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LS Industrial Systems SV-iS7 PLC, User Manual

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LS Industrial Systems SV-iS7 PLC User Manual Download Page 58

Chapter 6 Usage of Various Functions

 

6-12 

 

 

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. 

                     

 

시간

PV

SV

10

MV

시간

Integral 

Term

Fig. 7.8 Example of integral windup 

Time 

Time 

Summary of Contents for SV-iS7 PLC

Page 1: ...ers profit in gratitude of choosing us for your partner iS7 PLC Option User Manual SV iS7 PLC Option Card z Read this manual carefully before installing wiring operating servicing or inspecting this equipment zKeep this manual within easy reach for quick reference ...

Page 2: ... 1 4 2 Operation Processing 4 2 4 2 1 Operation Processing Method 4 2 4 2 2 Operation Processing at Momentary Power Failure Occurrence 4 3 4 2 3 Scan Time 4 3 4 2 4 Scan Watchdog Timer 4 4 4 2 5 Timer Processing 4 4 4 2 6 Counter Processing 4 7 4 3 Program 4 9 4 3 1 Classification of Program 4 9 4 3 2 Program Execution Procedure 4 10 4 3 3 Interrupt Program 4 11 4 3 4 Error Handling 4 13 4 4 Opera...

Page 3: ... 6 1 3 External Interrupt Function 6 4 6 1 4 PID Control Function 6 6 Chapter 7 Exclusive Functions for iS7 Inverter Control Monitoring 7 1 Outline and Installation 7 1 7 1 1 Outline and Major Components of the Product 7 1 7 1 2 Detail description of the components 7 3 7 2 Functions of PLC option card exclusively for iS7 inverter 7 9 7 2 1 List of the special D registers for iS7 inverter control a...

Page 4: ...O part doesn t operate normally 10 4 10 2 4 Troubleshooting flowchart used when a program cannot be written to the CPU part 10 6 10 3 Troubleshooting Questionnaire 10 7 10 4 Troubleshooting and Countermeasure 10 8 10 4 1 Input circuit troubles and corrective actions 10 8 10 4 2 Output circuit troubles and corrective actions 10 9 10 5 Error Code List 10 11 Appendix Appendix 1 System Definitions App...

Page 5: ...f the terms is as follows This symbol indicates the possibility of serious injury or death if some applicable instruction is violated This symbol indicates the possibility of slight injury or damage to products if some applicable instruction is violated The marks displayed on the product and in the user s manual have the following meanings Be careful Danger may be expected Be careful Electric shoc...

Page 6: ...r 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...

Page 7: ...o 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 f...

Page 8: ... 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 sur...

Page 9: ...r solder the battery Mishandling of battery can cause overheating or cracks which could result in injury and fires 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 walk...

Page 10: ...ibes the most important function which is control monitoring of PLC option card of iS7 inverter Chapter 8 Communication Function Describes the built in communication function of PLC option card Chapter 9 Maintenance Describes the items to be checked for long term normal operation of the iS7 PLC option card Chapter 10 Troubleshooting Describes the various operation errors and corrective actions App...

Page 11: ...nd RS 485 built in port the option card can connect with external devices such as personal computers or monitoring devices and communicate 1 N with external device Using built in PID control function PID control system can be constructed without using separate PID module 3 Battery less The user s program can be saved permanently without battery because it is stored in EEPROM 4 When program is edit...

Page 12: ...es It executes program creation edit compile and debugging A computer software I O Image Area Internal memory area of the CPU module which is used to hold I O statuses RTC Abbreviation of Real Time Clock It is used to call general IC that contains clock function Watchdog Timer Supervises the pre set execution times of programs and warns if a program is not completed within the pre set time ...

Page 13: ...PN PNP Output points Relay output 4 points RS232C 1 port Program download from KGLWIN RS485 1 port Modbus RTU Master Slave Display LED 2 ea Green RUN LED Red ERROR LED Switch 3 step switch for RUN PAU REM STOP Clock function Built in RTC Real Time Clock Data Back up Data of latch area and RTC data through using CR2032 lithium battery ...

Page 14: ...ystem function Application program saving function Data saving function Application execution function Input Convert the input signal and data to proper signal level from controlled device Output Convert the output signal and data to proper signal level from actuator and display device Communication Configure the 1 1 communication system to connect with PADT KGLWIN or built in RS 232C RS485 commun...

Page 15: ...W1 Mode Switch 1 RUN position Program Execution 2 PAU REM position Temporary stop Remote Rung Stop Execution etc 3 STOP position Program Stop J1 PLC OS Download Jumper 1 Factory default state Do not use other setting Please contact LSIS customer service center 2 Do not operate the jumper as below setting Please contact LSIS customer service center J2 Terminal Selection Jumper 1 ON Select the commu...

Page 16: ... data at power failure 2 Battery type Coin type lithium battery CR2032 3 Life about 4 years with power off normal temperature capacity 220mAh assumed 1 S RS485 2 S RS485 3 24G 4 Terminal InputP00 5 Terminal InputP01 6 Terminal InputP02 7 Terminal InputP03 8 Terminal InputP04 9 Terminal InputP05 10 24G 11 24P output 24V 12 Terminal Output P40 13 Terminal Output P40C 14 Terminal Output P41 15 Termin...

Page 17: ...is on X Y Z axis IEC 61131 2 Square wave Impulse noise 1 500 V LSIS Internal Standard Electronic discharge Voltage 4 kV Discharge by contact IEC 61131 2 IEC 1000 4 2 Radiated electromagnetic field noise 27 500 MHz 10 V m IEC 61131 2 IEC 1000 4 3 Item Power supply Digital I O Analog I O Communication Interface 7 Noise Immunity Fast transient Burst noise Voltage 2kV 1kV IEC 61131 2 IEC 1000 4 4 8 At...

Page 18: ...0 59 points 1ms T251 T255 5 points Adjustable by parameter setting Timer C C000 C255 Counter S S00 00 S99 99 Step Relay Memory Device D D0000 D4999 Data Register Operation Methods RUN STOP PAUSE Self diagnosis Functions Detects errors of scan time memory I O and power supply Data Back up Method at Power Interruption Data of Latch and RTC area at basic parameter is reserved when power is turned Off...

Page 19: ...the last step Program operation processing The contents stored in the output image area is output to output part when operation processing of a program is finished Stage for return processing after the CPU part has finish ed 1 scan The END processing following processing is executed Self diagnosis Change present values of timer and counter etc Processing data communications between computer link m...

Page 20: ...to tens ms 4 2 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 option card internal processing time 1 Scan time Scan program processing time Interrupt program processing time PLC option card int...

Page 21: ... exceeding of preset watchdog time the operation of P LC option card 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 makes elapsed watchdog time to zero 4 In order to clear watchdog error restart the PLC option card or change mode to STOP Remark Setting range of watchdog 10 6 000ms unit 10ms ...

Page 22: ...rent value preset value Timer diagram of Off Delay Timer is as below 3 Current value update and Contact On Off of Integral Timer The current value will be increased when input condition is turned On Timer output relay is turned On when the current value reaches to timer preset value Timer output relay turned On keeps the status before reset input is turned On Timer diagram of Integral timer is as ...

Page 23: ... 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 Remark Timing Error The Maximum timing error of timers of PLC option card is 1 scan time the time ...

Page 24: ... Condition U Reset Condition R and preset value must be existed 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 Input Condition U Reset Condition R and preset value must be existed When reset signal is turned on current value reaches to preset value and ...

Page 25: ...d counter output relay is cleared as 0 when the next counter input signal is applied 2 Maximum Counting Speed of Counter 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 Duty is the ratio of the input signal s on time to off time as a percentage Max Counting S...

Page 26: ...errupt program TDI The TDI programs are executed with a constant time interval specified with parameter setting as below case If process time is needed faster than average 1 scan time If process time is needed longer than average 1 scan time If process time is need ed with constant time interval Process driven interrupt program PDI The PDI programs are executed when external interrupt input is app...

Page 27: ... program finished scan program is to resume 2 Interrupt Program 1 Function 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 2 Type PLC Option card provides 2 types of interrupt The TDI Time driven interrupt occurs with the constan...

Page 28: ...gher 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 All interrupts status is Disable when power is applied To execute an interrupt routine use the EI instruction to enable the corresponding interrupt Interrupt 1 Program 1 Interrupt routine 1 Interrupt 2 P...

Page 29: ...points assigned in parameter setting In the parameter setting window TDINT indicates time driven interrupt and INT indicates process driven interrupt Edge setting can select Up Down Up Down of input signal when Process driven interrupt is selected Remark Interrupt signal is ignored when self interrupt occurs more than 2 times during interrupt processing is executing Interrupt program is available ...

Page 30: ...f a fatal error such as the CPU module def ect 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 option card hardware configuration differs from the c onfiguration defined in the PLC option card The system enters into the STOP state 3 Operation error during execution of the user programs It...

Page 31: ...his mode programs are normally operated The first scan start in the RUN Initialize data area according to the preset restart mode Check the program and determine it can be executed or not Execute input refresh Check the availability of expansion units Execute output refresh Execute communication and internal i Operation mode is changed No Yes Operate with new mode Execute programs and Interrupt ta...

Page 32: ...s 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 4 4 3 PAUSE mode In this mode the program operation is temporarily stopped If it returns to the RUN mode the o peration continues from the state before the stop 1 Processing when the operation mode changes Data regis...

Page 33: ...ting Key Position Operation Mode RUN Local RUN STOP Local STOP PAU REM Remote RUN Select Run icon at KGLWIN Remote STOP Select STOP icon at KGLWIN Remote PAUSE Select PAUSE icon at KGLWIN Remark If the operation mode changes from RUN mode to local RUN mode by the mode setting key the PLC option card operates continuously without stopping ...

Page 34: ...card 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 option card 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 3 Error History When error occurs in CPU Corresponding error code ...

Page 35: ...Chapter 4 CPU Function 4 18 Select the Set forced I O from KGLWIN Select the I O area and then double click Select Set Forced IO Set forced I O data by bit Set forced I O data enable by bit ...

Page 36: ...d 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 d ata to change the input image area And then the user program will be executed with real input data and force setting data 2 Force Output When a user program has finished its execution the output image a...

Page 37: ...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 4 5 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 1 Special data register for Error history The most r...

Page 38: ...Chapter 4 CPU Function 4 21 3 Clear error data Use a data clear function of KGLWIN REMARK Refer to the KGLWIN user s Manual Chapter 7 for details ...

Page 39: ...ial auxiliary relay M Keep relay 512 points K Special relay 1 024 points F Link relay 1 024 points L P00 M000 M189 M190 M191 K00 K31 F00 F63 L00 L63 Data Register D D0000 D4500 Reserved for special Timer preset value 256 words T000 T255 T000 Timer elapsed value 256 words Counter preset value 256 words Counter elapsed value T255 C000 C255 C000 C255 Parameter setting area Word User Program Area Time...

Page 40: ...lock operation by the RTC function is continued with a super capacitor when the CPU is powered off The time of RTC is updated in every scan by operation information of system flag 4 7 1 Usage 1 Read Setting of RTC data 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 ...

Page 41: ...igher 2 digits of year Date H2002 Example 2002 07 23 13 50 20 Tuesday 3 Date expression Number 0 1 2 3 4 5 6 Date Sunday Monday Tuesday Wednesday Thursday Friday Saturday 2 Time Error 5 second 1 month 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 ...

Page 42: ...tric current sink and electric current source NPN PNP types To keep using the 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 Frequency 10 000 100 50 30 20 10 100 10 5 3 2 1 0 5 Opening shutting of electric current A AC 250 Resistor Load AC 30 Resistor Load AC 125 Resistor Load ...

Page 43: ...t DC6V or lower 1 8 mA or lower Input Impedance About 3 3 kΩ Off On 15ms or less note1 Response Time On Off 15ms or less note1 Common Terminal 6 points COM note1 It can be set from 0 ms to 1000 ms at KGLWIN 2 Input circuit diagram PLC option card wiring method is as follows DC input specifications offered by PLC option card is to be used for both electric current sink and electric current source D...

Page 44: ...igure P0 wiring is a sample wiring Please do wire P1 P5 terminal as same method PNP mode 1 Set the J3 NPN PNP selection jumper as below figure 2 Wire the external terminal bock TB1 as below figure This products can output the 24V as below figure P0 terminal is wired with 24 V output Please do wire P1 P5 terminal as same method Terminal input is operated to NPN type External Switch Terminal input i...

Page 45: ...echanical 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 Life Electrical DC24V 1A DC100V 0 1A L R 7ms 100 000 or more Off On 10 ms or less Response Time On Off 12 ms or less 2 Output circuit wiring PLC option card wiring method is as follows Total four output terminals Relay outpu...

Page 46: ...Chapter 5 Input and Output Function 5 5 Load ...

Page 47: ...eration does not perform as user s intention But in this case through pulse catch function even narrow interval of pulse signal as 150 min can be detected 2 Minimum input pulse width P0000 P0005 150μs 3 Operating Explanation Input signal Input image data Step Executing Contents scan1 CPU senses input when pulse signal min 150 is input then saves the status scan2 used to turn on the region of input...

Page 48: ... Various Functions 6 2 1 Pulse catch input contact points operate as general digital input if they are not designated as pulse catch input 2 Pulse catch input contact points can be used 6 points from P000 to P005 Remark ...

Page 49: ...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 Operation The narrower width pulse than input filter time 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...

Page 50: ... used to external interrupt input within P000 P005 2 The number of external interrupt can be set max 6 Namely the number of external interrupt is decreased by Time driven Interrupt 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 externa...

Page 51: ...ntact point no of priority and movement condition of the task program which is moved by interrupt inputting For the details refer to KGLWIN manual Interrupt Type Setting Interrupt input executing condition Rising Falling Rising Falling Time driven Interrupt execution periodic set Time driven Interrupt execution periodic set ...

Page 52: ... P integral I and derivative D The characteristics of the PID function of PLC option card for iS7 inverter is as following The PID function is integrated into the CPU 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 setting proper parameter it can...

Page 53: ...ns If the Kp is too small oscillation will not occur However the PV reaches the SV slowly and an offset may appear between PV and SV as shown in the Fig 7 2 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 When an offset remains after the system is stabilized the PV can be reached to the SV by adding a...

Page 54: ...tant deviation has occurred is shown as the following Fig 7 3 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 less 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 Fi...

Page 55: ...e when a long integration time given Fig 2 6 The system response when a short integration time given Fig 7 5 The system response when a short integration time is given If the integration time is too short oscillations will occur It takes long time to get the set value ...

Page 56: ... 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 D action can prevent the large changes of control object due to external conditions The period of time from when the deviation has occurred to when the MV of D action becomes the MV of P...

Page 57: ...d 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 F...

Page 58: ...ethods 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 시간 PV SV 10 MV 시간 Integral Term Fig 7 8 Example of integral windup Time Time ...

Page 59: ...alue PV present value b I control The continuous formula of I control is as following t i ds s e T K t I 0 integral term K proportional gain constant Ti integral time e s deviation value By derivation about t we can obtain e Ti K dt dI where e SV PV deviation value The digitized formula is as following 1 n e Ti K h n I n I where h sampling period 1 n e Ti Kh n I n I c D control The continuous form...

Page 60: ... 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 Setting range 0 1 or D area 3 Man...

Page 61: ...EN_D PWM output Operation 1 1 Enable 0 Disable 0 Disable 0 Disable P operation 2 1 Enable 1 Enable 0 Disable 0 Disable PI operation 3 1 Enable 1 Enable 1 Enable 0 Disable PID operation 4 1 Enable 0 Disable 0 Disable 1 Enable P operation PWM output 5 1 Enable 1 Enable 0 Disable 1 Enable PI operation PWM output 6 1 Enable 1 Enable 1 Enable 1 Enable PID operation PWM output 7 0 Disable 0 Disable 0 Di...

Page 62: ...alue to control and present value means the current value of controlled device from sensor 12 PID algorithm In PLC option card for iS7 inverter two types of PID algorithm are 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 absolu...

Page 63: ...iS7 inverter perform auto tuning operation in two methods One is relay response method and the other is process reaction curve method 1 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 occur at the SV value 2 Process reaction curve method PRC method PID p...

Page 64: ...le Program When the input condition M0 turns on PID operation executes at no 2 parameter PID execution status registrates D0000 and the output value of control result registrates D0001 If SV Ramp is designated current SV is registrate D0005 PID8 n S1 Flag Set Error F110 Error flag turns on when designating area is over and the instruction isn t executed Designation n Registration No at parameter 0...

Page 65: ...s 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 PID8AT n S1 Flag Set Error F110 Error flag turns on when designating area is over and the instruction isn t executed Des...

Page 66: ...ctor sensor is used 960 60 o C 1120 70 o C 1280 80 o C 1600 100 o C Current value setting D4980 Temporary D area to save the current temperature measured by temperature sensor BIAS setting 0 If only P control is used input proper value other 0 P I D Algorithm setting Select proper algorithm If PWM output is needed select related item PWM period Contact Setting In case of PWM output is set input th...

Page 67: ...mperature 200 600 C by RTD module then digital conversion value 0 4000 is stored to D4980 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 PID operation Done bit bit0 D A module will convert the MV to analog signal and output to the actuator powe...

Page 68: ... on PID operation executes at no 0 parameter When M0 turns off CPU stop PID operation and output 0 to D A module The manipulated value is out to D A module 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 ...

Page 69: ...am shows the PID operation with the Auto tuning value of P I and D After Auto tuning is completed PID operation will start with calculated PID parameter As a result of PID8AT execution Proportional gain P Derivative time D Integral time I are stored D0102 D0103 D0104 When RPC Method is selected the scan time fixed to 1 sec ...

Page 70: ...ous Functions 6 24 When auto tuning ends at D0010 M0001 turns on and PID control starts When M0001 turns off output 0 to D4982 When M0000 turns on auto tuning starts Calculated P I D parameters are saved to D0012 D0013 D0014 ...

Page 71: ...in error condition 2 OFF in normal condition for operation SW1 Mode Selection Switch 1 RUN position program running 2 PAU REM position pause executing remote run stop etc 3 STOP position program stopped J1 PLC OS Download Jumper 1 The default jumper at product delivery Only manufacturer s A S personnel are allowed to change the default setting Keep the setting as shown below J2 Terminal Selection ...

Page 72: ...fe approx 4 years in power off state at room temperature battery capacity 220mAh 1 S RS485 2 S RS485 3 24G 4 Terminal input P00 5 Terminal input P01 6 Terminal input P02 7 Terminal input P03 8 Terminal input P04 9 Terminal input P05 10 24G 11 24P external 24V output 12 Terminal output P40 13 Terminal output P40C 14 Terminal output P41 15 Terminal output P41C 16 Terminal output P42 17 Terminal outp...

Page 73: ...emote 1 Mode selection switch set to PAU REM position 2 Select the icon shown below in the circle 2 Display LED LED1 LED2 in the outline drawing LED1 RUN LED and LED2 ERR LED are designated in the outline drawing Classification RUN LED ERR LED Remark STOP Status OFF OFF RUN Status ON OFF RUN LED remains ON not blinking Heavy Error ON 100ms OFF 100m s blinking See 10 5 Error Code List Light Error O...

Page 74: ...wnload please contact A S center if you have to change the setting This function is not available for users Contact our A S center 4 RS485 Modbus RTU Protocol Master Communication S and S terminals of the TB1 in the outline drawing In the product outline drawing the S RS485 terminal and S terminal RS485 terminal of the TB1 external terminal block The standard Modbus RTU protocol is supported in th...

Page 75: ...ires to the external terminal block TB1 The figure below shows PO connection only for convenience same for P1 P5 terminals PNP Source Mode 1 Set up the J3 NPN PNP selection jumper as shown below 2 Connect the wires to TB1 as shown below As illustrated this product provides a 24V output from the terminal block In the figure below the 24V output is used for PO connection same for the P1 P5 terminals...

Page 76: ...PLC option under inverter LV low voltage trip application If the inverter has large capacity the time elapsed form the inverter s LV trip to the power supply to the control board of this product is cut off is relatively long e g 10 or more seconds Therefore according to the requirement of the installation the output contacts of this product may have to be isolated before the said time The method o...

Page 77: ...rge check Turn on the power of this product Go to No 73 Real Time in the CNF group of the iS7 inverter using the loader of the iS7 If the present time is 2000 01 01 00 00 the battery needs to be replaced The same will be displayed at power turn OFF ON if no battery is installed 5 Battery replacement Turn the power supply of the iS7 inverter to OFF Remove iS7 inverter cover Remove the cover of this...

Page 78: ...lues in the special area registers D4454 APO60 D4455 APO61 D4456 APO62 D4457 APO63 D4458 APO64 D4459 APO65 D4460 APO66 D4461 APO67 allocated to each parameter 7 11 7 17 D4474 D4475 D4476 D4477 D4478 D4479 D4480 D4481 Using the digital loader of the inverter register the addresses see Appendix page 4 App 4 1 4 5 of the parameters max 8 of the common area of the inverter which will be controlled by ...

Page 79: ...PLC Wr Data4 PLC OptionÆInverter control D4458 Data to be inputted in the common area parameter address set up by APO64 PLC Wr Data5 PLC OptionÆInverter control D4459 Data to be inputted in the common area parameter address set up by APO65 PLC Wr Data6 PLC OptionÆInverter control D4460 Data to be inputted in the common area parameter address set up by APO66 PLC Wr Data7 PLC OptionÆInverter control...

Page 80: ... Data to be inputted in the common area parameter address set up by APO63 PLC Wr Data4 PLC OptionÆInverter control D4458 Data to be inputted in the common area parameter address set up by APO64 PLC Wr Data5 PLC OptionÆInverter control D4459 Data to be inputted in the common area parameter address set up by APO65 PLC Wr Data6 PLC OptionÆInverter control D4460 Data to be inputted in the common area ...

Page 81: ...points 2 relay points 1 TR points built in the inverter In detail in addition to the 4 basic digital output points relay outputs built in the PLC option card 6 output points 9 relay points 1 TR point comprising the 3 basic digital output points 2 relay points 1 TR point built in the iS7 inverter and the 3 relay output points of the extension I O board are available for the PLC option Inverter para...

Page 82: ...to inputted in the common area parameter address set up by AP066 PLC Wr Data 7 PLC option Inverter Control D4461 Data to inputted in the common area parameter address set up by AP067 PLC Wr Data 8 PLC option Inverter Control Application and exemplary program 1 Set up the inverter parameters as follows In the APO60 PLC Wr Data1 enter 0386Hex which is the common area address of the inverter digital ...

Page 83: ...ss set up by AP061 PLC Wr Data 2 PLC option Inverter Control D4456 Data to inputted in the common area parameter address set up by AP062 PLC Wr Data 3 PLC option Inverter Control D4457 Data to inputted in the common area parameter address set up by AP063 PLC Wr Data 4 PLC option Inverter Control D4458 Data to inputted in the common area parameter address set up by AP064 PLC Wr Data 5 PLC option In...

Page 84: ... Data2 are registered with the common area address 0383Hex of inverter acceleration time and the common area address 0384Hex of inverter deceleration time respectively if a specific value is entered in D4454 or D4455 the value will be inverter s acceleration or deceleration time respectively 2 When the sample program below is executed inverter acceleration time DRV03 Acc Time will be changed to 12...

Page 85: ... of Inverter Digital Input Point BIT10 0 P11 OFF 1 P11 ON In case expansion I O is installed IN75 Special D registers of PLC for inverter status monitoring corresponding to APO76 83 Register Use of the Register Remark D4474 Data of common area parameter address is saved set up by APO76 PLC Rd Data1 Inverter PLC option Monitoring D4475 Data of common area parameter address is saved set up by APO77 ...

Page 86: ...function input P1 is ON the P0062 coil is excited as shown below 5 When the inverter s multifunction input P2 is ON the P0063 coil is excited as shown below 6 When the inverter s multifunction input P8 is ON the P0064 coil is excited as shown below Caution The scanning frequency of PLC option card reading the digital input points of inverter is approximately 10ms Status of P2 IN66 0 Off 1 On Statu...

Page 87: ... BIT8 BIT9 BIT10 0305 Hex Inverter Operation Status BIT11 0 Normal Status 4 Warning Status 8 Fault Status Special D registers of PLC for inverter status monitoring corresponding to APO76 83 Register Use of the Register Remark D4474 Data of common area parameter address is saved set up by APO76 PLC Rd Data1 Inverter PLC option Monitoring D4475 Data of common area parameter address is saved set up b...

Page 88: ...of the inverter stored in 0305Hex which is the address of the inverter operation status registered in the APO76 PLC Rd Data1 3 For an example with the ladder program below PLC option can monitor the current operation status stop accelerating decelerating constant speed etc of the inverter 4 In stopped status the D4474 is h0000 see common area of inverter 5 Now press the FWD key on the digital load...

Page 89: ...us monitoring corresponding to APO76 83 Register Use of the Register Remark D4474 Data of common area parameter address is saved set up by APO76 PLC Rd Data1 Inverter PLC option Monitoring D4475 Data of common area parameter address is saved set up by APO77 PLC Rd Data2 Inverter PLC option Monitoring D4476 Data of common area parameter address is saved set up by APO78 PLC Rd Data3 Inverter PLC opt...

Page 90: ...6 PLC Rd Data1 corresponds by 1 1 with the PLC option s special register D4474 Therefore the value in the D4474 is the data current output frequency of the inverter stored in 0311Hex which is the address of the inverter output frequency registered in the APO76 PLC Rd Data1 3 For an example with the ladder program below PLC option can monitor the current output frequency of the inverter 4 Press FWD...

Page 91: ... 40 Encoder Board Trip 56 9 Eth 25 41 Over Speed 57 10 OL 26 42 Speed Deviation Trip 58 11 27 43 External Brake 59 12 28 44 60 BX 13 29 45 HW OCS 61 LV 14 PO 30 46 62 Lost Cmd Comm 15 IOL 31 47 63 Lost Cmd Keypad 255 No Trip Special D register of PLC for monitoring inverter trip information Special Register Description D4490 Inverter Trip Save Area 1 D4491 Inverter Trip Save Area 2 D4492 Inverter ...

Page 92: ...put P4 to trigger an External Trip The D4490 area becomes 4 External trip as shown below 3 Check that the IN67 P3 Define is set to BX and turn on the multifunction input P3 to create BX The D4491 area becomes 60 BX as shown below Inverter Trip Save Area 1 Inverter Trip Save Area 2 Inverter Trip Save Area 3 Inverter Trip Save Area 4 Inverter Trip Save Area 1 Inverter Trip Save Area 2 Inverter Trip ...

Page 93: ...PO76 83 Register Use of the Register Remark D4474 Data to inputted in the common area parameter address set up by AP076 PLC Rd Data 1 Inverter Î PLC option Monitoring D4475 Data to inputted in the common area parameter address set up by AP077 PLC Rd Data 2 Inverter Î PLC option Monitoring D4476 Data to inputted in the common area parameter address set up by AP078 PLC Rd Data 3 Inverter Î PLC optio...

Page 94: ...et up the common area address 0x332 which has level type trip data 2 Make out following program with the KGLWIN In normal operation status without LV trip all of the P0040 P0043 contact point outputs are in ON status 3 When inverter LV trip is triggered the 2nd bit of the D4474 register in which the common area address 0x332 is registered is turned ON the output from the P0000 P0040 points are tur...

Page 95: ...Data LRC Tail CR LF Size 1 byte 2 bytes 2 bytes n bytes 2 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 It...

Page 96: ...Confirm 1000 0011 H83 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 Redu...

Page 97: ... M area h2000 L area h2000 L area h3000 K area h3000 K area h4000 F area h4000 F area h5000 T area h5000 T area current value area h6000 C area h6000 C area current value area h7000 S area h8000 D area 8 Modbus addressing rules PLC option card starts its address from 0 and matches with 1 of Modicon products data address So PLC option card address n matches n 1 of Modicon products address This mean...

Page 98: ... new project file at KGLWIN z iS7 should be selected in PLC type z 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 RS485 terminal Modbus RTU Master RS485 terminal Modbus RTU Master If communication mode is ASCII Be sure to set 7bit ...

Page 99: ...rity bit is set Set as 1 bit When parity bit isn t set Set as 2 bits Time out in Master Mode It s the time waiting a responding frame since the master MK80S main unit sends a request frame The default value is 500ms 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 communicat...

Page 100: ...slave selected in Modbus setting of parameter setting PLC option card responses to master station without commands And When operates as master PLC option card sends data in S1 with MODBUS protocol at rising edges of execution condition MODCOM Ch S1 S2 S3 Designation MOV h0025 D0002 MOV h0013 D0001 MOV h0301 D0000 MODCOM 1 D0000 D1000 M100 M0020 F0012 Designate slave station No Upper byte and Funct...

Page 101: ...ation isn t allowed 04 Slave Device Failure Error status of the slave station 05 Acknowledge 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 06 Slave Device Busy Error when request command pr...

Page 102: ...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 the following example 1 Example 1 CD B2 0E 1B It designates slave station and function code No of station h11 17 function code h01 Address setting Address 0 at MODBUS protocol means address 1 actually So if you want to designate address 20 write address 19 Reading number setting Reading ...

Page 103: ... The status of input contact 10219 10220 is 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 It designates slave station and function code No of station h11 17 function code h02 Address setting Address 0 at MODBUS protocol means address 1 actually So if you want to de...

Page 104: ...tation and function code No of station h0A 10 function code h10 Address setting Address 0 of function code 16 at MODBUS protocol actually means address 40000 Writing number setting Writing number is 4 because 4 words will be written This is MODBUS Communication instruction It writes the 4 words data from D1000 to D1003 which the type is set in D0000 to D0002 via channel 1 ...

Page 105: ...egister 40000 of the slave station no 10 It designates slave station and function code No of station h0A 10 function code h06 Address setting Address 0 of function code 16 at MODBUS protocol actually means address 40000 Save the D1000 data to D0002 This is MODBUS Communication instruction Write the D1000 data via channel 0 ...

Page 106: ...ng rubber or the vibration prevention method Play of modules No play allowed Securely enrage the hook Connecting conditions of terminal screws No loose allowed Retighten terminal screws Change rate of input voltage 15 to 10 Hold it with the allowable range Spare parts Check the number of Spare parts and their Store conditions Cover the shortage and improve the conditions 9 2 Daily Inspection The f...

Page 107: ... LED ERR LED and I O LED After checking them connect peripheral devices and check the operation status of the PLC option card 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...

Page 108: ...ation If warning error appears and PLC option card doesn t stop corrective action is needed promptly If not it may cause the system to fail ERR LED flickering Yes No Warning error No Check the error code with connected KGLWIN IsERRLEDstillflicking Write down the Troubleshooting Questionnaires and contact the nearest service center See App 2 System Warning Flag and remove the cause of the error Com...

Page 109: ...rns 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 No Yes Contact the nearest service center Complete Turn the power unit off and on Is RUN LED off ...

Page 110: ... of P40 by KGLWIN Is the indicator LED of the P40 on No Replace the connector of the terminal board Measure the voltage of power supply in P40 Correct wiring Yes Is the voltage of power supply for load applied Is the output wiring correct Is the terminal connector appropriate Is it in normal condition Separate the external wiring then check the condition of output module Is it in normal condition ...

Page 111: ... value normal Check the status of P000 and P001 Unit replacement is needed Check the P000 P001 terminal voltage with tester Is the value normal Is the terminal screw tightened securely Is input wiring correct Correct wiring Retighten the terminal screw Replace the terminal board connector Unit replacement is needed Check from the beginning Is the condition of the terminal board connector appropria...

Page 112: ...the corrective action procedure used when a program cannot be written to the PLC module Program cannot be written to the PC CPU Yes Switch to the remote S TOP mode and execute the program write Is the mode setting switch set to remote STOP No Is ERR LED blinking After reading error code by using peripheral device correct the contents Yes Complete No ...

Page 113: ...l 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 No 7 KGLWIN error message 8 Used initialization program initialization program 9 History o...

Page 114: ...lue C 0 1 0 47 R 47 120 Ω 1 2W Or make up another independent display circuit Input signal doesn t turn off Current leakage due to line capacity of wiring cable y Locate the power supply on the external device side as shown below Input signal doesn t turn off Current leakage of external device Drive by switch with LED indicator y Connect an appropriate resistor which will make the voltage higher t...

Page 115: ...lt in the load drop to cause problems y Connect resistors of tens to hundreds KΩ across the load in parallel The load doesn t turn off y Current leakage by surge absorbing circuit which is connected to output element in parallel y Connect C and R across the load which are of resistors of tens KΩ When the wiring distance from the output module to the load is long there may be a leakage current due ...

Page 116: ...idic load L R is large such as is directly driven with the transistor output 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 y Insert a small L R magnetic contact and drive the load using the same contact Output transistor is destroyed Surge current of the white lamp A surge current of 10 tim...

Page 117: ... User Memory Error h000C Stop Read to Write from the inserted Flash memory is not performed Check and replace the flash memory Parameter Error Parameter Error h0020 Stop A written parameter has changed or checksum error Correct the content of the parameter Operation Error Operation Error h0030 Stop Continu e A digit of other than 0 to 9 has met during BCD conversion An operand value is outside the...

Page 118: ...uction error FOR NEXT Error h0045 Stop The FOR NEXT instruction error Correct the FOR NEXT instruction The MCS MCSCLR instruction error MCS MCSCL R Error h0046 Stop The MCS MCSCLR instruction error Correct the MCS MCSCLR instruction The MPUSH MPOP instruction error MPUSH MPOP Error h0047 Stop The MPUSH MPOP instruction error Correct the MPUSH MPOP instruction Dual coil error DUAL COIL Error h0048 ...

Page 119: ...itions 1 Connect Option You should set the communication port COM1 4 to communicate with PLC option card Select the Project Option Connection Option in menu Default Connection is RS 232C interface For detailed information about Connection Option refer to KGLWIN Manual ...

Page 120: ...d 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 ...

Page 121: ...Appendix 1 System Definitions Appendix 1 3 3 Page Setup You can select print option when printing out the project margin cover footer ...

Page 122: ...er 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 supervise its normal or abnormal operation Setting range is 10...

Page 123: ... toggle Every Scan toggle F0015 F001F F0025 F002F F0030 Fatal Error Turns on when a fatal error has occurred F0031 Warning Error Turns on when an ordinary error has occurred F0032 WDT Error Turns on when a watch dog timer error has occurred F0033 I O combination error Turns on when an I O error has occurred When one or more bit s of F0040 to F005F turns on F0034 Abnormal Battery Voltage Error Turn...

Page 124: ... Off is repeated as many times as the scan specified by Duty instruction F0108 F101F F0110 Operation error flag Turns on when an operation error has occurred F0111 Zero flag Turns on when the operation result is 0 F0112 Carry flag Turns on when a carry occurs due to the operation F0113 All outputs off Turns on when an output instruction is executed F0115 Operation error flag Latch Turns on when an...

Page 125: ...an time F0510 F051F Minimum scan time Stores the minimum scan time F0520 F052F Present scan time Stores the present scan time F0530 F053F Clock data year month Clock data when RTC option module is installed F0540 F054F Clock data day hour Clock data when RTC option module is installed F0550 F055F Clock data minute second Clock data when RTC option module is installed F0560 F056F Clock data hundred...

Page 126: ...ister P000 D4700 D4800 P004 D4704 D4804 2 System error history when RTC module is attached Relay Description D4900 Error pointer D4901 Year Month D4902 Day Time D4903 Minute Second D4904 Error code Stop time can be registered maximum 16 If 17th stop is occurred first stored stop data will be erased and then 17th stop data is inputted Relay Error Pointer D4901 D4904 First System Stop D4905 D4908 Se...

Page 127: ...l frequency and operation reference monitoring output frequency and operation status monitoring without setting up No 60 69 of the APO group is described 3 1 List of the special D register fixed for the control monitoring of inverter Function Area Description Page to Refer D4450 Provide inverter with references STOP FWD REV Fault Reset emergency stop Refer to Appendix 3 3 Control D4451 Provide inv...

Page 128: ... Ref Src PLC 2 Make out a ladder program as shown below When the M0000 contact point is ON the special D register is written with 4000 and thus the inverter is set up with the reference frequency 40 00Hz Caution If any one of APO60 64 PLC Wr Data1 5 is set up with the 0380Hex which is the address of the common area of the iS7 inverter frequency reference it is not possible to provide the inverter ...

Page 129: ... Keypad 1 2 Run the KGLWIN and make out a ladder program as follows When the M0001 contact is ON the special D register is written with 1 Consequently the inverter is operated in reverse direction see List of PLC Special D Registers for Inverter Operation Reference above Caution If any one of APO60 64 PLC Wr Data1 5 is set up with the 0382Hex which is the address of the common area of the iS7 inve...

Page 130: ...IT5 BIT6 BIT7 1 During speed searching 2 Accelerating 3 Constant speed 4 Decelerating 5 Deceleration to stop 6 During H W OC restraint 7 During S W OC restraint 8 Dwell operating BIT8 BIT9 BIT10 BIT11 Reserved BIT8 BIT9 BIT10 D4470 Inverter Operation Status BIT11 0 Normal Status 4 Warning Status 8 Fault Status Exemplary program 1 Set up iS7 inverter parameters as follows Code Function Name Set Val...

Page 131: ...ing above 5 While in constant speed in forward operation D4470 is h0031 see List of PLC option card Special D Registers for Inverter Operation Status Monitoring above 6 On the digital loader of the inverter change DRV01 Cmd Frequency into 5 00 Hz for forward deceleration In this mode D4470 is h0041 see List of PLC option card Special D Registers for Inverter Operation Status Monitoring above Stopp...

Page 132: ...1 value is 3125 current output freq is 31 25 Hz Exemplary program 1 Set up iS7 inverter parameters as follows Code Function Name Set Value DRV01 Cmd Frequency 29 00 Hz DRV06 Cmd Source Keypad DRV07 Freq Ref Src Keypad 1 2 Run the KGLWIN and make out following program 3 On the inverter s digital loader press FWD for forward operation to 29 00Hz 4 Now the D4471 will read 2900 as shown below 5 Set up...

Page 133: ...421h 0x0302 Inverter input voltage power supply type single phase 3 phase cooling method R 400V 3 phase forced cooling 0431h 0x0303 inverter S W version R Ex Ver1 02 0102h 0x0304 Reserved BIT15 BIT14 BIT13 BIT12 0 normal status 4 Warning status 8 Fault status operates according to set value of PRT 30 Trip Out Mode BIT11 BIT10 BIT9 BIT8 None BIT7 BIT6 BIT5 BIT4 1 speed search 2 accelerating 3 stead...

Page 134: ...x0319 PID feedback 0 1 R 0x031A Show poles of first motor R Show poles of first motor 0x031B Show poles of second motor R Show poles of second motor 0x031C Show poles of selected motor R Show poles of selected motor 0x031D Select Hz rpm R 0 Hz unit 1 rpm unit 0x031E 0x031 F Reserved BIT15 None BIT14 None BIT13 None BIT12 None BIT11 None BIT10 P11 Expansion IO Terminal Input 3 BIT9 P10 Expansion IO...

Page 135: ...ON State COM77 Virtual DI8 BIT6 0 OFF State 1 ON State COM76 Virtual DI7 BIT5 0 OFF State 1 ON State COM75 Virtual DI6 BIT4 0 OFF State 1 ON State COM74 Virtual DI5 BIT3 0 OFF State 1 ON State COM73 Virtual DI4 BIT2 0 OFF State 1 ON State COM72 Virtual DI3 BIT1 0 OFF State 1 ON State COM71 Virtual DI2 0x0322 Virtual Digital Input Information R BIT0 0 OFF State 1 ON State COM70 Virtual DI1 0x0323 S...

Page 136: ...ontact failure BIT11 Slot2 option board contact failure BIT10 Slot1 option board contact failure BIT9 No motor trip BIT8 External break trip BIT7 basic IO board contact failure BIT6 Pre PID Fail BIT5 Parameter Write error BIT4 None BIT3 FAN Trip BIT2 PTC Thermal sensor Trip BIT1 Encoder Error Trip 0x0331 latch type trip information 2 R BIT0 MC Fail Trip BIT15 None BIT14 None BIT13 None BIT12 None ...

Page 137: ...Inverter Overload BIT1 Underload 0x0334 Warning Information R BIT0 Overload 0x0335 0x033 F Reserved 0x0340 On Time Date Day R Days when inverter is ON 0x0341 On Time Minute Min R Minutes with total days on time subtracted 0x0342 Run Time Date Day R Total days when the inverter operates the motor 0x0343 Run Time Minute Min R Minutes with total days Run time subtracted 0x0344 Fan Time Date Day R Tot...

Page 138: ...M63 Virtual DI14 BIT1 2 0 OFF Command 1 ON Command COM62 Virtual DI13 BIT11 0 OFF Command 1 ON Command COM61 Virtual DI12 BIT1 0 0 OFF Command 1 ON Command COM60 Virtual DI11 BIT9 0 OFF Command 1 ON Command COM59 Virtual DI10 BIT8 0 OFF Command 1 ON Command COM58 Virtual DI9 BIT7 0 OFF Command 1 ON Command COM57 Virtual DI8 BIT6 0 OFF Command 1 ON Command COM56 Virtual DI7 BIT5 0 OFF Command 1 ON ...

Page 139: ... 0x038A 0x038 F Reserved torque command 0x0390 Torque Ref 0 1 R W forward motor ring torque limit 0x0391 Fwd Pos Torque Limit 0 1 R W forward regenerative torque limit 0x0392 Fwd Neg Torque Limit 0 1 R W reverse motor ring torque limit 0x0393 Rev Pos Torque Limit 0 1 R W reverse regenerative torque limit 0x0394 Rev Neg Torque Limit 0 1 R W torque Bias 0x0395 Torque Bias 0 1 R W PID reference comma...

Page 140: ...k lgis com cn Tel 86 411 8273 7777 Fax 86 411 8730 7560 LS Industrial Systems Shanghai Co Ltd China Address Room E G 12th Floor Huamin Empire Plaza No 726 West Yan an Road Shanghai China Tel 86 21 5237 9977 LS Industrial Systems Wuxi Co Ltd China Address 102 A National High New Tech Industrial Development Area Wuxi Jiangsu China e mail Xugh lgis com cn Tel 86 510 534 6666 Fax 86 510 522 4078 LS In...

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