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Chapter 7 Usage of Various Functions

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There are several methods to avoid the windup of actuator. The most popular two methods are adding another
feedback system to actuator, and using the model of actuator. The Fig. 2-13 shows the block diagram of the anti-
windup control system using the actuator model.
As shown in the Fig. 2-13, the anti-windup system feedback the multiplication of gain (1/Tt) and Es to the input of
integral term. The Es is obtained as the difference value between actuator output (U) and manipulation value of PID
controller (MV). The Tt of the feedback gain is tracking time constant, and it is in inverse proportion with the
resetting speed of integral term. Smaller Tt will cancel the windup of actuator faster, but too small Tt can cause anti-
windup operation in derivative operation. The Fig. 2-14 shows several Tt value and PV in the PI control system.

PV

SV

Time

PV

MV

Time

MV (without windup)

MV (with windup)

Integral term

Proportional term

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Содержание K7 Series

Страница 1: ...User s Manual Programmable Logic Controller IMO K7 IMO Precision Controls...

Страница 2: ...el 2 4 2 2 1 Product function Block 2 4 2 2 2 GM7 Series System Equipment Product 2 5 Chapter 3 GENERAL SPECIFICATION 3 1 3 1 General specifications 3 1 Chapter 4 Names of Parts 4 1 4 4 4 1 Base Unit...

Страница 3: ...3 5 Precautions when using special modules 5 22 5 4 Operation modes 5 23 5 4 1 RUN mode 5 23 5 4 2 STOP mode 5 24 5 4 3 PAUSE mode 5 24 5 4 4 DEBUG mode 5 24 5 4 5 Operation mode Change 5 25 5 5 Func...

Страница 4: ...7 17 7 1 4 Input Filter function 7 19 7 1 5 PID Control function 7 21 7 1 6 External Interrupt function 7 40 7 2 Special Module 7 42 7 2 1 A D D A Combination 7 50 7 2 2 Analogue Timer 7 58 Chapter 8...

Страница 5: ...Specifications for Wiring 9 11 Chapter 10 Maintenance 10 1 10 2 10 1 Maintenance and Inspection 10 1 10 2 Daily Inspection 10 1 10 3 Periodic Inspection 10 2 Chapter 11 Trouble Shooting 11 1 11 13 11...

Страница 6: ...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 App1 1 App4 1 Appendix 1 System definitions App1 1 Appendix...

Страница 7: ...utput Parts Chapter 7 Guides on Each Function Describes each kind of manufactured goods usage Chapter 8 Communications Function Describes built in communication functions Chapter 9 Installation and Wi...

Страница 8: ...g up to 1 phase 16kHz 2 phase 8kHz External interrupts Using in applications that have a high priority event which requires immediate responses The input filter function help reduce the possibility of...

Страница 9: ...y one command executed by break point settings executed by the condition of the device executed by the specified scan time 9 Various program execution function External and internal interrupt program...

Страница 10: ...tem KGLWIN A peripheral device for the MASTER K series It executes program creation edit compile and debugging A computer software for Windows 95 98 KLD 150S A hand held loader used for program creati...

Страница 11: ...gnal turns on Source Input Current flows from the PLC input terminal to the switch after a input signal turns on Sink Output Current flows from the load to the output terminal and the PLC output turn...

Страница 12: ...n 2 1 1 Basic system Total I O points 20 80 points Digital I O module 2 modules A D D A Composite module 2 modules Analog timer 3 modules Maximum numbers of ex pansion modules Cnet I F module 1 module...

Страница 13: ...422 Interface The K80S has a built in RS 232C port and has also G7L CUEB for RS 232C G7L CUEC for RS 422 It is possible to construct communications systems on demand 1 1 1 Communications system 1 1 1...

Страница 14: ...ce via modem by Cnet I F modules 2 1 n Communications system This method can connect between one computer and mutilpe main units for up to 32 stations Modem Modem Modem Modem G7L CUEB G7L CUEB G7L CUE...

Страница 15: ...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...

Страница 16: ...se catch pulse width 0 2ms 4 points external contact point interrupt 0 4ms 8points input filter 0 15ms all input PID control function RS 232C communication K7M DR40S I O Points 24 DC inputs 16 relay o...

Страница 17: ...al I O module G7E DR10A I O points 6 DC inputs 4 relay outputs A D D A Composite module G7F ADHA A D 2channel D A 1 channel Analog timer module G7F AT2A Points 4points Digital output range 0 200 G7L C...

Страница 18: ...s IEC61131 2 Square wave Impulsenoise 1 500V LGIS Internal Standard Electronic discharge Voltage 4 kV Discharge by contact IEC61131 2 IEC801 2 Radiated electromagnetic field noise 27 500MHz 10V m IEC6...

Страница 19: ...running mode Off with the following led gets off Without normal power supply to the base unit While key switchis stopped Detecting an error makes operation stop 1 CPU Condition LED Indication ERR LED...

Страница 20: ...tor to connect with external devices like KGLWIN 7 Expansion connector cover Connector cover to connect with expansion unit 8 Terminal block cover Protection cover for wiring of terminal block 9 Priva...

Страница 21: ...Chapter 4 Names of Parts 4 4 1 2 30 points base unit 4 1 3 40 points base unit 4 1 4 60 points base unit...

Страница 22: ...ED Analog Input Terminal Analog Input Voltage current selecting jumper pin Analog Output Terminal External Power Supply Terminal DC24V Expansion Cable Expansion Cable Connecting Terminal 4 2 3 Analog...

Страница 23: ...cation 218 Processing speed 0 5 sec step Program capacity 7ksteps I O points 20 30 40 60 P P000 P13F I O relay M M000 M191F 3 072points Auxiliary relay K K000 K31F 512 points Keep relay L L000 L63F 1...

Страница 24: ...1 channel Counter function It has 3diffferant counter function as following 1 phase up down by program 1 phase up down by B phase input 2 phase up down by phase difference Multiplication function Mult...

Страница 25: ...cessing it is executed only one time when the power is applied or reset is executed It executes the following processing I O reset Execution of self diagnosis Data clear I O address allocation or type...

Страница 26: ...The CPU detects any momentary power failure when the input line voltage to the power supply falls down below the defined value When the CPU detects any momentary power failure the following operation...

Страница 27: ...ssing 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 Flag Scan time is stor...

Страница 28: ...he 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 2 Off delay...

Страница 29: ...the current value reaches preset value the timer output relay is turned on The current value can be cleared by the RST instruction only 4 Monostable timer In general its operation is same as off delay...

Страница 30: ...truction 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 The accuracy...

Страница 31: ...er relay output is turned on the current value will increase until it reaches the maximum counting value hFFFF 65535 When the reset input is turned on the counter output relay and current value is cle...

Страница 32: ...the current value and counter output relay is cleared as 0 when the next counter input signal is applied REMARK 1 Maximum counting speed The maximum counting speed of counter is determined by the len...

Страница 33: ...program but also other programs 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...

Страница 34: ...interrupt routine is not executed if an interrupt factor occurs before execution of an EI instruction Once an interrupt is enabled with EI instruction it keeps the enabled status until DI instruction...

Страница 35: ...of lower priority is executing the interrupt routine of lower priority will be stopped and the interrupt of higher priority will be executed first Otherwise two interrupts are executed consequently 3...

Страница 36: ...s occurred and continues its operation if an ordinary error such as battery error has occurred 2 System configuration error This error occurs when the PLC hardware configuration differs from the confi...

Страница 37: ...old I warm I hot 3 The possibility of execution of the program is decided with check on its effectiveness 2 Operation processing contents I O refreshes and program operation are executed 1 Interrupt p...

Страница 38: ...ode change is maintain 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 oth...

Страница 39: ...able disable For detailed operation method refer to the KGL WIN User s Manual Chapter 9 Debugging 5 4 5 Operation mode change 1 Operation mode change methods The following method is used to change the...

Страница 40: ...mote RUN DEBUG X X Remote PAUSE Remote RUN Remote PAUSE Remote STOP Remote PAUSE Remote DEBUG X X DEBUG Remote STOP DEBUG Remote RUN X X PAU REM DEBUG Remote PAUSE X X 4 Remote operation mode change e...

Страница 41: ...r the MASTER K programming manual for details on the 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 no...

Страница 42: ...d wiring between the output modules and external devices 1 Force On Off setting method Force on off setting is applied to input area and output area Force on off should be set for each input and outpu...

Страница 43: ...Chapter 5 CPU Module 5 When forced I O set enables forced I O function is executing Set forced I O data by bit Set forced I O data enable by bit Click...

Страница 44: ...output However the force on off setting does not change the output image area data while it changes the input image area data 3 Force on off processing area Input output areas for force on off settin...

Страница 45: ...nstruction 5 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 The most recent 16 error...

Страница 46: ...ay 32 points 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 usage Tim...

Страница 47: ...munication module 1 I O No allocation method module area remark Input P000 P03F Fixed 64 points Main Output P040 P07F Fixed 64 points Input P080 P08F Fixed 16 points Expansion 1 Output P090 P09F Fixed...

Страница 48: ...e PLC automatically executes the user program of flash memory when the PLC is turned on It is similar with the ROM operation of other PLCs but it is different that no external memory is required 5 8 1...

Страница 49: ...he Flash memory of on line menu the following window shows 1 read read the program and parameter to CPU memory from fresh memory 2 write write the program and parameter to fresh memory from CPU memory...

Страница 50: ...is for Cnet CPU recognizes that there is no program in the flash memory and starts to drive program from RAM 1 The flag for flash memory operation is F00A Dip switch for flash memory operation is pla...

Страница 51: ...e basic unit When expansion unit is used Connect to the expansion connector of the last connected expansion unit Turn the dip switch for ROM mode setting of the base unit to OFF 4 Turn the power of th...

Страница 52: ...the base unit 5 As RUN LED and ERR LED are on the contents of the memory module is transferred into the program area of the base unit and ROM operation area of the flash memory It may take about 15 s...

Страница 53: ...ckup battery needs periodic exchange In case of battery replacement at power off the built in super capacitor backup the program and retain variables about 30 minutes However it is recommended to comp...

Страница 54: ...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 maximu...

Страница 55: ...than 5 Max simultaneous input points 100 simultaneously On On voltage On current DC15V or higher 4 3 mA or higher Off voltage Off current DC5V or lower 1 5 mA or lower Input impedance Approx 3 3 k I0...

Страница 56: ...ules 6 3 Input wiring Base unit s wiring method is as follows DC input specifications offered by K80S is to be used for both electric current sink and electric current source 1 20 points base unit 2 3...

Страница 57: ...Chapter 6 Input and Output Modules 6 3 40 point base unit 4 60 point base unit DC24V DC24V DC24V DC24V...

Страница 58: ...nal device as shown External device Input module Contact points NPN open collector output type NPN current output type PNP current output type Relay IN COM Sensor IN COM Power for sensor Output 0V IN...

Страница 59: ...less than 5 Max Simultaneous input points 100 simultaneously On On voltage On current DC15V or higher 4 3 mA or higher Off voltage Off current DC5V or lower 1 5 mA or lower Input impedance Approx 3 3...

Страница 60: ...x load voltage current AC250V DC110V Current leakage when off 0 1mA AC220V 60Hz Max On off frequency 1 200 hr Surge Absorber None Mechanical More than 20 000 000 Rated on off voltage current load 100...

Страница 61: ...Chapter 6 Input and Output Modules 6 3 Output wiring 1 20 points base unit 2 30 point base unit L DC5V L DC24V AC110 220V L L L L L L L DC5V DC24V AC110 220V L L L L L L L L L L L L...

Страница 62: ...Input and Output Modules 6 3 40 point base unit 4 60 point base unit DC5V DC24V AC110 220V DC24V L L L L L L L L L L L L L L L L DC5V DC24V AC110 220V DC24V L DC24V L L L L L L L L L L L L L L L L L L...

Страница 63: ...200 hr Surge Absorber None Mechanical More than 20 000 000 Rated on off voltage current load 100 000 or more AC200V 1 5A AC240V 1A COS 0 7 100 000 or more AC200V 1A AC240V 0 5A COS 0 35 100 000 or mor...

Страница 64: ...of A phase 2 phase pulse input multiplied by two Counts the pulse at the leading falling edge of A phase 2 phase pulse input multiplied by four Counts the pulse at the leading falling edge of A phase...

Страница 65: ...uit I O Internal circuit Terminal No Signal name Operation Input warranted voltage On 14 26 4 V P00 A phase pulse Input DC24V Off 2 5V or lower On 14 26 4 V P01 B phase pulse Input DC24V Off 2 5V or l...

Страница 66: ...lass 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...

Страница 67: ...phase h1110 Pulse input U D input Preset input U D Set by U D input PR Set by preset input h2001 A phase input B phase input 1 PR Set by sequence program 1 multiplication h2002 A phase input B phase i...

Страница 68: ...n the PR input is on the current value of high speed counted is replaced with the preset value PV 4 Output relay F070 The F070 bit will be turn on when the current value of high speed counter F18 lowe...

Страница 69: ...D by program D4999 h1010 U D set by sequence program M001 PR set by external PR input Ladder diagram Time chart HSC EN U D PV D0000 PR SV D0010 MOV 100 D0000 MOV 01000 D0010 A phase pulse input U D in...

Страница 70: ...D4999 h1100 U D set by external input B phase input PR set by sequence program M002 Ladder diagram Time chart HSC EN U D PV 00100 PR SV 01000 MOV h1100 D4999 M000 A phase pulse input B phase input U...

Страница 71: ...h2011 U D set automatically by the phase difference between A and B phase PR set by external PR input Multiplication 1 Ladder diagram Time chart HSC EN U D PV 00100 PR SV 01000 MOV h2011 D4999 M000 A...

Страница 72: ...automatically by the phase difference between A and B phase PR set by external PR input Multiplication 2 times Ladder diagram Time chart HSC EN U D PV 00100 PR SV 01000 MOV h2012 D4999 M000 A phase p...

Страница 73: ...he phase difference between A and B phase PR set by external PR input Multiplication 4 times Ladder diagram Time chart HSC EN U D PV 00100 PR SV 01000 MOV h2014 D4999 M000 A phase pulse input B phase...

Страница 74: ...The outputted pulse is connected to motor driver it is controlled position in the following figure Choose a mode from the pulse out function by parameter setting and operate following 3 modes 1 Trapez...

Страница 75: ...utput Load power supply DC 12V 24V Usable range of the load power supply DC10 2 26 4V Maximum load current 150mA Initiative electric current Less than 0 4A 10ms Maximum power dropdown under On Less th...

Страница 76: ...41 Direction output Direction output terminal COM0 Common Direction output common terminal If the motor drive is not input direction but is input right opposite direction pulse the opposite direction...

Страница 77: ...from the power supply line and I O lines on which noise usually occurs 3 Length of wire should be as short as possible 4 Be sure to use the stable power supply for the pulse output and separate it fr...

Страница 78: ...The setting range 0 42944967295 3 Max speed It sets operational speed at normal section The setting range 50 2000pps 50multiflier only 4 Acceleration Deceleration mode Acceleration Deceleration mode...

Страница 79: ...on slop 1 The number of acceleration pulse 1000 50 50 900 50 50 100 50 50 50 x 1 x 2 380 deceleration pulse is also 380 8 acceleration time Automatically calculate at KGL WIN if the maximum pulse and...

Страница 80: ...By calculation in the same way the time to reach to 1000pps is 20ms x 20 1 380ms and the no of output pulses are 1 2 3 18 19 190 units Decreasing velocity inclination is 1 thus 190 units of pulses are...

Страница 81: ...6 38 380 units Decreasing velocity inclination is 2 thus 380 units of pulses are needed The no of pulses in the uniform velocity region are 5000 380 380 4 240 units Whole spent time is 57 600ms If the...

Страница 82: ...stored output pulse count no and error code 3 word S2 designates output device output P area 2 example of program when the M0020 is On it outputs the pulse at 5 pattern to P0040 It stores the output...

Страница 83: ...tion error more than 2000 not a multiple of 50 designated 0 Velocity designation adjustment 03 The no of a c velocity pulse is bigger than no of all pulse is to output Acceleration adjustment 04 No ou...

Страница 84: ...one levels Parameter setting Direction contact designates P51 Example of a program When the M000 is on direction contact P51 is set and pulse outputs at pattern 0 forward direction output When the M0...

Страница 85: ...rameter setting Program F210 turns on while the pulse output is operating Forward operation Reverse operation Reverse direction P51 Forward direction P50 Time Forward direction Target velocity 1Kpps F...

Страница 86: ...does not perform as user s intention But in this case through pulse catch function even narrow interval of pulse signal as 0 2ms min can be detected 2 Operating Explanation input signal input image da...

Страница 87: ...Usage of Various Functions 7 1 8 points can be used to designate the pulse catch input The input address is from P000 to P007 2 General digital input operates if it is not designated as pulse catch in...

Страница 88: ...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 narrower width pulse than input correct...

Страница 89: ...egral I and differential D The characteristics of the PID function of K7 is as following the PID function is integrated into the CPU module Therefore all PID control action can be performed with instr...

Страница 90: ...et value PV present value c When E happens MV by P operation is like Fig 2 1 Fig 2 1 MV by P operation d If the Kp is too large the PV reaches to the SV swiftly but it may causes a bad effect like osc...

Страница 91: ...rdance 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 betwee...

Страница 92: ...in Fig 2 5 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 2 6 when the integration time given is short the PV wil...

Страница 93: ...viation 4 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...

Страница 94: ...uced by P I D action b PID action when a given deviation has occurred is shown as the following Fig 2 8 Fig 2 8 PID action with a constant deviation e Forward Reverse action a PID control has two kind...

Страница 95: ...es according to the characteristics of each control actions The expression of PID control is as following t dt dEd Td ds s Ei Ti Ep K MV 0 1 MV Manipulate value K Proportional gain Ti Integral time Td...

Страница 96: ...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...

Страница 97: ...on of gain 1 Tt and Es to the input of integral term The Es is obtained as the difference value between actuator output U and manipulation value of PID controller MV The Tt of the feedback gain is tra...

Страница 98: ...eudo code of PID control will be shown a P control The digitized formula of P control is as following n PV n SV b K n P n sampling number K proportional gain constant b reference value SV set value PV...

Страница 99: ...ation Ti h K Bi integral gain 2 2 h N Td h N Td Ad derivation gain 2 2 h N Td Td N K Bd Tt h A 0 anti windup gain Step 2 Read SV and PV value PV adin ch1 Step 3 Calculate the proportional term P K b S...

Страница 100: ...rol 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 desi...

Страница 101: ...process value present value of K7 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 K7 series 12bits and offset value The following...

Страница 102: ...sume that PID control is used for temperature control with Pt100 operation range 0 C 250 C and the goal value is 100 C The equivalent digital output of A D module voltage output range 1 5V is 1600 if...

Страница 103: ...iptions of PID8AT instruction Error code STAT output Description Countermeasure 0 Normal operation 1 SV is out of range Change the SV within 0 4000 2 PV is out of range It may caused by fault of A D m...

Страница 104: ...Example program When the input condition F0093 1second clock is rising edge off on PID operation executes at no 2 parameter PID execution status registrate D0000 and the output value of control resul...

Страница 105: ...P I D constant registration area b Example program When the input condition F0093 1second clock is rising edge off on PID operation executes at no 2 parameter PID execution status stores D0000 and the...

Страница 106: ...MIN 0 MAMAN 2000 S_TIME S_TIME 100 sampling time 10 seconds b Auto tuning parameters PV setting 960 60 C 1120 70 C 1280 80 C 1600 100 C S_TIME S_TIME 100 sampling time 10 seconds Current value setting...

Страница 107: ...tor power converter b Use PID operation with A T function a Convert the measured temperature 0 250 C to current signal 4 20mA and input the current signal to the channel 0 of A D module Then the A D m...

Страница 108: ...PID execution scan time is equal to input clock certainly Data move for SV setting value This value is moved before the PID instruction execution PID execution completes at 10 second each time At tha...

Страница 109: ...D operation performing with computed P I D values by the auto tuning performing It is performed in 80 of auto tuning SV PID process is performed from 80 of SV PID execution scan time should be equal t...

Страница 110: ...Chapter 7 Usage of Various Functions 7 When PID auto tuning ends M100 turns on PID8 and PID8AT input period should be equal to execution scan time which is designated at parameter...

Страница 111: ...g 8points of base unit are set functions like following 00 01 02 03 04 05 06 07 High speed counter A phase Input B phase Input Preset Input External interrupt Time driven task 8points are available 3...

Страница 112: ...priority and movement condition of the task program which is moved by interrupt inputting 5 For the details refer to KGLWIN manual interrupt input contact No interrupt input executing condition Risin...

Страница 113: ...ent DC 24 voltage DC 0 10V External load resistance 2 1 DC 0 20 External load resistance 510 Output range Current DC 4 20 External load resistance 510 Classified by parameter Digital Input 12Bit 48 40...

Страница 114: ...g Voltage Input Connect upper parts by jumper pins Current Input Connect lower parts by jumper pins Analog output terminal Voltage output Current output Only one type of output Current or Voltage is a...

Страница 115: ...n value set Expansion A D module 1 D4983 A D conversion value of channel 1 stores Expansion A D module 2 D4984 A D conversion value of channel 2 stores Expansion A D module 2 D4985 D A conversion valu...

Страница 116: ...t range 0 20 before the scaling conversion 8 5 1600 after the scaling conversion 1600 800 x 1 25 1000 2 scaling conversion value D A conversion data of 4 20 x 3200 4000 800 example in case of 1000 out...

Страница 117: ...h 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...

Страница 118: ...ut 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 Digital output value 2004 2002 2001 2000 20...

Страница 119: ...es to 0mA and 4 000 does 20mA Analog amount of digital input 1 equals to 5 Analog output current Analog output voltage D A conversion characteristic voltage output Analog output voltage 10V 5V 0V 0V 0...

Страница 120: ...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 Base Unit A D D A mixtu...

Страница 121: ...eps 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 36...

Страница 122: ...uracy of timer 2 0 Accuracy about max value Operation method Storing data register automatically Internal current consumption 50 Number of module installment Max 3 modules Weight 200g 2 Names of parts...

Страница 123: ...conversion value of channel 2 stores Expansion A T module 2 D4972 A T conversion value of channel 3 stores Expansion A T module 2 D4973 A T conversion value of channel 4 stores Expansion A T module 2...

Страница 124: ...onnection link between K series system configuration K7 base unit RS 232C Remark K7 built in communication function supports Cnet communication without any separate Cnet module It must be used under t...

Страница 125: ...ection with general PC a Communication program made by C or BASE computer language on the user s computer or utility program like MMI software can be used b Wiring method PC MK80S base unit Pin No Pin...

Страница 126: ...on with a monitoring device like PMU PMU MK80S base unit Pin No Pin assignment and direction Pin no Signal 1 1 5V 2 2 RXD1 3 3 TXD1 4 4 RXD2 5 5 SG 6 6 5V 7 7 TXD2 8 8 SG 9 9 SG 1 2 3 4 5 6 7 8 9 PMU...

Страница 127: ...information refer to 8 1 7 1 1 Dedicated Protocol Communication K7 base unit K7 base unit Pin no Pin assignment and direction Pin no Signal 1 1 5V 2 2 RXD1 3 3 TXD1 4 4 RXD2 5 5 SG 6 6 5V 7 7 TXD2 8...

Страница 128: ...check BCC 3 NAK Response frame K7 base unit external communication device when receiving data abnormally max 256 Bytes Header NAK Station Command Command type Error code ASCII 4 Byte Tail ETX Frame ch...

Страница 129: ...terms indicating size of all data in the Formatted data area Monitoring registration and command registration number of execution commands All contents of data Remark 1 If it is hexadecimal H is atta...

Страница 130: ...ck unit Continuous reading Bit is unavailable CPU Status reading r R H73 H53 ST 5354 Reads flag list like PLC operation status and error information For detailed flag contents refer to MK80S manual Co...

Страница 131: ...7H PW000 MW000 LW000 KW000 CW000 TW000 FW000 DW000 SW000 Device Name Explanation Read Write Bit Word Assignment P Input Output relay Available Both M Auxiliary relay Available Both L Link relay Availa...

Страница 132: ...H05 H32 H30 H72 H53 H53 H30 H31 H30 H36 H25 H4D H57 H31 H30 H30 H04 H03A4 Therefore BCC value is A4 Number of Blocks This specifies how much of the blocks composed of device length device name are in...

Страница 133: ...d 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 Number of data Number of data means b...

Страница 134: ...lue is 0 it indicated by H00 and if 1 by H01 4 Response format NAK response Format name Header Station No Command Command type Error code Hex 2 Byte Tail Frame check Ex of frame NAK H20 R r SS H1132 E...

Страница 135: ...alue H05 H3031 H72 H5353 H3032 H3035 H254D57 3230 H3036 H25505730 3031 H04 y For ACK response after execution of command PC K7 Base Unit Format name Header Station No Command Command type Number of bl...

Страница 136: ...e 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 64 3 Protocol of RSB doesn t have number of blocks 4 R r SB command of bit devices is not...

Страница 137: ...d 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 Data In data area there...

Страница 138: ...d Also it is supposed that data in M000 and in M001 is as follow M000 H1234 M001 H5678 Computer request format PC MK80S Base Unit Format name Header Station No Command Command type Device length Devic...

Страница 139: ...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 length Name length of device This indicates the number of name s c...

Страница 140: ...case 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 Format name Head...

Страница 141: ...6 MW230 H00FF EOT BCC ASCIIvalue H05 H3031 H77 H5353 H3031 H3036 H254D5732 3330 H30304646 H04 For ACK response after execution of command PC K7 Base Unit Format name Header Station No Command Command...

Страница 142: ...f 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 64 Item Explanation BCC When command is lowercase r only one lower...

Страница 143: ...converted into ASCII and added to BCC and sent 4 Response Format NAK response Format name Header Station No Command Command type Error code Hex 2 Byte Tail Frame check Frame Example ENQ H10 W w SB H1...

Страница 144: ...H01 HAA15056F EOT BCC ASCIIvalue H05 H3031 H77 H5342 H3036 H254457303030 H3031 H414131353 0353646 H04 For ACK response after execution of command PC K7 Base Unit Format name Header Station No Command...

Страница 145: ...byte of the value resulted by adding 1 byte each to ASCII values from ENQ to EOT is converted into ASCII added to BCC Register No This can be registered up to 10 0 to 9 H00 H09 and if an already regis...

Страница 146: ...verted into ASCII and added to BCC and sent 4 Response Format NAK response Format name Header Station No Command Registration No Error code Hex 2Byte Tail Frame check Frame Example ACK H10 X x H09 H11...

Страница 147: ...H01 H06 MW000 EOT BCC ASCIIvalue H05 H3031 H78 H3031 H525353 H3031 H3036 H255457 303030 H04 For ACK response after execution of command PC K7 Base Unit Format name Header Station No Command Registrati...

Страница 148: ...When command is lowercase 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 3 Response Format ACK response x In ca...

Страница 149: ...AK H10 Y y H09 H1132 ETX BCC ASCIIvalue H15 H3130 H59 79 H3039 H31313332 H03 Item Explanation BCC When command is lowercase y only one lower byte of the value resulted by adding 1 Byte each to ASCII v...

Страница 150: ...BCC ASCIIvalue H05 H3031 H79 H3031 H04 y For ACK response after execution of command PC K7 Base Unit Format name Header Station No Command Registration No Number of Blocks Number of data Data Tail Fr...

Страница 151: ...0 Byte Tail Frame check Frame Example ACK H0A R r ST Status data Format ETX BCC ASCIIvalue H06 H3041 H52 72 H5354 H03 Item Explanation BCC When command is lowercase r only one lower byte of the value...

Страница 152: ...AS 33 K1000S K7P 30AS 32 Version No Ex Bit 0 0 0 1 0 0 1 0 CPU Mode Ex Bit 0 0 0 0 Connection Ex Bit 0 0 Data type Contents Status data order Hex data Byte Null H00 Offset Byte Null H01 Byte Null H02...

Страница 153: ...2 72 H5354 H04 For ACK response after execution of command PC K7 Base Unit Format name Header Station No Command Command type Status data Tail Frame check Frame Example ACK H01 R r ST See status data...

Страница 154: ...nize 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 accordi...

Страница 155: ...ication Parameter Setting N Open a new project file from KGLWIN MK80S must be selected as PLC type N After selecting communication parameter from KGLWIN and clicking twice this window comes up N To pr...

Страница 156: ...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 G...

Страница 157: ...gistration list window 3 Total 64 data blocks can be assigned But it s not possible to set a register number 4 Sending and receiving data size can be set up to 60 WORDs There s no cycle for sending an...

Страница 158: ...receive for reading from it N Size data size for reading and writing of the master station can be specified up to 60 WORDs N Area Item Send mode Receive mode Area from that is in the master station to...

Страница 159: ...32 stations Error count number is saved following area according to station Station Device Station Device Remarks 0 1 D4416 16 17 D4424 2 3 D4417 18 19 D4425 4 5 D4418 20 21 D4426 6 7 D4419 22 23 D44...

Страница 160: ...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 Item Saved are...

Страница 161: ...ase Unit The data of the master K7 Base Unit is increased by INCP instruction and sent to be written on the output contact point P04of the slave K7 Base Unit And in return the master K7 Base Unit read...

Страница 162: ...unication parameter of the master station and its program Work on the master station 0 Open a new project file and a new program for the master station Edit program that M000 is increased per 1second...

Страница 163: ...u can see the following window of the communication parameter Set parameters as the following table Communication Method Protocol and mode Commu nication Station no Baud rate Data bit Parity bit Stop...

Страница 164: ...list window If the list number 0 in List window is double clicked another window for Private 1 item 0 edit is open Set parameters like the following table and click OK button Station No Size Mode Are...

Страница 165: ...list 0 registered in the registration list can be confirmed through a window like the following Double click the No 1 for receive parameter setting Station No Size Mode Area to read From Area to save...

Страница 166: ...Chapter8 Communication Function 8 43 Set parameters like the following table and click OK button Program...

Страница 167: ...n Set parameters as the following table Communication Method Protocol and mode Commu nication Station no Baud rate Data bit Parity bit Stop bit Communication channel Dedicated Enable 31 19200 8 None 1...

Страница 168: ...vice memory other than P M L K T C F D S Check device type H1232 Data size error The number of data in execution is 0 or bigger than 128 bytes Correct length of data If data type is bite the number of...

Страница 169: ...Check if the system stopped reset H6010 Syntax error OVER RUN FRAME error Be familiar with the manual H6020 Syntax error TIME_OUT error Confirm the setting of the communication ports of RS 232C reset...

Страница 170: ...ther 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 v...

Страница 171: ...using an dedicated modem withCnetI F module G7L CUEB RS232CDialUp Modem It s to be selected for the general communication connecting through the telephone line by dial up modem and Cnet I F module G7...

Страница 172: ...frame 1 Select one out of user defined terms of protocol and mode in communication parameter registration List button is activated 2 Click List button to activate the following window 3 Select one of...

Страница 173: ...C1 h18 DC2 h12 DC3 h13 DC4 h14 SYN h16 ETB h17 CAN h18 EM h19 SUB h1A ESC h1B FS h1C GS h1D RS h1E US h1F Del H7F Example 1 NUL ENQ 1 A Possible Example 2 NUL ENQ 12 ABC impossible It is allowed to be...

Страница 174: ...mber 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 reading6 word data from M100atthe...

Страница 175: ...h0D SO h0E S1 h0F DLE h10 DC1 h18 DC2 h12 DC3 h13 DC4 h14 SYN h16 ETB h17 CAN h18 EM h19 SUB h1A ESC h1B FS h1C GS h1D RS h1E US h1F Del H7F Example 1 NUL ENQ 1 A Possible Example 2 NUL ENQ 12 ABC im...

Страница 176: ...1 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 asH 1 T 1 Complement It is to set whether not to take complement number or to take...

Страница 177: ...e result of calculation is as follow 1 Default setting The last transmitting frame BCC Type setting The kinds of segment input The value of sum check ASCIIType HexType ASCIIInput 31 32 33 34 04 CE 05...

Страница 178: ...05 31 32 33 34 04 05 05 31 32 33 34 04 30 35 05 31 32 33 34 04 05 HexInput 05 12 34 04 27 051234043237 0512340427 c MUL 1 The last transmitting frame BCC Type setting The kinds of segment input The va...

Страница 179: ...ing method is as below bit 7 bit 0 1 1 0 1 0 0 1 1 bit 7 bit 0 1 1 1 1 1 1 1 1 bit 7 bit 0 1 1 0 1 0 0 1 1 bit 7 bit 0 1 1 0 1 0 0 1 1 bit 7 bit 0 0 0 1 0 1 1 0 0 h D3 sum check value hFF maskingvalue...

Страница 180: ...ameter rnumber 3 The communication state stores M000 and the format of M000 Iis as below bit 15 bit 8 bit 1 bit 0 Done bit transfer complets normally this bit turns on during 1 scan Error bit When com...

Страница 181: ...he same with the one of 1 1 dedicated protocol communication The data in M area of the master station is sent to the slave station and the slave station saves the received data in M area outputs as di...

Страница 182: ...ing communication parameter of the master station 1 Select the communication parameter and then select communication method and communication channel And then select userDefined atprotocolandmode item...

Страница 183: ...tion Function 8 60 Designate the header segment send receive tail as above and then click the BCC Setting Designate BCC Setting as above Click the OK button and then you can see the frame list windoww...

Страница 184: ...tion Function 8 61 Double click the number 1 frame BCC Setting method is same frame 0 After the frame setting and BCC setting completes click the OK button You can see the frame list window which is d...

Страница 185: ...elay 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 stores D001...

Страница 186: ...on Function 8 63 2 Setting and program of slave station Make the new project file and setting new parameter Click the list after set the communication method and communication channel Double click the...

Страница 187: ...Chapter 8 Communication Function 8 64 Click the BCC Setting after set the header segment tail as above Click the OK button after BCC setting as above...

Страница 188: ...Chapter 8 Communication Function 8 65 You can see the framelist which is designated And then set the frame number 1 asbelow Double click the BCCSetting and then set the BCC as below...

Страница 189: ...Chapter 8 Communication Function 8 66 You can see the framelist which is designated Click OK button...

Страница 190: ...nk relay L000 turns on during 1 scan At that moment P004increases 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 o...

Страница 191: ...Function code 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...

Страница 192: ...de part Because only function codes are different Request 0000 0011 H03 Confirm 0000 0011 H03 Confirm 1000 0011 H83 5 Data area 1 It sends data using ASCII data ASCII mode or hex RTU mode 2 Data is ch...

Страница 193: ...area h1000 M area h1000 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 h...

Страница 194: ...mmunication Function 8 71 10 Mapofwiring MK80S base unit Quantum 9PIN Pin no Connecting no and direction Pin no Signal 1 1 CD 2 2 RXD 3 3 TXD 4 4 DTR 5 5 SG 6 6 DSR 7 7 RTS 8 8 CTS 9 9 1 2 3 4 5 6 7 8...

Страница 195: ...n parameter 1 Open a new project file at KGLWIN K7 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...

Страница 196: ...using an dedicated modem with Cnet I F module G7L CUEB RS232C 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...

Страница 197: ...munication error occurs this bit turns on during 1 scan At that time error code stores bit 8 bit 15 MODBUS S1 S2 S3 S1 Device address which is registered communication parameter Device address which i...

Страница 198: ...n 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...

Страница 199: ...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 follows Example 1 CD B2 0E 1...

Страница 200: ...us 1 0 1 1 1 0 1 0 1 1 0 0 Hex 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 examp...

Страница 201: ...e 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...

Страница 202: ...he 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 aver...

Страница 203: ...I5V X 5 I24V X 24 W The sum of the above values is the power consumption of the entire PLC system W WPW W5V W24V Wout Win Ws W Check the temperature rise within the control panel with calculation of...

Страница 204: ...ent 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 B...

Страница 205: ...distance between the left side of the basic unit and the control panel should be 100 or more for periodic battery replacement 2 Make sure that K7 is installed in fig 9 1 for most effective heat radia...

Страница 206: ...rt 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...

Страница 207: ...lains the Connection of ex pansion modules to the base unit 1 Open the connector cover of the base unit 2 Insert the connector of the ex pansion module to the connector of the base unit 3 Close the co...

Страница 208: ...noise across wire and K7 and ground when excessive noise Generated connect an insulating transformer 3 Use a power supply which generates minimal noise across wire and across PLC and ground When exce...

Страница 209: ...s 7 As a measure against very large surge e g due to lightening connect a surge absorber as shown below Remark 1 Ground the surge absorber E1 and the PLC E2 separately from each other 2 Select a surge...

Страница 210: ...ring over 200 7 88 in or longer distance trouble can be caused by leakage currents due to line capacity Refer to the section 11 4 Example 9 2 3 Grounding 1 This PLC has sufficient protection against n...

Страница 211: ...0 18 AWG24 2 0 AWG14 Analog Input Output 0 18 AWG24 1 5 AWG16 Communication 0 18 AWG24 1 5 AWG16 Main power 1 5 AWG16 2 5 AWG12 Grounding 1 5 AWG16 2 5 AWG12 Be sure to use solderless terminal for pow...

Страница 212: ...rews 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 10 2 Da...

Страница 213: ...eck No dust or foreign material Retighten screws Loose terminal screws Re tighten screws Screws should not be loose Retighten Distance between terminals Visual check Proper clearance Correct Connectin...

Страница 214: ...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...

Страница 215: ...power supply cable connected Over current protection device activated Write down the troubleshooting questionnaire and contact the nearest service center Supply the power Does the power led turn on Se...

Страница 216: ...uring operation Though warning errorappears PLC system doesn t stop but corrective action is needed promptly If not it may cause the system failure ERR LED goes flickering No Warning error No Check th...

Страница 217: ...s 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 C...

Страница 218: ...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 Is the voltage of power supply for load applie...

Страница 219: ...t the wiring Check the status of the switch 1and 2 Unit replacement is needed Check the status of the switch 1and 2 Is input wiring correct Is the terminal screw tighten securely Is input wiring corre...

Страница 220: ...e corrective action procedure used when a program cannot be written to the PLC module Program cannot be written to the PC C PU Yes Switch to the remote STOP mode and execute the program write Is the m...

Страница 221: ...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 m...

Страница 222: ...rent value Recommended value C 0 1 0 47 R 47 120 1 2W Or make up another independent display circuit Input signal doesn t turn off Leakage current due to line capacity of wiring cable Locate the power...

Страница 223: ...ircuit which is connected to output element in parallel Connect C and R across the load which are of registers of tens K When the wiring distance from the output module to the load is long there may b...

Страница 224: ...y one or more second as some loads make the current flow across the diode at the off time of the transistor output Insert a small L R magnetic contact and drive the load using the same contact Output...

Страница 225: ...ash memory 0010h I O slot error Stop I O Slot Error x Mounting dismounting of I O units during operation or connection fault y I O unit defect or extension cable defect x Turn the power off and mount...

Страница 226: ...rogram does not have the END instruction Insert the END instruction at the bottom of the program 0042h Missing the RET instruction in the program Stop Miss RET Error The subroutine does not has the RE...

Страница 227: ...Option 1 Connect Option You should set the communication port COM1 4 to communicate with PLC Select the Project Option Connect Option in menu Default Connection is RS 232C interface For the detail inf...

Страница 228: ...reated 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 Automatically saved file is saved in...

Страница 229: ...Appendix 1 System Definitions App1 3 Page setup You can select print option when the project print out margin cover footer OK Cancel Help...

Страница 230: ...setting Set the 100ms timer boundary therestoftimerareaallocates10msautomatically 3 Watchdog timer setting For the purpose of the watch of normal program execution This parameter is used to set the ma...

Страница 231: ...run is operated in the Debug mode F0022 Scan run Turns on when the scan run is operated in the Debug mode F0023 Coincidentjunction value run Turns on when the coincident junction run is operated in t...

Страница 232: ...clock 7 Turning On Off is repeated as many times as the scan specified by Duty instruction F0108 to F010fF Unused F0110 Operation error flag Turns on when an operation error has occurred F0111 Zero fl...

Страница 233: ...F49F Unused F0500 to F050F Maximum scan time Stores the maximum scan time F0510 to F051F Minimum scan time Stores the minimum scan time F0520 to F052F Present scan time Stores the present scan time F...

Страница 234: ......

Страница 235: ...ix 3 External Dimensions App3 Appendix 3 External Dimensions unit mm 1 Base unit 2 Extension module 95 105 115 A B 73 A B 20points 85 95 30points 135 145 40points 165 175 60points 215 225 73 95 95 105...

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