Manipulating value
Deviation(E)
Manipulate value (MV)
Time
Fig 7.1 MV by P operation
④ If the Kp is too large, the PV reaches to the SV swiftly, but it may causes a bad effect like oscillations.
⑤ If the Kp is too small, oscillation will not occur. However, the PV reaches to the SV slowly and an offset may
appear between PV and SV shown in the Fig. 7.2.
⑥ The manipulation value (MV) varies from 0 to 4,000. User can define the maximum value of MV (MV_MAX) and
minimum value (MV_MIN) within the range 0 ~ 4,000.
⑦ When an offset remains after the system is stabilized, the PV can be reached to the SV by adding a certain value.
This value is called as bias value, and user can define the bias value
: Kp is too large
: Kp is too small
Oscillation
PV
SV
Offset
Time
Fig. 7.2 The relation between Proportional constant (Kp) and prosent value (PV)
7-20
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
(b) Integral operation (I operation)
① With integral operation, the manipulate value (MV) is increased or decreased continuously in accordance time in
order to eliminate the deviation between the SV and PV. When the deviation is very small, the proportional
operation can not produce a proper manipulate value and an offset remains between PV and SV. The integral
operation can eliminate the offset value even the deviation is very small.
The period of the time from when the deviation has occurred in I action to when the MV of I action become that of
P action is called Integration time and represented as Ti.
② Integral action when a constant deviation has occurred is shown as the following Fig. 7.3.
Fig. 7.3 The integral action with constant deviation
③ The expression of I action is as following;
Kp
MV =
Edt
∫
Ti
As shown in the expression, Integral action can be made stronger or weaker by adjusting integration time (Ti) in
I action. That is, the more the integration time (the longer the integration time) as shown in Fig. 7.4, the lesser the
quantity added to or subtracted from the MV and the longer the time needed for the PV to reach the SV.
As shown in Fig. 7.5, when the integration time given is short the PV will approach the SV in short time since the
quantity added or subtracted become increased. But, If the integration time is too short then oscillations occur,
therefore, the proper P and I value is requested.
④ Integral action is used in either PI action in which P action combines with I action or PID action in which P and D
actions combine with I action.
7-21
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
Fig. 7.4 The system response when a long integration time given
Fig. 7.5 The system response when a short integration time given
(c) Derivative operation (D action)
① When a deviation occurs due to alteration of SV or external disturbances, D action restrains the changes of the
deviation by producing MV which is proportioned with the change velocity (a velocity whose deviation changes at
every constant interval) in order to eliminate the deviation.
② D action gives quick response to control action and has an effect to reduce swiftly the deviation by applying a large
control action (in the direction that the deviation will be eliminated) at the earlier time that the deviation occurs.
③ D action can prevent the large changes of control object due to external conditions.
④ The period of time from when the deviation has occurred to when the MV of D action become the MV of P action is
called derivative time and represented as Td.
7-22
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
⑤ The D action when a constant deviation occurred is shown as Fig. 7.6
Fig. 7.6 Derivative action with a constant deviation
⑥ The expression of D action is as following;
dE
MV = Kp ×Td
dt
⑦ Derivative action is used only in PID action in which P and I actions combine with D action.
(d) PID action
① PID action controls the control object with the manipulation quantity produced by (P+I+D) action
② PID action when a given deviation has occurred is shown as the following Fig. 7.7.
Fig. 7.7 PID action with a constant deviation
7-23
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
(e) Integral windup
All devices to be controlled, actuator, has limitation of operation. The motor has speed limit, the valve can not flow over
the maximum value. When the control system has wide PV range, the PV can be over the maximum output value of
actuator. At this time, the actuator keeps the maximum output regardless the change of PV while the PV is over the
maximum output value of actuator. It can shorten the lifetime of actuator.
When the I control action is used, the deviation term is integrated continuously. It makes the output of I control action
very large, especially when the response characteristic of system is slow.
This situation that the output of actuator is saturated, is called as ‘windup’. It takes a long time that the actuator returns to
normal operating state after the windup was occurred.
The Fig. 7.8 shows the PV and MV of PI control system when the windup occurs. As shown as the Fig. 7.8, the actuator
is saturated because of the large initial deviation. The integral term increase until the PV reaches to the SV (deviation =
0), and then start to decrease while the PV is larger than SV (deviation < 0). However, the MV keeps the saturated status
until the integral term is small enough to cancel the windup of actuator. As the result of the windup, the actuator will
output positive value for a while after the PV reached to the SV, and the system show a large overshoot. A large initial
deviation, load disturbance, or miss-operation of devices can cause windup of actuator.
There are several methods to avoid the windup of actuator. The most popular methods are adding another feedback
system to actuator, using the model of actuator and stop integrating when actuator is saturated.
PV
SV
10
시간
MV
Integral
Term
시간
Fig. 7.8 Example of integral windup
.
7-24
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
(2) Realization of PID control on the PLC
In this chapter, it will described that how to get the digitized formula of the P, I, and D terms.
(a) P control
The digitized formula of P control is as following;
P(n) = K
[
SV (n) − PV (n)
]
n : sampling number K : proportional gain constant
b : reference value SV : set value PV : present value
(b) I control
The continuous formula of I control is as following;
t e(s)ds
K
: integral term
I(t) =
∫
0
Ti
K : proportional gain constant Ti : integral time
e(s) : deviation value
By derivation about t, we can obtain;
dI
K
=
e
where, e = (SV – PV) : deviation value
dt Ti
The digitized formula is as following;
I(n +1) − I(n)
K
=
e(n)
where, h : sampling period
h
Ti
Kh
I(n +1) = I(n) +
e(n)
Ti
(c) D control
The continuous formula of derivative term is as following;
Td
N
d
dy
dt
×
D + D = −KTd
dt
N : high frequency noise depression ration
y : the object to be controlled (PV)
(3) Instruction and parameter setting
For the PID operation of MASTER-K120S, following 2 instruction are included in the KGLWIN software.
No.
1
Name
PID8
Description
Perform the PID operation
Perform the auto tuning operation
2
PID8AT
7-25
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
(4) parameter setting and explanation
(a) PID8 instruction parameter setting and explanation.
① Scan time
Scan time is the period of reading data (sampling), and also 10 times scaled up. The range of sampling time is
0.1 ~ 10 seconds, and actual input range is 0 ~ 100. Generally, Scan time of Digital PID control should be less
than 1/10 of time constant of system response for better performance. Time constant is the time taken the
system’s step response reaches to the 63% of steady state.
② Operation mode
Select automatic or manual operating mode
③ Manual operate range
When manual operation is designates , manual operation value designates.(input range : 0 ~ 4000)
④ Output limit value
Designate minimum and maximum values of available manipulate value.(range : 0 ~ 4000)
⑤ High frequency noise removal ratio
high frequency noise removal ratio is used for derivative control operation, and shows the ratio of high
frequency noise depression. If there is a lot of high frequency noise in the control system, select the value as
higher value.
Otherwise, leave the 1. The range of parameter is 0 ~ 10 and it is not scaled up, so input the designated value
directly.(it is possible that parameter value designates ‘D’ area also)
.
7-26
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
⑥ Proportional gain
The MASTER-K120S can handle only integer, not the floating point type. Therefore, to enhance the accuracy of
PID operation, the PID8 instruction is designed to input the P_GAIN data as the 100 times scaled up. For
example, if the designated P_GAIN is 98, actual input data of P_GAIN should be 9800. If the designated
P_GAIN is 10.99, input 1099 to the P_GAIN.
⑦ Derivative time and integral time
I_TIME and D_TIME are 10 times scaled up. For example, input 18894 if the designated I_TIME value is 1889.4.
The range of actual input is 0 ~ 20000. (it is possible that parameter value designates ‘D’ area also)
⑧ Mode command set
In MASTER-K120S, only the following 7 operation modes are available. Other operation modes, such as PD or I,
are not permitted.
No.
1
EN_P
EN_I
EN_D
PWM output
0 (disable)
Operation
1 (enable) 0 (disable) 0 (disable)
1 (enable) 1 (enable) 0 (disable)
1 (enable) 1 (enable) 1 (enable)
1 (enable) 0 (disable) 0 (disable)
1 (enable) 1 (enable) 0 (disable)
1 (enable) 1 (enable) 1 (enable)
0 (disable) 0 (disable) 0 (disable)
P operation
PI operation
2
3
PID operation
4
P operation/PWM output
PI operation/PWM output
PID operation/PWM output
On/Off operation
1 (enable)
0 (disable)
5
6
7
⑨ PWM set
PWM(Pulse Width Modulation) is a output method which changes on-off duty of output pulses by calculated
manipulation value. Fig 7.9 shows example of PWM output. Using PWM output, PID control system can be
constructed easily without D/A conversion module and power regulator.
When PWM is designates , ‘scan time’ item is disabled and ‘PWM’ items can be designated. In this case, scan
time is set to designated PWM output period. The range of PWM output period is 1 ~ 10 seconds, and actual
input range is 10 ~ 100. PWM output point is only available for output contact of main unit.
Example) PWM output period : 1s, Output contact : P40, MV limit range : 0~4000
MV = 2000
0.5s
MV = 1000
0.25s
0.75s
0.5s
On
P40
Time
7-27
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
⑩ SV Ramp
If a large amount of SV changes during PID operation, The deviation(E) changes rapidly. Then manipulation
value(MV) is changed rapidly also. This can cause damage on load or actuator. To prevent this situation, SV can
be changed step by step by parameter setting.
Setting range is 1~4000(Default value is 1). Setting value represents the number of time which taken from
starting set value to last set value.
For example, if SV-ramp is set to 1000 and SV changed from 1000 to 3000 during operation, it changes 2 every
scan and reach 3000 after 1000 scan time.
SV Ramp = 1
Changed SV
SV Ramp is designates
SV Ramp * Scan time
Current SV
Time
⑪ Delta MV
This is useful when wants to limit maximum change of manipulation value.
Setting range is 0 ~ 4000 and default value is 4000.
⑫ Bias
The Bias data is used for the compensation of offset in the proportional control. The range of input is 0 ~ 4000.
Be cautious that The actual range of Bias is –2000 ~ 2000. namely, 0~2000 represents 0 ~ +2000 and 2001 ~
4000 represents -1 ~ -2000.
Example> If offset(SV-PV) is 100 → Bias should be 100.
If offset(SV-PV) is -100 → Bias should be 2100.
⑬ SV(Target) and PV(Current)
SV (setting value : the designated value) and PV (process value : present value) of MK120S PID operation have
the range 0 ~ 4000. The range is set with the consideration of the resolution of A/D and D/A module of MK120S
series (12bits) and offset value.
⑭ PID Algorithm
In MASTER-K120S, two type of PID algorithm is available, The velocity form(Speed) and positioning form.
Velocity form(Speed) operates incremental manners. Namely, It calculates the change(∆ n) required from
previous manipulate value(MVn-1), But positioning form calculates an absolute manipulate value(MVn) every
sampling steps. Generally, The velocity form is suit for the system which’s load change is slow like temperature
control system, and positioning form is useful for system which’s load change is fast.
7-28
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
(b) PID8AT instruction parameter setting and explanation.
① Scan time
S_TIME is the period of reading data (sampling), and 10 times scaled up for more precious operation.
The range of sampling time is 0.1 ~ 10 seconds, and actual input range is 0 ~ 100.
② Control target(SV)
SV (set value : the designated value) and PV (process value : present value) of MASTER-K120S PID operation
have the range 0 ~ 4000. The range is set with the consideration of the resolution of A/D and D/A module of
MASTER-K120S series (12 bits) and offset value. When setting the SV or PV, please be careful convert the
analog value of control object (temperature, velocity, etc.) to digital value that are the output of A/D convert
module.
ⓐ When using sensor and A/D conversion module
Assume that PID control is used for temperature control with Pt100 (operation range : -200 °C ~ 600 °C),
and the goal value is 100 °C. The equivalent digital output of A/D module (current input range : 4 ~ 20mA) is
1500 if the A/D module outputs 0 (4mA) with -200 °C, and 4000(20mA) with 600 °C. Therefore, the input of
SV should be 1500, not 100.
ⓑ When using sensor and RTD module(G7F-RD2A)
Assume that PID control is used for temperature control with Pt100 (operation range : -200 °C ~ 600 °C),
and the goal value is 100 °C. The digital output of RTD module is calculated as below.
Temp.×10 + 2000
DigitalOutput =
2
Therefore, SV should be 1500,
③ Tuning method
The MASTER-K120S perform auto-tuning operation in two methods. One is relay response method and the
other is process reaction curve method.
7-29
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
ⓐ Relay response method.
• PID parameters are obtained by On/Off operation during 1 cycle of PV variation.
• PID parameters are obtained by amplitude and period of oscillation
• The On/Off operation will be occur at the SV value.
MV
Period
SV
Amplitude
ⓑ Process reaction curve method(PRC method).
• PID parameters are obtained by step response of process.
• It is useful fo r time 1st order time delay system expressed as following
e−Ls
K
Ts +1
• Obtained parameters may not accurate if the process can’t approximated to 1st order system, In this
case, use relay response method.
Time delay(L)
4000
MV
80% of SV
63% of SV
Time constant(T)
7-30
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
5) instruction
(1) PID8
PID8
PID Control
Flag
Zero
Available device
No. of
Steps
Error
Carry
Instruction
M
P
K
L
F
T
C
S
D
#D integer
(F110) (F111) (F112)
n
○
○
5
○
S1
○
Designation
Flag set
n
Registration No. at parameter(0~7)
Execution status registration area
Error flag turns on when designating area is over
and the instruction isn’t executed.
Error
(F110)
S1
■ PID8
n
S1
a) Usage
• when the condition of execution is on, PID operation executes.
• ‘n’ is registration No.at parameter( 0 ~ 7)
b) Example program
• When the input condition M0 turns on, PID operation executes at no.2 parameter.
• PID execution status registrate D0000 and the output value of control result registrate D0001
• If SV Ramp is designated, current SV is registrate D0005
bF bE bD bC bB bA b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
D0000
Done : normal execution signal
7-31
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
(2) PID8AT
PID8AT
PID Auto Tuning
Flag
Zero
Available device
No. of
steps
Error
Carry
Instruction
M
P
K
L
F
T
C
S
D
#D integer
(F110) (F111) (F112)
n
○
○
5
○
S1
○
Designation
Flag set
n
Registration No. at parameter(0~7)
Execution status registration area
Error flag turns on when designating area is over
and the instruction isn’t executed.
Error
(F110)
S1
■ PID8AT
a) Usage
n
S1
• when the condition of execution is on, PID auto tuning operation executes and calculates P,I,D constant
• ‘n’ is registration No.at parameter( 0 ~ 7)
• S1 is execution status and P,I,D constant registration area
b) Example program
• When the input condition M0 turns on, PID operation executes at no.2 parameter.
• PID execution status stores D0000 and the output value of control result stores D0001 and P,I,D constant sequentially
store D002(P),D003(I),D004(D)
bF bE bD bC bB bA b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
D0000
Auto tuning end bit
Done : normal execution signal
7-32
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
6) Program Example
(1) System configuration
G7F-
G7F-DA2I
MASTER-K120S
RD2A
RS-232C
(PV : temperature)
KGL-WIN
V3.5 above
(MV: 4~20mA)
Electric Oven
Heater
TPR
(2) In case of using PID function only
When PWM set is selected, Scan time parameter
is disabled and this value is ignored
When PWM is designated, this window is activated and
PID function operates by PWM period
7-33
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
a) PID operation explanation (without A/T function)
• Measure current temperature (-200~600°C) by RTD module then digital conversion value(0 ~ 4000) is stored to
D4780
• PID8 instruction will calculate manipulate value (MV : 0 ~ 4000) based on PID parameter settings (P_GAIN,
I_TIME, D_TIME, etc.) and PV from RTD module. Then, the calculated MV is output to the channel 0 of D/A
module.
• D/A module will convert the MV to analog signal and output to the actuator (power converter).
b) operation parameters
• Scan time : S_TIME=5 (sampling time = 0.5 seconds)
• Auto / Manual operation setting : Auto
• Output limit : Max. = 4000, Min = 0
• High frequency noise removal ratio : 10
• SV setting : 1300(60°C ),1350(70°C ),1400(80°C ),1500(100°C)
• Current value setting : D4780(Digital value of RTD module Ch0)
• BIAS setting : 0 (If only P control is used, input proper value other 0)
• EN_P, EN_I, EN_D setting: input proper values
• PWM setting : If enabled, input proper values.
• SV Ramp setting : Input proper values.
• Delta MV setting : Input proper values.
• PID Algorithm setting : Select proper algorithm.
c) RTD module setting
• Channel setting : use channel 0
• RTD Type setting : Pt100
• Digital conversion data registration area : D4780
d) D/A module setting
• Channel setting : use channel 0
• output range setting: DC 4 ~ 20 mA
• D/A conversion data registration area : D4980
7-34
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
e) Program Explanation
• When the input condition M0 turns on, PID operation executes at no.0 parameter.
• PID execution status registrate D0000 and the output value of control result registrate D0001
• If SV Ramp is designated, current SV is registrate D0005
• D/A module converts the MV to analog signal and output to the actuator (power converter).
• When the input condition M0 turns off, output 0 to the D/A conversion module.
When M0 turns on,
PID operation executes at no.0 parameter
The manipulated value is out to D/A module
When M0 turns off,
CPU stop PID operation and output 0 to D/A module
(3) In case of using combined function of PID operation and Auto tuning.
a) PID operation explanation (with A/T function)
• Measure current temperature (-200~600°C) by RTD module then digital conversion value(0 ~ 4000) is stored to
D4780
• PID8AT instruction will calculate manipulate value (MV : 0 ~ 4000) based on the SV and PV from RTD module.
Simultaneously, the PID8AT instruction will calculate P,I and D parameters.
• The END bit of auto tuning status device will be 1 when the auto tuning is completed. Then, MASTER-K120S
will start PID operation with PID parameters that are calculated by A/T module.
b) Auto tuning parameters
• Scan time : S_TIME=5 (sampling time = 0.5 seconds)
• SV setting : 1300(60°C ), 1350(70°C ),1400(80°C ),1500(100°C)
• Current value setting : D4780(Digital value of RTD module Ch0)
• Identification method setting : Select PRC Method
When selected, the scan time
fixed to 1 sec.
7-35
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
c) operation parameters
• Scan time : S_TIME=5 (sampling time = 0.5 seconds)
• Auto / Manual operation setting : Auto
• Output limit : Max. = 4000, Min = 0
• High frequency noise removal ratio : 10
• SV setting : 1300(60°C ),1350(70°C ),1400(80°C ),1500(100°C)
• Current value setting : D4780(Digital value of RTD module Ch0)
• BIAS setting : 0 (If only P control is used, input proper value other 0)
• EN_P, EN_I, EN_D setting: input proper values
• PWM setting : If enabled, input proper values.
• SV Ramp setting : Input proper values.
• Delta MV setting : Input proper values.
• PID Algorithm setting : Select proper algorithm.
As a result of PID8AT execution, Proportional gain(P),Derivative time(D),
Integral time(I) are stored D0102,D0103,D0104.
d) RTD module setting
• Channel setting : use channel 0
• RTD Type setting : Pt100
• Digital conversion data registration area : D4780
e) D/A module setting
• Channel setting : use channel 0
• output range setting: DC 4 ~ 20 mA
• D/A conversion data registration area : D4980
7-36
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
f) Program Explanation
• When the input condition M2 turns on, PID auto tuning operation executes at no.0 parameter.
• When auto tuning finished, PID operation executes with calculated P,I,D parameter.
• PID execution status registrate D0000 and the output value of control result registrate D0001
• If SV Ramp is designated, current SV is registrate D0005
• D/A module converts the MV to analog signal and output to the actuator (power converter).
• When the input condition M2 turns off, output 0 to the D/A conversion module
When auto tuning ends,
M0001 turns on and PID control starts.
When M0002 turns off,
Output 0 to D4980
When M0002 turns on, auto tuning starts.
Calculated P,I,D parameters are saved to D0002, D0003, D0004
7-37
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
6) Error code list
(1) PID8AT
Error Code
Description
Corrective action
H0100
H0200
Scan time setting range error
PV setting range error
Set scan time to available setting range
Set PV setting to available setting range
Set SV to available setting range SV
H0300
SV setting range error
If PRC identification method is selected, check current PV is
less than SV.(SV should be greater than PV)
(2) PID8
Error Code
Description
Corrective action
H0100
H0200
Scan time setting range error
Manual operation range error
Set scan time to available setting range
Setmanual opration value to available setting range
Set minimum output limit value to available setting range and
Set it less than maximum output limit value
Set maximum output limit value to available setting range and
Set it greater than minimum output limit value
Set this parameter to available setting range
Available mode command set are P, PI, PID(PWM for each),
On-Off only.
H0300
Output limit value error(Min.)
H0400
H0500
H0600
Output limit value error(Max.)
High frequency noise removal ratio setting error
Mode command set error
H0700
H0800
H0900
H0A00
H0B00
H0C00
H0D00
H0E00
H0F00
H1000
H1100
PWM period setting error
P gain setting error
I time setting error
Set PWM period to available setting range
Set P gain period to available setting range
Set I time period to available setting range
Set D time period to available setting range
Set Bias to available setting range
D time setting error
Bias setting error
PV setting range error
Set PV to available setting range
SV setting range error
Set SV to available setting range
SV Ramp setting error
Delta MV setting error
Set SV Ramp to available setting range
Set Delta MV to available setting range
Check PID algorithm setting
PID algorithm setting error
Operation mode setting error
Available operation mode is 0 or 1
7-38
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
7. 2 Special module
The special module and allocated data registers are as followings.
Item
A/D
Analog
timer
RTD input
module
Data
Combination module
Conversion
module
D/A Conversion module
Expansion
Register
G7F-ADHA G7F-ADHB G7F-AD2A G7F-DA2I
G7F-DA2V
G7F-AT2A
G7F-RD2A
CH0
CH0
CH0
CH0
CH0
CH0
CH0
D4980
D4981
D4982
D4983
D4984
D4985
D4986
D4987
D4988
D4989
D4990
D4991
A/D value
A/D value
A/D value
D/A value
D/A value
A/T value
Temperature
CH1
CH1
CH1
CH1
CH1
CH1
CH1
A/D value
A/D value
A/D value
D/A value
D/A value
A/T value
temperature
#1
CH0
CH0
CH2
CH2
CH2
CH2
CH2
D/A value
D/A value
A/D value
D/A value
D/A value
A/T value
temperature
CH1
CH3
CH3
CH3
CH3
CH3
-
D/A value
A/D value
D/A value
D/A value
A/T value
temperature
CH0
CH0
CH0
CH0
CH0
CH0
CH0
A/D value
A/D value
A/D value
D/A value
D/A value
A/T value
temperature
CH1
CH1
CH1
CH1
CH1
CH1
CH1
A/D value
A/D value
A/D value
D/A value
D/A value
A/T value
temperature
#2
CH0
CH0
CH2
CH2
CH2
CH2
CH2
D/A value
D/A value
A/D value
D/A value
D/A value
A/T value
temperature
CH1
CH3
CH3
CH3
CH3
CH3
-
D/A value
A/D value
D/A value
D/A value
A/T value
temperature
CH0
CH0
CH0
CH0
CH0
CH0
CH0
A/D value
A/D value
A/D value
D/A value
D/A value
A/T value
temperature
CH1
CH1
CH1
CH1
CH1
CH1
CH1
A/D value
A/D value
A/D value
D/A value
D/A value
A/T value
temperature
#3
CH0
CH0
CH2
CH2
CH2
CH2
CH2
D/A value
D/A value
A/D value
D/A value
D/A value
A/T value
temperature
CH1
CH3
CH3
CH3
CH3
CH3
-
D/A value
A/D value
D/A value
D/A value
A/T value
temperature
RTD input module store digital conversion value of temperature value to data registers as below
Temperature
Digital conversion value
Expansion
Ch 0
Ch 1
Ch 2
Ch 3
Ch 0
Ch 1
Ch 2
Ch 3
#1
#2
#3
D4980
D4984
D4988
D4981
D4985
D4989
D4982
D4986
D4990
D4983
D4987
D4991
D4780
D4784
D4788
D4781
D4785
D4789
D4782
D4786
D4790
D4783
D4787
D4791
Remark
1) Offset/gain value can’t be changed, it is fixed.
2) Analog inputting is set the current since this is manufactured.
3) Extend to use max.3 Modules
7-39
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
7.2.1 A/D·D/A Combination module
1) Performance specification
The performance specification of the analog mixture module are following.
Specifications
Item
G7F-ADHA
G7F-ADHB
Voltage DC 0∼10V (input resistance more than 1 ㏁)
DC 0∼20 ㎃ (input resistance 250Ω)
Input range
Current
DC 4∼20 ㎃ (input resistance 250Ω)
Classified by parameter
12Bit( 0~4000)
Digital output
1.Setting by jumper pin for V/I selection 1.Setting by dipswitch for V/I selection
Analog Input
on upper part of product
on left side of product
Voltage/Current
selection
(Up: voltage, Down: Current)
(Left voltage, Right: Current)
2. Voltage/current selected by KGLWIN parameter
3. When current input is used, short the V and I terminal
2 Channels/ 1 module
No. of channel
Voltage DC +12V
Absolute max. input
Current DC +24 ㎃
Voltage DC 0∼10V (External load resistance 2 ㏀∼1 ㏁)
DC 0∼20 ㎃ (External load resistance 510Ω)
Output range
Current
DC 4∼20 ㎃ (External load resistance 510Ω)
Classified by parameter
12Bit( 0~4000)
Digital Input
Voltage/Current
selection
Analog output
Separated from terminal
No. of channel
1Channel / 1 module
1Channel / 2 module
Voltage DC +12V
Current DC +24 ㎃
Absolute max. output
Voltage DC0∼10V : 2.5 ㎷ (1/4000)
DC0∼20 ㎃: 5 ㎂ (1/4000 )
Current
Max. resolution
Accuracy
DC4∼20 ㎃: 6.25 ㎂ (1/3200 )
±0.5% [Full scale ]
Max. conversion
speed
1 ㎳/CH + scan time
Photo coupler insulation between I/O terminals and PLC power supply
(No isolation between channels)
Isolation
Common
Connect terminal 9 Points terminals *2
8 Points terminals *2
Internal current
Consumption
20 ㎃
DC 21.6 ∼ 26.4V
External power
80 ㎃
95 ㎃
supply
Weight
240g
180g
Remark
1) Offset/gain value can’t be changed, it is fixed.
2) Analog inputting is set the current since this is manufactured.
3) Extend to use max.3 Modules
7-40
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
2) Names of parts and functions
Explain about names of parts and functions
(1) G7F-ADHA
No
Contents.
RUN LED
①
Indicate the operating status the G7F-ADHA
Analog input terminal
Voltage Input
Current input
CH0 (INPUT)
V0 I0 COM0
CH0 (INPUT)
V0 I0 COM0
②
When current input is used, short the V and I terminal.
Jumper pin of analog input
⑤
④
Input
Voltage Input
Current Input
Select
CHO CH1
③
⑥
⑦
Right is CH.1selecting
left is CH. 0 selecting
Connect upper
parts by jumper
pins
Connect lower parts by
jumper pins.
①
Analog output terminal
Voltage output
Current output
②
③
④
V+ V- I+ I-
OUTPUT
V+ V- I+ I-
OUTPUT
Only one type of output (Current or Voltage)is available on a module
External power input terminal
⑤
⑥
External voltage 24VDC needs to this terminal.
Extension cable
This cable is used to connect while analog mixture module is used.
.
Extension cable connector
⑦
The connector connects extension cable when extended module is
used.
7-41
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
(2) G7F-ADHB
No
Contents.
RUN LED
①
Indicate the operating status the G7F-ADHB
Analog input terminal
Voltage Input
Current input
C
CH0 (INPUT)
V0 I0 COM0
V0 I0 COM0
④
②
①
When current input is used, short the V and I terminal.
Dip switch of analog input
V0+
V0-
I0+ V1+ I1+
I0- V1- I1-
OUTPUT
CH0
CH1
Input Select
C
h0
C
③
G7F-ADHB
PROGRAMMABLE
LOGIC
1
⑦
⑥
Right : current input
Left : voltage input
CONTROLLER
PWR
Analog output terminal
INPUT
Input
CH0
CH1
24V V0 COM0 I1
Current output
Voltage output
24G I0
V1 COM1
③
④
V+ V- I+ I-
OUTPUT
V+ V- I+ I-
OUTPUT
⑤
①
Only one type of output (Current or Voltage)is available on a module
External power input terminal
⑤
⑥
External voltage 24VDC needs to this terminal.
Extension cable
This cable is used to connect while analog mixture module is used.
.
Extension cable connector
⑦
The connector connects extension cable when extended module is
used.
7-42
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
3) Parameter setting
(1) Scaling function
This function convert automatically range when the inout/output range is not matched.
In case that input/output is current , this function is useful that external equapment’ range is not matched each other.
(MASTER-K120S series converts range automatically as following : 0 ~ 20mA ⇔ 4 ~ 20mA)
4000
4000
800
0
0
0㎃
20㎃
20㎃
4㎃
-1000
Resolution : 20 ㎃/4000 = 5 ㎂
Resolution : 20 ㎃/3200 = 6.25 ㎂
Conversion method is as below
• scaling conversion value (A/D conversion) = [(data of 0 ~ 20 ㎃) – 800] x 4000/3200
example) in case of8 ㎃ input at range 0 ~ 20 ㎃
before the scaling conversion : 8 ㎃ / 5 ㎂ = 1600
after the scaling conversion : (1600 –800) x 1.25 = 1000
• scaling conversion value (D/A conversion) = [(data of 4 ~ 20 ㎃) x 3200/4000] + 800
example) in case of ‘1000’ output at range 4 ~ 20 ㎃
current output value before the scaling conversion : 1000 x 5 ㎂ = 5 ㎃
current output value after the scaling conversion : (1000 x 0.8) + 800 = 1600
1600 x 5 ㎂ = 8 ㎃
7-43
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
4) Wiring
(1) Caution for wiring
• Make sure that external input signal of the mixture module of AC and analog I/O is not affected by induction noise or occurs
from the AC through using another cable.
• Wire is adopted with consideration about peripheral temperature and electric current allowance. Thicker than Max. size of
wire AWG22 (0.3 ㎟) is better.
• If wire is put near to high temp. radiated device or contacted with oil for a long time, it may cause of electric leakage so that
it gets broken or miss-operation during wiring.
• Be sure to connect with care of polarity while connecting to external 24V DC power supply.
• In case of wiring with high voltage line or generation line, it makes induction failure so then it may cause of miss-operation
and out of order.
(2) Wiring example
a) Analog input
Voltage input
Current input
Terminal
V1
Terminal
V0
input
input
I0
I1
COM0
COM1
*1
*1
b) Analog output
Voltage output
V+
2K~1 ㏁
V−
*1
GND
Current output
Less than
I+
510Ω
I−
*1
GND
*1 : Be sure to use two-core twisted shield wire.
* Be careful to use that analog output is 1 channel.
7-44
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
5) I/O converstion characteristics
(1) Analog input characteristics
a) Voltage input
4000
2004
2003
2002
2001
2000
2000
0
0V
5V
10V
Analog input voltage
Input Voltage
A/D conversion characteristics (voltage input)
In voltage input, digital amount 0 is output by 0V input and 4,000 is output by 10V input. Therefore input 2.5mV equals to
digital amount 1, but value less than 2.5mV can’t be converted.
b) Current input
4000
2004
2003
2002
2001
2000
2000
0
0 ㎃
10 ㎃
20 ㎃
Input Current
Analog input current
A/D conversion characteristics (Current input)
Current input 0mA becomes output 0, 10mA does 2000 and 20mA does 4000. therefore input 5 ㎂ equals to digital
amount 1, but value less tan 5 ㎂ can’t be converted. So abandon it.
7-45
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
(2) Analog output characteristics
a) Voltage output
10V
5V
0V
2.5 ㎷
5.0025
5V
2000 20012002 200 200 200
Digital input
0
2000
4000
Digital input value
D/A conversion characteristic (voltage output)
Input of digital amount 0 outputs analog amount 0V, 4000 does 10V.Digital input 1 equals to 2.5mV of analog amount.
b) Current output
20 ㎃
10 ㎃
5 ㎂
10.005
10.000
2000 20012002 200 200 200
0 ㎃
Digital input
0
2000
4000
Digital input value
D/A conversion characteristic (Current output)
In current output, digital amount 0 exchanges to 0mA, and 4,000 does 20mA.
Analog amount of digital input 1 equals to 5 ㎂.
7-46
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
6) Program example
(1) Distinction program of A/D conversion value
a) Program explanation
- When digital value of channel 0 is less than 2000, P090 is on.
- when digital value of channel 0 is more than 3000, P091 is on.
- When digital value of channel 0 is more or same than 2000 or lesser than 3000, P092 is on.
b) System configuration
Main Unit A/D·D/A combination module Expansion module
I/O allocation
Main unit input : P000 ~ P03F
Main unit output : P050 ~ P07F
Expansion module input : P080 ~ P08F
Expansion module output : P090 ~ P09F
c) Program
7-47
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
(2) Program which controls speed of inverter by analog output voltage of 5 steps
a) Program explanation
-.When P80 becomes On, 2000 (5V) is output.
-. When P81 becomes On, 2400 (6V) is output.
-.When P82 becomes On, 2800 (7V) is output.
-.When P83 becomes On, 3200 (8V) is output.
-.When P84 becomes On, 3600 (9V) is output.
b) System configuration
Main Unit A/D·D/A combination module Expansion module
c) Program
7-48
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
7.2.2 A/D Conversion module
1) Performance specifications
The performance specifications of the analog input module are following.
Item
Specifications
0∼10VDC ( input resistance 1 ㏁ )
Voltage
Current
DC 4∼20 ㎃ ( input resistance 250Ω )
DC 0∼20 ㎃ ( input resistance 250Ω ))
-.Setting by input terminal
Analog
input
Voltage/Current
Selection
(When current input is used, short the V and I terminal)
- Voltage/Current is selected by KGLWIN parameter
12bit binary (0∼4000)
Digital output
0∼10VDC
DC 0∼20 ㎃
DC 4∼20 ㎃
2.5 ㎷ (1/4000)
Maximum
resolution
5 ㎂ (1/4000)
5 ㎂ (1/3200)
Overall accuracy
±0.5% [Full Scale]
Max. conversion speed
Max. absolute input
1 ㎳/CH + scan time
Voltage : ±15V, Current : ±25 ㎃
4channels/1module
Number of analog input point
Between input terminal and PLC power supply
: Photo coupler isolation
Isolation
(No isolation between channels)
2 points/16 points terminal block
Terminal connected
Current
+5V
Consumption
100mA
Voltage
DC 21.6 ~ 26.4V
100 ㎃
External Power
Current
consumption
supply
Weight
300g
Remark
• Offset/Gain value can’t be changed, because it is fixed
• Analog inputting is set the current since this is manufactured.
• It is possible to use to extend max.3 modules
7-49
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
2) Names of parts and functions
The Names of parts and functions of the analog input module are following.
No
Contents
RUN LED
①
Indicate the operating status the G7F-AD2A
Analog input terminal
Voltage input
Current input
④
①
CH0
COM0
V0
CH0
COM0
V0
②
·
·
I0
I0
24V 24G
Input
▶
When current input is used, short the V and I terminal.
Jumper pin of analog input
⑥
Voltage input
Current input
Input
Select
Input
Select
CH3
CH2
CH1
CH0
CH0
CH1
CH2
CH3
V3 COM
CH
CH
CH
3
CH
CH
CH
3
CH
CH
CH
CHO
3
2
V0 COM V1 COM V2 COM
2
2
1
1
⑤
1
I0
·
I1
·
I2
·
I3
·
CHO
③
CHO
I
V
Connect left parts
by jumper pins
Connect right parts
by jumper pins
③
②
External power input terminal
External voltage 24VDC needs to this terminal.
Extension cable
This cable is used to connect while analog input module is
used.
Extension cable connector
The connector connects extension cable when extended
module is used.
④
⑤
▶
▶
.
⑥
▶
7-50
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
3) Parameter setting
(1) Scaling function
The scaling function is the same that of A/D, D/A combination module.
4) Wiring
(1) Caution for wiring
• Make sure that external input signal of the mixture module of AC and analog I/O is not affected by induction noise or
occurs from the AC through using another cable.
• Wire is adopted with consideration about peripheral temperature and electric current allowance. Thicker than Max. size
of wire AWG22 (0.3 ㎟) is better.
• If wire is put near to high temp. radiated device or contacted with oil for a long time, it may cause of electric leakage so
that it gets broken or miss-operation during wiring.
• Be sure to connect with care of polarity while connecting to external 24V DC power supply.
• In case of wiring with high voltage line or generation line, it makes induction failure so then it may cause of miss-
operation and out of order.
(2) Wiring
Current
Voltage
Terminal
V0
Terminal
V1
Analog
Input
Analog
Input
I0
I1
COM0
COM1
*1
*1
*1 : Be sure to use two-core twisted shield wire.
7-51
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
5) Analog/Digital conversion characteristics
(1) Analog input characteristics
a) Voltage input
4000
2004
2003
2002
2001
2000
2000
0
0V
Voltage Input
5V
10V
Analog Input Voltage
A/D Conversion Characteristics (Voltage Input)
In voltage input, digital amount 0 is output by 0V input and 4,000 is output by 10V input. Therefore input 2.5mV equals
to digital amount 1, but value less than 2.5mV can’t be converted.
b) Current input
4000
2004
2003
2002
2001
2000
2000
0
0 ㎃
10 ㎃
20 ㎃
Current Input
Analog Input Current
A/D Conversion Characteristics (Current Input 0∼20 ㎃)
Current input 0mA becomes output 0, 10mA does 2000 and 20mA does 4000. therefore input 5 ㎂ equals to digital
amount 1, but value less tan 5 ㎂ can’t be converted. So abandon it.
7-52
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
6) Program example
(1) Distinction program of A/D conversion value(Analog input range: DC4∼20 ㎃, 0~10VDC)
(a) Program explanation
• When digital value of channel 0 is the same or more than 2000 and the same or less than 3000, P090 is on.
• When digital value of channel 1 is the same or more than 2000 and the same or less than 3000, P091 is on.
• When digital value of channel 2 is the same or more than 2000 and the same or less than 3000, P092 is on.
• When digital value of channel 3 is the same or more than 2000 and the same or less than 3000, P093 is on.
(b) System configuration
ⓐ Analog input
• channel “0”, “1” : Voltage input (0∼10VDC)
• channel “2”, “3” : Current input (DC 4∼20 ㎃)
ⓑ Parameter setting
ⓒ System configuration
Main Unit A/D conversion module Expansion module
I/O allocation
Main unit input : P000 ~ P03F
Main unit output : P050 ~ P07F
Expansion module input : P080 ~ P08F
Expansion module output : P090 ~ P09F
7-53
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
(c) Program
7-54
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
7.2.3 D/A Conversion module
1) Performance specifications
The performance specifications of the analog output module are following.
Specifications
Item
G7F-DA2I
G7F-DA2V
DC 0∼20 ㎃( Load resistance 510Ω)
Output Range
DC 4∼20 ㎃( Load resistance 510Ω)
Classified by parameter
12bit (0∼4000)
DC 0 ~ 10V(Lod resistance 2 ㏀∼1 ㏁)
Digital Output
Number of output
Max. absolute output
Maximum
4channels/1module
DC +24 ㎃
DC 12V
DC 0∼20 ㎃ : 5 ㎂ (1/4000)
DC 4∼20 ㎃ : 6.25 ㎂ (1/3200)
±0.5% [Full Scale]
2.5 ㎷ (1/4000)
resolution
Overall accuracy
Max. conversion speed
0.5 ㎳/CH + scan time
1 ㎳/CH + scan time
Between input terminal and PLC power supply: Photo coupler isolation
(No isolation between channels)
Isolation
Terminal connected
Current
16 points terminal block
8 points terminal block * 2
20mA
15mA
Consumption
Voltage
DC 21.6 ~ 26.4V
80 ㎃
External
Power supply
Current
consumption
90 ㎃
Weight
280g
160g
7-55
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
2) Names of parts and functions
The Names of parts and functions of the analog input module are following.
③
③
①
①
24V 24G
Inpu
G7F-DA2I
PROGRAMMABLE
LOGIC
⑤
G7F-DA2V
⑤
PROGRAMMABLE
LOGIC
CONTROLLER
CONTROLLER
24V CH0 CH1 CH2 CH3
PWR
24V
I+
I+
I+
I+
④
24G
I-
I-
I-
I-
·
V0+ V1+ V2+ V3+
V0- V1- V2- V3-
④
②
②
G7F – DA2I
G7F – DA2V
RUN LED
①
②
Indicate the operating status the G7F-DA2I
Analog output terminal
Current output
External power input terminal
③
④
⑤
▶
External voltage 24VDC needs to this terminal.
Extension cable
This cable is used to connect while analog output module is used.
Extension cable connector
▶
.
▶
The connector connects extension cable when extended module is used.
7-56
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
3) Parameter setting
1) Specify the kind of special module
2) Set Output type of each channel
7-57
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
5) Scaling function
The scaling function is the same that of A/D, D/A combination module.
6) Wiring
(1) Caution for wiring
• Make sure that external input signal of the mixture module of AC and analog I/O is not affected by induction noise or occurs
from the AC through using another cable.
• Wire is adopted with consideration about peripheral temperature and electric current allowance. Thicker than Max. size of wire
AWG22 (0.3 ㎟) is better.
• If wire is put near to high temp. radiated device or contacted with oil for a long time, it may cause of electric leakage so that it
gets broken or miss-operation during wiring.
• Be sure to connect with care of polarity while connecting to external 24V DC power supply.
• In case of wiring with high voltage line or generation line, it makes induction failure so then it may cause of miss-operation
and out of order.
(2) Wiring
CH0
I+
510Ω
I−
*1
GND
CH3
I+
Less than
510Ω
I−
*1
GND
*1 : Be sure to use two-core twisted shield wire.
Remark
ꢀ
The common grounding with other devices is permitted when D/A conversion module is used as current
output type.
.
CH 0
Devices
5
6
D/A
CH 3
11
12
D/A
+15V
DC +24V
1
2
DC/DC
AGND
DC 0V
Converter
-15V
7-58
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
7) Digital/Analog conversion characteristics
(1) G7F-DA2I
a) 0~20mA output
20㎃
10㎃
5㎂
10.005㎃
10.000
2000 2001 2002 2003 2004 2005
0㎃
0
Digital input
2000
4000
Digital input
D/A conversion characteristics(Current output)
Digital amount 0 outputs analog amount 0mA, 4000 does 20mA.Digital input 1 equals to 5 ㎂ of analog amount.
b) 4~20mA output
20mA
12mA
6.25 ㎂
12.006
12.000
2000 2001 2002 2003 2004 2005
4mA
Digital input
0
2000
4000
Digital nput
D/A conversion characteristics(Current output)
Digital amount 0 outputs analog amount 4mA, 4000 does 20mA.Digital input 1 equals to 6.25 ㎂ of analog amount.
7-59
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
8) Program example
(1) Program which controls speed of inverter by analog output voltage of 5 steps(0 ~ 20mA output)
a) Program explanation
• When P80 becomes On, 2000 (10mA) is output.
• When P81 becomes On, 2400 (12mA) is output.
• When P82 becomes On, 2800 (14mA) is output.
• When P83 becomes On, 3200 (16mA) is output.
• When P84 becomes On, 3600 (18mA) is output.
b) System configuration
Main Unit
D/A conversion module Expansion module
I/O allocation
Main unit input : P000 ~ P03F
Main unit output : P040 ~ P07F
Expansion module input : P080 ~ P08F
Expansion module output : P090 ~ P09F
c) Program
7-60
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
7.2.4 Analog timer
1) Performance specification
The performance specification of the analog timer module are following.
Item
Number of channels
Specification
4
Output value range
Setting type
8 Bit (Digital output range: 0 ∼ 200)
Setting by variable resistance
±2.0% (Accuracy about max. value)
Storing data register automatically
50 ㎃
Accuracy of timer
Operation method
Internal current consumption
Number of module installment
Weight
Max 3 modules
200g
2) Names of parts and functions
②
③
④
①
No.
Name
Contents
Indicate the operating status the G7F-AT2A.
①
RUN LED
On: normal operating
Off: DC 5V power off or the G7F-AT2A module fault
Setting up the length of timer through variable resistance to every
channel.
②
Channel
③
④
Extension cable
Extension cable connection terminal
7-61
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
3) Program example
(1) Program explanation
Program which controls on-delay time of output contact point within 0 to 20 sec. By analog timer module.
(2) System configuration
Main Unit
Analog timer module
(3) Program
A/T conversion data is moved D000 always
7-62
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
7.2.5 RTD input module(Standard type only)
1) Performance specification
The performance specification of the RTD input module are following.
Item
Specification
Pt 100 (JIS C1640-1989, DIN 43760-1980)
JPt100 (KS C1603-1991, JIS C1604-1981)
Pt 100 : -200 ~ 600℃ (18.48 to 313.59Ω)
JPt100 : -200 ~ 600℃ (17.14 to 317.28Ω)
Digital conversion value : 0 to 4,000
Connectable RTD
Temperature input range
Digital output
Detected temperature value : -2000 to 6000 (one digit after point * 10)
Each of three wires at every channel has detection function.
±0.5% [Full Scale]
Burn out detection
Accuracy
Maximum conversion
speed
Number of temperature
input device points
40 scan / 1 module
4Channel / 1module
Photo-coupler insulation between the input terminal and the PLC power
supply (non-insulation between channels)
Insulation method
Connection terminal block
Current consumption
8-point terminal block * 2
25 ㎃
DC21.6 ∼ 26.4V
70 ㎃
Voltage
Current
External power
supply
Weight
240g
2) Names of parts and functions
③
②
No
Name
Contents
①
①
RUN LED
RTD input
terminal
Indicate the operating status the G7F-RD2A
24V
24G
A
b
B
B
A
b
②
③
④
④
Terminal which connects Pt100 or JPt100
External voltage 24VDC needs to this terminal
CH2
CH3
External power
input terminal
⑤
G7F-RD2A
④
PROGRAMMABLE
LOGIC
This cable is used to connect while RTD input
module is used
CONTROLLER
Extension cable
PWR
CH0
A
B
CH1
Extension cable The connector connects extension cable when
connector extended module is used.
b
A
b
B
·
·
②
Explain about names of parts and functions
7-63
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
3) Parameter setting
4) Digital conversion value register
Detected
Ch.
Digital conversion
Data register
Remark
Temperature value
value
D4780
D4781
D4782
D4783
D4784
D4785
D4786
D4787
D4788
D4789
D4790
0
1
2
3
0
1
2
3
0
1
2
D4980
D4981
D4982
D4983
D4984
D4985
D4986
D4987
D4988
D4989
D4990
D4880
D4881
D4882
D4883
Special module
#1
Special module
#2
D4884
D4885
Special module
#3
5) Error code ( D4880∼D4885 )
bF bE bD bC bB bA b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
D4880
CH1
CH0
Error code
0
Description
Normal run status
Corrective action
⎯
16(10h)
17(11h)
A disconnection detected Fix the A disconnection between RTD input module and RTD.
B disconnection detected Fix the A disconnection between RTD input module and RTD
b disconnection detected,
Fix the A disconnection between RTD input module and RTD. Or,
A and B disconnection
detected simultaneously.
18(12h)
19(13h)
Fix the A and B disconnection.
Temperature outside the Correctly specify the type of the RTD, or use the temperature within
range
the range (-200.0°C ~ 600.0°C)
7-64
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
6) Temperature conversion characteristics
The RTD input module, as shown below, linearlizes the non-linear characteristic resistance input of the RTD
7) Digital conversion value
The RTD input module, as shown below, outputs digital converted value of detected temperature value.(Range 0 ~ 4000)
Digital conversion value
4000
Detected temp. value
-2000
0
6000
Digital Conversion value = (Detected Temp. value+2000)/2
Example) Assume that Detected temperature value(D4980) is 2345, then real temperature = 234.5℃, and Digital
conversion value(D4770) is (2345+2000)/2 = 2172.
7-65
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
8) Burn-out detection function
The RTD input module has the function of burn-out detection on the Pt100, JPt100 or cable.
• As shown below, if disconnection occurs in the RTD or cable then a voltage outside the measurable range voltage is
inputted by the internal burn-out detection circuit and burn-out detection error code is generated.
• The RTD input module can detect disconnection for each channel. But, burn-out detection is possible only in the
channels enabled.
• If disconnection is detected in two or more wires, first, disconnection error code is generated by ‘b’ and then
disconnection error code is generated by ‘A’ or ‘b’ sequentially. If disconnection is detected simultaneously in ‘A’ and
‘B’, only disconnection error code is generated by ‘b’.
Connection
Method
2-wire
Connection Example
Remark
burn-out detection area
- In 4-wire type, only all wires marked '2'
connected to the terminal block A are all
detected as disconnection then the A
disconnection error can be detected.
type
3-wire
type
burn-out detection area
4-wire
type
burn-out detection area
*1 : Pt
No wiring
*2: Shield wire
7-66
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
9) Wiring
(1) Caution for wiring
• Make sure that external input signal of the mixture module of AC and analog I/O is not affected by induction noise or occurs
from the AC through using another cable.
• Wire is adopted with consideration about peripheral temperature and electric current allowance. Thicker than Max. size of
wire AWG22 (0.3 ㎟) is better.
• If wire is put near to high temp. radiated device or contacted with oil for a long time, it may cause of electric leakage so that it
gets broken or miss-operation during wiring.
• Be sure to connect with care of polarity while connecting to external 24V DC power supply.
• In case of wiring with high voltage line or generation line, it makes induction failure so then it may cause of miss-operation
and out of order.
(2) Wiring example
• Number of method of connection between Pt and RTD input module are three, that is, 2-wired type, 3-wired type and 4-w
wired type.
• The resistance of the wires used to connect Pt to RTD input module should be 10 Ω or less per wire.
The same wire (in thickness, length, and kind, etc.) should be used for each channel.
Connection
Method
Connection Example
Wire Conditions
2-wired type
wire resistance≤10Ω
wire resistance≤10Ω
wire resistance≤10Ω
3-wired type
4-wired type
The difference between the resistance values
of the wires ① and ② : 1Ω or less
The difference between the resistance values
of the wires ② and ③ : 1Ω or less
The difference between the resistance values
of the wires ③ and ① : 1Ω or less
Method of Connection between Pt and RTD Input Module
*1: RTD (Pt100 or JPt1000)
*:2: Shielded wire - The shields of the RTD and shields of wire should be connected to the FG of the RTD input module.
REMARK
The difference between the resistance values of the wires used should be 1 Ω or less, or the accuracy shown
in 1) performance specification could not be satisfied.
7-67
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
10) Program example
(1) A program for output of detected temperature value as a BCD value
a) Program explanation
The present A/D conversion value of the detected temperature value which is detected from the temperature-measuring
resistor Pt 100 is displayed on the BCD digital display by use of channel 0 of the temperature-measuring resistor input
module. The lamp turns on when the detected temperature value is a negative number and turns off when it is a positive
number
b) System configuration and parameter setting
RTD input module
COM0
Input condition
(P0000)
Detected temperature
Turns on when temperature
value is negative
BCD segment
( P0040 ~ P004F )
Main unit input contact : P000 ~ P023
Main unit output contact: P040 ~ P057
c) Program
7-68
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
7.3 Positioning Function(DRT/DT type only)
The DRT/DT type of MASTER-K120S series support 2 axes of positioning function. The purpose of positioning function is to
transfer the moving objects by setting speed from the current position and stop them on the setting position correctly. And it also
control the position of high precision by positioning pulse string signal as it is connected to various servo running devices or
stepping motor control running devices.
Pulse
M
Direction
Motor
Driver
K7M-DRT/DTxxU
7.3.1 Specification
1) Performance Specification
Items
Specification
No. of control axis
Control method
Control unit
2 axes
PTP(Point-To-Point), speed control
Pulse
20 data per each axis( Operation step No. : 1 ∼ 20)
Positioning data
Positioning method
Address range
Absolute / Incremental method
-2,147,483,648 ∼ 2,147,483,647
Max. 100kpps
,
Speed setting range : 5 ∼ 100,000pps(unit of pulse)
Speed
Operation pattern : Trapezoidal method
Acceleration/
Positioning
Acceleration time : 0 ∼10,000 ㎳(unit of 1ms)
Deceleration time : 0 ∼10,000 ㎳(unit of 1ms)
Deceleration method
Backlash compensation 0 ~ 1,000 Pulse
5 ∼ 100,000pps
Bias speed
Speed limit
5 ∼ 100,000pps
Operation mode
Operation method
End, Keep, Continuous operation
Single, Repeated operation
Speed setting range: 5 ∼ 100,000pps
Speed setting range: 5 ∼ 100,000pps
Setting range : 0∼10,000 ㎳
High speed
Speed
Low speed
Return to
origin
Dwell time
1
Origin detection when approximate origin turns off
Origin detection after deceleration when approximate origin turns on.
Origin detection by approximate origin
Method
2
3
Speed setting range: 5 ∼ 100,000pps
High speed
JOG
Speed
Speed setting range: 5 ∼ 100,000pps
Period setting range: 1 ∼ 20,000 ㎳
Duty setting range: 0 ∼ 100%
Low speed
PWM Output
7-69
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
2) Output Specification(P40, P41)
Signal Name
Positioning
Rated load voltage
DC 12/24V
Load voltage range
Max. load current
Max. voltage drop during On
≤DC 0.3V
DC 10.2∼26.4V
100 ㎃
Forward direction
Reverse direction
CW/Pulse
CCW/Directio
n
3) Names of wiring terminal
AC220V
FG
P40
P41
P42
P
P44
COM3
Stepping motor
COM0 COM1 COM2 P43
Motor driver
⑤ ①
⑤ ②
③④
⑤
⑥
Direction pulse
COM
Pulse output
No.
①
②
③
④
⑤
⑥
Terminal No.
P040
Name
Usage
Positioning(Ch0)
Positioning(Ch1)
Pulse output terminal
Pulse output terminal
P041
P042
P043
Direction pulse(Ch0)
Direction pulse(Ch1)
Common
Direction output terminal
Direction output terminal
Common terminal
COM0,COM1,COM2
P
24V
External 24V supply terminal
Remark
Positioning function is sensitive to the external noise and should be handled with special care.
1) Be sure to use shielded twisted pair cables. Also provide Class 3 grounding
2) Do not run a twisted pair cable in parallel with power cables or other I/O lines which may generate noise
3) Before applying a power source for pulse generator, be sure to use a noise-protected power supply
7-70
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
4) Internal circuit and wiring example
P - Power supply(DC 12/24V)
P40 – pulse output(Ch0)
R
COM0 – Output common 0
P41 – pulse output(Ch1)
R
Internal
COM1 – Output common 1
P42 – Direction pulse(Ch0)
circuit
R
R
P43 – Direction pulse(Ch1)
COM2 – Output common 2
Motor driver
For Ch0
(24V)
P
P40 pulse output(Ch0)
R
R
R
COM0 Output common 0
P41 pulse output(Ch1)
R
COM1 Output common 1
P42 Direction pulse(Ch0)
P43 Direction pulse(Ch1)
Internal
Motor driver
For Ch1
(24V)
circuit
R
R
R
R
COM2 Output common 2
+
-
DC 24V
7-71
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
7.3.2 Positioning function
1) Positioning function
Positioning Control includes position control, speed control.
(1) Position control
Positioning control from start address (present stopped position) to goal address (transfer amount) for the assigned axis
A) Control by Absolute method (Absolute coordinate)
ⓐ Positioning control from start address to goal address (the address assigned by positioning data).
ⓑ Positioning control is carried out based on the address assigned (origin address) by return to origin.
ⓒ Transfer direction shall be determined by start address and goal address.
• Start address < Goal address : forward direction positioning
• Start address > Goal address : reverse direction positioning
Example] When Start address is 1000 and goal address is 8000, this will be forward direction and transfer amount
shall be 7000 (7000=8000-1000).
0
1000
8000
Transfer amount :7000
Start address
Goal address
• Parameter setting
Dwell time(
㎳)
Items of positioning data Step No. Coordinate Operation mode Operation method
Setting Absolute End Single
Goal address
8,000
Speed(pps)
5,000
1
100
B) Control by Incremental method (Relative coordinate)
ⓐ Positioning control as much as the goal transfer amount from start address.
ⓑ Transfer direction shall be determined by the sign of transfer amount.
• When transfer direction is (+) or no sign : forward direction (address increase) positioning
• When transfer direction is (-) : reverse direction (address decrease) positioning
Start Address
Normal
Reverse
Transfer direction when transfer amount (-)
Transfer direction when transfer amount (+)
Example) When start address is 5000 and goal address is -7000, this will be reverse direction and positioning will be at
the point of 2000
-2000
0
5000
Reverse positioning control (transfer amount-7000)
Goal address
Start address
• Parameter setting
Items of positioning data
Setting
Dwell time(
㎳)
Step No. Coordinate
Operation mode Operation method
End Single
Goal address
-7,000
Speed(pps)
5,000
1
Incremental
100
7-72
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
(2) Speed Control (Uniform Speed Operation)
• This controls the speed by the setting speed until deceleration stop command(POSCTR) is entered after execution by
POSVEL command..
• The speed can be changed by the speed override instruction(POSSOR)
• Speed control contains 2 types of start method : Forward direction start and Reverse direction start.
- Forward direction : when position address is positive number (+) (“0” included)
- Reverse direction : when position address is negative number (-)
Forward direction
Reverse direction
Set second operand of POSVEL instruction to 0 Set second operand of POSVEL instruction to 1
• Timing diagram
Speed
Setting speed
Dwell time
Time
On
Speed control command
(POSVEL)
On
Deceleration stop command
(POSCTR)
Remark
Please refer to the ‘7.3.4 Instruction’ for details.
7-73
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
2) Operation pattern
• Operation pattern describes various configuration for how to operate the positioning data using several operation step no
and how to determine the speed of position data.
• Operation mode types are as follows
Operation mode
End
Remark
One operation step is executed with one start command
Keep
When one operation step has over, executes next operation step without additional start command
When one operation step has over, executes next operation step without Deceleration.
Continuous
• Operation methods are as follows.
Operation method
Remark
Single
When one operation step is over, executes next operation step No. automatically
When one operation step is over, executes assigned step No. repeatedly
Repeat
• Step No. can be assigned within 1 ~ 20
Operation
mode
Operation
method
Dwell time
Step No. Coordinate
Address
Speed(pps)
Items of parameter
(
㎳
)
End
Keep
Continuous
-2.147,483,648
~
2,147,483,647
5
~
0
~
Absolute
1 ~ 20
Single
Repeat
Setting
Incremental
100,000
10,000
7-74
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
3) Operation Mode
(1) End Operation
A) With one time start command(rising edge of POSIST command), the positioning to the goal position is executed and
the positioning shall be completed at the same time as the dwell time proceeds.
B) This operation mode can be used as last positioning data of pattern operation.
C) Operation direction shall be determined by position address.
D) Operation action is trapezoid type operation that has acceleration, constant, deceleration section according to the
setting speed and position data.
Speed
Dwell time
Time
On
Start command
(POSIST)
[Example] End operation
Speed
Operation
step no.: 3
Operation
step no.: 1
Operation
step no.: 2
Operation
step no.: 4
Time
On
Start command
• Parameter setting
No. of program
start command
1
Step
Operation
Operation
method
Single
Speed
(pps)
Dwell time
Coordinate
Goal address
(㎳)
No.
1
mode
End
Absolute
Absolute
Absolute
Absolute
10,000
20,000
30,000
40,000
50,000
0
2
3
4
2
3
4
End
End
End
Single
Single
Single
20,000
50,000
20,000
0
0
0
7-75
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
(2) Keep Operation
A) With one time Start command(POSIST), the positioning to the goal position of operation step is executed and the
positioning shall be completed at the same time as dwell time proceeds and without additional start command, the
positioning of operation step for (current operation step no. +1) shall be done.
B) Keep operation mode is available to execute several operation step in order.
C) Operation direction shall be determined by position address.
[ Example ] Keep operation
Speed
Operation step 1
Operation step 1
Operation step 2
Operation step 2
Time
On
Start command
(POSIST)
Dwell time
Dwell time
• Parameter setting
No. of program
start command
1
Step
No.
1
Operation
mode
Operation
method
Single
Speed
(pps)
Dwell time
Coordinate
Goal address
(㎳)
Absolute
Absolute
Absolute
Absolute
Keep
10,000
20,000
30,000
40,000
50,000
10
2
3
4
Keep
End
Single
Single
Single
20,000
50,000
20,000
10
0
2
End
0
7-76
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
(3) Continuous Operation
A) With one time Start command, the positioning for operation step set by continuous operation mode is executed to the
goal position without stop and the positioning shall be completed at the same time as dwell time proceeds.
B) If you want to operate with the position and speed of next step before the operation step that is active currently
reaches the goal position, the operation by Next Move continuous operation command is available.
C) With Next Move continuous operation command, the operation in the acceleration, constant speed, deceleration
section of Continuous operation is available.
D) Operation direction shall be determined by position address and should be same direction. If operation direction is not
same, error occurs(Refer to 7.3.5 error flags)
[ Example ] Continuous operation
Speed
Operation step 2
Time
Operation step1
On
Start command
(POSIST)
• Parameter setting
No. of program
start command
1
Step
No.
1
Operation
mode
Operation
method
Single
Speed
(pps)
Dwell time
Coordinate
Goal address
(㎳)
Absolute
Absolute
Continuous
10,000
20,000
50,000
10
10
2
End
Single
20,000
7-77
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
4) Operation Method
(1) Repeat Operation
A) With one time start command, the positioning to the goal position is executed and the positioning shall be completed at
the same time as the dwell time proceeds.
B) The operation type of Repeat operation mode is same as that of Single operation but the different thing is to determine
next operation by operation step no. assigned by repeat step no. change command after positioning completion of
Repeat operation mode.
C) Operation direction shall be determined by position address.
[Example] Repeatpattern
Speed
Operation step 1
Operation step 1
Operation step 2
Operation step 2
Time
On
Start command
(POSIST)
• Parameter setting
No. of program
start command
1,3
Step
No.
1
Operation
mode
Operation
Speed
(pps)
Dwell time
Coordinate
Goal address
(㎳)
method
Single
Incremental
Incremental
Absolute
End
10,000
20,000
30,000
40,000
50,000
0
2,4
2
3
4
End
End
End
Repeat 1
Single
20,000
50,000
20,000
0
0
0
Absolute
Single
→ In this case, Operation step 3, 4 does not start.
7-78
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
5) Positioning start
(1) Direct start(POSDST)
• This is used to operate directly by setting the axis, goal position address, operation speed without parameter setting.
• Refer to the ‘7.3.4 Instruction’ for details.
(2) Indirect start(POSIST)
• This is used to operate by setting the operation step no. by parameter.
• Refer to the ‘7.3.4 Instruction’ for details.
(3) Speed control start(POSVEL)
• This is used to operate directly by setting the axis, direction, operation speed without parameter setting.
• The speed can be changed by the speed override instruction(POSSOR)
• Refer to the ‘7.3.4 Instruction’ for details.
6) Positioning stop
(1) Deceleration stop(POSCTR)
• If encounters deceleration stop command during operation, it stop operation after deceleration.
• In case of deceleration stop by deceleration stop command in acceleration or constant speed section, starts to operate
current operation step again by Start command and operation step
• In case of deceleration stop by deceleration stop command in deceleration speed section, starts to operate ‘current
operation step+1’ again by Start command and operation step
• Refer to the ‘7.3.4 Instruction’ for details.
(2) Emergency stop(POSCTR)
• If encounters emergency stop command during operation, it stops operation without deceleration.
• When emergency stop has occurs, emergency stop error and output disable flag are set.
• Error and output disable flag should be reset by error reset command of POSCTR for re-start operation
• Refer to the ‘7.3.4 Instruction’ for details.
7-79
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
7) Return to Origin(POSORG : Rising edge ↑)
• Return to Origin (homing) is carried out to confirm the origin of the machine when applying the power.
• In case of Return to Origin, it is required to set Return to Origin parameter for each axis.
• If the origin position is determined by origin return, the origin detection signal is not recognized during positioning operation.
(1) Origin return method
• Method by approximate origin (approach DOG)
- Origin return processing method by approximate origin (approach DOG) has 3 kinds of method as follows.
(A) Origin detection when approximate origin turns off
(B) Origin detection after deceleration when approximate origin turns on
(C) Origin detection by approximate origin
• The items that effects to the origin return from parameter are as follows.
(A) Origin return speed (high speed, low speed)
(B) Origin return dwell time
(2) Origin Detection when Approximate origin turns off
This is the method using the approximate origin and origin signal and the action by origin return command(POSORG) is as
follows.
(A) It accelerates to the setting origin return direction and acts by origin return high speed.
(B) In this case, if approximate origin as external input is entered, it decelerates and acts by origin return low speed.
(C) If origin signal as external input is entered after the approximate origin signal has changed from ”On” to “Off”, it stops.
Speed
Deceleration when approximate return “ON”
Origin return high speed
Origin return low speed
Time
Transfer amount after approximate origin “ON”
While the approximate origin “ON”,
Approximate origin signal
the origin will not be determined by
the origin signal.
Origin signal
1 rotation of SERVO motor (PG1 rotation)
Origin return
command
7-80
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
(3) Origin Detection after Deceleration when Approximate origin turns on
This is the method using the approximate origin and origin signal and the action by origin return command is as follows.
(A) It accelerates to the setting origin return direction and acts by origin return high speed.
(B) In this case, if approximate origin as external input is entered, it decelerates and acts by origin return low speed.
(C) If encounters the origin signal as external input signal while the origin return low speed is active, the origin shall be
determined and it stops.
Speed
Deceleration when approximate return “ON”
Origin return high speed
Origin return low speed
Time
Transfer amount after approximate origin “ON”
Approximate
origin signal
When origin return speed decelerates
by approximate origin, the origin will
not be determined by the origin signal.
Origin signal
1 rotation of SERVO motor (PG1 rotation)
Origin return
command
(4) Origin Detection by approximate origin
This is the method using the approximate origin signal only.
Normal rotation
Direction conversion at the rising edge of approximate origin signal
Direction conversion at the falling edge of approximate origin signal
Origin return high speed
Origin return low speed
Time
Origin determination
Reverse rotation
External input high limit
Origin return
command
Origin determined
state
7-81
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
8) JOG Operation (POSJOG : Level input)
(1) JOG operation
• Carries out the positioning control by Jog command(POSJOG).
• Carries out the monitoring when the positioning acts by JOG command and the position address is changed.
• This is used when acting without origin determination.
(2) Acceleration/Deceleration Processing and Jog speed
(A) The acceleration/deceleration processing is controlled based on the setting time of JOG acceleration/ deceleration
time from parameter setting.
• Jog high speed operation : operation pattern with acceleration/deceleration
Speed
Time
• Jog low speed operation : operation pattern without acceleration/deceleration
Speed
Time
(B) If speed operand of POSJOG command as device not constant, JOG speed can be changed from low speed to high
speed or high speed to low speed during operation
(C) If Jog speed is set out of the setting range, error will occur and the operation does not work.
5∼100,000 pps
Jog high speed operation
Jog low speed operation
Setting range
(Setting unit :1pps)
5∼100,000 pps
9) Speed Override Command(POSSOR : Rising edge ↑))
• This is used to change the operation speed from operation data of step no. in operation of each axis
• This command is used only in Acceleration and Constant speed section from operation pattern.
• Setting range is 5 ~ 100,000
• This command can be used in position control and speed control.
Remark
If POSSOR is executed in deceleration section, error code H44 will occur and continues operation
7-82
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
10) External Input Stroke High/Low Limit
• External input stroke limit includes External input high limit signal and External input low limit signal.
• This is used to stop the positioning function promptly before reaching Stroke limit/Stroke End of the Driver by installing the
stroke limit inside Stroke limit/Stroke end of the Driver.
• If it deviates the high limit, Error H53 will occur and if it deviates the low limit, Error H54 will occur.
• External input stroke limit can be set in KGLWIN parameter
• High/Low limit input contact point is fixed to P0,P1 for ch0 and P2,P3 for ch1.
High
Low
The range available to positioning
Stopper
Stopper
Transfer direction
Transfer direction
Start
Start
Immediate stop when
Detecting the high limit
Immediate stop when
Detecting the low limit
Limit switch
Limit switch
K120S
Driver
• If positioning module stops out of the range available to control, the positioning operation does not work.
If it stops by external input stroke limit detection, move within the range of positioning module available to control by
manual operation (Jog operation).
• As external input stroke high/low limit error is detected by the edge of positioning module, it is available to release the
output prohibit out of stroke range and carry out manual operation.
• The flags related with external input stroke limit are as followings.
- F284(Ch0) Off : External input stroke Low limit has not detected, On : External input stroke Low limit has detected
- F285(Ch0) Off : External input stroke High limit has not detected, On : External input stroke High limit has detected
- F304(Ch1) Off : External input stroke Low limit has not detected, On : External input stroke Low limit has detected
- F305(Ch1) Off : External input stroke High limit has not detected, On : External input stroke High limit has detected
Point
If external input stroke High/Low limit signal is occur during origin return, it stops operation immediately,
Then, changes direction and continues origin return operation.
11) M Code function(After Mode)
This function made to set “M Code Set” bit, if “M Code Enable“ bit was “On” when positioning was completed.
And Then “M code Set” bit must reset for run to the next step.
• Used special relay.
Device
M1911
M1912
M1913
M1914
Description
Remark
M Code Enable Bit(Ch0)
M Code Set Bit(Ch0)
M Code Enable Bit(Ch1)
M Code Set Bit(Ch1)
On : Set up ”M Code” function
If positioning complete then “set”
On : Set up a “M Code” function
If positioning complete then “set”
7-83
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
• Timing diagram
1) Unused the M Code Output
Continues
End
Positioning
Indirect start
Completed Flag
Current step
M-th step
N-th step
2) Use the M Code
Continues
End
Positioning
Indirect start
Completed Flag
Current step
M1911
M-th step
N-th step
M1912
Reset in the program
Reset in the program
12) Error and Output Prohibition
• Error includes Light failure error and Heavy failure error.
• If light failure error occurs, the positioning operation will continue and only error will occur.
• In case of heavy failure error, if the error is not cleared, it is not available to carry out the positioning operation. And if the
heavy failure error occurs during operation, the operation will stop.
• If external high/low limit, external emergency stop during the positioning operation are detected during the positioning
operation, it stops promptly and becomes the pulse output prohibition status. Thus it is required to release the pulse
output prohibition by Error reset command(POSCTR)
• For further information, please refer to Error code list .
7-84
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
7.3.3 Positioning parameter and operation data
1) Positioning parameter
• Positioning parameter setting
• Parameter should be assigned for each axis
Basic parameter
(1) Basic parameter
(A) Acceleration/Deceleration time
• This is applied at the starting/ending point of positioning operation, return to origin high speed, and JOG high speed
operation
• The setting range is 0 ∼ 10,000 (unit: 1ms) for each axis.
• When set to zero, operates constant speed.
① Acceleration time : the time required to reach from speed “0”(stop state) to the speed limit which is set by
parameter. In case of using BIAS, it is the time required to reach from the bias speed to the speed limit which is
set by parameter.
② Deceleration time : the time required to reach from the speed limit set by parameter to the speed “0”(stop state).
In case of using BIAS, it is the time required to reach from the speed limit set by parameter to the setting bias
speed.
Speed limit
- Speed limit : max. speed available
to set for positioning operation at
the parameter of KGLWIN.
Speed
- Setting speed : speed value of
operation data that position data
operates actually.
Setting speed
Actual
- Actual acceleration time : the time
required to reach from speed
“0”(stop state) to the speed value
which is set by operation data.
- Actual deceleration time : the time
required to reach from the speed
value set by operation data to
speed
Actual acceleration time
Time
Deceleration
time
Acceleration
time
7-85
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
(B) Backlash Compensation Amount
• The tolerance that the machine does not work by the wear when the rotation direction changes in case that a gear,
screw etc is combined to run at the motor axle, is called as ‘Backlash”.
Therefore, when you change the rotation direction, it is required to add the backlash compensation amount to the
positioning amount for output.
• The setting range is 0 ∼ 1,000(unit: Pulse) at each axis.
• If the position moved 1m to the right and again 1m to the left, it is not possible to reach the original position by
backlash. At this time, it is required to add backlash compensation amount.
Gear
1m movement right side (normal)
Direction change
1m movement left side (reverse)
Backlash
Transfer amount including Backlash compensation amount
Backlash
(C) Bias Speed
• As the stepping motor has unstable torque near zero speed, the start speed shall be set in the beginning of operation
in command to smooth the rotation of motor and reduce the positioning time. The speed to be set at this time is called
“Bias Speed”.
• The setting range is 5∼10,000(unit: 1pps) at each axis.
• Bias speed shall be used for the main axis of
① positioning operation by setting command,
② origin return operation,
③ JOG operation.
Speed
Speed limit
Bias speed
setting action
Positioning speed
Origin return speed
JOG Speed
Bias speed not-setting
action
Interpolation operation
speed
Bias speed
Time
Acceleration
time
Deceleration
time
(D) Speed Limit
• max. Speed available to set for positioning operation.
• The setting range is 5~100,000 (unit : 1pps).
• The operation speed of positioning operation, origin return speed and Jog operation speed is influenced by speed
limit and if they are set as higher value than speed limit, error will occur.
7-86
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
(2) Origin return parameter
(A) Origin return method
• For the details, please refer to ‘7) Return to Origin’ in chapter 7.3.2
(B) DOG, origin signal
Ch 0
Ch 1
DOG
P0005
P0007
P0006
Origin
P0004
(C) Origin return speed
• The speed when returning to the origin by origin return command : high speed and low speed
• When setting the origin return speed, it should be “speed limit ≥ origin return high speed ≥ origin return low
speed ≥ bias speed”.
① Origin return high speed
• The speed that acts to the constant speed section via acceleration section by origin return command.
• Origin return-high speed setting range : 5 ∼ 100,000(unit: 1pps)
② Origin return-Low speed
• The speed that acts to the constant speed section via deceleration section by origin return command.
• Origin return-low speed setting range : 5 ∼ 100,000(unit: 1pps)
Remark
When setting the origin return speed, it is recommended to set the origin return-low speed as low speed as
possible. If setting the low speed as “too fast”, it may cause the incorrect origin signal detection.
(D) Dwell Time
• This is the time needed to maintain the precise stop accuracy of SERVO motor when using the SERVO motor for
positioning.
• Practically, Dwell time is the time needed to remove the residual pulse of deviation counter after completion of
positioning and especially Dwell time when returning to the origin is called as “origin return dwell time”.
• Setting range of Origin return dwell time : 0 ∼ 10,000(unit: 1 ㎳)
7-87
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
(3) JOG speed
(A) JOG High Speed
• JOG high speed operation has operation pattern as acceleration, constant speed, deceleration section. Therefore,
acceleration section and deceleration section is controlled by JOG acceleration/deceleration time.
• JOG high speed setting range : 5 ∼ 100,000(unit: 1pps)
(notices when setting the high speed : Bias speed ≤ Jog high speed ≤ Speed limit)
(B) JOG Low Speed
• JOG low speed operation has only constant speed operation pattern.
• JOG low speed setting range : 5∼ 100,000 (unit: 1pps)
2) Positioning parameter
Here describes Positioning parameter
(1) Step No.
• The setting range of positioning data as serial no. is 1 ∼ 20.
Remark
If step No. set to 0, operating step increase to next step automatically when current operation step finished
7-88
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
(2) Coordinate
• The coordinate of position data includes Absolute and Incremental
(A) Absolute Coordinate (Control by Absolute method)
① This carries out the positioning control from the current position to the goal position (the goal position assigned by
positioning data).
② Positioning control is carried out based on the assigned position of origin return or POSPRS command
(origin address).
③ Transfer direction shall be determined by the current position and goal position.
- Start position < Goal position : forward direction positioning
- Start position > Goal position : reverse direction positioning
(B) Relative Coordinate (Control by Incremental method)
① This carries out the positioning control as much as goal transfer amount from the current position.
② Transfer direction shall be determined by the sign of transfer amount.
- When transfer direction is (+) or no sign : normal direction positioning (position increase direction)
- When transfer direction is ( - ) : reverse direction positioning (position decrease direction)
Current position
Reverse
Normal
Transfer direction when transfer amount is (+)
Transfer direction when transfer amount is (-)
(3) Operation Mode (End / Keep / Continuous)
• Operation Mode is divided into following three kinds.
• For the details, please refer to ‘3) Operation mode’ in chapter 7.3.2
Control method
Position control
Operation mode
End
Keep
Continuous
(4) Operation Method (Single/Repeat)
• Select operation method : Single operation or Repeat operation.
• For the details, please refer to ‘4) Operation method’ in chapter 7.3.2
Control method
Operation method
Single
Position control
Repeat
(5) Positioning Address
• This is the area to set the transfer amount of position data as “positioning address”.
• The setting range is –2,147,483,648 ∼ 2,147,483,647(setting unit: Pulse).
• The change of position address value is available when assigned by D area
7-89
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
(6) Speed
• Operation speed can be assigned for each operation step No.
• Setting range of operation speed : 5 ~ 100,000( Setting unit: 1pps )
• The change of speed value is available when assigned by D area
(7) Dwell Time
• This is the waiting time before carrying out the next positioning operation after completing one positioning operation.
• Setting range is 0 ∼ 10,000 (setting unit : 1 ㎳).
• Especially, in case of using SERVO motor, this is the data to set the waiting time by the stable stop state as positioning
module is in the stop state but actual SERVO motor does not reach to the goal position or in transition state.
7-90
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
7.3.4 Instructions
1) Positioning Indirect start(POSIST)
POSIST
Positioning Indirect Start
Flag
Available device
No. of
steps
Instruction
Error
(F110)
Zero
(F111)
Carry
(F112)
M
P
K
L
F
T
C
S
D
#D
integer
S
n
○
5
○
○ ○ ○ ○ ○ ○ ○
○ ○
○
Designation
Flag set
S
n
Channel which is designated at parameter(0~1)
Starting step No.(0~20)
Error
Error flag turns on when designating area is over
and the instruction isn’t executed
(F110)
When designated as 0, starting step is increased
automatically
■ POSIST
S
n
(1) Functions
• When input condition turns on, corresponding positioning control starts from assigned step No.
• Positioning operation is edge triggered.
(2) Example program
• When input condition turns on, Ch.0 starts positioning from Step no.1
7-91
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
2) JOG Operation(POSJOG)
POSIST
Positioning Indirect Start
Flag
Available device
No. of
steps
Error
(F110)
Zero
(F111)
Carry
(F112)
Instruction
M
P
K
L
F
T
C
S
D
#D
integer
S
○
7
n1
n2
○ ○ ○ ○ ○ ○ ○
○ ○ ○ ○ ○ ○ ○
○
Designation
Flag set
S
Ch. for JOG operation(0~1)
Error flag turns on when designating area is over
and the instruction isn’t executed
Error
Direction( 0 : Forward, 1: Backward)
n1
n2
(F110)
Speed (0 : Low speed,1: High speed)
■ POSJOG
S
n1 n2
(1) Functions
• When input condition turns on, corresponding Ch. Starts JOG operation.
• If input condition turns off, corresponding Ch stops JOG operation.
• The speed can be changed during operation but the direction can’t be changed.
(2) Example program
• When input condition M0000 turns on, Ch.1 starts JOG operation by designated direction(M0001) and speed(M0002)
• When input condition turns off, Ch.1 stops JOG operation.
7-92
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
3) Positioning Control Instruction(POSCTR)
POSCTR
Positioning control instruction
Flag
Available device
No. of
steps
Instruction
Error
(F110)
Zero
(F111)
Carry
(F112)
M
P
K
L
F
T
C
S
D
#D
integer
S
○
5
○
n1
○ ○ ○ ○ ○ ○ ○ ○ ○ ○
○
Designation
Flag set
S
Channel designation(0~1)
Error
Control instruction designation
Error flag turns on when designating area is over
(F110)
n1
0: Deceleration stop. 1:Emergency stop.
2: Error reset
■ POSCTR
S
n1
(1) Functions
• Operates designated control operation at the rising edge of input condition.
- Deceleration stop : Stops positioning after deceleration
- Emergency stop : Stops positioning immediately without deceleration
- Error Reset : Resets occurred error and output prohibition signal.
(2) Example program
• When input condition M0000 turns on, Ch.1 stops positioning after deceleration.
7-93
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
4) Current position preset (POSPRS)
POSPRS
Current position preset
Flag
Available device
No. of
steps
Instruction
Error
(F110)
Zero
(F111)
Carry
(F112)
M
P
K
L
F
T
C
S
D
#D
integer
S
○
5/7
○
SV1
○ ○ ○ ○ ○ ○ ○ ○ ○ ○
○
Designation
Flag set
S
Channel designation(0~1)
Error
Error flag turns on when designating area is over
Preset value designation
(F110)
SV1
(-2,147,483,648 ~ 2,147,483,647)
■ POSPRS
S
SV1
(1) Functions
• Current address is changed to preset value at the rising edge of input condition.
(2) Example program
• When input condition M0000 turns on, Address of Ch.0 is changed to 100,000.
7-94
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
5) PWM output (PWM)
PWM
PWM(Pulse Width Modulation) output
Flag
Available device
No. of
steps
Instruction
Error
(F110)
Zero
(F111)
Carry
(F112)
M
P
K
L
F
T
C
S
D
#D
integer
S
○
7
SV1
SV2
○ ○ ○ ○ ○ ○ ○
○ ○ ○ ○ ○ ○ ○
○ ○
○ ○
○
○
○
Designation
Flag set
S
Ch. for PWM output(0~1)
Error flag turns on when designating area is over
and the instruction isn’t executed
Error
PWM output period( 1 ~ 20000)[ms]
Off Duty(0 ~ 100%)
SV1
SV2
(F110)
■ PWM
S
SV1 SV2
(1) Functions
• When input condition turns on, Output pulses which have period as SV1.
• Duty ratio of pulses is assigned by SV2.
• When input condition turns off, PWM operation stops
(2) Example program
• When input condition turns on, Output pulses as below
Positioning Ch 1(P41)
50ms
450ms
Input condition(M0000)
500ms
7-95
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
6) Speed control operation (POSVEL)
POSVEL
Speed control operation
Flag
Available device
No. of
steps
Instruction
Error
(F110)
Zero
(F111)
Carry
(F112)
M
P
K
L
F
T
C
S
D
#D
integer
S
○
7/9
n1
SV
○ ○ ○ ○ ○ ○ ○ ○
○ ○ ○ ○ ○ ○ ○
○
○ ○
○
Designation
Flag set
S
Ch. for speed control(0~1)
Error flag turns on when designating area is over
and the instruction isn’t executed
Error
Operation direction(0:Forward, 1:Reverse)
Speed (5 ~ 100,000pps)
n1
SV
(F110)
■ POSVEL
S
n1 SV
(1) Functions
• When input condition turns on(Rising edge), Corresponding Ch. Starts speed control by designated direction and speed.
(2) Example program
• When input condition(M0000) turns on, Ch. 0 starts speed control by designated direction(M0001) and 10kpps.
• Speed can be changed by POSSOR instruction.
• Operation stops after deceleration by POSCTR instruction.
7-96
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
7) Speed override (POSSOR)
POSSOR
Instruction
Speed override instruction
Flag
Available device
No. of
steps
Error
(F110)
Zero
(F111)
Carry
(F112)
M
P
K
L
F
T
C
S
D
#D
integer
S
○
5/7
○
SV
○ ○ ○ ○ ○ ○ ○
○ ○
○
Designation
Flag set
S
Ch. for speed override(0~1)
Speed (5 ~ 100,000pps)
Error
Error flag turns on when designating area is over
and the instruction isn’t executed
(F110)
SV
■ POSSOR
S
SV
(1) Functions
• When input condition turns on(Rising edge), Operation speed of corresponding Ch. changed to designated speed.
• This instruction is valid to current operating channel only
• Speed changing within deceleration section is not available.
(2) Example program
• When input condition(M0000) turns on, Operation speed of Ch. 0 is changed to 10kpps.
7-97
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
8) Positioning direct start(POSDST)
POSDST
Positioning direct start
Flag
Available device
No. of
steps
Instruction
Error
(F110)
Zero
(F111)
Carry
(F112)
M
P
K
L
F
T
C
S
D
#D
integer
S
○
n1
○ ○ ○ ○ ○ ○ ○ ○
○ ○ ○ ○ ○ ○ ○
○ ○ ○ ○ ○ ○ ○
9/11/13
○
SV1
SV2
○ ○
○ ○
○
○
Designation
Flag set
S
Ch. for positioning direct start(0~1)
Absolute/Incremental coordinate designation
(0:Absolute, 1:Incremental)
Positioning address
n1
Error
Error flag turns on when designating area is over
and the instruction isn’t executed
(F110)
SV1
SV2
( -2,147,483,648 ~ 2,147,483,647)
Positioning speed (0 ~ 100,000pps)
■ POSDST
S
n1 SV1 SV2
(1) Functions
• When input condition turns on(Rising edge), corresponding Ch. starts positioning by designated coordinate, address and speed
(2) Example program
• When input condition(M0000) turns on, Ch. 0 outputs 100,000 pulses by designated coordinate(M0001), forward
direction and speed of 10kpps.
• Acceleration/deceleration time is applied by corresponding parameter
7-98
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
9) Return to origin(POSORG)
POSORG
Return to origin
Flag
Available device
No. of
steps
Instruction
Error
(F110)
Zero
(F111)
Carry
(F112)
M
P
K
L
F
T
C
S
D
#D
integer
S
○
7
○
n1
SV
○
○
플래그 Set
영역설정
S
Ch. for origin return(0~1)
Error flag turns on when designating area is over
and the instruction isn’t executed
Error
Operation direction(0:Forward, 1:Reverse)
Address (5 ~ 100,000pps)
n1
(F110)
SV
■ POSORG
S
n1 SV
(1) Functions
• When input condition turns on, corresponding origin return operation starts(Rising edge trigger)
• After operation, Current address is preset to designated origin address
(2) Example program
• When input condition(M0000) turns on, Ch. 0 operates return to origin function by designated direction and address
• After return to origin operation, position address become the value in D0002 and D0003.
7-99
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
7.3.5 Flag list and Error codes
1) Flag list
Device
Function
Description
F0280
F0281
F0282
F0283
F0284
F0285
F0286
F0287
F0288
F0289
F028A
F028B
F028C
F0290
F0291
F0292
F0293
F0294
F0295
F0300
F0301
F0302
F0303
F0304
F0305
F0306
F0307
F0308
F0309
F030A
F030B
F030C
Operating flag
Operation status of Ch0 (0: stop, 1:Busy)
Error status of Ch0 (0: normal, 1: error)
Indicates end of operation for Ch0 (0: operating, 1: End) *1Scan On
Indicates end of origin return operation of Ch0(0:operating, 1: End)
Indicates stroke low limit detection of Ch0
Indicates stroke high limit detection of Ch0
Indicates emergency stop status Ch0 (0: enable, 1: Disable)
Output prohibition of Ch0 (0: enable, 1: disable)
Operation direction of Ch0 (0: Forward, 1: Backward)
Accelerating Ch0
Error status
End of positioning
End of Origin return
Low limit detection
High limit detection
Emergency stop status
Output prohibition
Direction
Acceleration
Constant speed
Deceleration
Constant speed operation of Ch0
Decelerating Ch0
Dwelling
Dwelling Ch0
Position control
Speed control
Position control operation of Ch0
Speed control operation of Ch0
Return to origin
JOG low speed
JOG high speed
PWM operation
Operating flag
Error status
Return to origin operation of Ch0
JOG low speed operation of Ch0
JOG high speed operation of Ch0
PWM output operation of Ch0
Operation status of Ch1 (0: stop, 1:Busy)
Error status of Ch1 (0: normal, 1: error)
Indicates end of operation for Ch1 (0: operating, 1: End) *1Scan On
Indicates end of origin return operation of Ch1(0:operating, 1: End)
Indicates stroke low limit detection of Ch1
Indicates stroke high limit detection of Ch1
Indicates emergency stop status Ch1(0: enable, 1: Disable)
Output prohibition of Ch1(0: enable, 1: disable)
Operation direction of Ch1(0: Forward, 1: Backward)
Accelerating Ch1
End of positioning
End of Origin return
Low limit detection
High limit detection
Emergency stop status
Output prohibition
Direction
Acceleration
Constant speed
Deceleration
Constant speed operation of Ch1
Decelerating Ch1
Dwelling
Dwelling Ch1
7-100
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
Device
Function
Description
F0310
F0311
Position control
Position control operation of Ch1
Speed control
Return to origin
JOG low speed
JOG high speed
PWM operation
Current Step No.
Error code
Speed control operation of Ch1
Return to origin operation of Ch1
JOG low speed operation of Ch1
JOG high speed operation of Ch1
PWM output operation of Ch1
Current step No. of Ch0
F0312
F0313
F0314
F0315
F0320~ F032F
F0330~ F033F
F0340~ F035F
F0360~ F037F
F0400~ F040F
F0410~ F041F
F0420~ F043F
Error code of Ch0
Current address
Current speed
Current Step No.
Error code
Current position address of Ch0
Current speed of Ch0
Current step No. of Ch0
Error code of Ch0
Current address
Current position address of Ch0
F0440~ F045F
M1911
Current speed
Current speed of Ch0
M Code Enable Bit(Ch0)
On : Set up ”M Code” function
M1912
M1913
M1914
M Code Set Bit(Ch0)
M Code Enable Bit(Ch1)
M Code Set Bit(Ch1)
If positioning complete then “set”
On : Set up a “M Code” function
If positioning complete then “set”
7-101
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
2) Error code
Error
Operation
Condition
code
Corrective action
H10
H11
Acceleration time of basic parameter is out of range
Deceleration time of basic parameter is out of range
Stop
Stop
Set Acceleration time within 0~10,000 range
Set Deceleration time within 0~10,000 range
Set speed limit within 5~ 100,000 range.
H12
H13
H14
H15
H16
H17
H18
H19
H20
Speed limit of basic parameter is out of range
Bias speed of basic parameter is out of range
Backlash compensation of basic parameter is out of range
JOG high speed of parameter is out of range
JOG low speed of parameter is out of range
Stop
Stop
Stop
Stop
Stop
Stop
Stop
Stop
Set bias speed within 5 ~ 100,000 range.
Set backlash compensation within 0~ 1,000 range
Set JOG high speed within bias speed ~ speed limit
Set JOG high speed within 5 ~ JOG high speed
Set Origin return high speed within bias speed ~ speed limit
Set Origin return low speed within bias speed ~ Origin return high speed
Set Dwell time within 0 ~ 10000.
Origin return high speed of parameter is out of range
Origin return low speed of parameter is out of range
Dwell time of parameter is out of range
Operation speed of positioning parameter is out of range
Set Operation speed within bias speed ~ speed limit
Set Dwell time of pulse out parameter within 0 ~ 10000
Stop
Stop
H21
H30
Dwell time of pulse out parameter is out of range
POSIST command can’t be executed during operation
Operating
Check if positioning operation is executing when POSIST signal occur.
Check if output is prohibited when POSIST signal occur. Output can be
enabled by POSCTR command.
H31
H32
POSIST command can’t be executed when output is prohibited
Stop
Stop
POSIST command can’t be executed when origin is not
determined
Check if origin is not designated when POSIST signal occur.
Origin can be designated by POSORG or POSPRS command.
H33
H34
Step No. of POSIST command can’t be over 20
Set step No. within 0~20
Stop
POSDST command can’t be executed during operation
POSDST command can’t be executed when output is
prohibited
Operating
Check if positioning operation is executing when POSDST signal occur.
Check if output is prohibited when POSDST signal occur. Output can be
enabled by POSCTR command.
H35
H36
Stop
Stop
POSDST command can’t be executed when origin is not
determined
Check if origin is not designated when POSDST signal occur.
Origin can be designated by POSORG or POSPRS command.
H37
H38
Operation speed of POSDST command is out of range
Set Operation speed within 5 ~ speed limit
Stop
POSVEL command can’t be executed during operation
POSVEL command can’t be executed when output is
prohibited
Operating
Check if positioning operation is executing when POSVEL signal occur.
Check if output is prohibited when POSVEL signal occur. Output can be
enabled by POSCTR command.
H39
Stop
H3A
H3B
Operation speed of POSVEL command is out of range
Set Operation speed within 5 ~ speed limit
Stop
POSJOG command can’t be executed during operation
POSJOG command can’t be executed when output is
prohibited
Operating
Check if positioning operation is executing when POSJOG signal occur.
Check if output is prohibited when POSJOG signal occur. Output can be
enabled by POSCTR command.
H3C
Stop
H3D
H3E
Direction can’t be changed in JOG operation
Change direction after JOG operation end.
Operating
Operating
PWM command can’t be executed during operation
Check if positioning operation is executing when PWM signal occur.
Check if output is prohibited when PWM signal occur. Output can be enabled
by POSCTR command.
H3F
H40
PWM command can’t be executed when output is prohibited
PWM period of PWM command is out of range
Stop
Stop
Set period within 1 ~ 20,000
H41
H42
H43
Off duty of PWM command is out of range
Set duty within 0 ~ 100
Stop
Stop
POSSOR command is available during operating only
Speed override value of POSSOR command is out of range
Check if positioning operation is not executing when POSSOR signal occur.
Set override value within 5 ~ speed limit
Operating
7-102
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
Error
Operation
Condition
code
Corrective action
Check if positioning is in the decelerating section when POSSOR signal
occur.
H44
H45
H46
POSSOR command can’t be executed during decelerating
Operating
Operating
Stop
POSORG command can’t be executed during operation
POSORG command can’t be executed when output is
prohibited
Check if positioning operation is executing when POSORG signal occur.
Check if output is prohibited when POSORG signal occur. Output can be
enabled by POSCTR command.
H47
H48
POSCTR setting error
Check control command is within 0~3
-
Check if positioning operation is not executing when deceleration stop
command occur
Deceleration stop command is available during operating only
Stop
H49
H50
H51
POSORG command can’t be executed when JOG operating
POSPRS command can’t be executed during operation
Direction can’t be changed in continuous operation
Check if JOG operation is executing when deceleration stop command occur
Check if positioning operation is executing when POSPRS signal occur
Set operation mode as end or keep mode
Operating
Operating
Stop
Remove the causes of emergency stop and clear error by POSCTR
command
Stop
H52
H53
Emergency stop error
Stroke high limit error
Get rid of the external upper limit signal range by POSJOG command and
then carry out POSCTR command and clear the error. Output prohibit shall
be released by POSCTR command as output prohibit release option
Get rid of the external lower limit signal range by POSJOG command and then
carry out RST command and clear the error. Output prohibit shall be released
by POSCTR command as output prohibit release option.
Stop
Stop
Stop
H54
H55
Stroke low limit error
Install the upper limit detection sensor in the direction that the current
position increases and the lower limit detection sensor in the direction that the
current position decreases
The position of High/Low limit detection Sensor has been changed.
7-103
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
7.3.6 Wiring with servo and stepping motor driver (Open Collector)
1) Wiring with stepping motor driver(DC 5V)
* 4
Max : 2m
K7M-DRT**U
Stepping Motor Driver
Signal name Ch0 Ch1
Pulse
P40 P41
COM0 COM1
P42 P43
CW-
Common
Direction
Common
Input +24V
CW+
* 2
CCW-
CCW+
COM2 COM2
DC5V
P
P
* 1
TIMING
COM
Origin
P04 P06
P05 P07
P00 P02
P01 P03
Input Point
DOG
Low limit
High Limit
Emergency stop
*3
DC5V
Common
COM0(Input)
2) Wiring with stepping motor driver (DC 24V)
*4
Stepping Motor Driver
Max : 2m
K7M-DRT**U
Signal name Ch0 Ch1
Pulse
P40 P41
COM0 COM1
P42 P43
CW-
Common
Direction
Common
Input +24V
2K, 1/2W
CW+
*2
CCW-
CCW+
COM2 COM2
2K, 1/2W
DC24V
P
P
* 1
TIMING
COM
Origin
P04 P06
P05 P07
P00 P02
P01 P03
Input Point
DOG
Low limit
High Limit
Emergency stop
*3
DC24V
Common
COM0(Input)
Remark
1 ) In case of VEXTA RK series, TIMMING output turns on when a motor rotates at every 7.2 degree.
For exact ‘return to origin’, we suggest you to configure ‘AND’ operation using TIMMING output and DOG
sensor. It may be different to each system features to return to origin by the DOG sensor without TIMMING
output signal (The rated input for the origin of K120S is DC 24V.)
2) Using DC 24V, wire a proper resistor to driver in series.
3) Input points for origin, approximate origin point, and upper/lower limit signal are fixed but, if they’re not used you
able to use them general input point. You can use emergency stop with the command(POSCTR)
4) Positioning phase of K120S is as follow: Set the input mode of a step mode driver to 1 phase input mode
because motor operation mode is determined by rotating direction input.
7-104
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
3) Wiring with servo motor driver(MR-J2/J2S-□A)
HC-MF HA-FF
Series motor
MR-J2S-
TE11
A
NF
MC
U
V
L1
U
Power
3Phase 200VAC
SM
L2
L3
V
W
E
W
L11
L21
PE
PE
EMG
B1
B2
CTE2
D
electronic brake
detector
P
24VDC
OPP of Servo ON signal
Cutoff by alarm signal
CN1A
Max: 2m
K7M-DRT**U
CN2
Signal
Pulse
Ch0 Ch1
P40 P41
* 3
PP
SG
NP
3
10
2
Common
Direction
Common
Input +24V
COM0 COM1
P42 P43
COM2 COM2
P
P
OPC
COM
11
9
* 1
Origin
P04 P06
P05 P07
P00 P02
P01 P03
Input point
OP
LG
SD
14
1
DOG
CN3
Low Limit
High Limit
Emergency
Plate
RD
SD
12
TxD
RxD
LG
* 3
2
1
GND
Personal
computer
GND
RS
11
5
LG
DC24V
Common
COM0(Input)
LG
CS
15
LG
CN1E
EMG
SON
RES
PC
DR
Outer emergency stop
15
5
ER
Servo : ON
Reset
14
8
Monitor output
A
PID
4
3
GND
RS
Torque Limit
10k
10k
Max 10mA
TL
9
*3 Forward direction position limit
Reverse direction position Limit
*3
A
LSP
LSN
SG
16
17
10
20
3
14
CS
13
DR
Plate
ER
SG
Within 2m
VDD
COM
ALM
ZSP
TLC
13
18
19
6
RA1
failure
zero speed detection
in torque limit
RA2
RA3
P15R
TLA
LG
11
12
Analog torque limit
+10V/max. current
1
SD
Plate
Within 2m
Remark
1) The rated input for the origin of K120S is DC 24V.
2) Input points for origin, approximate origin point, and upper/lower limit signal are fixed but, if they’re not used you
able to use them general input point. You can use emergency stop with the command(POSCTR)
3) Positioning phase of K120S is as follow: Set the input mode of a step mode driver to 1 phase input mode is
determined by rotating direction input.
7-105
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 7 Usage of Various Functions
4) Wiring with Servo motor driver(FDA-5000 AC Servo Driver)
* 4
K7M-DRT**U
Max 2m
FDA-5000
* 3
Signal name
Pulse
Ch0 Ch1
P40 P41
COM0 COM1
P42 P43
COM2 COM2
10
11
12
9
PFIN
PPFIN
PRIN
1.5K,1/2W
1.5K,1/2W
Common
Direction
Common
Input +24V
Origin
24G
P24V
PPRIN
P
P
5
PZO+
PZO-
RDY
P04 P06
SSR
*1
30
21
22
47
48
20
45
19
44
24
25
18
38
15
40
39
38
41
14
INPOS
DOG
P05 P07
P00 P02
P01 P03
Input point
0 SPEED
BRAKE
ALARM
A_CODE0
A_CODE1
A_CODE2
GND24
GND24
SVONEN
CLR
Low Limit
High Limit
Emergency Stop
* 2
Common
COM0(Input)
P24V
CCWLIM
CWLIM
ESTOP
ALMRST
P/P1
24G
TLIM
49
+24VIN
Remark
1) The rated input for the origin of K120S is DC 24V. Linedriver output, wire a DC SSR and return to origin by DOG
signal or using a origin sensor of original signal.
2) Input points for origin, approximate origin point, and upper/lower limit signal are fixed but, if they’re not used you
able to use them general input point. You can use emergency stop with the command(POSCTR)
3) Using DC 24V, wire a proper resistor(1.5K, 1/2W) to driver in series.
4) Positioning phase of K120S is as follow: Set the input mode of a step mode driver to 1 phase input mode
because motor operation mode is determined by rotating direction input.
7-106
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 8 Communication Functions
Chapter 8. Communication Functions
8.1 Dedicated Protocol Communication
8.1.1 Introduction
MASTER-K120S’s built-in Cnet communication uses only MASTER-K120S main unit for a dedicated communication. That is, it
doesn’t need a separate Cnet I/F module to facilitate the user-intended communication system by utilizing reading or writing of
any area in CPU, and monitoring function.
MASTER-K120S main unit serves as follows:
• Individual/continuous reading of device
• Individual/continuous writing of device
• Reading CPU status
• Monitor devices registration
• Executing monitoring
• 1:1 connection (link between MASTER-K’s) system configuration (MASTER-K120S main unit : RS-232C)
Remark
MASTER-K120S built-in communication function supports Cnet communication without any separate Cnet I/F module.
It must be used under the following instructions.
1) Channel 0 of MASTER-K120S main unit supports 1:1 communication only. For 1:N system having master-slave
Format, use RS-485 communication in channel 1 or MASTER-K120S main unit with G7L-CUEC module connected.
G7L-CUEC module supports RS-422/485 protocol.
2) RS-232C communication cable for MASTER-K120S main unit is different from RS-232C cable for KGLWIN in pin
arrangement and from the cable for Cnet I/F module, too. The cable can’t be used without any treatment. For the
detailed wiring method, refer to 8.1.2.
It’s possible to set baud rate type and station No. in KGLWIN.
8-1
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 8 Communication Functions
8.1.2 System configuration method
According to the method of connection, the system using MASTER-K120S built-in communication can be composed.
1) Connecting system configuration (link between MASTER-K’s)
(1) 1:1 connection with general PC
a) Communication program made by C or BASIC computer language on the user’s computer, or utility program like
FAM or CIMON can be used.
MASTER-K120S main unit
RS-232C interface
b) Wiring method
MASTER-K120S main
PC
unit
Pin assignment And direction
Pin No.
Pin No.
Signal
5V
1
2
3
4
5
6
7
8
9
1
2
3
4
5
6
7
8
9
RXD1
TXD1
RXD2
SG
1
2
3
4
5
6
7
8
9
5V
TXD2
SG
Female Type
SG
TXD1, RXD1 are for loader communication and TXD2, RXD2 are for Cnet
8-2
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 8 Communication Functions
(2) 1:1 connection with a monitoring device like PMU
PMU(LGIS)
MASTER-K120S main unit
RS-485 interface
RS-232C interface
MASTER-K120S main
unit
PMU
Pin assignment and direction
Pin No.
Pin no.
Signal
5V
1
2
3
4
5
6
7
8
9
1
2
3
4
5
6
7
8
9
1
RXD1
TXD1
RXD2
SG
6
7
8
9
2
3
4
5
5V
TXD2
SG
Female Type
SG
PMU
485+
485-
Connection method and signal direction
MASTER-K120S main unit
485+
485-
8-3
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 8 Communication Functions
.
(3) 1:1 connection with other MASTER-K120S
MASTER-K120S main unit
MASTER-K120S main unit
RS-232C interface
RS-485 interface
MASTER-K120S
MASTER-K120S main unit
main unit
Pin no.
Pin assignment and direction
Pin no.
Signal
5V
1
2
3
4
5
6
7
8
9
1
2
3
4
5
6
7
8
9
RXD1
TXD1
RXD2
SG
5
4
3
2
9
8
7
6
1
5V
TXD2
SG
Male Type
SG
MASTER-K120S main unit Connection method and signal direction MASTER-K120S main unit
485+
485-
485+
485-
8-4
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 8 Communication Functions
8.1.3 Frame Structure
1) Base Format
(1) Request frame(external communication device → MASTER-K120S main unit), (Max. 256 Bytes)
Header Station
(ENQ) number
Tail
Frame check
(BCC)
Command Command type
Structurized data area
(EOT)
(2) ACK Response frame (MASTER-K120S main unit → external communication device, when receiving data normally)
(max. 256 Bytes)
Header Station
(ACK) number
Command
type
Tail
Frame check
(BCC)
Command
Structurized data area or null code
(ETX)
(3) NAK Response frame (MASTER-K120S main unit → external communication device,
when receiving data abnormally) (max. 256 Bytes)
Header Station
(NAK) number
Tail
Frame check
(BCC)
Command
Command type
Error code (ASCII 4 Byte)
(ETX)
Remark
1) Used control codes are as follows. Be familiar with the following control codes. Because they are importantly
used for communication.
Codes
ENQ
ACK
NAK
EOT
ETX
Hex value
H05
Name
Enquire
Contents
Request frame initial code
ACK response frame initial code
NAK response frame initial code
Request frame ending ASCII code
Response frame ending ASCII code
H06
Acknowledge
Not Acknowledge
End of Text
End Text
H15
H04
H03
8-5
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 8 Communication Functions
Remark
1) The numerical data of all frames are ASCII codes equal to hexadecimal value, if there’s no clear statement.
The terms in hexadecimal are as follows.
• Station No.
• When the main command is R(r) or W (w) and the command type is numerical (means a data type)
• All of the terms indicating size of all data in the Formatted data area.
• Monitoring registration and command registration number of execution commands.
• All contents of data
2) If it is hexadecimal, H is attached in front of the number of frames like H01, H12345, H34, H12, and H89AB
2) Sequence of command frame
(1) Sequence of command request frame
ENQ Station No. Command Fomatted data EOT BCC
(PLC ACK response)
ACK Station No. Command Data or null ETX BCC
NAK Station No. Command Error code ETX BCC
(PLC NAK response)
8-6
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 8 Communication Functions
8.1.4 List of commands
Classification
Command
Main command Command type
Treatment
Items
Code ASCII code Code ASCII code
H72
Reads data from device of Bit, Byte, Word type.
Individual r(R)
Continuous r(R)
Individual w (W)
Continuous w(W)
SS
SB
SS
SB
ST
5353
5342
5353
5342
5354
Reading
device
(H52)
H72
Reads device Word in block unit.
(Continuous reading Bit is unavailable)
(H52)
H77
Writes data to device of Bit, Byte and Word type.
Writing
device
(H57)
H77
Writes data to Byte and Word type in block unit.
(Continuous reading Bit is unavailable)
(H57)
CPU
Status reading
H73
(H53)
Reads flag list like PLC operation status and error
information.
r(R)
Command
Classification
Main command
Register No.
Register
no.
Treatment
Item
Code ASCII code
ASCII code
Monitoring variable
register
H78
x(X)
H58
H00~H09 3030 ~ 3039 Register device to monitor.
Execution of
monitoring
H79
y(Y)
H00~H09 3030 ~ 3039 Execute registered device to monitor.
(H59)
Remark
MASTER-K120S main unit identifies capitals or small letters for main commands, but not for the others.
8-7
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 8 Communication Functions
8.1.5 Data type
It’s possible to read and write device in built-in communication. When device is used, be aware of data type.
1) Data type of variable
• Available types of device
Device Name
Explanation
Input/Output relay
Auxiliary relay
Link relay
Read/Write
Available
Available
Available
Available
Available
Available
Available
Available
Read Only
Bit/Byte/Word Assignment
P
M
L
K
C
T
D
S
All
All
All
Keep relay
Counter
All
All(Current value when Word)
All(Current value when Word)
Byte, Word
Timer
Data Register
Step relay
Byte, Word
F
Special relay
All
• When variable is used, attach ‘%’(25H) in front of the marking characters.
Data type
Bit
Marking characters
X(58H)
Examples
%PX000, %MX000, %LX000, %KX000, %CX000, %TX000, %FX000
%PB000, %MB000, %LB000, %KB000, %CB000, %TB000, %FB000
%PW000, %MW000, %LW000, %KW000, %CW000, %TW000,
%FW000, %DW000, %SW000
Byte
B(42H)
Word
W(57H)
Remark
1) Timer/Counter used in bit command means contact point values.(word command means current values.)
2) Data register and Step relay can uses only word or byte commands.
3) In byte type commands, address is doubled
For example, D1234 is addressed to ‘%D1234’ in word type, and is addressed to ‘%2468’ in byte type.
8-8
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 8 Communication Functions
8.1.6 Execution of commands
1) Individual reading of device(R(r)SS)
(1) Introduction
This is a function that reads PLC device specified in accord with memory data type. Separate device memory can be read
up to 16 at a time.
(2) PC request format
Station
No.
Command
type
Number
of blocks
H01
Device
length
Frame
check
BCC
Format name
Header
Command
Device name
Tail
......
Ex. of frame ENQ
H20
R(r)
SS
H06
%MW100
EOT
H04
ASCII value
H05
H3230 H52(72)
H5353
H3031
H3036
H254D57313030
1 block(setting can be repeated up to max. 16 blocks)
Item
BCC
Explanation
When command is lowercase(r), only one lower byte of the value resulted by adding 1 Byte
each to ASCII values from ENQ to EOT is converted into ASCII and added to BCC. For
example, the BCC of the above frame is gotten as below:
H05+H32+H30+H72+H53+H53+H30+H31+H30+H36+H25+H4D+H57+H31+H30+H30+H04
=H03A4 Therefore BCC value is A4.
This specifies how much of the blocks composed of "[device length][device name]" are in this
request format. This can be set up to 16. Therefore, the value of [Number of blocks] must be
set between H01(ASCII value:3031)-H10(ASCII value:3030).
Number of
Blocks
This indicates the number of name's characters that means device, which is allowable up to 16
characters. This value is one of ASCII converted from hex type, and the range is from
H01(ASCII value:3031) to H10(ASCII value:3130). For example, if the device name is %MW0,
it has 4 characters to be H04 as its length. If %MW000 characters to be H06.
Device length
(Length of
device name)
Address to be actually read is entered. This must be ASCII value within 16 characters, and in
this name, digits, upper/lower case, '%' only is allowable to be entered.
Device name
Remark
‘H’ of example frame represents hex value, and is unnecessary during preparing real frame.
8-9
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 8 Communication Functions
(3) Response format (ACK response)
Station
Command
type
Number of
blocks
Number
of data
H02
Frame
check
BCC
Format name
Header
Command
data
Tail
......
No.
Ex. of frame
ASCII value
ACK
H06
H20
R(r)
SS
H01
HA9F3
ETX
H04
H3230
H52(72)
H5353
H3031
H3032
H41394633
1 block(max. 16 blocks possible)
Item
Explanation
When command is lowercase(r), only one lower byte of the value resulted by adding 1 Byte
each to ASCII values from ACK to ETX is converted into ASCII and added to BCC, and
sent.
BCC
Number of data means byte number of hex type, and is converted into ASCII. This number
is determined according to data type(X,B,W) included in device name of computer request
Format.
• Number of data in accordance with its data type is as follows:
Number of data
Data type
Bitl(X)
Available variable
%(P,M,L,K,T,C,F)X
Number of data
1
Byte(B)
%(P,M,L,K,T,C,D,S,F)B
%(P,M,L,K,T,C,D,S,F)W
1
2
Word(W)
Data
In data area, there are the values of hex data converted to ASCII code saved.
Ex.1
The fact that number of data is H04(ASCII code value:H3034) means that there is hex data of 4 bytes in data .
Hex data of 4 bytes is converted into ASCII code in data.
Ex.2
If number of data is H04 and the data is H12345678, ASCII code converted value of this is "31 32 33 34 35 36 37
38," and this contents is entered in data area. Name directly, highest value is entered first, lowest value last.
Remark
1) If data type is Bit, data read is indicated by bytes of hex. Namely, if Bit value is 0, it indicated by H00,
and if 1, by H01.
8-10
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 8 Communication Functions
(4) Response format (NAK response)
Error code
(Hex 2 Byte)
H1132
Format name
Header
Station No.
Command
Command type
Tail
Frame check
Ex. of frame
ASCII value
NAK
H15
H20
R(r)
SS
ETX
H03
BCC
H3230
H52(72)
H5353
H31313332
Item
BCC
Explanation
When command is lowercase(r), only one lower byte of the value resulted by adding 1
Byte each to ASCII values from NAK to ETX is converted into ASCII and added to BCC.
Hex and 2 bytes(ASCII code, 4 bytes) indicate error type. For the details, see 8.1.8 Error
codes.
Error code
(5) Example
K120S main unit
This example supposes when 1 WORD from M20 and 1 WORD from P001 address of station No.1 are read and BCC value
is checked. Also it is supposed that H1234 is entered in M20, and data of H5678 is entered in P001.
① Computer request format (PC → MASTER-K120S main Unit)
Command Number of
Variable
length
H05
Format
name
Device
length
H06
Frame
check
Format name Header Station No. Command
Format name
Tail
type
blocks
Ex. of frame ENQ
ASCII value H05
H01
r
SS
H02
%MW20
H254D57
3230
%PW001 EOT BCC
H25505730
H04
3031
H3031
H72
H5353 H3032
H3035
H3036
② For ACK response after execution of command(PC ← MASTER-K120S main Unit)
Command Number of Number of
Number of
data
Frame
Format name
Header Station No. Command
Data
Data
Tail
type
SS
blocks
H02
data
check
Ex. of frame ACK
ASCII value H06
H01
r
H02
H1234
H02
H5678
ETX BCC
H3031
H72
H5353
H3032
H3032 H31323334 H3032 H35363738 H03
8-11
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 8 Communication Functions
③ For NAK response after execution of command(PC ← MASTER-K120S main Unit)
Format name
Ex. of frame
ASCII value
Header
NAK
H15
Station No.
H01
Command
Command type
SS
Error code
Tail
Frame check
r
Error code (2 bytes)
Error code (4 bytes)
ETX
H03
BCC
H3031
H72
H5353
2) Continuous reading(R(r)SB) of device
(1) Introduction
This is a function that reads the PLC device memory directly specified in accord with memory data type. With this, data is
read from specified address as much as specified continuously.
(2) PC request format
Number of data
(Max. 128 Bytes)
H05
Station
No.
Command
type
Device
length
H06
Frame
check
BCC
Format name
Header
Command
Device
Tail
H10
SB
%MW100
Ex. of frame ENQ
R(r)
EOT
H04
H3130
H5342
H3036 H254D57313030
H3035
ASCII value
H05
H52(72)
Remark
1) Number of data specifies the number to read according to the type of data. Namely, if the data type of device
is word and number is 5, it means that 5 words should be read.
2) Max. of %MW in number of data can be used up to 120(240bytes).
3) Protocol of RSB doesn't have number of blocks.
4) R(r)SB command of bit devices is not available.
Item
BCC
Explanation
When command is lowercase(r), only one lower byte of the value resulted by adding 1 Byte
each to ASCII values from ENQ to EOT is converted into ASCII and added to BCC.
This indicates the number of name's characters that means device, which is allowable up to
16 characters. This value is one of ASCII converted from hex type, and the range is from
H01(ASCII value:3031) to H10(ASCII value:3130).
Device length
(Length of
device name)
Address to be actually read is entered. This must be ASCII value within 16 characters, and in
this name, digits, upper/lowercase, and '%' only are allowable to be entered.
Device name
8-12
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 8 Communication Functions
(3) MASTER-K120S Main unit response format (MASTER-K120S of ACK response)
Command
type
Number of
blocks
Number of
data
Frame
check
BCC
Format name
Header
Station No.
Command
data
Tail
ACK
H06
H10
R(r)
SB
H01
H02
H1122
EOT
Ex. of frame
ASCII value
H3130
H52(72)
H5342
H3031
H3134
H31313232 H03
Item
Explanation
When command is lowercase(r), only one lower byte of the value resulted by adding 1 Byte
each to ASCII values from ACK to ETX is converted into ASCII and added to BCC, and
sent.
BCC
It means byte number of hex type, and is converted into ASCII. This number is determined
by multiplying the data number of computer request Format by the data size(in below
table) according to memory type(B,W,D) included in variable name of computer request
Format.
Number of data
Data type
WORD(W)
Available device
%(P,M,L,K,F,T,C,D,S)W
Data size
2
Data
.In data area, there are the values of hex data converted to ASCII code saved.
Ex.1
When memory type included in variable name of computer request Format is W(Word), and data number of
computer request Format is 03, data number of PLC ACK response after execution of command is indicated by
H06(2*03 = 06 bytes)Byte and ASCII code value 3036 is entered in data area.
Ex.2
In just above example, when data contents of 3 words are 1234, 5678, and 9ABC in order, actual ASCII code
converted values are 31323334 35363738 39414243, and the contents are entered in data area.
8-13
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 8 Communication Functions
(4) Response format (NAK response)
Error code
(Hex 2 Byte)
H1132
Format name
Header
Station No.
Command
Command type
Tail
Frame check
NAK
H15
H10
r
SB
ETX
H03
BCC
Ex. of frame
ASCII value
H3130
H72
H5342
H31313332
Item
BCC
Explanation
When command is lowercase(r), only one lower byte of the value resulted by adding 1 Byte
each to ASCII values from NAK to ETX is converted into ASCII and added to BCC, and sent.
Hex and 2 bytes(ASCII code, 4 bytes) indicate error type. For the details, see 8.1.8 Error
codes.
Error code
(5) Example
This example supposes that 2 WORDs from M000 of station No. 10 is read and BCC value is checked. Also it is supposed
that data in M000 and in M001 is as follow:
M000 = H1234
M001 = H5678
① Computer request format (PC → MASTER-K120S Main Unit)
Command
Device length
H06
Device name
Number of data
H02
Tail
Frame check
Format name
Frame (Example)
ASCII value
Header
ENQ
H05
Station No.
H0A
Command
type
r
SB
%MW000
H254D5730
3030
EOT
H04
BCC
H3041
H72
H5342
H3036
H3032
② For ACK response after execution of command(PC ← MASTER-K120S Main Unit)
Number of
data
Command
type
Data
Tail
Frame check
Format name
Header
Station No.
Command
Frame (Example)
ACK
H06
H0A
r
SB
H04
12345678
ETX
03
BCC
ASCII value
H3041
H72
H5342
H3034 H3132333435363738
③ For NAK response after execution of command(PC ← MASTER-K120S Main Unit)
Error code
Tail
BCC
Format name
Frame (Example)
Header
Station No>
Command
Command type
NAK
H0A
r
SB
Error code
Error code
(2Byte)
(4Byte)
ETX
H03
BCC
ASCII value
H15
H3041
H72
H5342
8-14
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 8 Communication Functions
3) Individual writing of device(W(w)SS)
(1) Introduction
This is a function that writes the PLC device memory directly specified in accord with memory data type.
(2) PC request format
Frame
check
Command
type
Number of
blocks
Device
Length
H06
Tail
Format name
Header
ENQ
H05
Station No.
H20
Command
W(w)
Device Name
Data
.....
Frame (Example)
ASCII
SS
H01
%MW100
H00E2
EOT
H04
BCC
H254D5731 H30304
3030 532
H3230
H57(77)
H5353
H3031
H3036
value
1 block(setting can be repeated up to max. 16 blocks)
Explanation
Item
BCC
When command is lowercase(r), only one lower byte of the value resulted by adding 1 Byte
each to ASCII values from ENQ to EOT is converted into ASCII and added to BCC.
This specifies how much of the blocks composed of "[device length][device name]" are in
Number of blocks this request Format. This can be set up to 16. Therefore, the value of [Number of blocks]
must be set between H01(ASCII value:3031)-H10(ASCII value:3030).
Device
This indicates the number of name's characters that means device, which is allowable up to
16 characters. This value is one of ASCII converted from hex type, and the range is from
length(Name
length of device) H01(ASCII value:3031) to H10(ASCII value:3130).
Address to be actually read is entered. This must be ASCII value within 16 characters, and
device
Data
in this name, digits, upper/lower case, and '%' only are allowable to be entered.
If the value to be written in %MW100 area is H A, the data Format must be H000A. If the
value to be written in %MW100 area is H A, the data Format must be H000A. In data area,
the ASCII value converted from hex data is entered.
Ex.1
If type of data to be currently written is WORD, the data is H1234, ASCII code converted value of this is
"31323334" and this content must be entered in data area. Namely, most significant value must be sent first, least
significant value last.
Remark
1) Device data types of each block must be the same.
2) If data type is Bit, the data to be written is indicated by bytes of hex. Namely, if Bit value is 0, it must be
indicated by H00(3030), and if 1, by H01(3031).
8-15
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 8 Communication Functions
(3) Response format (ACK response)
Tail
Frame check
Format name
Frame (Example)
ASCII value
Header
ACK
H06
Station No.
H20
Command
W(w)
Command type
SS
ETX
H03
BCC
H3230
H57(77)
H5353
Item
BCC
Explanation
When command is lowercase(r), only one lower byte of the value resulted by adding 1 Byte
each to ASCII values from ACK to ETX is converted into ASCII and added to BCC, and sent.
(4) Response format (NAK response)
Frame
check
Error code
(Hex 2 Byte)
H4252
Tail
Format name
Header
Station No.
Command
Command type
Frame (Example)
NAK
H15
H20
W(w)
SS
ETX
H03
BCC
ASCII value
H3230
H57(77)
H5353
H34323532
Item
BCC
Explanation
When command is lowercase(r), only one lower byte of the value resulted by adding 1 Byte
each to ASCII values from NAK to ETX is converted into ASCII and added to BCC, and sent.
Hex and 2 bytes(ASCII code, 4 bytes) indicate error type. For the details, see 8.1.8 Error
codes.
Error code
8-16
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 8 Communication Functions
(5) Example
This example supposes that "HFF" is written in M230 of station No. 1 and BCC value is checked.
① Computer request format (PC → MASTER-K120S main unit)
Frame
check
BCC
Command
type
Number of
blocks
Tail
Format name
Header Station No. Command
Device Length Device Name
Data
Frame (Example) ENQ
H01
w
SS
H01
H06
%MW230
H254D5732
3330
H00FF
EOT
ASCII value
H05
H3031
H77
H5353
H3031
H3036
H30304646 H04
② For ACK response after execution of command(PC ← MASTER-K120S main unit)
Tail
Frame check
Format name
Frame (Example)
ASCII value
Header
ACK
H06
Station No.
H01
Command
w
Command type
SS
ETX
H03
BCC
H3031
H77
H5353
③ For NAK response after execution of command(PC ← MASTER-K120S main Unit)
Error code
Error code (2)
Error code (4)
Tail
Frame check
Format name
Frame (Example)
ASCII value
Header
NAK
H15
Station No.
H01
Command
w
Command type
SS
ETX
H03
BCC
H3031
H77
H5353
8-17
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 8 Communication Functions
4) Continuous writing of device(W(w)SB)
(1) Introduction
This is a function that directly specifies PLC device memory and continuously writes data from specified address as much as
specified length.
(2) Request format
Number of data
(Max.128 Byte)
Frame
check
Format
name
Station
No.
Comman
d
Comma
nd type
Device
Length
Data
Tail
Header
Device
Frame
ENQ
H10
W(w)
SB
H06
%MW100
H02
H11112222 EOT
BCC
(Example)
ASCII
value
H254D57
313030
H31313131
H04
32323232
H05 H3130 H57(77) H5342 H3036
H3032
Remark
1) Number of data specifies the number according to the type of device. Namely, if the data type of
device is WORD, and number of data is 5, it means that 5 WORDs should be written.
2) Number of data can be used up to 240Bytes(120 Words).
Item
BCC
Explanation
When command is lowercase(r), only one lower byte of the value resulted by adding 1 Byte
each to ASCII values from ENQ to EOT is converted into ASCII and added to BCC.
Device
This indicates the number of name's characters that means device, which is allowable up to
length(Name length 16 characters. This value is one of ASCII converted from hex type, and the range is from
of variable)
H01(ASCII value:3031) to H10(ASCII value:3130).
Address to be actually read. This must be ASCII value within 16 characters, and in this
name, digits, upper/lower case, and '%' only are allowable to be entered.
device
8-18
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 8 Communication Functions
(3) Response Format (ACK response)
Tail
Frame check
Format name
Frame (Example)
ASCII value
Header
ACK
H06
Station No.
H10
Command
W(w)
Command type
SB
ETX
H03
BCC
H3130
H57(77)
H5342
Item
BCC
Explanation
When command is lowercase(r), only one lower byte of the value resulted by adding 1 Byte
each to ASCII values from ACK to ETX is converted into ASCII and added to BCC, and
sent.
(4) Response Format (NAK response)
Error code
(Hex 2 Byte)
H1132
Frame
check
BCC
Tail
Format name
Header
Station No.
Command
Command type
Frame (Example)
ENQ
H05
H10
W(w)
SB
EOT
H03
ASCII value
H3130
H57(77)
H5342
H31313332
Item
BCC
Explanation
When command is lowercase(r), only one lower byte of the value resulted by adding 1 Byte
each to ASCII values from NAK to ETX is converted into ASCII and added to BCC, and
sent.
Hex and 2 bytes(ASCII code, 4 bytes) indicate error type. For the details, see 8.1.8 Error
codes.
Error code
8-19
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 8 Communication Functions
(5) Example
This example supposes that 2 byte H’AA15 is written in D000 of station No. 1 and BCC value is checked.
① Computer request Format (PC → MASTER-K120S main unit)
Frame
check
BCC
Station
No.
Command
type
Device
Length
H06
Number of
data
Data
Tail
Format name
Header
Command
w
Device
Frame (Example) ENQ
H01
SB
%DW0000
H01
HAA15056F EOT
H414131353
H04
0353646
ASCII value H05 H3031
H77
H5342
H3036 H254457303030 H3031
② For ACK response after execution of command (PC ← MASTER-K120S main unit)
Tail
Frame check
Format name
Frame (Example)
ASCII value
Header
ACK
H06
Station No.
H01
Command
W
Command type
SB
ETX
H03
BCC
H3031
H77
H5342
③ For NAK response after execution of command(PC ← MASTER-K120S main unit)
Error code
Error code (2)
Error code (4)
Tail
Frame check
Format name
Frame (Example)
ASCII value
Header
NAK
H15
Station No.
01
Command
W
Command type
SB
ETX
H03
BCC
H3031
H77
H5342
8-20
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 8 Communication Functions
5) Monitor register(X##)
(1) Introduction
Monitor register can separately register up to 10 in combination with actual variable reading command, and carries out the
registered one through monitor command after registration.
(2) PC request Format
Frame
Registration No.
Registration Format
Tail
Format name
Header
Station No.
Command
check
Frame (Example)
ENQ
H05
H10
X(x)
H09
Refer to registration Format
EOT
H04
BCC
ASCII value
H3130
H58(78)
H3039
[※]
Item
BCC
Explanation
When command is lowercase(x), only one lower byte of the value resulted by adding 1 byte
each to ASCII values from ENQ to EOT is converted into ASCII, added to BCC.
This can be registered up to 10(0 to 9, H00-H09), and if an already registered No. is
registered again, the one currently being executed is registered.
Register No.
This is used to before EOT in command of Formats of separate reading of variable,
continuous reading, and named variable reading.
Register Format
※ Register Format : Register Format of request Formats must select and use only one of the followings.
① Individual reading of device
RSS
Number of blocks(2 Byte)
Device length (2 Byte)
Device name (16 Byte)
...
1 block(max. 16 blocks)
② Continuous reading of device
RSB
Device length (2 Byte)
Device name (16 Byte)
Number of data
8-21
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 8 Communication Functions
(3) Response Format (ACK response)
Registration No.
H09
Tail
Frame check
Format name
Frame (Example)
ASCII value
Header
ACK
H06
Station No.
H10
Command
X(x)
ETX
H03
BCC
H3130
H58(78)
H3039
Item
BCC
Explanation
When command is lowercase(r), only one lower byte of the value resulted by adding 1 Byte
each to ASCII values from ACK to ETX is converted into ASCII and added to BCC, and
sent.
(4) Response Format (NAK response)
Registration
No.
Error code
(Hex 2Byte)
H1132
Frame
check
BCC
Tail
Format name
Header
Station No.
Command
Frame (Example)
ACK
H06
H10
X(x)
H09
ETX
H03
ASCII value
H3130
H58(78)
H3039
H31313332
Item
BCC
Explanation
When command is one of lower case(r), only one lower byte of the value resulted by adding
1 Byte each to ASCII values from NAK to ETX is converted into ASCII and added to BCC,
and sent.
Hex and 2 bytes(ASCII code, 4 bytes) indicate error type. For the details, see 8.1.8 Error
codes.
Error code
8-22
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 8 Communication Functions
(5) Example
This example supposes that device M000 of station NO. 1 is monitor registered.
① Computer request Format (PC → MASTER-K120S main unit)
Registration Format
Registration
No.
Tail
Frame check
Format name
Header Station No. Command
Number of
blocks
R##
Device length Device name
Frame (Example)
ENQ
H05
H01
x
H01
RSS
H01
H06
%MW000 EOT
BCC
H255457
H04
303030
ASCII value
H3031
H78
H3031 H525353
H3031
H3036
② For ACK response after execution of command(PC ← MASTER-K120S main unit)
Registration No.
H01
Tail
Frame check
Format name
Frame (Example)
ASCII value
Header
ACK
H06
Station No.
H01
Command
x
ETX
H03
BCC
H3031
H78
H3031
③ For NAK response after execution of command (PC ← MASTER-K120S main unit)
Registration No.
H01
Error code
Error code (2)
Error code (4)
Tail
Frame check
Format name
Frame (Example)
ASCII value
Header
NAK
H15
Station No.
H01
Command
x
ETX
H03
BCC
H3031
H78
H3031
8-23
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 8 Communication Functions
6) Monitor execution(Y##)
(1) Introduction
This is a function that carries out the reading of the variable registered by monitor register. This also specifies a registered
number and carries out reading of the variable registered by the number.
(2) PC request Format
Registration No.
H09
Tail
Frame check
Format name
Frame (Example)
ASCII value
Header
ENQ
H05
Station No.
H10
Command
Y(y)
EOT
H03
BCC
H3130
H59(79)
H3039
Item
Explanation
Register No. uses the same number registered during monitor register for monitor execution.
It is possible to set from 00-09(H00-H09).
Register No.
When command is lower case(y), only one lower byte of the value resulted by adding 1 byte
each to ASCII values from ENQ to EOT is converted into ASCII, added to BCC.
BCC
(3) Response Format(ACK response)
① In case that the register Format of register No. is the Individual reading of device
Registratio Number of
Number of
data
Frame
check
BCC
Station
No.
Data
Tail
Format name
Frame (Example)
ASCII value
Header
ACK
H06
Command
n No.
Blocks
H10
Y(y)
H09
H01
H04
H9183AABB
H3931383341
414242
ETX
H03
H3130 H59(79)
H3039
H3031
H3034
② In case that the register Format of register No. is the continuous reading of device
Registration
No.
Frame
check
BCC
Station
No.
Number of data
Data
Tail
Format name
Header
Command
Frame (Example)
ACK
H06
H10
Y(y)
H09
H04
H9183AABB
ETX
H03
ASCII value
H3130 H59(79)
H3039
H3034
H3931383341414242
8-24
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 8 Communication Functions
(4) Response Format (NAK response)
Registration
No.
Error code
(Hex 2Byte)
H1132
Tail
Frame check
Format name
Header
Station No.
Command
Frame (Example)
NAK
H15
H10
Y(y)
H09
ETX
H03
BCC
ASCII value
H3130
H59(79)
H3039
H31313332
Item
BCC
Explanation
When command is lowercase(y), only one lower byte of the value resulted by adding 1 Byte
each to ASCII values from NAK to ETX is converted into ASCII and added to BCC, and
sent.
Hex and 2 bytes (ASCII code, 4 bytes) indicate error type. For the details, see 8.1.8 Error
codes.
Error code
(5) Example
This example supposes that registered device No. 1 of station No. 1 is read. and BCC value is checked. And it is supposed
that device M000 is registered and the number of blocks is 1.
① Computer request Format (PC → MASTER-K120S Main Unit)
Registration No.
H01
Tail
Frame check
Format name
Frame (Example)
ASCII value
Header
ENQ
H05
Station No.
H01
Command
y
EOT
H04
BCC
H3031
H79
H3031
② For ACK response after execution of command (PC ← MASTER-K120S Main Unit)
Registration
No.
Number of
data
Frame
check
Number of Blocks
H01
Data
Tail
Format name
Frame (Example)
ASCII value
Header
ACK
H06
Station No.
H01
Command
y
H01
H04
H23422339 ETX BCC
H3233343232
H03
333339
H3031
H79
H3031
H3031
H3034
③ For NAK response after execution of command (PC ← MASTER-K120S Main Unit)
Registration No.
H01
Error code
Error code (2)
Error code (4)
Tail
Frame check
Format name
Frame (Example)
ASCII value
Header
NAK
H15
Station No.
H01
Command
y
ETX
H03
BCC
H3031
H79
H3031
8-25
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 8 Communication Functions
7) Reading PLC Status(RST)
(1) Introduction
This is a function that reads flag list including operating status of PLC and error information.
(2) PC request Format
Tail
Frame check
Format name
Frame (Example)
ASCII value
Header
ENQ
H05
Station No.
H0A
Command
R(r)
Command type
ST
EOT
H04
BCC
H3041
H52(72)
H5354
Item
BCC
Explanation
When command is lowercase(r), only one lower byte of the value resulted by adding 1 Byte
each to ASCII values from ENQ to EOT is converted into ASCII and added to BCC.
(3) Response Format (ACK response)
PLC status data
(Hex 20 Byte)
Frame
check
Command
type
Tail
Format name
Header
Station No.
Command
Frame (Example)
ACK
H06
H0A
R(r)
ST
Status data Format
[※1]
ETX
H03
BCC
ASCII value
H3041
H52(72)
H5354
Item
BCC
Explanation
When command is lowercase(r), only one lower byte of the value resulted by adding 1 Byte
each to ASCII values from ACK to ETX is converted into ASCII and added to BCC, and sent.
※1 PLC status data: data Format is 20 bytes in hex Format and converted into ASCII code. Its contents are constituted as
below table after converting ASCII code into hex data.
1
2
3
4
5
6
7
8
9
10 11 12 13 14 15 16 17 18 19 20
Null
Null
CPU Ver. CPU null connection
Type No. Mode
• CPU Type
CPU Type
Code
K120S
42
K80S
41
K200SA
3A
K200SB
3B
K200SC
3C
K300S
33
K1000S
32
• Version No.
Ex) Bit
0
-
0
0
-
0
1
0
0
0
0
0
1
0
Version 1.2
• CPU Mode
• Connection
Ex) Bit
Ex) Bit
-
-
-
-
-
-
-
-
0
0
Bit 1
Stop
Mode Mode
Bit 2
Bit 3
Bit 4
Bit 0
Local
connection
Bit 1
Remote
connection
Run PAUSE DEBUG
Mode Mode
8-26
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 8 Communication Functions
(4) Response Format ( NAK response)
Error code
(Hex 2 Byte)
H1132
Tail
Frame check
Format name
Header
Station No.
Command
Command type
Frame (Example)
NAK
15
H0A
3041
R(r)
ST
ETX
03
BCC
ASCII value
5272
5354
31313332
* When command is one of lower case(r), only one lower byte of the value resulted by adding 1 Byte each to ASCII values
from NAK to ETX is converted into ASCII and added to BCC, and sent.
* Hex and 2 bytes(ASCII code, 4 bytes) indicate error type. For the details, see 8.1.8 Error codes.
(5) Example
This example supposes that the status of MASTER-K120S Main unit of station No. 1 is read.
① Computer request Format (PC → MASTER-K120S Main Unit)
Tail
Frame check
Format name
Frame (Example)
ASCII value
Header
ENQ
H05
Station No.
H01
Command
R(r)
Command type
ST
EOT
H04
BCC
H3031
H52(72)
H5354
② For ACK response after execution of command (PC ← MASTER-K120S Main Unit)
Status data
See status data
Format
Tail
Frame check
Format name
Frame (Example)
ASCII value
Header
ACK
H06
Station No.
H01
Command
R(r)
Command type
ST
ETX
H03
BCC
H3031
H52(72)
H5354
③ For NAK response after execution of command (PC ← MASTER-K120S Main Unit)
Error code
Error code (2)
Error code (4)
Tail
Frame check
Format name
Frame (Example)
ASCII value
Header
NAK
H15
Station No.
H01
Command
R(r)
Command type
ST
ETX
H03
BCC
H3031
H52(72)
H5354
8-27
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 8 Communication Functions
8.1.7 1:1, 1:n Built-in communication between MASTER-K120S's
1) Introduction
1:1 built-in communication between MASTER-K120S's is that which constitutes a built-in communication system with the
method of 1(master) : 1(slave). Setting Base parameter and communication parameter in KGLWIN can easily constitute this
system. Communication protocol currently applied is the same with Cnet I/F used for MASTER-K. Main functions are following.
• It can organize device area into 64 data access blocks by WORD unit, and set a communication time-out limit for each
block.
• It can reestablish flag in relation with error codes and slave PLC operating mode according to parameter setting.
• It can reset flag related with error codes and sending/receiving error frequency of each parameter.
• It monitors communication status, using monitoring function of KGLWIN.
MASTER-K120S
main unit
MASTER-K120S
main unit
G7E-DR10A
(Slave: station No. 31)
(Master: station no. 1)
1:1 built-in communication between MASTER-K120S
This communication cabling map is the same for (3) 1:1 Connecting with other MASTER-K120S in 8.1.2 "System configuration
method using built-in communication."
8-28
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 8 Communication Functions
2) Parameter setting
(1) Communication Parameter Setting
• Open a new project file from KGLWIN
- MASTER-K120S must be selected as PLC type.
• After selecting communication parameter from KGLWIN and clicking twice, this window comes up.
(a) When uses Ch.0 : Built-in RS-232C or External Cnet I/F module
(b) When uses Ch.1 : Built-in RS-485
8-29
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 8 Communication Functions
• Set according to the following table
Item
Contents
Station No.
Baud rate
Data bit
Sets one of station from 0 to 31.
Sets one of 1200, 2400, 4800, 9600, 19200, 38400, 57600 bps
Sets one of 7 or 8 Bits
Parity bit
Stop bit
Sets one of none, Even, Odd
Sets one of 1 or 2 Bit(s)
• RS232C null modem or RS422/485: can be selected as a communication channel when communication is
processed by built-in functions of MASTER-K120S Main unit or Cnet I/F module (G7L-CUEC).
• RS232C dedicated modem : can be selected when communication is processed by Cnet I/F module (G7L-
CUEC).
Communication
channel
• RS232C dial-up modem: can be selected when common modem communication calling the opponent station
is processed by Cnet I/F module (G7L-CUEC).
* Notes: RS232C dedicated modem and RS232C dial-up modem communication can be processed only by
Cnet I/F module (G7L-CUEC) supporting RS-232C, not Cnet I/F module (G7L-CUEC) supporting RS-
422/485.
• It’s an interval waiting after sending request frame from Master MASTER-K120S before receiving a
response.
Timeout
in
• default value is 500ms.
Master Mode
• Setting must be done in consideration of maximum interval of sending and receiving cycle of a master PLC.
• If the time out is less than the maximum interval of the s/r cycle, error can occur.
Dedicated
Master MASTER-K120S can read from and write on Slave MASTER-K120S.
Master/Slave
Read status of can be select especially when you read Slave MASTER-K120S for monitoring, but not for the other purposes,
slave PLC lest it may cause decreasing communication speed.
(2) Setting registration list
• Click 'master' from 'exclusive use' in 'protocol and sending mode' then 'List' button will be activated.
8-30
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 8 Communication Functions
• Click the ‘List’ button to open the registration list window.
• Total 64 data blocks can be assigned. But it's not possible to set a register number.
• Sending and receiving data size can be set up to 60 Words.
• Set device area
- Sending: reading device area P,M,L,K,T,C,D,S
- Receiving : reading device area P,M,L,K,T,C,D,S
saving device area : P,M,L,K,T,C,D,S
saving device area : P,M,L,K,T,C,D,S
• Designate station no., size, mode, area in following windows.
- Station no. : set the number of the slave or opponent station.
- Mode : click 'send' for writing data on the slave station, or 'receive' for reading from it.
- Size : data size for reading and writing of the master station can be specified up to 60 words.
- Area:
Item
Sending mode
Receiving mode
that is in the master station to temporarily that is in the slave station for the data to
Area(from)
save the data to be written.
be read.
that is in the master station to temporarily
save the data to be read.
Area(to)
that is in the slave station to write the data.
8-31
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 8 Communication Functions
3) Flag related with operating status
(1) Sending/receiving error count for each station (total 32 stations)
Error code is saved following area according to station
Remarks
Station
Device
Station
Device
0,1
2,3
4,5
6,7
8,9
10,11
12,13
14,15
D4400
D4401
D4401
D4403
D4404
D4405
D4406
D4407
16,17
18,19
20,21
22,23
24,25
26,27
28,29
30,31
D4408
D4409
D4410
D4411
D4412
D4413
D4414
D4415
Each device contains the Information of 2 station
The information of each station is saved in 1byte.
Error code
Error code
Contents
Remarks
1
2
Timeout error for response
Received NAK
(2) Sending/receiving error contents of each station (total 32 stations)
Error count number is saved following area according to station
Station
0,1
2,3
4,5
6,7
Device
D4416
D4417
D4418
D4419
D4420
D4421
D4422
D4423
Station
16,17
18,19
20,21
22,23
24,25
26,27
28,29
30,31
Device
D4424
D4425
D4426
D4427
D4428
D4429
D4430
D4431
Remarks
Each device contains the Information of 2 station
The information of each station is saved in 1byte.
8,9
10,11
12,13
14,15
(3) Slave PLC mode and error contents of each station (total 32 stations)
Error Information of PLC is saved following area according to station
Station
0,1
2,3
4,5
6,7
Device
D4432
D4433
D4434
D4435
D4436
D4437
D4438
D4439
Station
16,17
18,19
20,21
22,23
24,25
26,27
28,29
30,31
Device
D4440
D4441
D4442
D4443
D4444
D4445
D4446
D4447
Remarks
Each device contains the Information of 2 station
The information of each station is saved in 1byte.
8,9
10,11
12,13
14,15
8-32
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 8 Communication Functions
• Error bit
b7
b6
b5
b4
b3
b2
b1
b0
Error status of slave PLC
1 : Error
0 : Normal
Reserved
Operation mode of slave PLC
b4 : STOP
b5 : RUN
b6 : PAUSE
b7 : DEBUG
(4) Status flag of the master PLC
Status Information of master PLC is saved in D4448
b15
b3
b2
b1
b0
D4448
- - - - - - - - - - -
b1 : be set in case station is duplicated
b2 : be set in case device area over
(5) Max/min/current sending/receiving cycle of set parameter
Contents: the interval between after sending and before receiving
Saved area (Channel 0)
Saved area(Channel 1)
Max.
Min.
D4449 – D4450
D4451 – D4452
D4453 – D4454
D4349 – D4350
D4351 – D4352
D4353 – D4354
Current
8-33
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 8 Communication Functions
4) Example
MASTER-K120S main unit
(Slave : Station No. 31)
MASTER-K120S main unit
(Master : Station No. 0)
G7E-DR10A
1:1 built-in communication between MASTER-K120S
• Device M000 is increased by program per 1 second.
• Writing M000 to output area P004 of slave
• Reading slave’s output area P004
• Writing it to master’s output area P009
The following example uses the above diagram to explain the operation of MASTER-K120S main unit.
• The data of the master MASTER-K120S main unit is increased by INCP instruction and sent to be written on the output
contact point P004 of the slave MASTER-K120S main unit. And in return, the master MASTER-K120S main unit reads
the data that is written on the output contact point of the slave MASTER-K120S to write them on the output contact
point of extended digital input/output module, G7E-DR10A.
(1) Setting communication parameter of the master station and its program
① Work on the master station 0.
② Open a new project file and a new program for the master station.
③ Double click parameter item for parameter settings. If you click the Comm. button in parameter window in KGLWIN,
you can see the following window of the communication parameter.
8-34
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 8 Communication Functions
④ Set parameters as the following table.
Protocol
Communication Method
and mode
Comm-
Station no.
0
Baud rate
19200
Data bit
8
Parity bit
None
Stop bit
1
Communication channel
Timeout
Dedicated
Master
unication
RS232C null modem or
RS422/485
Enable
500ms
⑤ Click ‘List’ button to activate registration list window
⑥ double click list number ‘0’ in ‘List’ window , then following window for ‘Private 1 item 0 edit’ is open
⑦ Set parameters like the following table and click ‘OK’ button.
Station No.
31
Size
1
Mode
Send
Area to read(From)
Area to save(to)
P004 (See the above)
M000 (See the above)
8-35
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 8 Communication Functions
⑧ The registration list ‘0’ registered in the registration list can be confirmed through a window like the following.
⑨ Double click the No. 1 for receive parameter setting and Set parameters like the following table and click ‘OK’ button.
Station No.
31
Size
1
Mode
Area to read(From)
Area to save(to)
Receive
P004 (See the above)
P009 (See the above)
8-36
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 8 Communication Functions
(2) Program
(2) Parameter setting for slave station.
① Set parameters as the following table.
Protocol
Communication Method
and mode
Commu-
nication
Station no. Baud rate Data bit Parity bit Stop bit
Communication channel
Timeout
Dedicated
slave
RS232C null modem or
RS422/485
Enable
31
19200
8
None
1
-
② Slave station does not need program.
③ Baud rate, parity bit, data bit, stop bit setting must be same with master station.
8-37
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 8 Communication Functions
8.1.8 Error code
Error code
Error type
Error condition and causes
Interface with PLC is impossible.
Treatment
H0001 PLC system error
Off/On the power
Check if other letters than capitals/small letters,
numbers, and (‘%’,’_’,’.’) in device and data, correct
and execute again.
Errors occurred when exchanging ASCII
data to numbers.
H0011 Data error
Set a wrong device memory that is to use
H0021 Command error
Check commands.
commands other than w(W), r(R), x(X), y(Y), s(S)
Wrong command type that is to use characters
H0031 Command type error like wSS, wSB using other letters from “SS” or Check command type
“SB”
Set wrong device memory other than
H1132 Device memory error
H1232 Data size error
Check device type
P,M,L,K,T,C,F,D,S
Correct length of data
The number of data in execution is 0 or bigger
than 128 bytes.
(If data type is bite, the number of data
must be from 1 ~ 128.)
When use other characters than x (X), w (W)
at MASTER-K120S. When use b (B), d (D) at
MASTER-K120S.
H2432 Data type error
Check data type and execute again.
Ex1) Use commands like %DB or %DD.
Device request
H7132
When omit %.
Check Format, correct and execute again.
Format error
When exceed assigned area.
Ex1) MX2000 or %DW5000
Correct the size within the assigned area and execute
H2232 Area exceeding error
again.
Monitor execution
Rearrange the monitor register no. not to go over than
9 and reset.
H0190
error
Exceeding limit of register No.
Rearrange the monitor register no. not to go over than
9 and reset.
H0290 Monitor register error Exceeding limit of register No.
When use commands that aren’t supported.
Ex1) When use device
Be familiar with the manual.
Check if the system stopped.
reset
H6001 Syntax error
H6010 Syntax error
H6020 Syntax error
like %MX100 in RSB command
OVER-RUN, FRAME error
Be familiar with the manual.
Confirm the setting of the communication ports of RS-
232C.
TIME_OUT error
reset
H6030 Syntax error
H6040 Syntax error
H6050 Syntax error
Syntax error in commands
When a FRAME text exceeds over 256 bytes.
BCC error
Check if each sends frame has ENQ, EOT.
Rearrange send frame not to go over 256 bytes.
Check if BCC is right.
8-38
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 8 Communication Functions
8.2 User Defined Protocol Communication
8.2.1 Introduction
User Defined Protocol Communication allows users who do communication between MASTER-K120S main unit and other kind
of device to define the other company’s protocol at MASTER-K PLC. There’re a number of kinds of protocols made by many
companies, that it’s difficult to have all protocols in it. So if a user defines a protocol that can be applied to his/her purpose,
MASTER-K120S main unit executes the communication with the other kind of device through the defined protocol.
For this, protocol frame must be defined in KGLWIN (Version 2.0 or higher). And exact knowledge about the contents of the
protocol defined by the user is vital in making the communication possible. KGLWIN can download a user defined protocol
frame into MASTER-K120S main unit and it is saved. it is not erased by power’s off/on. For using user-defined mode, he/she
should program with instruction controlling sending of PLC as well as edit frames. This section explains User Defined Protocol
Communication setting & usage.
8.2.2 Parameter Setting
1) Setting Communications Parameter
(1) Open a new project file from KGLWIN and select K120S as PLC type
(2) After setting communication parameter at KGLWIN. Double click it to activate this window.
(3) Set according to the following table.
Communication Method
Protocol and mode
Communi
-cation
Station
no.
Baud
rate
Data
bit
Parity
bit
Communication
channel
User
Timeout
defined
Stop bit
1
RS232C null modem
or RS422/485
Enable
0
19200
8
None
500ms
Master
8-39
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 8 Communication Functions
2) Setting frame
(1) Click “List” button to activate the following window.
(2) Select one of 1∼15 in frame list to open the following window.
① Frame specification
• Header
- Used in [Header] type.
- Possible characters, as headers are 1 alphabet letter, 1 numeric number, or control characters as below.
Available Control Code
NUL(H00) SOH(H01)
STX(H02)
LF(H0A)
ETX(H03)
VT(H0B)
EOT(H04)
FF(H0C)
DC4(H14)
FS(H1C)
ENQ(H05)
CR(H0D)
NAK(H15)
GS(H1D)
ACK(H06)
SO(H0E)
SYN(H16)
RS(H1E)
BEL(H07)
S1(H0F)
ETB(H17)
US(H1F)
BS(H08)
HT(H09)
DLE(H10)
CAN(H18)
DEL(H7F)
DC1(H11) DC2(H12)
EM(H19) SUB(H1A)
DC3(H13)
ESC(H1B)
8-40
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 8 Communication Functions
Example 1) [NUL] , [ENQ] , [1] , [A] : Possible
Example 2) NUL, ENQ , [12] , [ABC] : impossible
Example 4) [A][NUL][ENQ][STX] : impossible
- It is allowed to be only 3 consecutive characters.
Example 3) [ENQ][STX][NUL] : Possible
• Send / Receive
- Not defined : It is the initial value that doesn’t declare a frame format.
- Send : It is that declares send frame.
- Receive : It is that declares receive frame.
- When Frame 0 window is activated, Tx/Rx term is set as “Not defined,” and all the segments are not in
activation.
• Segment (1-8): Enter segment by segment to separate fixed sending data area (CONSTANT) and device
area (Array).
Item
Contents
To set a segment type, there’re NONE (not defined), CONST (fixed data
area), ARRAY (Device area). CONST declares commands and fixed data
that are used for communication frame and ARRAY is used to input and save
the data needed for interactive communication. ARRAY type must be always
set by byte.
This field is to declare commands and fixed data that will be used in communication
frame and constant data to be declared by inputting. ASCII input must be done
within 10 characters and hex within 20 characters. If the number exceeds the limit,
set the next segment as the same type and continue to input there. As an
dedicated protocol communication, 10RSB06%MW10006 is a frame to execute
reading 6 word data from M100 at the slave station no. 16.
Ex1) 10RSB06%MW10006
If the segment is declared as ARRAY type, designate transmitting device (P,M,L,K,
F,T,C,D) and number of transmitting. The unit is byte
Ex2) If you want to transmit D000 ~ D003, the setting is as below.
(transmitting device : D000 , number of transmitting : 6 bytes)
8-41
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 8 Communication Functions
Item
Contents
It is a radio button to select the input type of commands. There’re 2 kinds as hex or
ASCII value.
Ex1) ASCII : 1 0 R S B 0 6 % M W 1 0 0
Ex2) Hex : 31 30 52 53 42 30 36 25 57 44 31 30 30
If ARRAY is set, it asks whether it would convert data to ASCII to send (at send
frame), or convert to hexadecimal to receive(at receive frame).
If ARRAY is set, the size of area is to be set by byte. The unit is a byte.
• Tail
- Used in [Tail] type.
- Possible characters as headers are 1 alphabet letter, 1 numeric number, or control characters as below
Available Control Code
NUL(H00) SOH(H01)
STX(H02)
LF(H0A)
ETX(H03)
VT(H0B)
EOT(H04)
FF(H0C)
DC4(H14)
FS(H1C)
ENQ(H05)
CR(H0D)
NAK(H15)
GS(H1D)
ACK(H06)
SO(H0E)
SYN(H16)
RS(H1E)
BEL(H07)
S1(H0F)
ETB(H17)
US(H1F)
BS(H08)
HT(H09)
DLE(H10)
CAN(H18)
DEL(H7F)
DC1(H11) DC2(H12)
EM(H19) SUB(H1A)
DC3(H13)
ESC(H1B)
Example 1) [NUL] , [ENQ] , [1] , [A] : Possible
Example 2) NUL, ENQ , [12] , [ABC] : impossible
- It is allowed to be only 3 consecutive characters.
Example 3) [ENQ][STX][NUL] : Possible
Example 4) [A][NUL][ENQ][STX] : impossible
- It’s possible to use BCC that can detect errors. BCC must be set as [BCC] to be used. To set BCC contents,
click “BCC Setting” button on the right side.
Example 5)
8-42
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 8 Communication Functions
• BCC setting: set BCC when it is needed.
Item
Contents
ASCII adds 2 bytes BCC value in ASCII type to frame. Hex adds 1 byte BCC value in Hex type to
frame. For the detailed setting BCC, refer to 8.1.6 “Execution of Commands”.
Data Type
It is that sum all the data from 2nd data to the data before the data marked as [BCC] and input the
result to the [BCC] area
Default
SUM 1
SUM 2
XOR 1
XOR 2
MUL 1
MUL 2
BCC method uses sum like defaults, but the user can set the BCC area.
BCC method is the same with SUM 1, but it’s used when the user masks any value to the last BCC
value.
BCC method is OR (Exclusive OR).
BCC method is the same with XOR 1, but it’s used when the user masks any value to the last BCC
value.
BCC method is MULTIPLY that is, multiplication.
BCC method is the same with MUL 1, but it’s used when the user masks any value to the last BCC
value.
H signifies header, S is for segment, and T is for tail.
Range
Ex1) When header is set as [ENQ][STX], tail is set as [EOT][ETX], and the range of setting
BCC is to be from [STX] to [ETX], then set as H [1]~T [1].
It is to set whether not to take complement number or to take the complement number of 1 or 2 at
[BCC] value. If mask setting is done after taking a complement number, the user can set any value to
do masking.
Complement
Sets any value and method of masking.
Ex1) When masking by XOR method, using a value, HFF : ^FF
Ex2) When masking by OR method, using a value, HFF : |FF
When masking by AND method, using a value, HFF : &FF
Mask
8-43
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 8 Communication Functions
• Frame size
- ASCII communication : max. 128 bytes
- Hex communication : max. 256 bytes
• Link relay (L)
- It’s a flag to indicate whether a user defined frame is received in the order set by the user.
- If the received frame is matched with the declared frame in frame list number 3, L003 starts blinking
(0 → 1 → 0).
• When frame receiving is done, MASTER-K120S main unit check if there’s any match between the received frame
and the declared frame in frame list. If there is, let the Link relay L(n) flag blink and save the received data in the
assigned area.
BCC calculation example> When frame is set as below, the result of calculation is as follow.
(1) Default setting
8-44
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 8 Communication Functions
The last transmitting frame
BCC Type setting
The kinds of
The value of sum check
Input segment
ASCII Type
Hex Type
05 31 32 33 34 04 CE
05 12 34 04 4A
ASCII Input
Hex Input
31 + 32 +33 +34 +04 = CE
12 + 34 +04 = 4A
05 31 32 33 34 04 43 41
05 12 34 04 34 41
(2) SUM 1 , XOR 1 or MUL 1 setting.
① SUM 1
The last transmitting frame
BCC Type setting
The kinds of
The value of sum check
segment input
ASCII Type
Hex Type
05 31 32 33 34 04 D3
05 12 34 04 4F
ASCII Input
Hex Input
05 + 31 + 32 +33 +34 +04 = D3
05 + 12 + 34 +04 = 4F
05 31 32 33 34 04 44 33
05 12 34 04 34 46
② XOR 1
The last transmitting frame
BCC Type setting
The kinds of
The value of sum check
segment input
ASCII Type
Hex Type
05 31 32 33 34 04 05
05 12 34 04 27
ASCII Input
Hex Input
05 ^ 31 ^ 32 ^ 33 ^ 34 ^ 04 = 05
05 ^ 12 ^ 34 ^ 04 = 27
05 31 32 33 34 04 30 35
05 12 34 04 32 37
③ MUL 1
The last transmitting frame
BCC Type setting
The kinds of
The value of sum check
segment input
ASCII Type
Hex Type
05 31 32 33 34 04 60
05 12 34 04 20
ASCII Input
Hex Input
05 x 31 x 32 x 33 x 34 x 04 = 60
05 x 12 x 34 x 04 = 20
05 31 32 33 34 04 36 30
05 12 34 04 32 30
8-45
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 8 Communication Functions
④ Complement setting : Complement calculation as below
example> 1’s and 2’s Complements of D3
bit 7
1
bit 0
1
= h D3(sum check value)
1
0
0
0
1
1
1
0
0
0
1
1
0
1
1
1
0
0
bit 7
0
bit 0
0
1’ complement = h 2C(the last sum check value)
2’ complement = 1’ complement + 1 = h 2D(the last sum check
bit 7
0
bit 0
1
⑤ Mask setting : Masking method is as below
bit 7
1
bit 0
1
= h D3 (sum check value)
= hFF (masking value)
AND masking = hD3
1
1
1
1
0
0
1
0
0
1
1
1
1
1
0
0
1
0
0
1
0
1
0
0
1
1
1
1
1
0
bit 7
1
bit 0
1
bit 7
1
bit 0
1
bit 7
1
bit 0
1
OR masking = hFF
bit 7
0
bit 0
0
Exclusive OR masking = h2C
8-46
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 8 Communication Functions
8.2.3 Instruction
1) User defined communication instruction(SNDCOM)
User defined communication instruction
SNDCOM
Instruction
Available Device
Flag
No. of
steps
Error
Zero
Carry
(F112)
M
P
K
L
F
T
C
S
D
#D integer
(F110)
(F111)
Ch
n1
D
○
7
○
○ ○ ○ ○ ○ ○ ○
○ ○ ○ ○
○ ○ ○
○ ○
Flag Set
Designation
Ch Designated communication channel
n1 Frame lists which is designated at parameter
Device which the communication status is stored
Error
(F110)
Error flag turns on when designating area is
over and the instruction isn’t executed
D
■ SNDCOM Ch n1 D
(1) Function
• When the execution condition is on, the communication starts with protocol at parameter which is designated early.
• ‘Ch’ is communication channel and ‘n’ is a frame number at parameter which is designated
• ‘D’ is a device which the communication status is stored.
(2) example of program
• When input condition is on, channel 1 stars communication with protocol at user defined parameter rnumber 3.
• The communication state is stored M000 and the format of M000 Iis as below
bit15
bit8
bit1 bit0
Error code (1 byte)
• Done bit : When transfer is completed normally, this bit turns on during 1 scan.
• Error bit : When communication error occurs, ,this bit turns on.
• Error code : When error bit turns on, the error code is stored.
8-47
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 8 Communication Functions
3) Error code
Code
06
Error type
Slave Device Busy
Parameter Error
explanation
It’s sending or waiting to receive
09
Communication parameter setting error, Link enable setting error
Frame does not setting or frame does not ‘sending’
10
Frame Type Error
8.2.4 Example of Usage
This example is supposed that there’s a communication between MASTER-K120S’s by the user-defined protocol. The system
configuration is as follows and the cable is the same with the one of 1:1 dedicated protocol communication.
MASTER-K120S main unit
MASTER-K120S main unit
(Slave: Station No. 1)
(Master: Station no. 0)
1:1 dedicated protocol communication cable
The data in M area of the master station is sent to the slave station and the slave station saves received data in M area, output as direct
variable, and sends the data back to the master. This process repeats between the master and the slave.
1) The Programming and setting communication parameter of the master station
① Select the communication parameter and then select communication method and communication channel.
② Select ‘user Defined’ at protocol and mode item(‘list item is activated), then Click the ‘list’
8-48
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 8 Communication Functions
③ Double click the number ‘0’
④ Designate the header, segment, send/receive , tail as below and then click the BCC Setting
8-49
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 8 Communication Functions
⑤ Designate BCC Setting as below and Click the OK button, then you can see the frame list window which is designated
8-50
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 8 Communication Functions
⑥ Double click the number 1 frame
⑦ BCC Setting method is same frame 0.
⑧ After the frame setting and BCC setting completes, click the OK button.
⑨ You can see the frame list window which is designated as below.
8-51
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 8 Communication Functions
⑧ Program
• When the data is received at frame no. 1, link relay L001 turns on during 1 scan. At that moment, M000 increases and the
value of M000 moves output relay P004.
• The new value of M000 is sending again every 1 second period (F092 is 1second period flag)
• The number of sending normally stores D000.
• When error occurs, the number of sending error stored in D001.
2) Setting and program of slave station
① Make the new project file and setting new parameter.
② Click the list after set the communication method and communication channel.
8-52
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 8 Communication Functions
③ Double click the frame list number ‘0’
④ Click the BCC Setting after set the header , segment , tail as below.
8-53
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 8 Communication Functions
⑤ Click the OK button after BCC setting as below. Then you can see the frame list which is designated.
8-54
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 8 Communication Functions
⑥ Set the frame number ‘1’ as below and click the BCC Setting
⑦ BCC Setting method is same as master station.
8-55
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 8 Communication Functions
⑧ After the frame setting and BCC setting completes, click the OK button.
⑨ You can see the frame list window which is designated as below
⑩ Program
• When the data is received at frame no. 0, link relay L000 turns on during 1 scan. At that moment P004 increases and
the value of P004 moves M000.
• The new value of P004 is sending again every 1 second period (F092 is 1second period flag)
• The number of sending normally is stored in D000.
• When error occurs the number of sending error is stored in D001.
8-56
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 8 Communication Functions
8.3 Modbus Protocol Communication
8.3.1 Introduction
MASTER-K120S built-in communication supports Modbus, the Modicon product’s communication protocol. It supports ASCII
mode, using ASCII data and RTU mode using Hex data. Function code used in Modbus is supported by instruction and
especially function code 01, 02, 03, 04, 05, 06, 15 and 16. Refer to "Modicon Modbus Protocol Reference Guide"
8.3.2 Basic Specification
1) ASCII mode
(1) It communicates, using ASCII data.
(2) Each frame uses ': (colon : H3A)', for header, CRLF (Carriage Return-Line Feed : H0D H0A), for tail.
(3) It allows Max. 1 second interval between characters.
(4) It checks errors, using LRC.
(5) Frame structure (ASCII data)
Item
Size
Header
1 byte
Address
2 bytes
Function code
2 bytes
Data
LRC
Tail(CR/LF)
2 bytes
n bytes
2 bytes
2) RTU mode
(1) It communicates, using hex data.
(2) There's no header and tail. It starts with address and finishes frame with CRC.
(3) It has at least 3.5 character times between two frames.
(4) It ignores the current frame when 1.5 character times elapse between characters.
(5) It checks errors, using 16 bit CRC.
(6) Frame structure (hex data).
Item
Size
Address
1 byte
Function code
1 bytes
Data
CRC
n bytes
2 bytes
REMARK
1) The size constituting 1 letter is 1 character. So 1 character is 8 bits that is 1 byte.
2) 1 character time means the time lapsed for sending 1 character.
Ex) Calculation of 1 character time at 1200 bps.
1200 bps means that it takes 1 second to send 1200 bits. To send 1 bit, 1 sec/1200 bits = 0.83 ms.
Therefore 1 character time is 0.83ms * 8 bits = 6.64ms.
3) 584, 984 A/B/X executes frame division, using intervals of more than 1 sec without LRC in processing internally.
8-57
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 8 Communication Functions
3) Address area
(1) Setting range is available from 1 to 247, but MASTER-K120S supports from 0 to 31.
(2) Address 0 is used for broadcast address. Broadcast address is all slave device recognize and respond to like the self-
address, which can't be supported by MASTER-K120S.
4) Function code area
(1) MASTER-K120S supports only 01, 02, 03, 04, 05, 06, 15, and 16 among Modicon products' function codes.
(2) If the response format is confirm+(ACK), it uses the same function code.
(3) If the response format is confirm-(NCK), it returns as it sets the 8th bit of function code as 1.
Ex) If function code is 03, (we write here only function code part. Because only function codes are different.)
[Request]
[Confirm+]
[Confirm-]
0000 0011 (H03)
0000 0011 (H03)
1000 0011 (H83)
It returns as it sets the 8th bit of
function code of request frame.
5) Data area
(1) It sends data, using ASCII data(ASCII mode) or hex (RTU mode).
(2) Data is changed according to each function code.
(3) Response frame uses data area as response data or error code.
6) LRC Check/CRC Check area
(1) LRC (Longitudinal Redundancy Check) : It works in ASCII mode. It takes 2’ complement from sum of frame except
header or tail to change into ASCII code,
(2) CRC (Cyclical Redundancy Check): It works in RTU mode. It uses 2-byte CRC check rules.
REMARK
1) All numerical data can use hexadecimal, decimal, and binary type. If we convert decimal 7 and 10 into each type:
Hexadecimal : H07, H0A or 16#07, 16#0A
Decimal : 7, 10
Binary : 2#0111, 2#1010
8-58
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 8 Communication Functions
7) Function code types and memory mapping
Modicon PLC
Data address
Code
01
Function code name
Read Coil Status
Remark
Read bits
Read bits
Read words
Read words
Write bit
0XXXX(bit-output)
1XXXX(bit-input)
02
Read Input Status
03
Read Holding Registers
Read Input Registers
Force Single Coil
4XXXX(word-output)
3XXXX(word-input)
0XXXX(bit-output)
4XXXX(word-output)
0XXXX(bit-output)
4XXXX(word-output)
04
05
06
Preset Single Register
Force Multiple Coils
Preset Multiple Registers
Write word
Write bits
15
16
Write words
• MASTER-K120S Mapping
Bit area
Word area
Data area
Address
h0000
h1000
h2000
h3000
h4000
h5000
h6000
Data area
Address
h0000
h1000
h2000
h3000
h4000
h5000
h6000
h7000
h8000
P area
M area
L area
K area
F area
T area
C area
P area
M area
L area
K area
F area
T area(current value area)
C area(current value area)
S area
D area
8) Modbus addressing rules
MASTER-K120S main unit starts its address from 0 and matches with 1 of Modicon products' data address. So MASTER-
K120S's address n matches n+1 of Modicon products' address. This means that the output contact point 1 (0001) of
Modicon products is marked as communication address 0 and the input contact point 1 (0001) of Modicon products is
marked as communication address 0 in MASTER-K120S.
9) The size of using data
As for data size, MASTER-K120S main unit supports 128 bytes in ASCII mode and 256 bytes in RTU mode. The maximum
size of the Modicon products is different from each other kind. So refer to "Modicon Modbus Protocol Reference Guide."
8-59
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 8 Communication Functions
10) Map of wiring
MASTER-
K120S
main unit
Quantum (9PIN)
Connecting no. and direction
Pin no.
Pin no.
Signal
CD
1
2
3
4
5
6
7
8
9
1
2
3
4
5
6
7
8
9
5
9
4
8
RXD
TXD
DTR
SG
3
7
6
2
1
DSR
RTS
CTS
Male Type
• Use RS-485 connector when using channel 2.
8.3.3 Parameters Setting
1) Setting communication parameter
(1) Open a new project file at KGLWIN.
• K120S should be selected in PLC types.
• Open a new project file for each of the master and the slave.
(2) Select a communication parameter at KGLWIN and double click to open the following window.
If communication mode is ASCII, Be sure to set 7bit
8-60
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 8 Communication Functions
(3) Set the contents as follows.
Item
Setting contents
Set a number between 0 to 31 (Don’t assign no. 0 as broadcasting station lest it may be a cause
for mistaken operation)
Set one from 1200, 2400, 4800, 9600, 19200, 38400, or 57600 bps.
Set 7 or 8.
Station No.
Baud Rate
Data Bit
Parity Bit
Stop Bit
ASCII mode: Set as 7 bits.
RTU mode: Set as 8 bits.
Set as one of None, Even, or Odd.
Set 1 or 2 bit(s).
When parity bit is set: Set as 1 bit.
When parity bit isn’t set: Set as 2 bits.
• RS232C Null Modem or RS422/485 : It’s a communication channel for the communication,
using MASTER-K120S main unit’s built-in communication and Cnet I/F module (G7L-CUEC).
• RS232C Modem (Dedicated Line) : It’s to be selected for the communication, using an
dedicated modem with Cnet I/F module (G7L-CUEB).
• S232C Dial Up Modem : It’s to be selected for the general communication connecting through
the telephone line by dial up modem and Cnet I/F module (G7L-CUEB).
• Note : Using Cnet I/F module (G7L-CUEB) supporting RS232C, RS232C dedicated or dial-up
modem communication can be done, but not through Cnet I/F module (G7L-CUEC)
supporting RS422/485.
Communication
Channel
• It’s the time waiting a responding frame since the master MK80S main unit sends a request
frame.
Time out in Master • The default value is 500ms.
Mode
• It must be set in consideration of the max. periodical time for sending/receiving of the master
PLC.
• If it’s set smaller than the max. send/receive periodical time, it may cause communication error.
Modbus Master/ If it is set as the master, it’s the subject in the communication system. If it’s set as the slave, it
Slave
Transmission
Mode
only responds to the request frame of the master.
Select ASCII mode or RTU mode.
8-61
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 8 Communication Functions
8.3.4 Instruction and example
1) MODBUS communication instruction(MODCOM)
MODCOM
MODBUS communication
Available device
Flag
No. of
steps
Instruction
Error
(F110)
Zero
(F111)
Carry
(F112)
M
P
K
L
F
T
C
S
D
#D integer
Ch
S1
S2
S3
○
○ ○ ○ ○ ○ ○ ○
○ ○
○ ○
○ ○
7
○
○ ○ ○ ○
○ ○ ○ ○
○ ○
○ ○
Designation
Flag
Ch Designated communication channel
S1 Device which is registered communication parameter
S2 Device which stored communication data
S3 Device which stored communication status
Error
Error flag turns on when designating area is over
and the instruction isn’t executed
(F110)
■ MODCOM Ch S1 S2 S3
(1) Example program
• Designate slave station No. , function code,.address, No. of reading
• When input condition(M0020) turns on, MODBUS communication starts.
• Receiving data are stored D1000, and communication status is stored to M100
• When operates as slave, MASTER-K120S responses to master station without commands. And When operates as master,
MASTER-K120S sends data in S1 with MODBUS protocol at rising edges of execution condition.
8-62
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 8 Communication Functions
• S3 format is as below.
bit 15
bit 8
bit 1 bit 0
NDR bit
Error bit
Error code
• NDR : when the communication ends normally, this bit turns on during 1 scan.
• Error bit : when communication error occurs, this bit turns on during 1 scan. At that time error code stores bit 8 ~ bit 15.
• Error code is as follow
Code
01
Error type
Illegal Function
Meaning
Error in inputting function code in instruction.
02
Illegal Address
Error of exceeding the area limit of reading/writing on the slave station.
Error when the data value to be read from or write on the slave station isn’t
allowed.
03
04
Illegal Data Value
Slave Device Failure
Error status of the slave station.
It’s a responding code of the slave station for the master station to prevent the
master station time-out error, when request command processing takes time.
The master station marks an error code and waits for a certain time without
making any second request.
05
Acknowledge
Error when request command processing takes too much time. The master
should request again.
06
07
Slave Device Busy
Time Out
Error when exceeds the time limit of the communication parameter as it
communicates.
08
09
Number Error
Errors when data is 0 or more than 256 bytes
Error of setting parameters (mode, master/ slave)
Parameter Error
Error when the station number of itself and the station number set by the
S1 of instruction are the same.
10
Station Error
Remark
-. In MASTER-K120S series, the ‘MODBUS’ command which has been used in MK80S series can be used.
In this case, communication channel is fixed to channel 0.
8-63
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 8 Communication Functions
2) Example program 1
It’s supposed that MASTER-K120S main unit is the master and it reads Coil Status of the station no. 17, a Modicon product.
The master reads status of the Coil 00020 ~ 00056 of the slave station no. 17. The Coil of the slave station is supposed to
be as follows and the data that are read is saved in D1000
Coil
Status
Hex
59 58 57 56 55 54 53 52 51 50 49 48 47 46 45 44 43 42 41 40
X
X
X
1
1
0
1
1
0
0
0
0
1
1
1
0
1
0
1
1
1
B
0
E
B
Coil
39 38 37 36 35 34 33 32 31 30 29 28 27 26 25 24 23 22 21 20
Status
Hex
0
0
1
0
0
1
1
0
1
0
1
1
1
1
0
0
1
1
0
1
2
6
B
C
D
• The status of Coil 57, 58, 59 are redundancy.
• Data is sent starting from the low bit by byte unit. If the deficient bit of a byte is filled with 0. An example of sending the
above data is as Following example 1.
Example 1) CD B2 0E 1B
①
②
③
④
① It designates slave station and function code (No. of station : h11(17) , function code : h01)
② Address setting
- Address ‘0’ at MODBUS protocol means address ‘1’ actually .So if you want to designate address ‘20’ , write
address ‘19’
③ Reading number setting ( Reading number is 37 from 20 to 56.)
④ This is MODBUS Communication instruction.
- Data is sent starting from the low bit by byte unit. If the deficient bit of a byte is filled with 0. An example of sending
the above data is as follows.
- The data transmission starts lower byte. The remnant part of byte is filled with ‘0’
⑤ Stored data at D1000,D1001,D1002 are :
Device
D1000
D1001
D1002
Stored data
h
CD 6B
B2 CE
00 1B
h
h
8-64
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 8 Communication Functions
3) Example program 2
It’s supposed that MASTER-K120S main unit is the master and it reads Coil Status of the station no. 17, a Modicon product.
The master reads status of the input contact 10197 ~ 10218 of the slave station no. 17.
The input contact of the slave station is supposed to be as follows and the data that are read is saved in M015.
Input 10220 10219 10218 10217 10216 10215 10214 10213 10212 10211 10210 10209
Status
Hex
X
X
1
1
0
1
0
1
1
1
0
1
3
5
D
Input 10208 10207 10206 10205 10204 10203 10202 10201 10200 10199 10198 10197
Status
Hex
1
0
1
1
1
0
1
0
1
1
0
0
B
A
C
• The status of input contact 10219,10220 are redundancy.
• Data is sent starting from the low bit by byte unit. If the deficient bit of a byte is filled with 0. An example of sending the
above data is as follows.
Example 2) AC DB 35
①
②
③
④
① : It designates slave station and function code ( No. of station : h11(17) , function code : h02 )
② : Address setting
Address ‘0’ at MODBUS protocol means address ‘1’ actually .So if you want to designate address ‘10197’ ,
write address ‘10196’
③ : Reading number setting ( Reading number is 22 from 10197 to 10220.)
④ : This is MODBUS Communication instruction.
The data transmission starts lower byte. The remnant part of byte is filled with ‘0’
⑤ Stored data at D200,D201 are :
Device
D200
D201
Stored data
h
AC DB
00 35
h
8-65
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 8 Communication Functions
4) Example program 3
The master writes data D1000 ~ D1003 to contact 40000 of the slave station no. 10.
①
②
③
④
① : It designates slave station and function code ( No. of station : h0A(10) , function code : h10 )
② : Address setting
Address ‘0’ of function code ‘16’ at MODBUS protocol means address ‘40000’ actually.
③ : Writing number setting ( Writing number is 4)
④ : This is MODBUS Communication instruction.
5) Example program 4
The master writes data in D1000 to contact 40000 of the slave station no. 10.
①
②
③
④
① : It designates slave station and function code ( No. of station : h0A(10) , function code : h06 )
② : Address setting
Address ‘0’ of function code ‘16’ at MODBUS protocol means address ‘40000’ actually.
③ : Writing number setting ( Writing number is 1)
④ : This is MODBUS Communication instruction.
8-66
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 8 Communication Functions
8.4 No Protocol Communication
8.4.1 Introduction
No protocol communication is useful when communication between MASTER-K120S main unit and other kind of devices
with user defined protocol is impossible. User defined protocol is very convenient when there are enough interval between
frames or a kind of frame is less than 16. But, When the kind of frame is greater than 16 or frames are continued without
interval, user defined protocol is not available.
When the kinds of frame are more than 16, they can’t be registered in parameter area, therefore MASTER-K120s can’t
transfer these frames. Also, if there are no interval between frame, MASTER-K120S can’t find end of frame.
To overcome these defects of user defined protocol, MASTER-K120S provide ‘No Protocol Communication ’.
In the No Protocol Communication, frames are designated by commands, not by parameter setting. So Max. 128 frames can
be designated when using this communication mode. This section explains No protocol Communication setting & usage.
1) Sending Data
• Command : DSND
• Sends stored data in designated device at the rising edge of input condition.
• Data and the number of character must be stored in designated device before they are sent.
• Operands
(a) First operand – Designates communication channel
(b) Second operand – Number of data to sending (Unit of byte)
(c) Third operand – Starting address of devices which stores sending data
(d) Fourth operand – Device address which indicates communication status.
2) Receiving Data
• Command : DRCV
• Saves received data to pre-defined receiving devices when designated ending condition is occurs.
• The ending condition can be designated by following two kinds.
- By number of character which is received.
- By designated last byte. It is useful when there is no interval between received frames.
• Supports hexdecimal type.
• Operands
(a) First operand – Designates communication channel
(b) Second operand – Designates receiving format
(c) Third operand – Starting address of devices which stores receiving data
(d) Fourth operand – Device which indicates end of receiving
8-67
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 8 Communication Functions
• Receiving format can be designated as below.
Upper byte(hex)
Lower byte(hex)
H00(Receiving by Length of frame)
H03 (Receives when length of frame data is 3)
H01(Receiving by last byte)
H03 (Receives when last frame data is 03(ETX))
- When designated as length of frame : Stores received data to devices when number of received byte is equal to designated
lower byte value of receiving format.(setting range : 1~255)
- When designated last byte : Stores received data to devices when receives designated ending byte.
8.4.2 Parameter setting
1) Setting Communications Parameter
(1) Open a new project file from KGLWIN and select MK120S as PLC type
(2) After selecting communication parameter at KGLWIN. Double click it to activate this window
(3) Set the communication methods and channel (Refer to Chapter 8.1.7 for details.)
(4) Click ‘No protocol’, then parameter setting is finished
8-68
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 8 Communication Functions
8.4.3 Instructions
1) No protocol receive(DRCV)
DRCV
No protocol receive
Available Device
Flag
No. of
step
Instruction
Error
(F110)
Zero
(F111)
Carry
(F112)
M
P
K
L
F
T
C
S
D
#D Integer
Ch
Cw
D
○
○ ○ ○ ○ ○ ○ ○
○ ○ ○
○ ○
9
○
○ ○ ○ ○
○ ○ ○ ○
○ ○
○ ○
SS
○ ○
Flag
Designation
Designated communication channel
Ch
CW
D
Designated format of receiving frame
Error
(F110)
Error flag turns on, when designating area is over.
Device address which is stored communication data
Device address which is displayed communication
status
SS
■ DRCV
Ch
Cw
D
SS
(1) Function
• When the execution condition is on, the communication starts with No protocol.
• Received data is stored in device ‘D’
• If received data is not match to the designated format by ‘Cw’, data is not saved to ‘D’
• The communication status is saved in ‘SS’ .
(2) Example program
• When the execution condition M0000 is on, the communication starts with channel 1
• When ‘EXT(h’03)’ is received, Received frames are saved to D0100
• When NDR is on, the length of received frames is saved to M010 by byte.
Length of received data
error bit Done
8-69
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 8 Communication Functions
1) No protocol send(DSND)
DSND
No protocol send
Available Device
Flag
No. of
step
Instruction
Error
(F110)
Zero
(F111)
Carry
(F112)
M
P
K
L
F
T
C
S
D
#D Integer
Ch
n
○
○ ○ ○ ○ ○ ○ ○
○ ○ ○
○ ○
9
○
S
○ ○ ○ ○
○ ○ ○ ○
○ ○
○ ○
SS
○ ○
Designation
Flag
Ch Designated communication channel
n
S
Number of data to sending by bytes
Error
(F110)
Error flag turns on, when designating area is over.
Device address which is stored communication data
Device address which is displayed communication
status
SS
■ DSND
Ch
n
S
SS
(1) Function
• When the execution condition is on, the No protocol communication starts
• ‘n’ represents the number of data to send (unit of byte) and Sending data is stored in device ‘D’
• ‘Ch’ is designated communication channel and Communication status is saved in ‘SS’.
(2) Example program
• When the execution condition P0040 is on, the communication starts with channel 1
• Length of sending data which is stored in D0100 is 10 byte and the communication status is stored in M000.
Length of sent data
Error
error bit Done
(3) Error code
Code
Description
Communication parameter setting error
06
08
09
Parameter Error
Slave Device Busy
Frame Type Error
Slave device is busy
Size of sending byte is out of range
8-70
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 8 Communication Functions
8.4.4 Examples
Assume that a electrical weighing machine sends data which has unfixed size continuously. MASTER-K120S can communicates with it
using no protocol.
MASTER-K120S Main unit
Electrical weighing machine
For no protocol communication, one of following ending condition is designated. One is size of received data and the other is whether it
has some pre-defined data.
In this example, assume that received data is as following.
“ ENQ(1Byte) + Station No.(1Byte’) + Data(1~10 Words) + EOT(1Byte)”
When above frame is received, Received framed is saved to designated device If designated ‘Receiving Format(Cw)’ is h0104. and
decides if use these data or not. After that, sends data which is in sending device if required.
Assume that the sending data format is as following.
“ ACK(1Byte) + Station No.(1Byte’) + OK(2Bytes) + EOT(1Byte)”
In this example the size of received data is 1 word.
8-71
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 8 Communication Functions
1) Communication Parameter Setting
• Open a new project file from KGLWIN
- K120S must be selected as PLC type.
• After selecting communication parameter from KGLWIN and clicking twice, this window comes up.
• Designate baud rate, data bit, parity bit, stop bit, and protocol.
2) Program
• Save sending data to D0100 : “ack + 0 + OK + ETX”
• If h’04(EOT) is received, h3004 is saved to D0000, and Weight data to D0111(1 Word)
• Sending 5bytes in D0100 using DSND instruction
8-72
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 8 Communication Functions
8.5 Remote connection and communication I/F module
8.5.1 Remote connection
MASTER-K120S series can connect to other PLC by built-in Cnet interface or communication I/F modules.
1) Remote connection by built-in Cnet I/F
Remote connection by built-in Cnet I/F is available by dedicated communication protocol only.
If KGLWIN and Master station is connected physically, it can connect to each slave station using remote connection
function.
KGLWIN
Local connection
Ch.0 Slave, station #1 G7L-CUEC
G7L-CUEC
Master station
RS-422/485 I/F
Ch.1 Slave, station #2
Ch0, Slave station#2
Ch0, Slave station#31
RS-485 I/F
Ch.1 Slave, station #31
Ch.0 RS-422/485 multi-drop system
Using G7L-CUEC
Ch.1, RS-485 multi-drop system
Using built-in Cnet
8-73
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 8 Communication Functions
• Open a new project file from KGLWIN
• After selecting menu-project-option, click ‘connection option’
• Click ‘Remote 1’ in depth of connection
-. Type : Select GLOFA Cnet.
-. Base : Select ‘0’.
-. Clot : set to 0 when uses channel 0, and ‘1’ when uses channel 1
-. Station No. : Input slave station number to connect
• Click ‘OK’
• Remote connection is available by dedicated protocol only
2) Remote connection by modem
Remote connection by modem is available by G7L-CUEB I/F module.
In this time, TM/TC switch of G7L-CUEB module must be set to ‘On’.
G7L-CUEB
G7L-CUEB
Modem
Modem
8-74
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 8 Communication Functions
• Dedicated modem and dial-up modem are both available and Set connection option of KGLWIN as below.
3) Remote connection by Fnet I/F module
G7L-FUEA
G7L-FUEA
• Remote connection by Fnet interface is available by setting connection option of KGLWIN as below
8-75
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 8 Communication Functions
8.5.2 Communication I/F module
MASTER-K120S series supports various kinds of communication I/F module.
In this time, Built-In Cnet in main unit must be set to ‘Off’ as below and only one communication module can be extended
BUILT_IN CNET
ON
OFF
Must be off
ROM MODE
1) Usage of G7L-CUEB
Using G7L-CUEB, MASTER-K120S can connect to other PLC by dedicated modem or dial-up modem
TM/TC Switch
• Set TM/TC switch to ‘On’ when uses remote connection function
• Set TM/TC switch to ‘Off’ when uses data communication function
• Data communication and remote connection function are not allowed simultaneously
• Data communication mode supports every communication protocol but In remote connection function supports dedicated
protocol only.
2) Usage of G7L-CUEC
Channel 0 can be used as RS-422/485 I/F by using G7L-CUEC I/F module
Operating method is same as built-in Cnet interface and wiring is as below
RDA
RDB
SDA
SDB
SG
RDA
RDB
SDA
SDB
SG
RDA
RDB
SDA
SDB
SG
RDA
RDB
SDA
SDB
SG
Terminating
resistor
Slave
Slave
Slave
Master
Wiring Example : RS-422 I/F
8-76
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 8 Communication Functions
RDA
RDB
SDA
SDB
SG
RDA
RDB
SDA
SDB
SG
RDA
RDB
SDA
SDB
SG
RDA
RDB
SDA
SDB
SG
Master
Slave
Wiring Example : RS-485 I/F
Slave
Slave
3) Usage of G7L-FUEA/RUEA
G7L-FUEA and G7L-RUEA are Field Bus Interface module of LGIS and they support High speed link communication
service by parameter setting. But communication by command(Read, Write) are not available
Station number setting switch
• After selecting communication parameter from KGLWIN and select FIELDBUS MASTER as below
8-77
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 8 Communication Functions
• Clicking List button then this window comes up.
• Designate self-station No. and set link items after double clicking entry list
• For the details, refer to User’s manual of Fnet I/F module
4) Usage of G7L-PBEA/DBEA
G7L-PBEA support profibus slave function only and G7L-DBEAsupports DeviceNet slave interface function only.
• After selecting communication parameter from KGLWIN and select FIELDBUS slave as below
• Clicking List button then this window comes up.
• After double clicking entry list 0, designate from/to area
• Pnet For maximum Sending/Receiving data size is 244 byte and that of DeviceNet are 30/32 byte.
• For the details, refer to corresponding User’s manual
8-78
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 9 Installation and Wiring
Chapter 9. Installation and wiring
9.1 Installation
9.1.1 Installation Environment
This unit has high reliability regardless of its installation environment, but be sure to check the following for system reliability.
1) Environment requirements
Avoid installing this unit in locations which are subjected or exposed to:
(1) Water leakage and dust.
(2) Continuous shocks or vibrations.
(3) Direct sunlight.
(4) Dew condensation due to rapid temperature change.
(5) Higher or lower temperatures outside the range of 0 to 55℃
(6) Relative humidity outside the range of 5 to 95℃
(7) Corrosive or flammable gases
2) Precautions during installing
(1) During drilling or wiring, do not allow any wire scraps to enter into the PLC.
(2) Install it on locations that are convenient for operation.
(3) Make sure that it is not located on the same panel that high voltage equipment located.
(4) Make sure that the distance from the walls of duct and external equipment be 50mm or more.
(5) Be sure to be grounded to locations that have good ambient noise immunity.
3) Heat protection design of control box
(1) When installing the PLC in a closed control box, be sure to design heat protection of control box with consideration of the
heat generated by the PLC itself and other devices.
(2) It is recommended that filters or closed heat exchangers be used.
(3) The following shows the procedure for calculating the PLC system power consumption.
9-1
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 9 Installation and Wiring
4) Power consumption block diagram of PLC systems
Main Unit
I5V
5VDC line
Expansion
module
power
supply
part
Input
special
module
output part
(transistor)
input part
Output part
(Transistor)
Input part
CPU part
AC power
Supply
Output Current.
(IOUT)×Vdrop
Input Current
(IIN)×Vdrop
Output Current.
(IOUT)×Vdrop
Input Current
(IIN)×Vdrop
I24V
Input
Current
(IOUT)
Output
Current
Input
Current
Output
Current
(IOUT)
24VDC line
(IOUT)
(IOUT)
Load
Load
External
24VDC
power
Supply
5) Power consumption of each part
(1) Power consumption of a power supply part
Approximately 65% of the power supply module current is converted into power 35% of that 65% dissipated as heat,
i.e., 3.5/6.5 of the output power is actually used.
• W = 3.5 / 6.5 {(I5V x 5) + (I24V x 24)} (W)
pw
where, l5v:5VDC circuit current consumption of each part
l24v: 24VDC circuit average current consumption of output part (with points simultaneously switched ON).
Not for 24VDC power supplied from external or power supply part that has no 24VDC output.
(2) Total 5VDC power consumption
The total power consumption of all modules is the power of the 5VDC output circuit of the power supply part.
• W5V = I5V × 5 (W)
(3) Average DC24V power consumption (with points simultaneously switched ON)
The total power consumption of all modules is the average power of the DC24V output circuit of the power supply part.
• W24V = I24V × 24 (W)
(4) Average power consumption by voltage drop of output part (with points simultaneously switched ON)
• Wout = Iout × Vdrop × output points × the rate of points switched on simultaneously (W)
Iout : output current (actual operating current) (A)
Vdrop : voltage dropped across each output load (V)
(5) Average power consumption of input parts (with points simultaneously ON)
•
Win = lin ×E × input points × the rate of points switched on simultaneously (W)
Iin : input current (effective value for AC) (A)
E : input voltage (actual operating voltage) (V)
9-2
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 9 Installation and Wiring
(6) Power consumption of the special module
• WS = I5V X 5 + I24V X 24 (W)
(7) The sum of the above values is the power consumption of the entire PLC system.
• W = WPW + W5V + W24V + Wout + Win + Ws (W)
(8) Check the temperature rise within the control panel with calculation of that total power consumption(W).
The temperature rise in the control panel is expressed as:
T=W/UA[°C]
W : Power consumption of the entire PLC system(obtained as shown above)
2
A : Control panel inside surface area [m ]
U : if the control panel temperature is controlled by a fan, etc
if control panel air is not circulated
6
4
9.1.2 Handling Instructions
• Do not drop it off, and make sure that strong shock should not be applied.
• Do not unload the PCB from its case. It can cause faults.
• During wiring, be sure to check any foreign matter like wire scraps should not enter into the upper side of the PLC. If any
foreign matter has entered into it, always eliminate it.
1) Main unit or Expansion Module handling instructions
The followings explains instructions for handling or installing the Base unit or Expansion Module.
(1) I/O specifications re-check
Re-check the input voltage for the input part. if a voltage over the maximum switching capacity is applied, it can cause
faults, destruction or fire.
(2) Used wire
Select the wire with due consideration of ambient temperature and rated current. Its minimum specifications should be
AWG24(0.18 ㎟) or more.
(3) Environment
When wiring the I/O part, if it locates near a device generating an cause short circuit, destruction or malfunction.
(4) Polarity
Before applying the power to part that has polarities, be sure to check its polarities.
(5) Terminal block
Check its fixing. During drilling or wiring, do not allow any wire scraps to enter the PLC. It can cause malfunction and fault.
9-3
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 9 Installation and Wiring
(6) Wiring
• Wiring I/O wires with high voltage cable or power supply line can cause malfunction or disorder.
• Be sure that any wire does not pass across during input LED(I/O status will not be clearly identified).
• If an inductive load has been connected to output part, connect parallel surge killer or diode to a load. Connect the cathode of
diode to the ‘+’ part of the power supply.
Inductive load
Surge Killer
OUT
Output part
Output part
COM
OUT
Inductive load
Diode
+
-
COM
(7) Be cautious that strong shock does not applied to the I/O part.
(8) Do not separate the PCB from its case.
2) Mounting instructions
The following explains instructions for mounting the PLC onto the control panel.
(1) Allow sufficient distance from upper part of the Unit for easy module replacement and ventilation.
(2) Make sure that MASTER-K120S is installed in figure below for most effective heat radiation.
K7M-DR30U
(3) Do not mount the base board together with a large-sized electromagnetic contact or no-fuse breaker, which produces vibration,
on the same panel. Mount them on different panels, or keep the unit or module away from such a vibration source
9-4
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 9 Installation and Wiring
(4) Mount the wire duct as it is needed.
If the clearances are less than those in Fig below, follow the instructions shown below
•If the wire duct is mounted on the upper part of the PLC, make the wiring duct clearance 50 ㎜ or less for good
ventilation. Also, allow the distance enough to press the hook in the upper part from the upper part of the PLC.
• If the wire duct is mounted on the lower part of the PLC, make optic or coaxial cables contact it and consider the
minimum diameter of the cable.
(5) To protect the PLC from radiating noise or heat, allow 100 ㎜ or more clearances between it and parts. Left or right
clearance and clearance from other device in the left or right side should be 100 ㎜ or more.
80mm or more
80mm or more
High voltage
device
Other
device
100mm or more
Heat generating device
(6) MASTER-K120S has hooks for DIN rail in the base unit and expansion modules.
DIN rail
K7M-DR30U
9-5
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 9 Installation and Wiring
9.1.3 Connection of expansion module
The following explains the Connection of expansion modules to the main unit.
(1) Open the connector cover of the main unit.
(2) Insert the connector of the expansion module to the connector of the base unit.
④
②
③
①:Main unit
②:Connector cover
①
③:expansion module
④:expansion cable
(3) Close the connector cover of the main unit.
9-6
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 9 Installation and Wiring
9.2 Wiring
The followings explains the wiring instructions for use of the system.
9.2.1 Power Supply Wiring
(1) When voltage fluctuations are larger than the specified value, connect a constant-voltage transformer.
(2) Use a power supply which generates minimal noise across wire and across PLC and ground. (When excessive noise is
generated, connect an insulating transformer)
AC100-240V
MASTER-K120S
FG
main unit
Constant-voltage transformer
(4) When wiring, separate the PLC power supply from those for I/O and power device as shown below.
Main power
PLC power
PLC
AC220V
T1
T2
I/O power
Main circuit
※ T1,T2 : constant voltage transformer
I/O device
Main circuit device
(5) To minimize voltage drop, use the thickest (max. 2 ㎟) wires possible
(6) Do not bundle the 100 VAC and 24VDC cables with main-circuit (high voltage, large current) wires or the I/O signal wires.
If possible, provide more than 80 ㎜ distance between the cables and wires.
9-7
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 9 Installation and Wiring
(7) As a measure against very large surge(e.g. due to lightening),connect a surge absorber as shown below.
PLC
E1
E2
Surge absorber for lightening
(8) Use a insulating transformer or noise filter for protection against noise.
(9) Twist every input power supply wires as closely as possible. Do not allow the transformer or noise filter across the duct.
Remark
1) Ground the surge absorber(E1) and the PLC(E2) separately from each other.
2) Select a surge absorber making allowances for power voltage rises.
9.2.2 Input and Output Devices Wiring
(1) Applicable size of wire to the terminal block connector is 0.18 to 2 ㎟. However, it is recommended to use wire of 0.5 ㎟ for
convenience.
(2) Separate the input and output lines.
(3) I/O signal wires must be at least 100 ㎜(3.94 in) away from high voltage and large current circuit wires.
(4) When the I/O signal wires cannot be separated from the main circuit wires and power wires, ground on the PLC side with batch-
shielded cables. Under some conditions it may be preferable to ground on the other side.
PLC
Shielded cable
Input
RA
DC
(5) If wiring has been done with of piping, ground the piping.
(6) Separate the 24VDC I/O cables from the 110VAC and 220VAC cables.
(7) If wiring over 200m or longer distance, trouble can be caused by leakage currents due to line capacity.
Refer to the section ’11.4 Troubleshooting Examples.’
9-8
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 9 Installation and Wiring
9.2.3 Grounding
(1) This PLC has sufficient protection against noise, so it can be used without grounding except for special much noise. However,
when grounding it should be done conforming to below items.
(2) Ground the PLC as independently as possible. Class 3 grounding should be used (grounding resistance 80Ωor less).
(3) When independent grounding is impossible, use the joint grounding method as shown in the figure below (B).
PLC
Other device
Other device
Other device
PLC
PLC
Class 3 grounding
Class 3 grounding
(B) Joint grounding : Good
(A)Independent grounding : Best
(C) Joint grounding : Not allowed
(4) Use 2 ㎟(14AWG) or thicker grounding wire. Grounding point should be as near as possible to the PLC to minimize the
distance of grounding cable.
9.2.4 Cable Specifications for wiring
The specifications for wiring is as follows:
Cable Specifications (㎟)
Kinds of external connection
Minimum
Maximum
Digital Input
0.18 (AWG24)
1.5 (AWG16)
Digital Output
Analog Input / Output
Communication
Main power
0.18 (AWG24)
0.18 (AWG24)
0.18 (AWG24)
1.5 (AWG16)
1.5 (AWG16)
2.0 (AWG14)
1.5 (AWG16)
1.5 (AWG16)
2.5 (AWG12)
2.5 (AWG12)
Grounding
• Be sure to use solderless terminal for power supply and I/O wiring.
•Be sure to use M3 type as terminal screw.
•Make sure that terminal screw is connected by 6∼9 ㎏·㎝ torque..
•Be sure to use fork shaped terminal screw as shown below.
cable solderness terminal (fork shaped)
less than 6.2mm
9-9
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 10 Maintenance
Chapter 10 Maintenance
Be sure to perform daily and periodic maintenance and inspection in order to maintain the PLC in the best conditions.
10.1 Maintenance and Inspection
The I/O module mainly consist of semiconductor devices and its service life is semi-permanent. However, periodic inspection is
requested for ambient environment may cause damage to the devices. When inspecting one or two times per six months, check
the following items.
Check Items
Temperature
Judgment
0 ~ + 55°C
Corrective Actions
Adjust the operating temperature and humidity with the
defined range.
Ambient
Humidity
Vibration
5 ~ 95%RH
environment
Use vibration resisting rubber or the vibration prevention
method.
No vibration
Play of modules
No play allowed
No loose allowed
− 15% to 10%
Securely enrage the hook.
Retighten terminal screws.
Hold it with the allowable range.
Connecting conditions of
terminal screws
Change rate of input voltage
Check the number of
Spare parts and their
Store conditions
Spare parts
Cover the shortage and improve the conditions
10.2 Daily Inspection
The following table shows the inspection and items which are to be checked daily.
Corrective
Actions
Check Items
Check Points
Judgement
Retighten
Screws
Connecting conditions check for loose mounting screws
Screws should not be loose
of terminal block or
Check the distance between solderless
extension cable
Proper clearance should be provided Correct
terminals
PWR LED
Run LED
ERR LED
Check that the LED is ON
ON(OFF indicates an error)
ON (flickering indicates an error)
OFF(ON indicates an error)
See chapter 11
Check that the LED is ON during Run
Check that the LED is OFF during Run
See chapter 11
See chapter 11
LED
status
ON when input is ON,
OFF when input is off
ON when output is ON,
OFF when output is off
Input LED
Check that the LEO turns ON and OFF
See chapter 11
See chapter 11
Output LED Check that the LEO turns ON and OFF
10-1
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 10 Maintenance
10.3 Periodic Inspection
Check the following items once or twice every six months, and perform the needed corrective actions.
Check Items
Checking Methods
Judgment
Corrective Actions
Ambient
0 ~ 55 °C
temperature
-. Measure with thermometer and
hygrometer
Adjust to general standard
(Internal environmental standard of
control section)
Ambient
Ambient Humidity
5 ~ 95%RH
Environment
-. measure corrosive gas
There should be no
corrosive gases
Ambience
The module should be move
the unit
The module should be
mounted securely.
Looseness, Ingress
PLC
Retighten screws
Conditions
dust or foreign
material
Visual check
Re-tighten screws
Visual check
Visual check
No dust or foreign material
Loose terminal
screws
Screws should not be loose Retighten
Proper clearance Correct
Connectors should not be Retighten connector mounting
Distance between
terminals
Connecting
conditions
Loose connectors
loose.
screws
Measure voltage between input
terminals
*85 ~ 264V AC
*20~28V DC
Line voltage check
Change supply power
If fuse melting disconnection,
change the fuse periodically
because a surge current can cause
heat
Fuse
Visual check
No melting disconnection
10-2
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 11 Troubleshooting
Chapter 11 Troubleshooting
The following explains contents, diagnosis and corrective actions for various errors that can occur during system operation.
11.1 Basic Procedures of Troubleshooting
System reliability not only depends on reliable equipment but also on short downtimes in the event of faults.
The short discovery and corrective action is needed for speedy operation of system.
The following shows the basic instructions for troubleshooting.
1) Visual checks
Check the following points.
• Machine operating condition (in stop and operating status)
• Power On/Off
- Status of I/O devices
- Condition of wiring (I/O wires, extension and communications cables)
- Display states of various indicators (such as POWER LED, RUN LED, ERR. LED and I/O LED).
After checking them, connect peripheral devices and check the operation status of the PLC and the
program contents.
2) Trouble Check
Observe any change in the error conditions during the following.
• Switch to the STOP position, and then turn the power on and off.
3) Narrow down the possible causes of the trouble where the fault lies, i.e.:
• Inside or outside of the PLC?
• I/O module or another module?
• PLC program?
11.2 Troubleshooting
This section explains the procedure for determining the cause of troubles as well as the errors and corrective actions.
Flowchart used when the POWER LED is turned OFF
Flowchart used when the ERR LED is flickering
Flowchart used when the RUN turned OFF.
Is the power LED turned OFF?
Is the ERR LED flickering?
Are the RUN LED turned OFF?
I/O module doesn’t operate properly
Flowchart used when the output load of the output module
doesn’t turn on.
Flowchart used when a program can’t be written to the PLC
Program cannot be written
11-1
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 11 Troubleshooting
11.2.1 Troubleshooting flowchart used when the POWER LED turns OFF.
The following flowchart explains corrective action procedure used when the power is supplied or the power led turns off during
operation.
Power LED is turned OFF
Supply the power.
Is the power supply operating?
No
Yes
Yes
No
Does the power led turn on?
No
See the power supply be within
AC 85-264 V.
Is the voltage within the rated
power?
Yes
Yes
Yes
No
No
Does the power led turn on?
Replace the fuse.
Yes
Is the fuse blown?
No
Does the power led turn on?
No
Is the power supply cable
connected?
Connect the power cable correctly.
Does the power led turn on?
Yes
Yes
No
Yes
Over current protection device
activated?
1)Eliminate the excess current
2)Switch the input power OFF then
ON
No
Yes
No
Does the power led turn on?
Write down the troubleshooting
questionnaire and contact
the nearest service center
Complete
11-2
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 11 Troubleshooting
11.2.2 Troubleshooting flowchart used when the ERR LED is flickering
The following flowchart explains corrective action procedure use when the power is supplied starts or the ERR LED is flickering during
operation.
ERR LED goes flickering.
Check the error code, with connected
KGLWIN.
Yes
See App-2 “System Warning Flag”
Warning error?
and remove the cause of the error.
No
Yes
Is ERR LED still flicking
No
Write down the Troubleshooting
Complete
Questionnaires and contact the nearest
service center.
REMARK
Though warning error appears, PLC system doesn’t stop but corrective action is needed promptly. If not, it may cause the
system failure.
11-3
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 11 Troubleshooting
11.2.3 Troubleshooting flowchart used when the RUN LED turns off.
The following flowchart explains corrective action procedure to treat the lights-out of RUN LED when the power is supplied,
operation starts or operation is in the process.
RUN LED is off.
Turn the power unit off and on.
No
Is RUN LED off?
Yes
Contact the nearest service center.
Complete
11-4
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 11 Troubleshooting
11.2.4 Troubleshooting flowchart used when the I/O part doesn’t operate normally.
The following flowchart explains corrective action procedure used when the I/O module doesn’t operate normally.
When the I/O module doesn’t work normally.
No
Is the indicator LED of
the P40 on?
Yes
Measure the voltage of power
supply in P40
Replace the connector of the
terminal board
Check the status of P40 by
KGLWIN
Correct wiring.
No
No
No
Yes
Is the
terminal connector
connector appropriate?
Is the
Is it normal condition?
No
Is the output
voltage of power supply for load
applied?
wiring correct?
Yes
Yes
Yes
Separate the external wiring than check the condition of
output module.
Yes
No
Continue
Is it normal condition?
Check the status of P40
Replace the Unit
11-5
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 11 Troubleshooting
Continue
No
Are the indicator LED of the
switch 1 and 2 on?
Yes
Check the status of the switch
1and 2
Check the status of the switch
1and 2
Is the
Yes
terminal screw tighten
securely?
Is input wiring correct?
Is input wiring correct?
No
No
NO
Yes
Yes
Is the condition
of the terminal board connector
appropriate?
Yes
Is input wiring correct?
No
No
Separate the external wiring witch then
check the status by forced input
Correct wiring
Replace the terminal
board connector
Retighten the terminal
screw
Correct the wiring
Yes
No
Unit replacement is
needed
Check the status of the switch
1 and 2
Unit replacement is
needed
Check from the beginning
11-6
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 11 Troubleshooting
11.2.5 Troubleshooting flowchart used when a program cannot be written to the CPU part
The following flowchart shows the corrective action procedure used when a program cannot be written to the PLC module.
Program cannot be written to the PC CPU
Switch to the remote STOP mode
and execute the program write.
No
Is the mode-setting switch set the re
mote STOP?
Yes
After reading error code by using peripheral
Yes
device, correct the contents.
Is ERR. LED blinking?
No
Complete
11-7
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 11 Troubleshooting
11.3 Troubleshooting Questionnaire
When problems have been met during operation of the MASTER-K120S series, please write down this Questionnaires and contact the
service center via telephone or facsimile.
y For errors relating to special or communication modules, use the questionnaire included in the User’s manual of the unit.
1. Telephone & FAX No
Tell)
FAX)
2. Using equipment model:
3. Details of using equipment
CPU model: .(
)
OS version No.(
)
)
Serial No.(
)
KGLWIN version No. used to compile programs: (
4.General description of the device or system used as the control object:
5. The kind of the base unit:
− Operation by the mode setting switch (
),
),
− Operation by the KGLWIN or communications (
− External memory module operation
(
),
6. Is the ERR. LED of the CPU module turned ON? Yes(
7. KGLWIN error message:
), No(
)
8. Used initialization program: initialization program (
)
9. History of corrective actions for the error message in the article 7:
10. Other tried corrective actions:
11. Characteristics of the error
y Repetitive( ): Periodic( ), Related to a particular sequence( ), Related to environment(
y Sometimes( ): General error interval:
)
12. Detailed Description of error contents:
13. Configuration diagram for the applied system:
11-8
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 11 Troubleshooting
11.4 Troubleshooting Examples
Possible troubles with various circuits and their corrective actions are explained.
11.4.1 Input circuit troubles and corrective actions
The followings describe possible troubles with input circuits, as well as corrective actions.
Cause
Condition
Corrective Actions
Leakage current of external device
(Such as a drive by non-contact switch)
y Connect an appropriate register and capacity,
which will make the voltage lower across the
terminals of the input module.
Input signal
doesn’t turn off.
AC input
C
Leakage current
AC input
R
C
R
~
External device
~
Leakage current of external device
(Drive by a limit switch with neon lamp)
Input signal
doesn’t turn off.
(Neon lamp
y CR values are determined by the leakage current
value.
AC input
− Recommended value C : 0.1 ~ 0.47 ㎌
C
Leakage current
may be still on)
R: 47 ~ 120 Ω (1/2W)
R
Or make up another independent display circuit.
~
External device
Leakage current due to line capacity of wiring cable.
Input signal
y Locate the power supply on the external device
doesn’t turn off.
side as shown below.
AC input
AC input
Leakage current
~
~
External device
External device
Leakage current of external device (Drive by switch with
LED indicator)
Input signal
y Connect an appropriate register, which will make
doesn’t turn off.
the voltage higher than the OFF voltage across the
DC input
input module terminal and common terminal.
DC input
Leakage current
R
R
External device
y Sneak current due to the use of two different power
supplies.
Input signal
y Use only one power supply.
doesn’t turn off.
y Connect a sneak current prevention diode.
DC input
DC input
L
E1
E1
E2
L
E
y E1 > E2, sneaked.
11-9
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 11 Troubleshooting
11.4.2 Output circuit troubles and corrective actions
The following describes possible troubles with input circuits, as well as their corrective actions.
Condition
Cause
Corrective Action
y Connect registers of tens to hundreds KΩ across the
load in parallel.
When the output is
off, excessive
yLoad is half-wave rectified inside (in some cases, it is true
of a solenoid)
yWhen the polarity of the power supply is as shown in ①,
C is charged. When the polarity is as shown in ②, the
voltage charged in C plus the line voltage are applied
across D. Max. voltage is approx. 2√2.
voltage is applied to
the load.
R
D
C
D
~
C
R
Load
~
R
Load
*) If a resistor is used in this way, it does not pose a
problem to the output element. But it may make the
performance of the diode (D), which is built in the load,
drop to cause problems.
The load doesn’t
turn off.
y Leakage current by surge absorbing circuit, which is y Connect C and R across the load, which are of registers
of tens KΩ. When the wiring distance from the output
connected to output element in parallel.
module to the load is long, there may be a leakage current
Output
Load
due to the line capacity.
C
C
R
R
~
Leakage current
R
Load
Load
When the load is
y Leakage current by surge absorbing circuit, which is y Drive the relay using a contact and drive the C-R type
C-R type timer, time connected to output element in parallel.
timer using the since contact.
constant fluctuates.
y Use other timer than the C−R contact some timers have
half-ware rectified internal circuits therefore, be cautious.
Output
Load
C
Timer
T
~
R
Leakage current
X
Output
~
The load does not
turn off.
y Sneak current due to the use of two different power y Use only one power supply.
supplies. y Connect a sneak current prevention diode.
Output
Output
Load
Load
E
E1
E
E2
If the load is the relay, etc, connect a counter-electromotive
voltage absorbing code as shown by the dot line.
E1<E2, sneaks. E1 is off (E2 is on), sneaks.
11-10
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 11 Troubleshooting
Output circuit troubles and corrective actions (continued).
Condition
Cause
Corrective actions
The load off
y Over current at off state [The large solenoid current y Insert a small L/R magnetic contact and drive the load
response time fluidic load (L/R is large) such as is directly driven with using the same contact.
is long.
the transistor output.
Output
Output
Off current
Load
E
Load
y The off response time can be delayed by one or
more second as some loads make the current flow
across the diode at the off time of the transistor
output.
Output
Surge current of the white lamp
y To suppress the surge current make the dark current
transistor
destroyed.
is
of 1/3 to 1/5 rated current flow.
Output
Output
E
R
E1
Sink type transistor output
A surge current of 10 times or more when turned on.
Output
R
E
Source type transistor output
11-11
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 11 Troubleshooting
11.5 Error code list
Error
Code
Message
CPU state
Message
Cause
Corrective Actions
Internal system
error
Fault of some area of operating ROM,
or H/W defect
0001h
Stop
Stop
Stop
Stop
Stop
System Error
Contact the service center.
Contact the service center.
Contact the service center.
Contact the service center.
Contact the service center.
0002h OS ROM error
0003h OS RAM error
OS ROM Error
OS RAM Error
DATA RAM Error
PGM RAM Error
Internal system ROM is defected
Internal system RAM is defected
Data RAM is defected
0004h Data RAM error
Program RAM
0005h
Program RAM is defected
error
Defect of dedicated LSI for sequence
instruction processing
0006h Gate array error
Sub rack power
Stop
Stop
G/A Error
Contact the service center.
Check the power of the
extension rack
Sub Power Error
Extension Rack Power down or Error
0007h
down error
Turn the power off and
restart the system.
Contact the service center.
0008h OS WDT error
Stop
Stop
OS WDT Error
CPU OS watch dog error
Common RAM
0009h
error
Common RAM Error Common RAM interface error
Contact the service center.
Check the fuse LED of the
unit. Turn the power off
and replace the fuse.
Continue
(stop)
Break of fuse used in output units or
000Ah Fuse break error
I/O Fuse Error
Mixed I/O
Instruction code
Instructions unreadable by the CPU
OP Code Error
000Bh
error
Stop
Stop
Contact the service center.
are included. (during execution)
Flash memory
000Ch error(during
execution)
Read to/Write from the inserted Flash
User Memory Error
Check and replace the
flash memory.
memory is not performed.
Turn the power off and
mount the unit firmly, and
restart the system.
Replace the I/O unit or
extension cable.
Mounting/dismounting of I/O units
during operation, or connection fault
I/O unit defect or extension cable
defect
0010h I/O slot error
Stop
Stop
I/O Slot Error
Points of mounted I/O units overrun
the maximum I/O points. (FMM
mounting number over error,
Maximum I/O
0011h
error
MAX I/O Error
Replace the I/O unit.
MINI_MAP over…)
Special card
0012h
Stop
Stop
Stop
Special I/F Error
FMM 0 I/F Error
FMM 1 I/F Error
Special Card Interface error
FMM 0 I/F Error
Contact the service center.
Contact the service center.
Contact the service center.
interface error
0013h FMM 0 I/F error
0014h FMM 1 I/F error
FMM 1 I/F Error
0015h FMM 2 I/F error
0016h FMM 3 I/F error
Stop
Stop
FMM 2 I/F Error
FMM 3 I/F Error
FMM 2 I/F Error
FMM 3 I/F Error
Contact the service center.
Contact the service center.
A written parameter has changed, or
checksum error
Correct the content of the
parameter.
0020h Parameter Error
Stop
Parameter Error
When the power is applied or RUN
starts, I/O unit reservation information
differs from the types of real loaded
I/O units.
Correct the content of the
parameter, or reallocate or
replace the I/O unit.
I/O Parameter
Stop
(continue)
0021h
Error
I/O Parameter Error
The point of the reserved I/O
information or real loaded I/O units
overruns the maximum I/O point.
Maximum I/O
Correct the content of the
parameter.
0022h
Over
Stop
I/O PARA Error
FMM 0 Parameter
0023h
Error
Stop
Stop
Stop
FMM 0 PARA Error
FMM 1 PARA Error
FMM 2 PARA Error
FMM 0 Parameter Error
FMM 1 Parameter Error
FMM 2 Parameter Error
Correct the parameter.
Correct the parameter.
Correct the parameter.
FMM 1 Parameter
0024h
Error
FMM 2 Parameter
0025h
Error
11-12
Download from Www.Somanuals.com. All Manuals Search And Download.
Chapter 11 Troubleshooting
(continued)
Error
Code
Error
CPU state
Message
Cause
Corrective Actions
FMM 3 Parameter
Error
0026h
Stop
Stop
FMM 3 PARA Error
FMM 3 Parameter Error
Correct the parameter.
• A digit of other than 0 to 9 has met
during BCD conversion.
Correct the content of the
error step.
0030h
0031h
Operation Error
WDT Over
Operation Error
WDT Over Error
• An operand value is outside the
defined operand range.
Check the maximum scan
time of the program and
modify the program or
insert programs.
Continue
(stop)
Scan time has overrun the watch dog
time.
Program replacement has
not been completed during
run. (JMP ~ JME, FOR ~
NEXT, CALLx and SBRTx
…)
Error of Program
Change during
run.
An error has occurred at program
change during run. (NO SBRT, JME
and END …)
0032h
Stop
PGM Change Error
Program Check
Error
An error has occurred while checking
a program.
0033h
0040h
Continue
Code Check Error
Code Check Error
Correct the error.
An instruction unreadable by the CPU
is included.
Code Check Error Stop
Correct the error step.
Missing the END
instruction in the
program.
Insert the END instruction
at the bottom of the
program.
The program does not have the END
instruction.
0041h
0042h
Stop
Stop
Miss END Error
Miss RET Error
Missing the RET
instruction in the
program.
Insert the END instruction
at the bottom of the
program.
The subroutine does not has the RET
instruction at its bottom.
Missing the SBRT
instruction in the
subroutine
The subroutine does not has the
SBRT instruction.
Insert the SBRT
instruction.
0043h
Stop
Miss SBRT Error
program.
The JMP ~ JME
instruction error
Correct the JMP ~ JME
instruction.
0044h
0045h
Stop
Stop
JMP(E) Error
The JMP ~ JME instruction error
The FOR ~ NEXT instruction error
The FOR ~ NEXT
instruction error
Correct the FOR ~ NEXT
instruction.
FOR~NEXT Error
The MCS ~
MCSCLR
instruction error
MCS~MCSCLR
Error
Correct the MCS ~
MCSCLR instruction.
0046h
0047h
Stop
The MCS ~ MCSCLR instruction error
The MPUSH ~ MPOP instruction error
The MPUSH ~
MPOP instruction Stop
error
MPUSH ~ MPOP
Error
Correct the MPUSH ~
MPOP instruction
0048h
0049h
Dual coil error
Stop
DUAL COIL Error
Syntax Error
Timer or counter has been duplicated. Correct timer, counter.
Input condition error, or too much use
of LOAD or AND(OR) LOAD.
Check and correct the
program.
Syntax error
Stop
11-13
Download from Www.Somanuals.com. All Manuals Search And Download.
Appendix 1 System Definitions
Appendix 1. System Definitions
1) Option
(1) Connect Option
You should set the communication port (COM1∼4) to communicate with PLC.
• Select the Project-Option-Connection Option in menu.
• Default Connection is RS-232C interface.
• For the detail information about Connection Option, refer to KGLWIN Manual.
App1-1
Download from Www.Somanuals.com. All Manuals Search And Download.
Appendix 1 System Definitions
(2) Editor option
• Monitor display type
- Select the desired type in the monitor display type(4 types).
• Source File Directory :
- You can set directories for the files to be created in KGLWIN.
- In Source Directory, KGLWIN saves source program files of program, parameter etc.
• Auto save
- This function is to set the time interval for Auto saving (Range : 0 ~60 min)
- Automatically saved file is saved in the current directory.
- The file is automatically deleted when the program window is closed. Therefore if a program cannot be saved by
"Program Error" before program is not saved, you can recover some program by loading auto saved file.
- This function is to set the time interval for Auto saving.
- When set to 0, auto save function is disabled.
App1-2
Download from Www.Somanuals.com. All Manuals Search And Download.
Appendix 1 System Definitions
(3) Page setup
You can select print option when the project print out .(margin, cover, footer)
App1-3
Download from Www.Somanuals.com. All Manuals Search And Download.
Appendix 1 System Definitions
2) Basic Parameters
The basic parameters are necessary for operation of the PLC.
Set the ‘Latch area’, ‘Timer boundary’’ , ‘Watchdog timer’, ‘PLC operation mode’, ‘Input setting’, ‘Pulse catch’
(1) Latch area setting
Set the retain area on the inner device.
(2) Timer boundary setting
Set the 100ms/10ms/1ms timer boundary.
( If 100ms and 10ms timer are set, the rest of timer area is allocated 1ms automatically)
(3) Watchdog timer setting
For the purpose of the watch of normal program execution ,.
This parameter is used to set the maximum allowable execution time of a user program in order to supervisor its
normal or abnormal operation.(Setting range is 10ms ~ 6000ms)
(4) Input setting
set the input filter constant and input catch contact point
(5) Remote access control setting
When this parameter is set, the operation mode of PLC system can be changed by remote access with FAM or
communication module.
App1-4
Download from Www.Somanuals.com. All Manuals Search And Download.
Appendix 2 Flag List
Appendix 2. Flag List
1) Special relay (F)
This flag is useful to edit user program.
Relay
F0000
Function
Description
RUN mode
Program mode
Pause mode
Turns on when the CPU in the RUN mode.
Turns on when the CPU in the Program mode
Turns on when the CPU in the Pause mode
Turns on when the CPU in the Debug mode
Turns on when the CPU in the Remote mode
F0001
F0002
F0003
Debug mode
F0006
Remote mode
Unused
F0007~F000B
F000C
User memory installation
RTC installation
Unused
Turns on when a user memory is installed.
Turns on when a RTC module is installed.
F000D
F000E
F000F
Execution of the STOP instruction Turns on when the STOP instruction is being operated.
F0010
Always On
Always Off
1 Scan On
1 Scan Off
Scan toggle
Unused
Always On
Always Off
1 Scan On
1 Scan Off
Scan toggle
F0011
F0012
F0013
F0014
F0015 to F001F
F0020
1 step run
Turns on when the 1 step run is operated in the Debug mode.
F0021
Breakpoint run
Turns on when the breakpoint run is operated in the Debug
mode.
F0022
F0023
Scan run
Turns on when the scan run is operated in the Debug mode.
Coincident contact value run
Turns on when the coincident contact run is operated in the
Debug mode.
F0024
Coincident word value run
Turns on when the coincident word run is operated in the Debug
mode.
F0025 to F002F
F0030
Unused
Fatal error
Turns on when a fatal error has occurred.
F0031
Ordinary error
WDT Error
Turns on when an ordinary error has occurred.
Turns on when a watch dog timer error has occurred.
Turns on when an I/O error has occurred.
F0032
F0033
I/O combination error
(When one or more bit(s) of F0040 to F005F turns on)
F0034 to F0038
F0039
Unused
Normal backup operation
RTC data error
Turns on when the data backup is normal.
F003A
Turns on when the RTC data setting error has occurred.
Turns on during program edit while running the program.
F003B
Program editing
Turns on when a program edit error has occurred while running
the program.
F003C
Program edit error
Unused
F003D to F003F
App2-1
Download from Www.Somanuals.com. All Manuals Search And Download.
Appendix 2 Flag List
(Continued)
Relay
Function
I/O error
Description
When the reserved I/O module (set by the parameter) differs
from the real loaded I/O module or a I/O module has been
mounted or dismounted, the corresponding bit turns on.
F0040 to F005F
F0060 to F006F
F0070 to F008F
F0090
Storing error code
Unused
Stores the system error code, (See Section 2.9)
20-ms cycle clock
100-ms cycle clock
200-ms cycle clock
1-sec cycle clock
2-sec cycle clock
10-sec cycle clock
20-sec cycle clock
60-sec cycle clock
Unused
Turning On/Off is repeated with a constant cycle.
On Off
F0091
F0092
F0093
F0094
F0095
F0096
F0097
F0098 to F009F
F0100
User clock 0
User clock 1
User clock 2
User clock 3
User clock 4
User clock 5
User clock 6
User clock 7
Unused
Turning On/Off is repeated as many times as the scan specified
by Duty instruction.
F0101
DUTY F010x N1 N2
F0102
F0103
N2 scan Off
F0104
F0105
N1 scan Off
F0106
F0107
F0108 to F010F
F0110
Operation error flag
Zero flag
Turns on when an operation error has occurred.
Turns on when the operation result is “0”.
F0111
F0112
Carry flag
Turns on when a carry occurs due to the operation.
Turns on when an output instruction is executed.
Turns on when an operation error has occurred.(Latch)
Turns on when overflow has occurred.
F0113
All outputs off
Operation error flag (Latch)
Overflow error flag
Unused
F0115
F0116
F0117 to F011F
F0120
LT flag
Turns on if S1 < S2 when using the CMP instruction.
Turns on if S1 ≤ S2 when using the CMP instruction.
Turns on if S1 = S2 when using the CMP instruction.
Turns on if S1 > S2 when using the CMP instruction.
Turns on if S1 ≥ S2 when using the CMP instruction.
Turns on if S1 ≠ S2 when using the CMP instruction.
F0121
LTE flag
F0122
EQU flag
F0123
GT flag
F0124
GTE flag
F0125
NEQ flag
F0126 to F013F
F0140 to F014F
Unused
FALS No.
The error code generated by FALS instruction is stored to this
flag.
F0150 to F016F
F0170 to F173
F0180 to F183
Unused
HSC output bit
Carry flag for HSC
Turn on when the current value of HSC reaches setting value
Turn on when carry is occurred on the HSC current value
App2-2
Download from Www.Somanuals.com. All Manuals Search And Download.
Appendix 2 Flag List
(Continued)
Relay
Function
Borrow flag for HSC
Unit ID
Description
F190 to F193
F200 to F20F
Turn on when borrow is occurred on the HSC current value
F0210 to F021F
F0220 to F022F
F0230 to F023F
F0240 to F024F
F0250 to F027F
F0280 to F045F
F0500 to F050F
F0510 to F051F
F0520 to F052F
F0530 to F053F
F0540 to F054F
F0550 to F055F
F0560 to F056F
F0570 to F058F
F0590 to F059F
F0600 to F063F
HSC error code
HSC error code
HSC error code
HSC error code
Unused
Stores error of HSC Ch0
Stores error of HSC Ch1
Stores error of HSC Ch2
Stores error of HSC Ch3
Positioning flags
Maximum scan time
Minimum scan time
Present scan time
Clock data (year/month)
Clock data (day/hour)
Clock data (minute/second)
Clock data (day of the week)
Unused
Refer to 7.3.5 Flag list and error code
Stores the maximum scan time.
Stores the minimum scan time.
Stores the present scan time.
Clock data (year/month)
Clock data (day/hour)
Clock data (minute/second)
Clock data (day of the week)
Storing error step
Unused
Stores the error step of the program.
2) Internal relay (M)
Relay
M1904
M1910
Function
Write Time
Description
Write time to RTC when this bit turns on
Enables forced I/O
Forced I/O enable
App2-3
Download from Www.Somanuals.com. All Manuals Search And Download.
Appendix 2 Flag List
3) Data relay (D)
When communication function is used, its status are stored in D register, and they can be monitored. And If correspond
communication function is unused, these flags can be used as general data register.
(1) When FNET module is connected
Relay
Keyword
Function
Description
Indicates the number which is set on communications module station
switch.
D4500 _C0STNOL
D4502 _C0STNOH
Communications module
station No.
Fnet : Station switch No. marked on the front of communications module.
Increments by one whenever sending error of communications frame
occurs.
Communications frame
sending error
D4504 _C0TXECNT
D4505 _C0RXECNT
D4506 _C0SVCFCNT
Connection condition of network is evaluated by this value.
Increments by one whenever receiving error of communications frame
occurs.
Communications frame
receiving error
Connection condition of network is evaluated by this value.
Increments by one whenever communications service fails. Connection
condition of network and overall communication quantity and program
stability can be evaluated by this value.
Communications service
processing error
Maximum communications Indicates the maximum time that is spent until every station connected to
D4507 _C0SCANMX
D4508 _C0SCANAV
D4509 _C0SCANMN
scan time (unit : 1 ms)
Average communications
scan time (unit : 1 ms)
Minimum communications
scan time (unit : 1 ms)
Communications module
system information
network has the token at least one time and sends a sending frame.
Indicates the average time that is spent until every station connected to
network has the token at least one time and sends a sending frame.
Indicates the minimum time that is spent until every station connected to
network has the token at least one time and sends a sending frame.
D4510 _C0LINF
Indicates operation state of communications module with a word.
Indicates communications module hardware or system O/S error.
Indicates that service cannot be offered due to insufficient common RAM.
Indicates that interface with communications modules has been stopped.
D4510.B _C0CRDER
D4510.C _C0SVBSY
D4510.D _C0IFERR
D4510.E _C0INRING
System error (error = 1)
Insufficient common RAM
(Insufficient = 1)
Interface error (error = 1)
Indicates that the communications module can communicates with other
station or not.
In-ring (IN_RING = 1)
Indicates that operation mode of communications module is in the normal
operation mode or test mode.
D4510.F _C0LNKMOD
Operation mode (RUN=1)
App2-4
Download from Www.Somanuals.com. All Manuals Search And Download.
Appendix 2 Flag List
(2) When communication mode is dedicated master mode (Channel 0)
Relay
D4400
Function
Relay
Function
Communication Error Code of station 0 and1
D4432
D4433
D4434
D4435
D4436
D4437
D4438
D4439
D4440
D4441
D4442
D4443
D4444
D4445
D4446
D4447
Mode and Error of Slave station 0 and 1
Mode and Error of Slave station 2 and 3
Mode and Error of Slave station 4 and 5
Mode and Error of Slave station 6 and 7
Mode and Error of Slave station 8 and 9
Mode and Error of Slave station 10 and 11
Mode and Error of Slave station 12 and 13
Mode and Error of Slave station 14 and 15
Mode and Error of Slave station 16 and 17
Mode and Error of Slave station 18 and 19
Mode and Error of Slave station 20 and 21
Mode and Error of Slave station 22 and 23
Mode and Error of Slave station 24 and 25
Mode and Error of Slave station 26 and 27
Mode and Error of Slave station 28 and 29
Mode and Error of Slave station 30 and 31
D4401
D4401
D4403
D4404
D4405
D4406
D4407
D4408
D4409
D4410
D4411
D4412
D4413
D4414
Communication Error Code of station 2 and 3
Communication Error Code of station 4 and 5
Communication Error Code of station 6 and 7
Communication Error Code of station 8 and 9
Communication Error Code of station 10 and 11
Communication Error Code of station 12 and 13
Communication Error Code of station 14 and 15
Communication Error Code of station 16 and 17
Communication Error Code of station 18 and 19
Communication Error Code of station 20 and 21
Communication Error Code of station 22 and 23
Communication Error Code of station 24 and 25
Communication Error Code of station 26 and 27
Communication Error Code of station 28 and 29
Communication Error Code of station 30 and 31
Error count of station 0 and 1
D4415
D4416
D4417
D4418
D4419
D4420
D4421
D4422
D4423
D4424
D4425
D4426
D4427
D4428
D4429
Error count of station 2 and 3
Error count of station 4 and 5
Error count of station 6 and 7
Error count of station 8 and 9
Error count of station 10 and 11
Error count of station 12 and 13
Error count of station 14 and 15
Error count of station 16 and 17
Error count of station 18 and 19
Error count of station 20 and 21
Error count of station 22 and 23
Error count of station 24 and 25
Error count of station 26 and 27
D4430
D4431
Error count of station 28 and 29
Error count of station 30 and 31
App2-5
Download from Www.Somanuals.com. All Manuals Search And Download.
Appendix 2 Flag List
(3) When communication mode is dedicated master mode (Channel 1)
Relay
D4300
Function
Relay
Function
Communication Error Code of station 0 and1
D4332
D4333
D4334
D4335
D4336
D4337
D4338
D4339
D4340
D4341
D4342
D4343
D4344
D4345
D4346
D4347
Mode and Error of Slave station 0 and 1
Mode and Error of Slave station 2 and 3
Mode and Error of Slave station 4 and 5
Mode and Error of Slave station 6 and 7
Mode and Error of Slave station 8 and 9
Mode and Error of Slave station 10 and 11
Mode and Error of Slave station 12 and 13
Mode and Error of Slave station 14 and 15
Mode and Error of Slave station 16 and 17
Mode and Error of Slave station 18 and 19
Mode and Error of Slave station 20 and 21
Mode and Error of Slave station 22 and 23
Mode and Error of Slave station 24 and 25
Mode and Error of Slave station 26 and 27
Mode and Error of Slave station 28 and 29
Mode and Error of Slave station 30 and 31
D4301
D4301
D4303
D4304
D4305
D4306
D4307
D4308
D4309
D4310
D4311
D4312
D4313
D4314
Communication Error Code of station 2 and 3
Communication Error Code of station 4 and 5
Communication Error Code of station 6 and 7
Communication Error Code of station 8 and 9
Communication Error Code of station 10 and 11
Communication Error Code of station 12 and 13
Communication Error Code of station 14 and 15
Communication Error Code of station 16 and 17
Communication Error Code of station 18 and 19
Communication Error Code of station 20 and 21
Communication Error Code of station 22 and 23
Communication Error Code of station 24 and 25
Communication Error Code of station 26 and 27
Communication Error Code of station 28 and 29
Communication Error Code of station 30 and 31
Error count of station 0 and 1
D4315
D4316
D4317
D4318
D4319
D4320
D4321
D4322
D4323
D4324
D4325
D4326
D4327
D4328
D4329
Error count of station 2 and 3
Error count of station 4 and 5
Error count of station 6 and 7
Error count of station 8 and 9
Error count of station 10 and 11
Error count of station 12 and 13
Error count of station 14 and 15
Error count of station 16 and 17
Error count of station 18 and 19
Error count of station 20 and 21
Error count of station 22 and 23
Error count of station 24 and 25
Error count of station 26 and 27
D4330
D4331
Error count of station 28 and 29
Error count of station 30 and 31
App2-6
Download from Www.Somanuals.com. All Manuals Search And Download.
Appendix 2 Flag List
(4) D register for Forced I/O setting
I/O
Forced I/O designation register
Forced I/O data register
P000
P001
P002
P003
P004
P005
P006
P007
P008
P009
P010
P011
P012
P013
P014
P015
P016
P017
P018
P019
P020
P021
P022
P023
P024
P025
P026
P027
P028
P029
P030
D4700
D4701
D4702
D4703
D4704
D4705
D4706
D4707
D4708
D4709
D4710
D4711
D4712
D4713
D4714
D4715
D4716
D4717
D4718
D4719
D4720
D4721
D4722
D4723
D4724
D4725
D4726
D4727
D4728
D4729
D4730
D4800
D4801
D4802
D4803
D4804
D4805
D4806
D4807
D4808
D4809
D4810
D4811
D4812
D4813
D4814
D4815
D4816
D4817
D4818
D4819
D4820
D4821
D4822
D4823
D4824
D4825
D4826
D4827
D4828
D4829
D4830
P031
P032
∼
D4731
D4732
∼
D4831
D4832
∼
P063
D4763
D4863
App2-7
Download from Www.Somanuals.com. All Manuals Search And Download.
Appendix 2 Flag List
(5) System error history(when RTC module is attached)
Relay
D4900
D4901
D4902
D4903
D4904
Description
Error pointer
Year, Month
Day, Time
Minute, Second
Error code
(6) Clock data
Relay
D4990
D4991
D4992
D4993
Description
Year, Month
Day, Time
Minute, Second
Day of week, Century
App2-8
Download from Www.Somanuals.com. All Manuals Search And Download.
Appendix 3 External Dimensions
Appendix 3 External Dimensions (unit: mm)
1) Main unit
Model
A
B
K7M-DR10/14UE
K7M-DR20/30UE
K7M-DR(T)20/30U
K7M-DR(T)40U
K7M-DR(T)60U
85
95
135
145
105 115
95
165
215
175
225
A
B
73
2) Extension module
(1) Standard type
95
105 115
5
95
73
App3-1
Download from Www.Somanuals.com. All Manuals Search And Download.
Appendix 3 External Dimensions
(2) Slim type(G7E-DC08A,G7E-RY08A,G7F-ADHB,G7F-DA2V,G7F-RD2A)
App3-2
Download from Www.Somanuals.com. All Manuals Search And Download.
|