durus controllers system manual,...

GE Fanuc Automation Programmable Control Products

DURUS Controllers System Manual GFK-2470

June 2007

GFL-002

Warnings, Cautions, and Notes as Used in this Publication

Warning

Warning notices are used in this publication to emphasize that hazardous voltages, currents, temperatures, or other conditions that could cause personal injury exist in this equipment or may be associated with its use.

In situations where inattention could cause either personal injury or damage to equipment, a Warning notice is used.

Caution

Caution notices are used where equipment might be damaged if care is not taken.

Note Notes merely call attention to information that is especially significant to understanding and operating the equipment.

This document is based on information available at the time of its publication. While efforts have been made to be accurate, the information contained herein does not purport to cover all details or variations in hardware or software, nor to provide for every possible contingency in connection with installation, operation, or maintenance. Features may be described herein which are not present in all hardware and software systems. GE Fanuc Automation assumes no obligation of notice to holders of this document with respect to changes subsequently made.

GE Fanuc Automation makes no representation or warranty, expressed, implied, or statutory with respect to, and assumes no responsibility for the accuracy, completeness, sufficiency, or usefulness of the information contained herein. No warranties of merchantability or fitness for purpose shall apply.

The following are trademarks of GE Fanuc Automation, Inc.

Alarm Master Genius ProLoop Series Six CIMPLICITY Helpmate PROMACRO Series Three CIMPLICITY 90–ADS Logicmaster PowerMotion VersaMax CIMSTAR Modelmaster PowerTRAC VersaPoint Field Control Motion Mate Series 90 VersaPro GEnet PACSystems Series Five VuMaster Proficy Series One Workmaster

©Copyright 2007 GE Fanuc Automation North America, Inc.

All Rights Reserved

Contents

GFK-2470 iii

Chapter 1 Introduction............................................................................................ 1-1 Overview of DURUS Controller Modules .......................................................................... 1-2 Controllers and Expansion Modules ................................................................................. 1-4 Module Description ........................................................................................................... 1-9 Programming Features ................................................................................................... 1-10 Communications Features .............................................................................................. 1-13 Remote I/O and Expansion I/O ....................................................................................... 1-14

Chapter 2 Installation.............................................................................................. 2-1 Installation Environment.................................................................................................... 2-2 Mounting Instructions ........................................................................................................ 2-3 Field Wiring ....................................................................................................................... 2-7 I/O Link or Remote I/O Wiring ......................................................................................... 2-10 Transferring Application Programs.................................................................................. 2-11 Inspection and Maintenance ........................................................................................... 2-13

Chapter 3 Function Blocks..................................................................................... 3-1 Ladder Logic Instructions for the Application Program ..................................................... 3-2 Memory in the Controller................................................................................................... 3-3 Counters............................................................................................................................ 3-9 Timers ............................................................................................................................. 3-19 Real Time Clock Instructions .......................................................................................... 3-30 Compare Functions......................................................................................................... 3-40 PWM Output Instruction .................................................................................................. 3-44 HMI Instructions .............................................................................................................. 3-45 DATALINK Function........................................................................................................ 3-46

Chapter 4 Keypad Operations in Ladder Logic Mode.......................................... 4-1 Startup Screen .................................................................................................................. 4-2 Controller Main Menu in Ladder Mode.............................................................................. 4-3 View Point States ............................................................................................................ 4-11 Display the Application’s HMI Screens ........................................................................... 4-13 Ladder Logic Editing on the Controller............................................................................ 4-15 Function Block Editing on the Controller ......................................................................... 4-22

Chapter 5 Software Operation in Ladder Logic Mode.......................................... 5-1 Using the Ladder Logic Programming Software ............................................................... 5-2 Editing Ladder Logic with the Programming Software.................................................... 5-16 Using the Ladder Logic Software in Keypad Mode......................................................... 5-18

Contents

iv DURUS Controllers System Manual – June 2007 GFK-2470

Chapter 6 Keypad Operations in Function Block Mode....................................... 6-1 Startup Screen .................................................................................................................. 6-2 Controller Main Menu in Function Block Mode ................................................................. 6-3 View Point States ............................................................................................................ 6-10 Display the Application’s HMI Screens ........................................................................... 6-12 Block Diagram Editing on the Controller ......................................................................... 6-14 Parameter Editing on the Controller................................................................................ 6-22

Chapter 7 Software Operation in Block Diagram Mode ....................................... 7-1 Using the Block Diagram Programming Software............................................................. 7-2 Using Simulation Mode ................................................................................................... 7-16 Using Monitor Mode ........................................................................................................ 7-21 Programming in Block Diagram Mode ............................................................................ 7-23

Chapter 8 MODBUS Communications................................................................... 8-1 Overview ........................................................................................................................... 8-2 Commands........................................................................................................................ 8-5 Register Addresses........................................................................................................... 8-9

Chapter 9 Profibus Communications .................................................................... 9-1 Overview ........................................................................................................................... 9-2 The Profibus Expansion Module ....................................................................................... 9-3 Installation ......................................................................................................................... 9-6 Startup............................................................................................................................... 9-9 The GSD File................................................................................................................... 9-10 Control Commands ......................................................................................................... 9-14

Chapter 10 DeviceNet Communications ............................................................... 10-1 Overview ......................................................................................................................... 10-2 Device Profile .................................................................................................................. 10-4 I/O Assembly Data Definitions ........................................................................................ 10-5 DeviceNet Information..................................................................................................... 10-7 DeviceNet Object Class Definitions ................................................................................ 10-8

GFK-2470 1-1

Introduction

This chapter describes the Durus controller family of products. It lists the available modules, and gives their specifications.

Chapter 2, Installation, describes module installation and wiring.

Chapter 3, Program Functions, defines the coils, contacts, logic blocks, and function blocks that can be used in an application program.

Chapter 4, Keypad Operations in Ladder Logic Mode, explains how to navigate the controller LCD screens and make changes using the keypad, in Ladder Logic mode.

Chapter 5, Software Operation in Ladder Logic Mode, explains how use the programming software for programming, simulation, and emulation in Ladder Logic mode.

Chapter 6, Keypad Operations in Function Block Diagram Mode, explains how to navigate the controller LCD screens and make changes using the keypad, in Block Diagram mode.

Chapter 7, Software Operations in Function Block Diagram Mode, explains how use the programming software for programming, simulation, and emulation in Block Diagram mode.

Chapter 8, MODBUS Communications, describes the MODBUS features that can be incorporated into a Durus controller system.

Chapter 9, Profibus Communications, describes how the Profibus-DP Expansion Module can be used to add Profibus slave communications to a Durus controller.

Chapter 10, DeviceNet Communications, describes how the DeviceNet Expansion Module can be used to add DeviceNet slave communications to a Durus controller.

Chapter

1

1-2 DURUS Controllers System Manual – June 2007 GFK-2470

1

Overview of DURUS Controller Modules Key Features ▪ Programmable Relay, AC or DC Inputs,

Analog Inputs, Relay or DC Outputs

▪ Select models expandable up to 44 I/O

▪ 10-Point, 12-Point, 20-Point and 24-Point models

▪ Analog Inputs, 10-bit resolution, 0-10VDC

▪ Analog Input Expansion, 10-bit resolution, 0-10VDC or 4 – 20ma

▪ 265VAC / 30VDC Relay Outputs, 8A Resistive Load (Isolated)

▪ Available with or without Keypad / Display

▪ 4-line, 12-character LCD backlit display

▪ 17 custom user screens

▪ 8 programming keys

▪ Retentive Flash memory

▪ Multi-language support: o English o French o German o Spanish o Portuguese o Chinese o Italian

▪ Built-in Real-Time Clock

▪ Program from front of controller or software

▪ Software supports simulator mode

Power Supply

▪ Input Power Voltage Range - DC Models: 12VDC, or 20.4-28.8VDC, or 85V – 265VDC; AC Models: 24VAC or 85-265VAC

▪ Power Consumption - 24VDC: 10-point, 90mA; 20-point: 150mA; 100-240VAC: 90mA

▪ Wire Range (all terminals) 26 to 14 AWG

IC210DDR012-AA

Programming ▪ Programming languages Ladder/Function Block ▪ Program Memory (Rungs/Blocks) 200/99 ▪ Programming storage media: Flash ▪ Execution Speed 10ms/cycle ▪ Windows based programming

Timers ▪ Maximum Number 15 ▪ Timing ranges 0.01 second ~ 9,999 minutes

Counters ▪ Maximum Number 15 ▪ Highest count 999,999 ▪ Resolution 1

Real-Time Clocks ▪ Number available 15 ▪ Resolution 1 minute ▪ Time spans available (1/week/etc) week/year-

month-day-hour-min

Analog Compares ▪ Number available 15 ▪ Compare versus other inputs: Timer current

value, Counter current value

GFK-2470 Chapter 1 Installation 1-3

1

General Specifications Item Specification Operation temperature 0-55 degrees Celsius Storage temperature -40 – 70 degrees Celsius Operation humidity 20-90% RH, no frost Environmental gas No corrosive gas exists

Vibration resistance IEC60068-2-6 standard 0.075mm amplitude/1.0g acceleration

Environmental Specifications

Impact resistance IEC60068-2-27 standard 15g peak, 11ms duration

ESD Contact ±6KV, air discharge ±8KV EFT Power DC/AC: ±2KV CS 0.15~80MHz 10V/m RS 80~1000MHz 10V/m

Noise-proofing

EMI EN55011 class B Enclosure Protection IP20 Installation method Panel-mount or DIN rail (35mm) installation Installation Mounting Orientation Any

Size of cable AWG 12/3.5mm2 Weights Controllers 10-point: 230 grams

Controllers 20 and 24-point: 345 grams Expansion Units 8-point:190 grams

Agency Approvals UL, CUL, CE Dimension 72×90×59.6 mm(W×L×H) DIN rail

72×106×59.6 mm(W×L×H) Direct installation Power Supply Input Power Voltage Range DC Models: 20.4-28.8VDC

AC Models: 85-265VAC (85 – 265VDC) 24VAC Models: 20.4-28.8VAC

Power Consumption 24VDC: 10-point, 90mA 20-point: 150mA 100-240VAC (85 – 265VDC): 90mA

Wire Size (all terminals) 26 to 14 AWG


1

Functional Specifications Programming Programming languages Ladder/Function Block Program Memory 200 Lines or 99 Function Blocks Programming storage media Flash Execution Speed 10ms/cycle LCD Display 4 lines x 12 characters Timers Maximum Number 15 Timing ranges 0.01s–9999min Counters Maximum Number 15 Highest count 999999 Resolution 1 Real Time Clock Number available 15 Resolution 1min Time span available week, year, month, day, hour, min Compare Instructions (Analog, Timer or Counter Values Number available 15 Compare versus other inputs Timer, Counter, or Numeric values


1

I/O Specifications

Discrete Inputs Current consumption 4mA @12VDC

3.2mA @24VDC 1.3mA @100-240VAC

Input Signal ”OFF” Threshold < 5VDC; < 40VAC Input Signal ”ON” Threshold > 15VDC; > 79VAC Input On delay DC: 5ms; 240VAC: 50ms; 120VAC: 90ms Input Off Delay DC: 3ms; 240VAC: 50ms; 120VAC: 90ms Transistor Type 3-wire PNP Sensor compatible High Speed Input frequency 1kHz Standard Input frequency < 40 Hz Required protection Inverse voltage protection required Analog Inputs (built into controller) Resolution 10 bit Voltage Range acceptable Analog input: 0-10VDC,

24VDC when used as discrete input Input Signal ”OFF” Threshold < 5VDC (as 24VDC discreet input) Input Signal ”ON” Threshold > 9.8VDC (as 24VDC discreet input) Isolation None Short circuit protection Yes Total number available A1-A8 Analog Inputs Expansion Resolution 10 bit Number of channels 4 Input Range acceptable Analog input: 0-10VDC, 4 – 20mA Isolation None Short circuit protection Yes Relay Outputs Contact material Ag Alloy Current rating 8Amp HP rating 1/3HP@120V 1/2HP@250V Maximum Load Resistive: 8A/point; Inductive: 4A/point Maximum operating time 15ms (normal condition) Life expectancy (rated load) 100k operations Minimum load 16.7mA Transistor Outputs PWM max. output frequency 0.5kHz (1ms on,1ms off) Standard max. output frequency 100Hz Voltage specification 10-28.8VDC Current capacity 1A Maximum Load Resistive: 0.5A/point; Inductive: 0.3A/point Minimum Load 0.2mA


1

Controllers and Expansion Modules Several types of Durus controllers are available, with and without the operator LCD/keypad. All Durus controllers can be easily connected to various types of expansion modules for additional I/O and communications protocols. Durus controllers can support up to 3 discrete expansion and one analog expansion unit.

The available Durus controllers and expansion modules are listed on the following pages.


1

DURUS-10 Controllers

Part Number Description IC210DAR010 10 point AC Power Source, 6 AC in/4out (Relay 8 Amp), Expandable, with

LCD/Keypad

IC210BAR010 10 point AC Power Source, 6 AC in/4out (Relay 8 Amp), Expandable, without LCD/Keypad

IC210NAR010 10 point AC Power Source, 6 AC in/4out (Relay 8 Amp), Not Expandable and without LCD/Keypad. No cover.

DURUS-12 Controllers Part Number Description

IC210DAR012 12 point 24VAC Power Source, (8) 24VAC in /(4) out (Relay 8 Amp), Expandable, with LCD/Keypad

IC210DDR112 12 point 12VDC Power Source, (6) 12VDC in /(4) out (Relay 8 Amp), (2) analog inputs, Expandable, with LCD/Keypad

IC210DDR012 12 point 24VDC Power Source, (6) 24VDC in /(4) out (Relay 8 Amp), (2) analog inputs, Expandable, with LCD/Keypad

IC210BDR012 12 point 24VDC Power Source, (6) 24VDC in /(4) out (Relay 8 Amp), (2) analog inputs, Expandable, with without LCD/Keypad

IC210NDR012 12 point 24VDC Power Source, (6) 24VDC in /(4) out (Relay 8 Amp), (2) analog inputs, Not Expandable and without LCD/Keypad. No cover.

IC210DDD012 12 point 24V DC Power Source, (6) 24VDC in/(4) out (Transistor) , (2) analog inputs, Expandable, with LCD/Keypad

IC210BDD012 12 point 24V DC Power Source, (6) 24VDC in/(4) out (Transistor) , (2) analog inputs, Expandable, with without LCD/Keypad

IC210NDD012 12 point 24V DC Power Source, (6) 24VDC in/(4) out (Transistor) , (2) analog inputs, Not Expandable and without LCD/Keypad. No cover.


1

DURUS-20 Controllers

Part Number Description IC210DAR020 20 point AC Power Source, (12) AC in/8 out (Relay, 8 Amp), Expandable, with

LCD/Keypad IC210BAR020 20 point AC Power Source, (12) AC in/8 out (Relay, 8 Amp), Expandable, with

without LCD/Keypad IC210NAR020 20 point AC Power Source, (12) AC in/8 out (Relay, 8 Amp), Not Expandable,

without LCD/Keypad. No cover.

DURUS-24 Controllers Part Number Description

IC210MDR124 24 point 12V DC Power Source, (12) 12VDC in/8 out (Relay, 8 Amp), (4) analog inputs, Expandable, with LCD/Keypad.

IC210DDR024 24 point 24V DC Power Source, (12) 24VDC in/8 out (Relay, 8 Amp), (4) analog inputs, Expandable, with LCD/Keypad

IC210BDR024 24 point 24V DC Power Source, (12) 24VDC in/8 out (Relay, 8 Amp), (4) analog inputs, Expandable, without LCD/Keypad

IC210NDR024 24 point 24V DC Power Source, (12) 24VDC in/8 out (Relay, 8 Amp), (4) analog inputs, not expandable, without LCD/Keypad. No cover.

IC210DDD024 24 point 24V DC Power Source, (12) 24VDC in/(8) out (Transistor), (4) analog inputs, Expandable, with LCD/Keypad

IC210BDD024 24 point 24V DC Power Source, (12) 24VDC in/(8) out (Transistor) , (4) analog inputs, Expandable, without LCD/Keypad

IC210NDD024 24 point 24V DC Power Source, (12) 24VDC in/(8) out (Transistor) , (4) analog inputs, not expandable, without LCD/Keypad. No cover.

IC210MDR024 24 point 24V DC Power Source, (12) 24VDC in/8 out (Relay, 8 Amp), (4) analog inputs, Expandable, with LCD/Keypad. Supports Modbus Slave on port.

IC210MDD024 24 point 24V DC Power Source, (12) 24VDC in/(8) out (Transistor) , (4) analog inputs, Expandable, with LCD/Keypad. Supports Modbus Slave on port.


1

I/O Expansion Option Modules Part Number Description

IC210EAR008 Expansion module, 120/230VAC Power Source, (4) AC in/(4) out (Relay, 8 Amp) IC210EAR208 Expansion module, 24VAC Power Source, (4) 24VAC in/(4) out (Relay, 8 Amp) IC210EDR008 Expansion module, 24VDC Power Source, (4) 24VDC in/(4) out (Relay, 8 Amp) IC210EDD008 Expansion module, 24VDC Power Source, (4) 24VDC in/(4) out (Transistor) IC210EAI004 Analog expansion module, 24VDC power source, 4 Analog input Voltage or

Current

Communications Option Modules Part Number Description

IC210EMS001 Modbus RTU slave communications expansion module, 24V DC power source IC210EPS001 Profibus-DP slave communications expansion module, 24V DC power source IC210EDS001 DeviceNet slave communications expansion module, 24V DC power source

Programming Software and Cables Part Number Description

IC646DUR001 Durus Programming and Simulation Software IC646DUR101 Durus Programming and Simulation Software. Includes Programming Cable. IC210CBL001 PC to Durus Programming Cable IC210CBL002 PDA to Durus Programming Cable

Accessories Part Number Description

IC210TMP001 Durus Portable Memory Pack


1

Comparison of Module Features Part Number Power

Source Number of

Inputs Number of

Outputs Analog Inputs

RTC LCD Key

Expandable

Motion

IC210DAR010 85-265VAC 85-265VDC

(6) AC or DC (4) Relay, 8 amp

Yes Yes Yes

IC210BAR010 85-265VAC 85-265VDC


Yes No Yes

IC210NAR010 85-265VAC 85-265VDC


Yes No No

IC210DAR010 24VAC (8) 24AC (4) Relay, 8 amp

Yes No No

IC210DDR112 12VDC (6) 12VDC (4) Relay, 8 amp

2 Yes Yes Yes 1KHz in



IC210BDR012 24VDC (6) 24VDC (4) Relay, 8 amp

2 Yes No Yes 1KHz in

IC210NDR012 24VDC (6) 24VDC (4) Relay, 8 amp

2 Yes No No 1KHz in

IC210DDD012 24VDC (6) 24VDC (4) 24VDC (Transistor)

2 Yes Yes Yes 1KHz in, PWM Out

IC210BDD012 24VDC (6) 24VDC (4) 24VDC (Transistor)

2 Yes No Yes 1KHz in, PWM Out

IC210NDD012 24VDC (6) 24VDC (4) 24VDC (Transistor)

2 Yes No No 1KHz in, PWM Out

IC210DAR020 85-265VAC 85-265VDC

(12) AC or DC

(8) Relay, 8 amp

Yes Yes Yes

IC210BAR020 85-265VAC 85-265VDC

(12) AC or DC

(8) Relay, 8 amp

Yes No Yes

IC210NAR020 85-265VAC 85-265VDC

(12) AC or DC

(8) Relay, 8 amp

Yes No No



IC210BDR024 24VDC (12) 24VDC (8) Relay, 8 amp

4 Yes No Yes 1KHz in

IC210NDR024 24VDC (12) 24VDC (8) Relay, 8 amp

4 Yes No No 1KHz in

IC210DDD024 24VDC (12) 24VDC (8) 24VDC (Transistor)

4 Yes Yes Yes 1KHz in, PWM Out

IC210BDD024 24VDC (12) 24VDC (8) 24VDC (Transistor)

4 Yes No Yes 1KHz in, PWM

IC210NDD024 24VDC (12) 24VDC (8) 24VDC (Transistor)

4 Yes No No 1KHz in, PWM

IC210MDR024 24VDC (12) 24VDC (8) Relay, 8 amp

4 Yes Yes Yes 1KHz in and Modbus Slave

IC210MDD024 24VDC (12) 24VDC (8) 24VDC (Transistor)

4 Yes Yes Yes 1KHz in, PWM and Modbus Slave

IC210MDR124 12VDC (12) 12VDC (8) Relay, 8 amp



1

Module Description

1. Power Supply terminals

2. LCD display

3. Input terminals

4. Retractable mounting feet

5. DELete key

6. SELect key

7. Arrow keys

8. OK key

9. ESCape key

10. Communications port for computer or Memory Option module

11. Output terminals

Durus controllers provide a custom operator interface through their LCD and keypad. Up to 15 unique screen displays can be created for each application program. Operators can monitor timers, counters, and other system functions. In Run mode, operators can edit the Preset Value of a Timer, Counter, or Compare instruction. To prevent unauthorized access, the program can be protected using a password. Displays can include information such as timer and counter values, operator messages,

Module Dimensions


1

Programming Features Programs can be created using the programming software or directly in the controller, using the keypad and LCD.

Programming Formats Durus Controllers provide two different programming formats, ladder logic and block diagram.

Ladder Logic Format Basic Instructions:

▪ Normal Output

▪ Set Coil

▪ Reset Coil

▪ Differential instruction

▪ Pulse output

Function Block Instructions:

▪ Timers

▪ Counters

▪ Real-time Clock

▪ Analog Compare

▪ HMI

▪ PWM output

Ladder Format in the Software

This example includes a Timer function block.

Ladder Format on the Controller LCD

This example shows a Timer function block.


1

Block Diagram Format Basic Instructions:

▪ NOT, AND, OR, NAND, NOR

▪ Set Coil

▪ Reset Coil

▪ Differential instruction

▪ Pulse output

Function Block Instructions:

▪ Timers

▪ Counters

▪ Real-time Clock

▪ Analog Compare

▪ HMI

▪ PWM output

Block Diagram Format in the Software

Block Diagram Format on the Controller LCD


1

Program Transfer Programs can be easily stored and transferred between modules using the optional Memory Pack. The same controller port can also be used for a cable connection to a computer RS-232 port (IC210TMP001).

Controller and Memory Pack Controller with RS-232 Cable


1

Communications Features Durus controllers provide the communications features listed below.

MODBUS RTU A Durus controller can communicate with a controller or other device via a MODBUS RTU Slave Communications Expansion Module, 24VDC (IC210EMS001). Chapter 8 describes the MODBUS RTU features provided by this module.

Profibus-DP Chapter 9 This chapter describes the Profibus-DP features that can be incorporated into a Durus controller system by including a Profibus-DP Slave Communications Expansion Module, 24VDC (IC210EPS001).

The Profibus-DP Slave Communications Expansion Module, 24VDC (IC210EPS001) always operates as network slave (2 below).

The GSD file can set up five different operating “modules”:

Read / write 14 bytes: Status of all coils, Run/Stop status of controller, function block values Read 7 bytes: Coils (I, X, Q, Y) Read 2 bytes : Coils (M) Write 2 bytes: Coils (M) Write 3 bytes: Coils (Q, Y)

DeviceNet Chapter 10 describes the DeviceNet features that can be incorporated into a Durus controller system by including a DeviceNet Slave Communications Expansion Module, 24VDC (IC210EDS001).

The DeviceNet Slave Communications Expansion Module operates as a DeviceNet Group II Only Slave device, interfacing the Durus controller to a DeviceNet communications bus. If a DeviceNet Communications Expansion Module is installed in the controller, it must be the only communications module present.


1

Data Link and Remote I/O The Datalink function on Durus controller models IC210MDR024 and IC210MDD024 uses MODBUS protocol to connect up to eight additional units of the same type as independent slaves. Each slave has its own application logic program and I/O.

W Memory 1 8 9 16 57 64

ID =0 ID =1 ID =7

Each controller on the Datalink network writes 8 bits of data to a specific area of W memory. Each controller can read the W memory areas of other controllers on the Datalink network.

Remote I/O In Remote I/O Mode, two controllers of the same type can be linked as a master and slave. The inputs of the slave are mapped to the X (expansion) inputs of the master, and the outputs of the slave are mapped to the Y (expansion) outputs of the master. The modules are connected via their RS-485 terminals, and exchange data using MODBUS RTU protocol. No application programming is needed to transfer the data. In this type of system, the slave controller module does not run an application program. It is controlled by the application program in the master.

Master Slave

Coil Type L 1 (L1 is assigned to Node ID 0 being programmed) L2 to L8 (Address of remote Nodes ID 1 to ID 7)

Function Mode 1 for Send (Broadcast out from ID 0) 2 for Receive (Receive from other Nodes (ID 1 to ID 7)

Coil Number I01 – 08, X01 – 08, Q01 – 08, Y01 – 08, M01 - 08

Select Address (Number of bits to be masked)

1 to 8

From (Node data) W01 to W64 To (Mapped data from Node)

I01 – 08, X01 – 08, Q01 – 08, Y01 – 08, M01 - 08

GFK-2470 2-1

Installation

This chapter describes the basic installation steps for Durus controller modules;

▪ Installation Environment

▪ Mounting Instructions

▪ Field Wiring

▪ I/O Link or Remote I/O Wiring

▪ Transferring Application Programs

▪ Inspection and Maintenance

2 Chapter


2

Installation Environment Modules must not be installed under conditions of:

▪ Ambient temperature above 0-55 degrees Celsius.

▪ Relative humidity outside the range 5-90%.

▪ Excessive dust, salt and iron powder.

▪ Direct sunshine.

▪ The environment is subject to frequent vibration and impact.

▪ The area contains erosive and inflammable gases susceptible to fire.

▪ The area is abundant of volatile oil gas, organic solvent, ammonia, electrolytic gas.

▪ Poor ventilation or close to heating source.

Installation in Hazardous Locations ▪ EQUIPMENT LABELED WITH REFERENCE TO CLASS I, GROUPS A, B, C & D, DIV. 2

HAZARDOUS LOCATIONS IS SUITABLE FOR USE IN CLASS I, DIVISION 2, GROUPS A, B, C, D OR NON-HAZARDOUS LOCATIONS ONLY

▪ WARNING - EXPLOSION HAZARD - SUBSTITUTION OF COMPONENTS MAY IMPAIR SUITABILITY FOR CLASS I, DIVISION 2;

▪ WARNING - EXPLOSION HAZARD - WHEN IN HAZARDOUS LOCATIONS, TURN OFF POWER BEFORE REPLACING OR WIRING MODULES; AND

▪ WARNING - EXPLOSION HAZARD - DO NOT DISCONNECT EQUIPMENT UNLESS POWER HAS BEEN SWITCHED OFF OR THE AREA IS KNOWN TO BE NONHAZARDOUS.

External Protection Devices The following external protection device should be installed:

▪ Emergency-Stop circuit

▪ Protection circuit

▪ Operation circuit for high-voltage components


2

Mounting Instructions DURUS modules can be mounted on a DIN rail, or panel-mounted for greater resistance to mechanical vibration and shock. Modules must be mounted in an upright position on a vertical surface or horizontal DIN rail. The diagrams below show correct mounting orientation. Modules must not be mounted on a horizontal surface or in a rotated orientation.


2

Panel Mounting For panel mounting, extend the module’s retractable mounting tabs and use M4 screws to mount the unit on the panel as shown below.

Connecting An Expansion Module To connect an expansion module (with the expansion connector installed), (1) press the latch on the Expansion module and (2) plug it into the master module as shown below. (3) Mount the Expansion unit on the panel with two screws.

Q1

DC 24V Input 8 x DC(A1,A2 0 ~ 10V)

Output 4 x Relay / 8A

+ AC 100~240V

Q4 Q3 Q2 Y3 Y4

Y2Y1


A2 A1 I5 I4 I6 I1 I2 - I3 X4X3X1 X2

Run

NL

Input 4×AC

Latch

Connector


2

DIN Rail Installation DURUS controllers and expansion modules snap easily onto a DIN rail. With the retractable mounting tabs pushed in: (1) Place the module over the DIN rail so that the upper mounting tab hooks behind the rail. (2) Pivot the module downward until it clicks into place, with the lower tab(s) secured around the rail.

To remove a module from the DIN rail: (1) pull out the retractable mounting tab(s) to release the DIN rail, and (2) pull the module away from the rail.

To add an expansion module (with the expansion connector installed), press the latch on the expansion module and slide it on the DIN rail to connect it to the master unit.

Q2 Q1


Q4Q3

DC 24V Input 8 x DC(A1,A2 0 ~10V)

I3 I4 I2 I1 - + A2I6 A1I5

Y4Y3

Y2Y1

AC 100~240V NL


Run

X3X2X1 X4 Input 4×AC

Connector

DIN Rail

Latch

Removing Module from a DIN Rail Installing Module on a DIN Rail


2

Mounting Clamps For modules installed on a DIN rail, mounting clamps should be installed at each end of the equipment to hold it in place on the DIN rail.

Mounting Clamp

DIN Rail


2

Field Wiring ▪ Use 0.75 ~ 3.5mm2 cable as the external wire.

▪ The I/O signal wires must not be routed parallel to power wires or high-current wires, or located in the high-current cable trays to prevent signal interference.

▪ Firmly fasten wires with lock screws to ensure good contact

▪ Tighten the lock screws using 4 ~ 6kgf.cm torque.

▪ Sensors should be connected using 3-wire cable only.


2

Over-current Protection Durus modules do not include internal protective fusing for outputs. External fusing should be installed between the each power source and load.


2

Field Wiring for 12-Point and 20-Point, 12/24VDC Input Modules

(1) Fuse (2A)

(2) Surge absorber (36V DC)

Sensor Wiring Use 3-wire, PNP only.


2

Field Wiring for 10-Point and 20-Point, 24VAC or 100/240VAC Modules

(1) Fuse (2A)

(3) Surge absorber (400V AC)

Relay Output Wiring

(4) Fuse or short circuit protective device

Transistor Output Wiring


2

I/O Link or Remote I/O Wiring In accordance to EIA RS-485 standard, DATA LINK can connect up to eight modules. Remote I/O can only connect two modules, a master and slave.

▪ The power supply and the I/O supply must share the same power source.

▪ Termination (6) should be added at the first and last device on a multidrop link. Only short circuit the first and the last module.


2

Transferring Application Programs The Memory compartment on the front of a Durus controller module provides a port for transferring application programs. The compartment can be used for either a Memory Option module, or a programmer cable.

Installing a Memory Option Module A Memory Option module (IC210TCM001) can be used to transfer programs from one controller to another.

To install a Memory Option module:

1. Remove the cover of the memory compartment on controller module with a flathead screwdriver.

2. Plug the Memory Option module into the slot.

3. Instructions for reading and writing a program are located later in this manual.


2

Connecting the Programming Computer A communications cable (IC210TCM001) can be attached for monitoring the controller or for exchanging programs and data.

1. Remove the cover of the memory compartment of the controller with a flathead screwdriver. Do not discard the cover.

2. Insert programmer cable into the slot

3. Connect the other end of the programmer cable with the RS-232 communication port on the computer.

4. Instructions for reading and writing a program are located later in this manual.


2

Inspection and Maintenance Item Description

Installation No loose modules, no loose screws Power voltage AC 100-240V DC 24V DC 24V±10% Input power AC 100 – 240V

DC 10V – 26.4V Output power Below AC 250V

Below DC 30V Ambient temperature 0-55 degrees Celsius. The temperature inside the

control panel shall equal to the ambient temperature Relative humidity 5-90%, no frost Vibration, Impact None Gas No corrosive gasses

GFK-2470 3-1

Function Blocks

This chapter describes the Function Blocks that can be included in both ladder logic and

block diagram application programs for a DURUS Micro PLC.

▪ Memory in the Controller

▪ Counters

▪ Timers

▪ Real-Time Clock Instructions

▪ Compare Functions

▪ PWM Output Instruction

▪ HMI Instructions

▪ Datalink Function

Chapter

3


3

Ladder Logic Instructions for the Application Program

This section describes program instructions that are available for ladder logic programs.

Program Function Blocks that are available in both ladder logic and Block Diagram mode

are described in chapter 3.

Basic Instructions

General Output

( )

SET Output

(��)

RESET Output

(��)

Pulse Output

(P)

N.O Contact

N.C. Contact

Quantity and Designations

Input Contact I i 12 (I1∼IC / i1∼iC)

Output Coil Q Q Q Q Q q 8 (Q1∼Q8 / q1∼q8)

Auxiliary Contact M M M M M m 15 (M1∼MF / m1∼mF)

High Speed Inputs Z Z 4 (Z1 ~ Z4)

Counter C C c 15 (C1∼CF / c1∼cF)

Timer T T T t 15 (T1∼TF / t1∼tF)

Expansion Input Contact X x 12 (X1~XC / x1~xC)

Expansion Output Coil Y y 12 (Y1~YC / y1~xC)

Differential (one-shot) D

positiveD

negative

RTC R R r 15 (R1∼RF / r1∼rF)

Analog Compare G G g 15 (G1∼GF / g1∼gF)

HMI H 15 (H1~HF)

PWM P 1 (P1)

DATA-LINK L 8 (L1~L8)

GFK-2470 Chapter 3 Function Blocks 3-3

3

Memory in the Controller

I Memory: The controller assigns digital inputs to I (input) memory. The number of digital

inputs available (6, 8, or 12) depends on the controller model.

Q Memory: Digital outputs are assigned to Q memory. Depending on the controller

model, either 4 or 8 digital output points are available.

M Memory: Auxiliary relays are assigned to M memory. Auxiliary relays are internal bits

that can be used in programs as either inputs or outputs. They do not represent actual

input or output devices.

T Memory: Timer Status Bits are assigned to T memory. Each Timer Status Bit shows the

relationship between the timer’s Preset Value and its Current Value. A Timer Status bit is

set to 1 when the Current Value is equal to or greater than the Preset Value.

C Memory: Counter Status Bits are assigned to C memory. Each Counter Status Bit

shows the relationship between the counter’s Preset Value and its Current Value. A

Counter Status bit is set to 1 when the Current Value is equal to or greater than the Preset

Value.

Memory Usage In Function Block Diagram edit mode, the logic block and function block share the system

memory, as shown below. So, for example, a Logic Block uses one unit of memory. A

Mode 7 Timer uses 1 function block unit plus 2 Timer units.

Function Block Timer Counter

RTC Comparator

Analog Comparator

Total Memory 99 15 15 15 15 Logic Block 1 Timer Mode 1~6 1 1 Timer Mode 7 1 2 Counter Mode 1~8 1 1 RTC Comparator Mode 1~3

1 1

Analog Comparator Mode 1~5

1 1


3

Example Memory Usage When the Function Block Diagram program contains:

2 AND Logic Blocks

1 OR Logic Block

2 Timers Mode 1

1 Counter Mode

1 RTC Comparator mode 1 Function Block

The total Function Blocks used are 2+1+2+1+1=7. The remainder is 99 (total memory) –7

(Function Blocks) = 92.

The timers used are 2 (Function Blocks) + 2 (Timers ) = 4. The remainder is 15 (total

timers) – 4 = 11.

The counter used is 1, and the remainder is 15 (total timers) –1 = 14.

The RTC comparator used is 1, and the remainder is 15 - 1=14.

The analog comparator is unused, so the remainder is 15.


3

Positive Input Differential Instruction A Positive Input Differential instruction is a one-shot. When the preceding series contact

transitions from Off to On, it turns On and stays On for one CPU sweep.

LCD Format: I1——D—— (Q1

Software Example:

I1 OFF ON OFF

D OFF ON OFF

One complete scan period Q1 OFF ON OFF

Negative Input Differential Instruction A Negative Input Differential instruction is a one-shot. When the preceding series contact

transitions from On to Off, it turns On and stays On for one CPU sweep.

I1 OFF ON OFF

d1 OFF ON OFF One complete scan period

Q1 OFF ON OFF


3

Normal Output A Normal output turns On when the preceding input goes On.

LCD Format: I1———— (Q1

Software Example:

I1 OFF ON OFF

Q1 OFF ON OFF

SET Output (Latch) A Set Output turns on either an output (Q) or auxiliary (M) coil when the preceding input

contact transitions from Off to On. The output remains On (set) even if the preceding input

contact goes Off. It remains On until it is set to 0 using a Reset instruction.

LCD Format: I1———— ↑Q1

Software Example:

I1 OFF ON OFF

Q1 OFF ON


3

RESET Output (Unlatch) A Reset Output turns Off an output (Q) or auxiliary (M) coil when the preceding input

contact transitions from Off to On. The output remains Off (reset) even if the preceding

input contact goes Off.

LCD Format: I1————↓Q1

Software Example:

I1 OFF ON OFF

Q1 ON OFF


3

Pulse Output (Flip/Flop) The Pulse Output turns ON either an output (Q) or Auxiliary (M) contact when the

preceding input contact transitions from Off to On. The output remains On until the

preceding input contact transitions from Off to On again. In this example, when

pushbutton I3 is pressed and released, motor Q4 turns On and stays On. When

pushbutton I3 is pressed again, motor Q4 turns Off and stays Off. The Pulse output

changes state from On to off each time the pushbutton is pressed.

LCD Format: I1————PQ1

Software Example:

I1 OFF ON OFF ON OFF ON OFF

i1 is opposite to I1 in phase i1

Q1 ON OFF ON OFF

Pulse Logic Diagram

Function Block Diagram:

→→→→

Note: The input terminal is NOP which is equivalent to Low


3

Counters

The DURUS controller provides 15 individual counters, each of which can count in any of

eight different modes. Six general counters are available with all controller types. An

additional two High-speed Counters are available with DC controllers only.

Ladder Logic

ParameterDescription

� Counting Mode (1-6)

Use (I1 ~ gF) to set counting up or counting down

OFF: counting up (0, 1, 2, 3, 4….)

�

ON: counting down ( ….3, 2, 1, 0)

Use (I1 ~ gF) to RESET the counting value

ON: the counter reset to zero and OFF �

OFF: the counter continues to count

� Current Counting Value, range:0~999999

� Target (Setting) Value, range:0~999999

� Code of the counter (C1 ~ CF total: 15 groups).

The setting value of the counter can be a constant or the present value of the timer,

counter，analog input A1~A4. I1 to gF can be:

Input terminal: I1~IC (I1~I12)

Output terminal: Q1~Q8

Expansion Input Terminal: X1~XC (X1~X12),

Expansion Output Terminal: Y1~YF(Y12),

Counter: C1~CF(C15)

Timer: T1~TF(T15)

RTC Comparator: R1~RF(R15)

Analog Comparator: G1~GF(G15)

Auxiliary Terminal: M1~ MF(M15).

The uppercase (I1) is Contact ‘a’ while the lowercase (i1) is Contact ‘b’.


3

Counter Mode 1: Count Up or Down to Preset, Non-Retentive Counter Mode 1 counts either up from zero to a Preset Value or down from the Preset

Value to zero, and then stops. The rising edge produces count pulses. If the count

direction is Up, the output is On when the Current Value is equal to the Target Value and

a reset sets the counter to zero. If the count direction is Down, the output is on when the

Current Value is equal to zero and a reset sets the Current Value to the Target Value. The

Current Value is non-retentive. It resets when the controller loses power.

Timing Diagram

Block Diagram Example

LCD Example for Counter Mode 1

Counting Input →→→→ Up/Down Counting →→→→

Reset →→→→ Counting Parameter →→→→


3

Counter Mode 2: Count Up or Down, Non-Retentive Counter Mode 2 counts either up from zero to a Preset Value or down from the Preset

Value to zero. The counter continues incrementing and sets a Status Bit after reaching the

Preset Value when counting up, or zero when counting down. The rising edge produces

count pulses. If the count direction is Up, the output is On when the Current Value is equal

to the Target Value and a reset sets the counter to zero. If the count direction is Down,

the output is on when the Current Value is equal to zero and a reset sets the Current

Value to the Target Value. The Current Value is non-retentive. It resets when the

controller loses power.

Timing Diagram




Reset →→→→

Counting Parameter →→→→


3

Counter Mode 3, Count Up or Down and Stop, Retentive Counter Mode 3 is similar to the Counter Mode 1 except that Counter Mode 3 retains the

Current Value after power is removed and continues counting when power is restored.

Timing Diagram




Reset →→→→



3

Counter Mode 4, Count Up or Down, Retentive Counter Mode 4 is similar to the Counter Mode 2 except that Counter Mode 4 retains the

Current Value after power is removed and continues counting when power is restored.

Timing Diagram



Counting Input →→→→

Up/Down Counting →→→→

Reset →→→→



3

Counter Mode 5, Count Up or Down, Non-Retentive Counter Mode 5 is a general counter that will count either up or down past the Target

Value. The rising edge produces the count pulses. When counting up, the output is On

when the Current Value reaches the Target Value. When counting down, the output is Off

while the Current Value is less than the Target Value, and the Current Value is held when

it reaches the Target Value. With this counter, the C1 Status Bit is set when the Current

Value reaches the Target Value for any state of the Direction Bit. The counter is always

reset to zero, regardless of the state of the Direction Bit or the counting direction. This

counter is non-retentive; the Current Value is lost if power is removed.

Timing Diagram




Reset →→→→ Counting Parameter →→→→


3

Counter Mode 6, Count Up or Down Past Preset Value, Retentive Counter Mode 6 is similar to the Counter Mode 5, except that Counter Mode 6 will retain

the count value after the power is removed and continue counting when the power is

restored.

Timing Diagram




Reset →→→→



3

High-Speed Counter (Only on DC Power Supply Models) DC power supply modules have two 1 KHz High-speed input terminals, I1 and I2. These

inputs can be used as either DC inputs or as High-Speed Counter inputs connected to an

input device such as an encoder.

Counter Mode 7, Count Up to Target Value Counter Mode 7 is a High-Speed Up Counter that operates at speeds up to 1KHz at

24VDC. The coil (C1-CF) that is specified by parameter 6 will turn On when the count

reaches the Preset Value (parameter 5), and remain On. The counter is reset when either

the Reset input (parameter 3) is active, or when the preceding ladder logic rung is

inactive.

Parameter Description

� Counting mode(7)—high speed counting

� High speed counting input terminal: only I1, I2 available.

� Use I1~gF to reset counting value.

ON: counter is reset to zero and �OFF

OFF: counter continues to count.

� Counter Current value: 0~999999

� Counter Preset value: 0~999999

Ladder Logic Format

� Code of Counter (C1~CF, Total: 15Groups)


3

Timing Diagram



High counting input →→→→

Enable Input →→→→

Reset →→→→

Counter Parameter →→→→

Note: High speed input terminal I1,I2


3

Counter Mode 8, Frequency Comparison Counter Mode 7 is a High-Speed Up Counter that operates at speeds up to 1KHz at

24VDC. The coil (C1-CF) that is specified by parameter 6 will turn On when the count

reaches the Preset On Value (parameter 4), and remain On until the count reaches the

Preset Off Value (parameter 5). The counter is reset when the preceding ladder logic

rung is inactive.


� Counting Mode(8)—Frequency Comparison

� High speed counting input terminal: only I1, I2 available.

� Counting interval time:(0~99.99S)

� Counter ‘on’ Preset value (000000~999999)

� Counter ‘off’ Preset value (000000~999999)

Ladder Logic Format

� Code of Counter (C1~CF Total :15Group)

Timing Diagram

As shown in the diagram, the output will be delayed for one interval.



High counting input →→→→

Enable Input →→→→ Reset

Counter Parameter →→→→


3

Timers

The controller provides 15 individual timers, each of which can count in any of seven

different modes. Six general counters types are available for all controller types. An

additional timer can be used as a pulse timer.


� Timer Mode (1-7)

� Timer Units 1: 0.00~99.99s 2: 0.0~999.9s 3: 0~9999s 4: 0~9999m

� Use I1~gF to reset the timer value.

ON = timer value is reset to Zero and � OFF

OFF = timer continues timing

� Timer Current Value

� Timer Preset Value

Ladder Logic Parameters

� Code of timer (T1~TF total: 15Group)

Note: The setting value of a timer can be a constant, or the present value of the timer,

counter or analog input of A1~A4.

For I1~gF, input terminal:I1~IC (I1~I12), output terminal: Q1~Q8,expansion input

terminal:X1~XC(X1~X12),expansion output terminal:Y1~YF(Y1~Y12),Counter

:C1~CF(C1~C15),Timer :T1~TF(T1~T15) , RTC Comparator:R1~RF(R1~R15), analog

Comparator: G1~GF(G1~G15), Auxiliary terminal:M1~MF�M1~M15�.

The uppercase (I1) is Contact ‘a’ while the lowercase (i1) is Contact ‘b’.


3

Timer Format

┌┘

2 ┐ 1 ┤ │ │ 6 8 . 0 1 ├ T 1I 1 ┴ ┘

Timer Number ( T1 to TF )

Preset Value:

00.00 to 99.99 or

000.0 to 999.9 or

0000 to 9999 or

Current Value: V1 to V8, A1 to A8, T1 to TF, C1 to CF

Current Value

Timer Type: 1, 2, 3, 4, 5, 6, 7. Type

7 cannot be selected here. It must

be selected in Ladder Logic edit

mode as type P.

Preset Timebase Value:

1 = 0.01 second

2 = 0.1 second

3 = 1 second

4 = 1 minute


3

Timer Mode 1, On-Delay Mode Timer In Mode 1, the Timer will increment up to the Preset Value then stop. The Current Value of

the timer is non-retentive; it is reset to zero if power is lost. The Timer Status Bit T1 is On

when the Current Value is equal to the Preset Value.

Timing Diagrams

1. The time 't' is the preset value. When the present value reaches the preset value, it

will stop. And the output will be ON till the enable changed to OFF.

2. When the Enable is ON, the present value increases , or the preset value will be

cleared to 0 as the enable is OFF.


LCD Example for Timer Mode 1


Timing Parameter →→→→


3

Timer Mode 2, On Delay with Reset Input Timer Mode 2 is an On-Delay Timer. In Mode 2, the Timer will increment up to the Preset

Value then stop timing. The Current Value of the timer is non-retentive; it is reset to zero if

power is lost or if the Reset input is set to 1. The Timer Status Bit T1 is On when the

Current Value is equal to the Preset Value.

Reaction times of the relay that are less than the minimum units are ignored.

Timing Diagrams

The time 't' is the Current Value. In the first diagram, t=t1+t2.

The Current Value increases until it is equal to the Preset Value and stops. The output is

On until the Reset input is On.




Reset →→→→



3

Timer Mode 3, Off Delay with Reset Timer Mode 3 is an Off-Delay Timer. In Mode 3, the Timer will increment up to the Preset

Value then stop timing. The Current Value of the timer is non-retentive; it is reset to zero if

power is lost or if the Reset input is set to 1. The Timer Status Bit T1 is On when the rung

is true; the timer only starts incrementing when the rung changes to false. The Timer

Status Bit goes Off when the timer’s Current Value reaches the Preset Value.

Timing Diagrams

1. The time 't' is the Preset Value. The output goes from On to Off when the Current Value

reaches the Preset Value. The Current Value is reset to zero.

2. The Output is Off once the Reset input is On. Also, the Current Value is reset to zero.

3. The Current Value is cleared to zero if the Enable input transitions from Off to On while

the Current Value is increasing.

4. The Output goes On when Enable transitions from Off to On while the Current Value

stops increasing. Conversely, the Current Value increases if the Enable input transitions

from On to Off.


3




Reset →→→→



3

Timer Mode 4, Off Delay with Reset Timer Mode 4 is an Off-Delay Timer with a Reset input parameter. In Mode 4, the Timer

increments up to the Preset Value, then stops. The Current Value of the timer is non-

retentive; it is reset to zero if power is lost or if the Reset input is set to 1. The Timer

Status Bit T1 goes On and the Current Value starts incrementing when the rung

transitions from true to false. When the Current Value reaches the Preset Value, the Timer

Status Bit goes Off and the Preset Value is reset to zero.

If the Reset input goes On, the Present Value resets to zero and the timer output goes Off.

If the Enable input transitions from Off to On while the timer is incrementing, the Current

Value is cleared to zero.

When the Enable input transitions from Off to On, the output is Off and the Current Value

is held. When the Enable input goes from Off to On, the output goes On and the Current

Value starts incrementing.


3

Timing Diagrams




Reset →→→→



3

Timer Mode 5, Flash without Reset Input Timer Mode 5 is a Flash Timer. In Mode 5, the Timer increments up to the Preset Value

then sets its Status Bit. The Current Value of the timer is non-retentive; it resets to zero if

power is lost. The Timer Status Bit T1 goes On and timing starts when the rung transitions

to true. The timer starts incrementing when the rung changes to false. The Timer Status

Bit goes Off when the timer’s Current Value reaches the Preset Value. The Timer Status

Bit’s Flash sequence continues as long as the rung remains true.

Timing Diagram

1. The time 't' is the Preset value.

2. The output state goes from On to Off if the Current Value reaches the Preset

Value while the Enable is On. The Current Value resets to zero. This operation is

repeated until the Enable state changes to Off.

3. The output goes Off and the Current Value resets to zero when the Enable

input goes Off.






3

Timer Mode 6, Flash with Reset Input Timer Mode 6 is a Flash Timer with a Reset input. In Mode 6, the Timer will increment up to the Preset Value then set its Status Bit. The Current Value of the timer is non-retentive; it is reset to zero if power is lost or if the Reset input goes to 1. The Timer Status Bit T1 goes On and timing starts when the rung is true. The Timer Status Bit goes Off when the timer’s Current Value reaches the Preset Value. Timing continues until the Reset Input goes to 1 or power is removed.

Timing Diagrams

In the diagrams, 't' is the Preset Value.

The output state goes from On to Off if the Current Value reaches the Preset Value while

the Enable is holding On or positively-triggered. The Current Value resets to zero. This

operation repeats until the Enable state changes to On.

The output goes Off and the Current Value resets to zero when the Reset input goes On.




Reset →→→→ Timing Parameter →→→→


3

Timer Mode 7, Cascaded Flash Timer without Reset Timer Mode 7 is a special mode that connects two timers, t1 and t2, in series. It occupies

two of the module’s 15 timers. In Timer Mode 7, the Timer Status Bit of the first timer is

used as the enable input for the second time, and vice-versa.

The first timer increments until its Current Value reaches its Preset Value. It then flashes

its Timer Status Bit to On. That starts the second timer, which increments up to its Preset

Value (which can be different than the Preset of the first timer). When timer 2 flashes its

Timer Status Bit On, it enables the first timer. This type of timer can be combined with a

counter to count completed timing cycles.

The Current Value is non-retentive; it is reset to zero if power is lost.

Timing Diagram






3

Real Time Clock Instructions

The DURUS controller provides 15 individual Real Time Clock (RTC) instructions, each of

which can operate in any one of three different modes. The initial values for the Real Time

Clock can be supplied from the controller keypad or from the Client software.


� First day: MO, TU, WE, TH, FR, SA, SU

� Second day

� RTC mode Mode 1 = daily, Mode 2 = weekly

� RTC displays the hour of present time.

� RTC displays the minute of present time

� Set RTC hour ON

� Set RTC Minute ON

� Set RTC Hour OFF

Set RTC Minute OFF

Daily or Weekly Mode

○10 RTC Number (1 to 15)


3

RTC Mode 1, Daily In this mode, the RTC goes On and Off each day at the specified times.


LCD Example for RTC Mode 1


RTC Parameter →→→→

Example 1: � 1 RTC Mode 1 = daily

� � TU-FR First day = Tuesday Second day = Friday

� � 08:00 Hour on (08), Minute On (00)

� � 17:00 Hour off (17), Minute Off (00)

Day Monday Tuesday Wednesday … Friday Saturday Sunday Time 8:00 17:00 8:00 17:00 8:00 17:00 8:00 17:00 ENABLE

Rn Output

If ENABLE fails, the output goes OFF:

Day Monday Tuesday Wednesday … Friday Saturday Sunday Time 8:00 17:00 8:00 17:00 8:00 17:00 8:00 17:00 ENABLE

Rn Output


3

Example 2:

� 1 RTC Mode 1 = daily

� � FR-TU First day = Friday Second day = Tuesday

� � 08:00 Hour on (08), Minute On (00)


Day Monday Tuesday … … Friday Saturday Sunday Time 8:00 17:00 8:00 17:00 8:00 17:00 8:00 17:00 8:00 17:00

ENABLE

Rn Output

Example 3:

� 1 RTC Mode 1 = daily

� � SU-SU First day = Sunday Second day = Sunday

� � 17:00 Hour on (17), Minute On (00)



ENABLE

Rn Output


3

RTC Mode 2, Weekly

In this mode, the RTC remains On over a span of days, going On at the first specified time

and day and remaining on until the second specified time and day.





Example 1: � 2 RTC Mode 2 = range of days

� � TU-SA First day (on) = Tuesday Second day (off) = Saturday

� � 08:00 Hour on (08), Minute On (00)



ENABLE

Rn Output

If ENABLE is unavailable, the output goes OFF.


ENABLE

Rn Output OFF


3

Example 2: � 2 RTC Mode 2 = Range of Days

� � TU-SA First day (on) = Tuesday Second day (off) = Saturday

� � 17:00 Hour on (17), Minute On (00)



ENABLE

Rn Output

Example 3: � 2 RTC Mode 2 = Range of Days

� � SA-TU First day (on) = Saturday Second day (off) = Tuesday

� � 08:00 Hour on (08), Minute On (00)



ENABLE

Rn Output

Example 4:

In this example, because the start time comes before the end time, the RTC goes On and

Off the same Saturday.

� 2 RTC Mode 2 = Range of Days

� � SA-SA First day (on) = Saturday Second day (off) = Saturday

� � 08:00 Hour on (08), Minute On (00)



ENABLE

Rn Output


3

Example 5:

In this example, because the start time comes after the end time, the RTC goes On one

Saturday and Off the next Saturday. The result is that the RTC is always On except from

8:00 to 17:00 on Saturday.

� 2 RTC Mode 2 = Range of Days

� � SA-SA First day (on) = Saturday Second day (off) = Saturday

� � 17:00 Hour on (17), Minute On (00)



ENABLE

Rn Output


3

RTC Mode 3: Year, Month, Day Operation Year-Month-Day Mode






� RTC mode 3 = Year-Month-Day

� Set RTC Year ON

� Set RTC Year OFF

� Display RTC Present time: Year-Month-Day

� Set RTC month ON

� Set RTC Day ON

� Set RTC month OFF

� Set RTC Day OFF

RTC Number (1 to 15)


3

Example 1: � 3 RTC Mode 3 = Year, Month. Day, Time

� / � / � 03/05/23 RTC goes On May 23, 2003

� / � / � 04/12/22 RTC goes Off December 22, 2004

Year-Month-Day 2000/01/01 … 2003/05/23 … … 2004/12/22 … 2099/12/30 Time 0:00 0:00 0:00 0:00 ENABLE Rn Output

If ENABLE fails, the output goes OFF:

Year-Month-Day 2000/01/01 … 2003/05/23 … … 2004/12/22 … 2099/12/30 Time 0:00 0:00 0:00 0:00

ENABLE

Rn Output

Example 2:

� 3 RTC Mode 3 = Year, Month. Day, Time

� / � / � 03/05/23 RTC goes Off May 23, 2003

� / � / � 04/12/22 RTC goes On Dec 22, 2004

Year-Month-Day 2000/01/01 … 2003/05/23 … … 2004/12/22 … 2099/12/30Time 0:00 0:00 0:00 0:00 ENABLE Rn Output


3

Example 3:

In this example, because the same day is specified for both On and Off, the RTC does not

go on.

� 3 RTC Mode 3 = Year, Month. Day, Time

� / � / � 03/05/23 RTC goes On May 23, 2003

� / � / � 03/05/23 RTC goes Off May 23, 2003

Year-Month-Day 2000/01/01 … 2003/05/23 … … 2004/12/22 … 2099/12/30

Time 0:00 0:00 0:00 0:00 ENABLE

Rn Output


3

Real Time Clock: 30 Second Modify Mode Block Diagram Example




Example 1:

Begin Thursday, At 08:00:20 (hour:minutes:seconds)

At the specified On time of 08:00:20, if the R output is off, the function takes effect. The

RTC is set to 8:00:00, and the Rn output is turned On. When RTC goes to 08:00:20 again,

the Rn output is turned Off. There the On duration of the Rn output is 20 seconds.

Example 2:

Begin Thursday, At 08:00:40 (hour:minutes:seconds)

At the specified On time of 08:00:40, the function takes effect. The Rn output is turned On

for one scan time when the RTC is set to 08:01:00.


3

Compare Functions

The DURUS controller provide 15 individual Compare instructions. They can be used to

compare analog values, timers, counters and RTC values to each other, or to a specified

parameter value.

The ON or Off state of the output terminal (G1 through GF) depends on the comparison

of inputs of Ax and Ay. There are five Compare modes:

▪ Compare mode 1: If AY - ⑥ ≤ AX ≤ AY + ⑥, turn output terminal ⑦ On

▪ Compare mode 2: If AX ≤ AY, turn output terminal ⑦ On

▪ Compare mode 3: If AX ≥ AY, turn output terminal ⑦ On

▪ Compare mode 4: If AX ≤ ⑥, turn output terminal ⑦ On

▪ Compare mode 5: If AX ≥ ⑥, turn output terminal ⑦ On


� Compare Mode (1~5)

� AX analog input (A1~A4), the present value of a timer or counter, or a constant.

� AY analog input (A1~A4), the present value of a timer or counter, or a constant.

� AX analog input value(0.00~9.99)

� AY analog input value (0.00~9.99)

� Set reference comparative value: could be constant, or the present value of the timer, counter or analog input.

� Output terminal (G1~GF)


3

Compare Mode 1, Output is On if: Ay – Ref <= Ax <= Ay + Ref Block Diagram Example

LCD Example for Compare Mode 1


Analog Input →→→→

Analog Input →→→→ Reference →→→→

Compare Mode 2, Output is On if: Ax <= Ay Block Diagram Example


Enable Input →→→→ Analog Input →→→→ Analog Input →→→→

Reference →→→→


3

Compare Mode 3, Output is On if: Ax => Ay Block Diagram Example


Enable Input →→→→ Analog Input →→→→ Analog Input →→→→


Compare Mode 4, Output is On if: Ref >= Ax Block Diagram Example

LCD Example for Compare Mode 4 Enable Input →→→→

Analog Input →→→→



3

Compare Mode 5, Output is On if: Ref =< Ax Block Diagram Example

LCD Example for Compare Mode 5 Enable Input →→→→ Analog Input →→→→



3

PWM Output Instruction

DURUS controllers with transistor outputs have a PWM output terminal, Q1, that can

output Pulse-Width Modulated (PWM) waveforms with as many as eight stages.

The output waveform of output terminal ‘P1-⑧’ is determined by the preset waveform of

input terminal 1-③，2-④，3-⑤ and PWM Enable.

Enable ⑤ ④ ③ ② ⑧ ⑧⑧ ⑧⑧ Output PWM

Off idle idle idle 0 Off On Off Off Off 1 Set stage 1 On Off Off On 2 Set stage 2 On Off On Off 3 Set stage 3 On Off On On 4 Set stage 4 On On Off Off 5 Set stage 5 On On Off On 6 Set stage 6 On On On Off 7 Set stage 7 On On On On 8 Set stage 8


� Set display stages (1~8)

� Display the present stage as operation (0~8)

� Input Selected Stage 1 (I1~gF)



� Set PWM pulse width (0~32768ms)

� Set PWM Period (1~32768ms)

� PWM output terminal P1


3

HMI Instructions

The DURUS controller provides up to 15 HMI instructions. Each HMI instruction can be

used to set up a custom 4-line by 12-character display on the controller’s LCD screen.

Displays can include information such as timer and counter values, operator messages,

In Run mode, the Target Value of a Timer, Counter, or Compare instruction can be edited

using HMI.

HMI/TEXT; for display text

The first parameter selects the display mode. The first page displays =1, first page doesn’t

display = 2.

The displayed information can only be input using the programming software. In Run

mode, the target value of the timer, counter, RTC and analog comparator can be modified

using the HMI function on the controller.


� Display mode（1 Display and 2 No Display）

� HMI character output terminal (H1~H8)


3

DATALINK Function

Data Link

The DATALINK function is available on 20-point transistor output models. It can be used

to connect up to eight units of the same type as independent slaves.

W Memory

1 8 9 16 57 64

ID =0 ID =1 ID =7

Each slave has its own application logic program and I/O. Each controller ID is associated

with a set of eight I/O points in W memory.

Controller ID Memory Location 0 W1~W8 1 W9~W16 2 W17~W24 3 W25~W32 4 W33~W40 5 W41~W48 6 W49~W56 7 W57~W64

Each controller module can write to its set of eight bits as shown above. Each module can

read any or all of the W data, Connections are made through the RS-485 terminals, as

shown in chapter 2.

Notes:


� Send or Receive mode: 1= send 2= receive

� Set the send/receive points(1~8)

� Set the send/receive points

� Send/receive memory list location

� Data link output terminal (L1~L8)


3

① Only one unit can be set up for Send mode. That unit will operate as the Master. The

other units on the link must be set up for Receive mode, and will operate as the Slaves.

② Selecting input points: I1~IC(I12), output points: Q1~Q8, expansion input points:

X1~XC (X12), expansion output points: Y1~YF( Y15), auxiliary points: M1~MF (M15).

③ In Receive mode, the memory range is determined by the controller ID which cannot

be changed.

I1———— (L1

Example 1, DATALINK Mode 1, Send Data

In this example, the Mode parameter is set to 1 (Send). Parameter 2, the Send/receive

point, is set to 5. Parameter 3 is set to start from I3, the state of actual sending terminal

I3~I7 is sent to memory list; the controller ID = 3. For parameter 4, the state of

corresponding memory list position is W17~W24-④ and relationship of sending terminal is

as below:


3

Example 2, DATALINK Mode 2, Receive Data

Set parameter 1 to 2 . Set parameter 2 to 5. Set parameter 3 to start from I3. Set

parameter 4 to start from W17. When enabling the Datalink, the state ‘ON/OFF’ of I3~I7 is

controlled by the state of parameter 4, memory list position W17~W21, which is

independent of the actual state of input terminal.

GFK-2470 4-1

Keypad Operations in Ladder Logic Mode

This chapter explains how navigate the controller LCD screens and make changes using

the built-in keypad, in Ladder Logic mode.

▪ Startup Screen

▪ Controller Main Menu in Ladder Mode

▪ Editing Ladder Logic

▪ Editing Function Blocks

▪ Run/Stop the Controller

▪ Clear the Current Program

▪ Write a Program

▪ Change the Controller Setup

▪ Set the Real-time Clock

▪ Enter Analog Gain and Offset

▪ Set or Change a Password

▪ Change the Display Language

▪ View Point States

▪ Display the Application’s HMI Screens

▪ Ladder Logic Editing on the Controller

▪ Function Block Editing on the Controller

Chapter

4


4

Startup Screen

By default, the controller LCD screen shows:

Input On / Off States

= On =Off

Run / Stop Mode

Output On / Off States

Point Numbers

Real-Time Clock Day, Date: Month

Use the module keypad to navigate and edit the display:

From this screen, the keypad actions are:

ESC Return to Main Menu

SEL+↑ ↓ In Ladder Edit Mode, display the state of other relays as shown on the next page.

SEL If the HMI function is enabled, HMI screens that have been created using the programming software are displayed if the SEL button is pressed for 3 seconds.

GFK-2470 Chapter 4 Keypad Operations in Ladder Logic Mode 4-3

4

Controller Main Menu in Ladder Mode

Pressing the ESC button from the initial screen displays the Main Menu.

The controller permits more operations in Stop mode than in Run mode, as shown below.

If the program in the controller is modified, the controller automatically saves changes to

its internal EEPROM, not to the optional Memory Module. Saving a program to the

Memory Module must be selected from the Main Menu.

▪ Use the Up arrow and Down arrow keys to select items from the Main Menu.

▪ Press OK to confirm a selection.

▪ Use the ESC key to go back to the initial screen.

Main Menu with the Controller in Stop mode:

> L A D D E R

F U N B L OC K

R U N

C L E A R P R OG . Clear program AND password

WR I T E Save Program to Memory Module

R E A D Read Program from Memory Module

S E T

R T C S E T

A N A L OG S E T

P A S S WOR D

L A N GU A GE Select the Language

I N I T I A L Set initial Edit Method

Main Menu with the Controller in Run mode:

> L A D D E R

F U N B L OC K

S T OP

WR I T E

R T C S E T

P A S S WOR D

L A N GU A GE


4

Edit Ladder Logic

Select Ladder and press OK. See Ladder Logic Editing on the Controller later in this

chapter for instructions.

Edit Function Blocks

Select FUNction BLOCK from the menu to edit Timers, Counters, Analog Compare

Functions, and other Function Blocks. See Function Block Editing on the Controller later in

this chapter for instructions.

Run / Stop the Controller

Select RUN or STOP from the menu to set the controller mode.

L A D D E RF U N . B L OC K

> R U NC L E A R P R OG .

Selecting RUN places the controller in Run mode. Selecting STOP places the controller in

Stop mode.

Clear the Current Program

In Stop mode, select Clear Program from the menu to clear the program and passwords.

This function can only be used in Stop mode.

L A D D E RF U N . B L OC KR U N

> C L E A R P R OG .


4

Write a Program

Select Write from the menu (by scrolling down) to write the program from the controller to

the Memory Option Module.

F U N . B L OC KR U NC L E A R P R OG .

> WR I T E

Read a Program

In Stop mode, select Read from the menu (by scrolling down) to read the program from

the Memory Option Module to the controller.

R U NC L E A R P R OG .WR I T E

> R E A D


4

Change the Controller Setup

In Stop mode, select Set from the menu (by scrolling down) to change the setup

parameters for the controller.

C L E A R P R OG .WR I T ER E A D

> S E T

Select the setup parameters:

I D S E T 0 0 RE MOT E I / O NB A C K L I GHT ✗

M KE E P

I / O N U MB E R : 0 I / O A L A R M: �

C K E E P ✗

Z S E T

Set ID Number (00 to 99)

Select Remote I/O: None, Master, Slave

Turn on the LCD screen backlight

Make M instruction status retentive

Number of Expansion modules (0 to 3)

Alarm if Expansion Number not matched

Save Counter Current Value during Run/Stop

Enable Z inputs


4

Set the Real-time Clock

Select RTC Set from the menu (by scrolling down) to set the Real-time Clock.

WR I T E R E A D S E T

> R T C S E T

RT C S E T V X . X 0 3 . 0 6 . 2 3 MO 0 9 : 3 7

Controller version

Set the Controller RTC

Use the keypad to enter the time and date:

SEL Begin to input the value SEL + ←/ → Move the Cursor

SEL + ↑ / ↓ 1. Year = 00~99,Month = 01~12,Day = 01~31 2.Week ⇔TU⇔WE⇔TH⇔FR⇔SA⇔SU⇔MO 3. Hour = 00~23 or Minute = 00~59

OK Save the RTC Time, finish the original screen setting, then display the initial programming screen,


4

Enter Analog Gain and Offset

In Stop mode, select Analog Set from the menu (by scrolling down) to enter or change

gain and offset values for analog inputs.

R E A D S E T R T C S E T

> A N A L OG S E T

A 1 = GA I N : 0 1 0 OF F S E T : + 0 0

A 2 = GA I N : 0 1 0 OF F S E T : + 0 0

A 3 = GA I N : 0 1 0 OF F S E T : + 0 0

A 4 = GA I N : 0 1 0 OF F S E T : + 0 0

A 5 = GA I N : 0 1 0OF F S E T : + 0 0

A 6 = GA I N : 0 1 0OF F S E T : + 0 0

A 7 = GA I N : 0 1 0 OF F S E T : + 0 0

A 8 = GA I N : 0 1 0 OF F S E T : + 0 0

For example, for input A1, the Gain is set to 100 and the Offset is set to +10. If input A1

has an analog voltage of 6.80 volts, the HMI text (voltage x Gain + Offset) for input A1 will

be equal to: (6.80V * 100) + 10 = 690. So the input value will be displayed as 690.


4

Set or Change a Password

Select Password from the menu (by scrolling down) to enter or change the controller

password.

S E T R T C S E T A N A L OG S E T

> P A S S WOR D

Set the Password

If a password is set, the password must be used to enter either Ladder Logic or Function

Block mode. In addition, the password is required to use the ESC button to exit the

homepage while the controller is in Run mode. If the password is forgotten, the only way

to recover is to clear the program.

P A S S WOR D ✘

0 1 2 3

P A S S WOR D ✘

****

OK

Clear (Remove) the Password

If a password is set, if can be removed by entering either 0000 or FFFF as the new

password. Either of those values removes password protection from the controller.

P A S S WOR D ✘

0 1 2 3

P A S S WOR D ✘

0 0 0 0

OK


4

Change the Display Language

Select Language from the menu (by scrolling down) to change the display language.

R T C S E T A N A L OG S E T P A S S WOR D

> L A N GU A GE

> E N GL I S H �

F R A N ç A I S E S P A ÑÑÑÑ OL I T A L I A N O D E U T S C H P OR T U GU E S 筒体中文


4

View Point States

From the initial screen, use the SELect and Arrow keys to display the point states.

SEL +

1 2 3 4 5 6 7 8 9 ABC

R U N WE 0 9 : 2 4A 1 = 6 . 8 3 VA 2 = 1 . 3 3 VA 3 = 4 . 8 7 VA 4 = 1 . 5 4 V

1 2 3 4 5 6 7 8 9 ABC

D E F G

1 2 3 4 5 6 7 8 9 ABC

D E F R

1 2 3 4 5 6 7 8 9 ABC

D E F C

1 2 3 4 5 6 7 8 9 ABC

D E F T

1 2 3 4 5 6 7 8 9 ABC

D E F M

1 2 3 4 5 6 7 8 9 ABC

0 3 . 1 0 : 0 4

1 2 3 4 5 6 7 8 9 ABC

R U N WE 0 9 : 2 4

Analog Input Values

G Table States: analog comparator

R Table States: RTC

C Table States: Counter

T Table States: Timer

M Table States: Auxiliary coil

RTC in Year, Month, Date Format

SEL +

SEL +

SEL +

SEL +

SEL +

SEL +

SEL +

SEL +

SEL +

SEL +

SEL +

SEL +

SEL +

SEL +

SEL +


4

Expansion Inputs and Outputs

When viewing expansion inputs and outputs, in addition to showing the individual point

states, the display also shows the status of the expansion module.

Expansion Input On/Off

States = On =Off

Expansion Output On / Off

States

Point Numbers


1 2 3 4 5 6 7 8 9 ABC

•••• 0 3 . 1 0 . 0 4

Expansion Module Status

= On =Not linked

= Not Set


4

Display the Application’s HMI Screens

From the initial screen, pressing the SEL button for three seconds displays any HMI

screens that have been created using the programming software. The content of these

screens depends on the application. Example HMI screens are shown below.

Press SEL for 3

seconds

1 2 3 4 5 6 7 8 9 A B C

R U N W E 0 9 : 2 4

H 1

Display H1

Display H2. If target value is displayed, it

can be modified. SEL

OK

Up / Down Arrow

OK

ESC

ESC

ESC

ESC

T 1 = 1 0 0 0 Mi n C 1 = 0 0 4 0 0 0 C 2 = 0 0 2 0 0 0

Down Arrow

Up Arrow

> T 1 = 1 0 0 0 Mi n C 1 = 0 0 4 0 0 0 C 2 = 0 0 2 0 0 0 Up / Down

Arrow move Cursor

T 1 = 1 0 0 0 Mi n> C 1 = 0 0 4 0 0 0 C 2 = 0 0 2 0 0 0

T 1 = 1 0 0 0 Mi n> C 1 = 0 0 4 0 0 0 C 2 = 0 0 2 0 0 0

T 1 = 1 0 0 0 Mi n> C 1 = 1 0 4 0 0 0 C 2 = 0 0 2 0 0 0

T 1 = 1 0 0 0 Mi n> C 1 = 1 0 4 0 0 0 C 2 = 0 0 2 0 0 0

T 1 = 1 0 0 0 Mi n> C 1 = 0 0 4 0 0 0 C 2 = 0 0 2 0 0 0


4

Change a Preset

If the HMI screens have been set up in the programming software to include changing

Presets, they can be modified using the controller keypad. The following example shows

how to modify the Preset Value of C1 in Run mode. In this example, the Preset Value

000010 of counter mode 7 is used as the Current Value of T2.

1. In the HMI screen, press SEL.

T 1 = 0 0 . 0 0 S e cT 1 = 0 0 . 0 5 S e cC 1 = 0 0 0 0 1 00 0 0 0 0 0

2. Press the Down arrow to move the cursor to the C1 Preset Value position.

T 1 = 0 0 . 0 0 S e cT 1 = 0 0 . 0 5 S e cC 1 = 0 0 0 0 1 00 0 0 0 0 0

3. Press SEL three times. The Preset Value changes from 000000 to A1 to T1.

T 1 = 0 0 . 0 0 S e cT 1 = 0 0 . 0 5 S e cC 1 = T 10 0 0 0 0 0

4. Press the Up arrow.

T 1 = 0 0 . 0 0 S e cT 1 = 0 0 . 0 5 S e cC 1 = T 20 0 0 0 0 0

5. Press OK to save the setting.


4

Ladder Logic Editing on the Controller

Ordinarily, ladder logic programs are created using the programming software, then stored to the controller. The program presently in the controller can be edited using the keypad as described below. For information about program functions, please refer to chapter 3.

Select Ladder from the Main Menu. In Ladder mode, the 16 horizontal positions on the screen are grouped into eight columns as shown below. Each ‘double’ column contains a character representing a program element (such as I for input), and a digit.

Keypad Functions in Ladder Mode Press Description

Ix ⇒ ix ⇒ ── ⇒ space ⇒ Ix (column 1, 3, or 5.)

Qx ⇒ space ⇒ Qx (column 8). ┬ ⇒ ┴ space ┴ ⇒ ┬ (for all except line 1, column 2, 4, or 6)

SEL

x : Digital: 1~F 1...F, ─

I ⇔ X ⇔ Q ⇔ Y⇔ M ⇔ D ⇔ T ⇔ C ⇔ R ⇔ G ⇔ I Q ⇔ Y ⇔ M ⇔ T ⇔ C ⇔ R ⇔ G ⇔H ⇔ L ⇔P ⇔ Q (Cursor in column 8) ( ⇔ � ⇔ � ⇔ P ⇔ ( Cursor at column 7 when column 8 Q, Y, or M)

SEL + Up Arrow

or Down Arrow

( ⇔ P ⇔ ( Cursor at column 7 when column 8 is set as T) SEL + ←/→ Confirm the input data and move the cursor Arrow keys Move the cursor

DEL Delete an instruction Cancel the instruction or action during editing. ESC Return to Main Menu from the program. Confirm the data and automatically save, the cursor moves to next input position.

OK

When the cursor is on Column 8, press OK to automatically enter the function block and set the parameters.

SEL+DEL Delete a line of an instruction. SEL+ESC Display the number of the lines and controller Run/Stop mode SEL+↑/ ↓ Skip up/ down every 4-line program. SEL+OK Insert a line of space


4

Ladder Logic Entry Example Column 1 2 3 4 5 6 7 8

Line 1 > L A D D E R 2 F U N . B L O C K 3 R U N

Initial Screen, with cursor at “Ladder”

4 C L E A R P R O G .

Column 1 2 3 4 5 6 7 8 Line 1

2 3

Step 1: Press ‘OK’ to place the display in Ladder Edit mode.

4

Column 1 2 3 4 5 6 7 8 Line 1 I 1

2 3

Step 2: Press SEL with cursor located at character or digit, press the button to show I1.

4

Column 1 2 3 4 5 6 7 8 Line 1 Q 1

2 3

Step 3: Press Up Arrow twice. (Press SEL + Up / Down and the digit at the cursor position will change from I to Q). 4

Column 1 2 3 4 5 6 7 8

Line 1 q 1 2 3

Step 4: Press SEL to start /end modifying parameter.

4

Column 1 2 3 4 5 6 7 8 Line 1 q 1

2 3

Step 5: Press Right Arrow. (Press SEL + Right / Left Arrow if cursor is located on the digit position in a column). 4

Column 1 2 3 4 5 6 7 8

Line 1 q 4 2 3

Step 6: Press Up Arrow three times. (Press SEL + Up / Down Arrow, the digit will change from 1 to 4)

4


4

Ladder Logic Example, continued Column 1 2 3 4 5 6 7 8

Line 1 q 4 2 3

Step 7: Press Left Arrow (Press SEL + Left / Right Arrow to move the cursor to the position).

4

OR Column 1 2 3 4 5 6 7 8

Line 1 q 4 2 3

Press OK to move the cursor to character in column 3.

4

OR Column 1 2 3 4 5 6 7 8

Line 1 q 4 2 3

Press Right Arrow to move the cursor to the link location in column 2.

4

Repeat steps1 to 7, and add M1 and I3 instructions to columns 3 and 5.

Column 1 2 3 4 5 6 7 8

Line 1 q 4 M 1 I 3 2 3

Step 8: Press OK in Column 5 to move the cursor to the character in column 8.

4

Column 1 2 3 4 5 6 7 8 Line 1 q 4 M 1 I 3 ( Q 1

2 3

Step 9: Press SEL (with the cursor located at character and digit, press SEL to show –( Q1)

4

Column 1 2 3 4 5 6 7 8

Line 1 q 4 M 1 I 3 ( Q 1 2 3

Step 10: Press OK to save the input program data. The cursor will not move.

4

Automatically Link

Auto Add “ -( ”

Automatically Link


4

Ladder Logic Example, continued Column 1 2 3 4 5 6 7 8

Line 1 2 3

Step 11: Press Right Arrow twice to move the cursor to column 1, and line 2.

4

Column 1 2 3 4 5 6 7 8 Line 1 q 4 M 1 I 3 ( Q 1

2 3

Step 12: Press Right Arrow twice to move the cursor to column 2.

4

Column 1 2 3 4 5 6 7 8 Line 1 q 4 ┬ M 1 I 3 ( Q 1

2 ┴ 3

Step 13: Press SEL to display vertical line.

4

Column 1 2 3 4 5 6 7 8 Line 1 q 4 ┬ M 1 I 3 ( Q 1

2 ┴ 3

Step 14: Press OK to move the cursor to character in column 3.

4

Repeat steps 1 to 7 and key in ‘r 3’ , ―” at Line 2 and column 3 to 6.

Column 1 2 3 4 5 6 7 8

Line 1 q 4 ┬ M 1 I 3 ( Q 1 2 ┴ r 3 ( 3

Step 15: Press ‘OK’ in column 5 to move the cursor to the character position in column 8.

4

Column 1 2 3 4 5 6 7 8 Line 1 q 4 ┬ M 1 I 3 ( Q 1

2 ┴ r 3 ( Q 1 3

Step 16: Press SEL with the cursor located on a digit or character to display Q1.

4

Change Wire ‘ ’ to ‘ ’


4

Ladder Logic Example, continued

Column 1 2 3 4 5 6 7 8

Line 1 q 4 ┬ M 1 I 3 ( Q 1 2 ┴ r 3 ( C 1 3

Step 17: Press Up Arrow four times. (Press SEL + Up/ /Down Arrow) The character Q the cursor location changes to C. 4

Column 1 2 3 4 5 6 7 8

Line 1 q 4 ┬ M 1 I 3 ( Q 1 2 ┴ r 3 ( C 1 3

Step 18: Press Right Arrow key.

4

Column 1 2 3 4 5 6 7 8 Line 1 q 4 ┬ M 1 I 3 ( Q 1

2 ┴ r 3 ( C 7 3

Step 19 : Press Up Arrow key seven times. (Press SEL + Up / Down Arrow). The digit 1 at the cursor location changes to 7)

4

Column 1 2 3 4 5 6 7 8 Line 1 ┌ 1 ┐

2 I 1 ┤ │ 3 │ 0 0 0 0 ├ C 7

Step 20: Press OK to automatically switch to Function Block view and counter input parameter.

4 I 1 ┴ ┘

Column 1 2 3 4 5 6 7 8 Line 1 q 4 ┬ M 1 I 3 ( Q 1

2 ┴ r 3 ( C 7 3

Step 21: Press ESC to return to Ladder Logic mode.

4

Auto Enter Function

Block Edit


4

Delete A Program Element Column 1 2 3 4 5 6 7 8

Line 1 q 4 ┬ M 1 I 3 ( Q 1 2 ┴ r 3 ( C 7 3

4

Column 1 2 3 4 5 6 7 8 Line 1 q 4 ┬ M 1 I 3 ( Q 1

2 ┴ r 3 3

Press DEL to delete the element at the cursor location.

4

Display the Present Line and the Controller Operating Mode Column 1 2 3 4 5 6 7 8

Line 1 q 4 ┬ M 1 I 3 ( Q 1 2 ┴ r 3 ( C 7 3

Press SEL and EXC at the same time. Line 4 displays line number where the cursor is located and the controller operating mode.

4 S T O P L I N E 0 0 2

Delete A Line Column 1 2 3 4 5 6 7 8

Line 1 q 4 ┬ M 1 I 3 ( Q 1 2 ┴ r 3 ( C 7 3

4

Column 1 2 3 4 5 6 7 8 Line 1 q 4 ┬ M 1 I 3 ( Q 1

2 ┴ r 3 ( C 7 3 C L E A R L n 0 0 2

Press SEL and DEL at the same time. To cancel, press ESC. To accept, press OK.

4 E S C ? O K ?


4

Insert A Line Column 1 2 3 4 5 6 7 8

line 1 q 4 ┬ M 1 I 3 ( Q 1 2 ┴ r 3 ( C 7 3

4

Column 1 2 3 4 5 6 7 8 Line 1 q 4 ┬ M 1 I 3 ( Q 1

2 3 ┴ r 3 ( C 7

Press SEL and OK at the same time.

4

Move Up or Down Four Lines Column 1 2 3 4 5 6 7 8

line 1 q 4 ┬ M 1 I 3 ( Q 1 2 ┴ r 3 ( C 7 3 4

5

Column 1 2 3 4 5 6 7 8 line 1 q 4 ┬ M 1 I 3 ( Q 1

2 ┴ r 3 ( C 7 3 4

Press SEL and Up Arrow or Down Arrow at the same time.

5


4

Function Block Editing on the Controller

Select FUNction BLOCK from the menu to edit Timers, Counters, Analog Compare

Functions, and other Function Blocks.

L A D D E R> F U N . B L OC K

R U NC L E A R P R OG .

The screen shows the function blocks in the current program. Use the keys to move the

cursor and edit the function parameters.

Timer Format

┌┘

2 ┐ 1 ┤ │ │ 6 8 . 0 1 ├ T 1I 1 ┴ ┘

Timer Number ( T1 to TF )

Preset Value:

00.00 to 99.99 or

000.0 to 999.9 or

0000 to 9999 or


Current Value

Timer Type: 1, 2, 3, 4, 5, 6, 7. Type

7 cannot be selected here. It must

be selected in Ladder Logic edit

mode as type P.

Preset Timebase Value:

1 = 0.01 second

2 = 0.1 second

3 = 1 second

4 = 1 minute

Reset Input


4

Counter Format, Types 1 to 6

┌┘

6 ┐I 6 ┤ │ │ 0 1 2 3 3 3 ├ C 1I 8 ┴ ┘

If an Up Counter is selected, when the Reset Input is On, the Current Value clears to 0.

If the selected Counter Type is type 1, 2, 3, or 4 and down counting is selected, when the

Reset Input is Off, the Current Value is set to the Reset Value.

Counter Format, Type 7

┌┘

7 ┐I 1 ┤ │ │ 6 8 0 1 2 3 ├ C 1I 4 ┴ ┘

Counter Number ( C1 to CF )

Preset Value:

000000 to 999999 or


Current Value Counter Type: 1, 2, 3, 4, 5, 6.

Up / Down

Counter set input

Reset Input


Preset Value:

000000 to 999999 or


Current Value Counter Type: 7

High-speed Set

Input: I1 or I2

Reset Input


4

Counter Format, Type 8

┌┘

8 ┐I 2 ┤ 6 8 . 0 1 │ │ 0 1 2 3 1 4 ├ C 1 └ 1 1 1 4 1 4 ┘


Preset to On Counter Value:

000000 to 999999 or


Current Status (On / Off) Counter Type: 8

High-speed Set

Input: I1 or I2

Preset Time Interval:

00.00 to 99.99 seconds or


Preset to Off Counter Value:

000000 to 999999 or



4

Real Time Clock Format, Types 1 and 2

┌┘

S A─ M O ┐ 1 ┤ │ │ 0 1 : 2 3 ├ R 1 └ 1 1 : 1 4 ┘

Real Time Clock Format, Type 3

┌┘

6 8 ─ 6 1 ┐ 3 ┤ │ │ 0 1 . 2 3 ├ R 1 └ 1 1 . 1 4 ┘

Real Time Clock Format, Type 4

┌┘

S U ┐ 4 ┤ │ │ 0 7 : 1 1 ├ R 1 └ : 2 0 ┘

Week On / Off setting

RTC Number ( R1 to RF )

Preset On Value (On time setting):

00:00 to 23:59

Current Value

RTC Type: 1 or 2

Preset Off Value (Off time setting):

00:00 to 23:59

Year On / Off setting


Preset On Value (Month and Date):

01.01 to 12.31

Current Value

RTC Type: 3

Preset Off Value (Month and Date):

01.01 to 12.31

Week Set (On)


Preset On Value (Time):

00:00 to 23:59

Current Value

RTC Type: 4

Preset On Value (Seconds):

00 to 59


4

Analog Comparator Format

┌┘

1 ┐A 1 ┤ │A 2 ┤ ├ G 1 └ 1 1 . 2 3 V┘

HMI Format

┌┘

1 ┐ │ │ │ ├ H 1 └ ┘

PWM Format

When Selected Number is 1, Input 3 is Off, Input 2 is Off, Input 1 is Off.

When Selected Number is 2, Input 3 is Off, Input 2 I Off, Input 1 is On…..

When Selected Number is 8, Input 3 is On, Input 2 is On, Input 1 is On.

┌┘

1 ┐I 1 ┤ │I 2 ┤ 0 6 8 0 1 ├ P 1I 3 ┴ 0 0 1 2 3 ┘

Analog Instruction Number

( G1 to GF )

Analog 1, Current Value: 00.00 to 99.99V

Analog 1 set input A1 to A8 or

select Current Value: T1 to TF,

C1 to CF, C1 to C8

Compare Value:

00:00V to 99.99V or Current Value:

V1 to V8, A1 to A8, T1 to TF, C1 to CF

Analog 2, Current Value: 00.00 to 99.99V

Analog 2 set input A1 to A8 or

select Current Value: T1 to TF,

C1 to CF, C1 to C8

Select Number 1 to 8

PWM Number 1

Preset Pulse Width:

00001 to 32767

Current Selected Value (0 to 8)

Set Input 1

Set Input 2

Set Input 3

Preset Pulse Period:

00001 to 32767

Select Type 1 or 2

HMI Number H1 to HF


4

Data Link Format, Type 1

┌┘

1 ┐ 8 ┤ 1 0 1 ─ 0 8 │ │ ↓ ↓ ├ L 1 └ W 0 1 ─ 0 8 ┘

Data Link Format, Type 2

┌┘

2 ┐ 8 ┤ X 0 1 ─ 0 8 │ │ ↓ ↓ ├ L 1 └ W 1 7 ─ 2 4 ┘

Type 1: Send Status from

Ix, Mx, Qx, Xx, Yx to Wxx

Data Link Instruction

Number ( L1 to L8 )

When Own ID = 0: W01 to W08; ID = 1: W09 to W16;

ID = 2: W17 to W24; ID = 3: W25 to W32;

ID = 4: W33 to W40; ID = 5: W41 to W48;

ID = 6: W49 to W56; ID = 7: W57 to W64;

IC = 8: W01 to W08, Wxx is not selected

Select Instruction

Number range

1 to 8

Send Instruction I, M, Q, X, Y

Type 2: Receive Status from Wxx

to Ix, Mx, Qx, Xx, Yx

Data Link Instruction

Number ( L1 to L8 )

Select Receive: W01 to W08; W09 to W16; W17 to

W24; W25 to W32; W33 to W40; W41 to W48; W49

to W56; W57 to W64

Select Receive

Instruction

Number range

Receive Instruction I, M, Q, X, Y


4

GFK-2470 5-1

Software Operation in Ladder Logic Mode

The programming software has two separate programming modes: Ladder Logic and

Function Block Diagram. After the Ladder Logic or Function Block Diagram mode is

selected on the software startup screen, all software operations continue in that mode.

This chapter explains how use the programming software for programming, simulation,

and emulation in Ladder Logic mode. Similar instructions for using Function Block

Diagram mode are in chapter 7.

▪ Using the Ladder Logic Programming Software ▪ File menu functions ▪ Edit menu functions ▪ Operation menu functions ▪ View menu functions

▪ Editing Ladder Logic with the Programming Software ▪ Enter or edit an Instruction

▪ Using the Ladder Logic Software in Keypad Mode ▪ Button Functions in Keypad Mode ▪ Using the Computer Keyboard for Keypad Operations

Chapter

5


5

Using the Ladder Logic Programming Software

The main Ladder Logic toolbar functions are shown below. Functions that are not currently

accessible are grayed out on the software screen. Functions can also be selected using

the pulldown menus as described on the following pages.

Create new Program File

Open existing Program File

Save the current Program File

Print a Program

Print Preview

Use Controller Keypad for programming / editing

Use the software for Ladder Logic programming / editing

Program / edit the HMI function

Edit Ladder screen using Instruction Symbol

Use Software to monitor instructions and functions

Test and debug the program

Place the controller in Run mode

Place the controller in Stop mode

End Monitor / Simulation mode and start Program mode

Read the program from the controller

Write a program to the controller

Open the online help

GFK-2470 Chapter 5 Software Operation in Ladder Logic Mode 5-3

5

File Menu Functions Select File or select the appropriate buttons to access the File functions:

Open an existing ladder logic program, or select New to create a new application program.


5

Edit Menu Functions Select Edit or use the appropriate tools to access the Edit functions.

Select Model: Select the controller type to program or edit.

KeyPad: Switch the display to keypad mode.

I 1 ( T 1M 1 ( C 1


5

Ladder: Switch to the software’s ladder logic display to create or edit the current

Ladder Logic program. This is the recommended method.

Clear Comments: Remove any Ladder Logic comments on the program screen.

Find: Search for an element or instruction in the program.

Replace: Replace a program instruction.


5

HMI/Text: Use this function to program or edit the HMI; display custom messages,

change the Timer/Counter/RTC/Analog Preset Value and set instruction

M to On/Off in Run Mode. This screen has a tab for each custom screen

that can be set up.

Click on the Text Input characters at the bottom of the window to enter text

in the LCD format area at the top of the tab, as illustrated above.

The Display box must be checked to enable a page to be displayed on the

controller.

If the HMI screen should show Timer/Counter/Analog/Coil Status, select

the items to display on each line. When the HMI is enabled, it shows the

current value. For A1 to A4, it equals (input value * Gain + Offset). For A5

to A8, it equals (input value*10). During system operation, items on the HMI

screen can be edited as appropriate.

If the HMI screen should show the current status of I, M, X, and/or Z coils,

select them here from dropdown lists.


5

Analog Display: Click on this to enter the Gain and Offset for individual

analog inputs in the following window:

If the HMI screen should include a phone number, type it in the Phone

Number field and click Add. If Error Message HMI Text has been enabled,

the controller will automatically send a message.

Symbol This screen can be used to assign labels to individual program elements.

Depending on the selection for Display Enable, the program will display

the contact /coil only, the symbol only, or both.


5

Operation Menu Functions Use the Operation menu or the Main Menu buttons to access the Operation functions.

Monitor: Select Monitor to view the current status of all the program instructions and

functions when the software is linked with the controller.

Caution The controller will be in Run mode.

In the diagram above, the numbers indicate:

(1) Display All Active instruction status (On or Off).

(2) In Ladder Monitor Mode, the pink color shows the "On" or active

condition.

(3) Input Status Tool: can force inputs or internal memory relays On or Off.


5

Simulator: Use this Mode to test and debug the program.

Caution When using simulation, the virtual controller is in Run mode. If the

programmer is linked to the controller, the controller itself is also in Run

mode.

Simulator in Keypad Mode

In this mode, the screen shows the controller and I/O with simulation tools.

In the diagram above, the numbers indicate:

(1) Inputs I1 to IC: Use the computer keyboard keys 1 to 9, A, B, C to

change the On/Off status.

(2) When Outputs Q1 to Q8 are On, their color is red.

(3) For analog inputs A1 to A4, click on the cursor key symbols, or use the

Tab key to move the cursor. Use the Space key to select.

(4) Expansion Analog Inputs A5 to A8.

(5) High Speed Input Tool: Use the On/Off button to enable or disable High

Speed Inputs I1 and I2 inputs. When the status goes from Off to On, the

current count value is added to the I1 / I2 input value. Use Set to set or

change the input value (000001 – 9999999).

(6) for Expansion Inputs X1 to XC, use the computer keyboard keys

"Ctrl+X"+"1~9, A, B, C" to change On/Off status.

(7) When Expansion Outputs Y1 to YC are On, their color is red.


5

Simulator in Ladder Logic Mode

In this mode, the screen shows the Ladder Logic program and simulation

tools.

In the illustration above, numbers indicate:

(1) Display active instruction status (On or Off).

(2) In Ladder Simulator Mode, green color represents "On" condition.

(3) When cursor is on T, C, R, G, H, P, or L, it displays the current value.

(4) Input Status Tool: used to force Instructions On or Off.

(5) High Speed Input Tool: use On/Off button to enable/disable the High

Speed Inputs.

(6) Expansion Analog Input Tool: used for A5 to A8.

(7) Analog Input Tool A1 to A4: use On/Off to set a value. On is -> 9.80V,

Off is -> 4.90V. Inputs A1 to A4 can also be used as normal inputs.

Run ! Places the controller in Run Mode.

Caution: The controller will be in Monitor Mode when linked with the

programmer software.

Stop ! Places the controller in Stop Mode.

Caution: The controller will be in Program Mode when linked with the

programmer software.


5

Quit Ends Monitor/Simulation mode and places the controller in Program mode.

Warning: If linked with the controller in Monitor mode, the programmer

software will be in Program mode and the controller will be in Run mode.

Read: Reads the program from the controller. The computer must be linked with

the controller.

Write: Writes the program to the controller. The computer must be linked with

the controller.

RTC Set: When linked with the controller, the Real-time Clock value can be set. If

not linked with the controller, the computer will display its own clock

value.

Analog Set: Enter Gain and Offset values for Analog inputs.

For example, for input A1, the Gain is set to 100 and the Offset is set to

+10. If input A1 has an analog voltage of 6.80 volts, the HMI text (voltage x

Gain + Offset) for input A1 will be equal to: (6.80V * 100) + 10 = 690. So

the input value will be displayed as 690.


5

Password: In Password mode, the correct password is required to enter program edit

mode, or to use the ESC button to exit the Home page in Run Mode.

When the software is linked with the controller, the password can be set

or changed. The numbers 0000 and FFFF both select No Password

mode. Any other number from A000 to FFFE becomes the password. If

the password is forgotten, the only way to recover is using Clear

Program, which also clears the password.

Set Password

Change Password

Language: Select the controller language when linked to the controller.


5

Module System Set: When linked with the controller, the ID value and Remote I/O,

Expand I/O, M Keep, C Keep, and Back Light mode can be to read or set.

Link Com Port: Sets the computer serial port address to link with the controller’s (COM1-

COM8).


5

View Menu Functions The View menu controls what appears on the software screens.

I/O: In Ladder Logic Edit screen and in Program Mode, displays or hides

instructions used in the program.

Function: Moving the cursor onto a function displays the Current and Preset Value.

Capacity: Displays the controller ‘s available program memory.

Input Status Tool: Can be used by the controller in Monitor or Simulation Mode. In

Simulation mode, can turn I , X, and M points On or Off. In Monitor

mode, can turn only M points On or Off.


5

Simulation Analog Tool: Can be used by the controller in Simulation or Ladder Logic

mode. The controller can use the analog inputs as discrete inputs. On

>= 9.80V, Off <= 4.90V

If A1 >= 9.80V Input I9 is On, if A1 <= 4.90V Input I9 is Off,

if A2 >= 9.80V Input IA is On, if A2 <= 4.90V Input IA is Off,

if A3 >= 9.80V Input IB is On, if A3 <= 4.90V Input IB is Off,

if A4 >= 9.80V Input IC is On, if A4 <= 4.90V Input IC is Off.

Expansion Analog Tool: Like the Analog Simulation tool, described above. Can be used

by the controller in Simulation Mode.

High Speed Input Tool: Can be used by the controller in Simulation Mode to simulate the

High Speed 1K Hz Input I1 and I2 for Counter function type 7 and 8.

When Input I1/I2 status Off to On, the current count value is added to the

I1/I2 Input Value.


5

Editing Ladder Logic with the Programming Software

Use the tools in the Ladder Toolbar to edit a ladder logic program using the programming

software.

Input: I, i

Expanded input:

Output / relay

Expanded output / relay

Internal relay

Timer

Counter

Real-time Clock

Analog Comparator

Differential

HMI/Text display

PWM

Data Link

Connect instructions

Connect rungs

Delete instruction or rung

Insert instruction or rung

Edit program comment


5

Enter or Edit an Instruction To modify an instruction in a Ladder Logic program, double-click on the instruction or

press the keyboard Space key. Enter the parameters of the function. Examples:


5

Using the Ladder Logic Software in Keypad Mode

Select KeyPad from the Edit Menu or toolbar to use the software to edit a program in

keypad mode. The software screen displays a representation of the controller.

I/O Number: I1 to IC, Q1 to Q8

Controller Run or Stop Mode

Display Z Input Status. If valid: Up Arrow sets Z1 On Left Arrow sets Z2 On

Down Arrow sets Z3 On Right Arrow sets Z4 On

Display Week, Hour, Minute. If software is not linked to controller,

displays computer RTC value.

Button Functions in Keypad Mode When using the software to emulate the controller, clicking on the graphic keypad

performs the same functions as using the actual controller keypad.

Click on the virtual controller buttons to control edit operations.

Left-Click On Function Performed Right-Click on SEL, then Left-Click On

Function Performed

DELete Delete an instruction DELete Delete one line SELect Select an instruction SELect ESCape Cancel Edit mode ESCape Show the line number OK OK and set value OK Insert one rung of

space (not possible if line 200 has a rung.

Left Arrow Move cursor left Left Arrow Right Arrow Move cursor right Right Arrow Up Arrow Move cursor up Up Arrow Page up Down Arrow Move cursor down Down Arrow Page down


5

Using the Computer Keyboard for Keypad Operations The computer keyboard can also be used to perform the keypad functions.

/

7 8

4 5

1 2

- *

9

.

6

3

0

+

Enter

Controller Keypad Computer Keyboard Up Arrow 8 Down Arrow 2 Left Arrow 4 Right Arrow 6 SELect 9 DELete 7 ESCape 1 OK 3


5

GFK-2470 6-1

Keypad Operations in Function Block Mode

This chapter explains how navigate the controller LCD screens and make changes using the controller keypad, in Function Block mode.

▪ Startup Screen

▪ Controller Main Menu in Function Block Mode

▪ Edit Function Blocks

▪ Edit Parameters

▪ Run/Stop the Controller

▪ Clear the Current Program

▪ Write a Program

▪ Read a Program

▪ Change the Controller Setup

▪ Set the Real-time Clock

▪ Enter Analog Gain and Offsett

▪ Set or Change a Password

▪ Change the Display Language

▪ View Point States

▪ Display the Application’s HMI Screens

▪ Block Diagram Editing on the Controller

▪ Editing Coils and Contacts

▪ Editing Logic Blocks

▪ Editing Function Blocks

▪ Parameter Editing on the Controller

Chapter

6


6

Startup Screen By default, the controller LCD screen shows:

Input On / Off States

= On =Off

Run / Stop Mode

Output On / Off States

Point Numbers


Use the module keypad to navigate and edit the display:

ESC Return to Main Menu

↑ ↓ In Function Block Mode, display the state of other relays as shown on the next page.

SEL H Function are displayed if the SEL button is pressed for 3 seconds. If Mode 2 is selected for HMI, the H Function is not displayed.

GFK-2470 Chapter 6 Keypad Operations in Function Block Mode 6-3

6

Controller Main Menu in Function Block Mode Pressing the ESC button from the initial screen displays the Main Menu.

The controller permits more operations in Stop mode than in Run mode, as shown below. If the program in the controller is modified, the controller automatically saves changes to its internal EEPROM, not to the optional Memory Module. Saving a program to the Memory Module must be selected from the Main Menu.

� Use the Up arrow and Down arrow keys to select items from the Main Menu. � Press OK to confirm a selection. � Use the ESC key to go back to the initial screen.

Main Menu with the Controller in Stop mode:

> F U N B L OC K

P A R A ME T E R

R U N

C L E A R P R OG . Clear program AND password

WR I T E Save Program to Memory Module

R E A D Read Program from Memory Module

S E T

R T C S E T

A N A L OG S E T

P A S S WOR D

L A N GU A GE Select the Language

I N I T I A L Set initial Edit Method

Main Menu with the Controller in Run mode:

> F U N B L OC K

P A R A ME T E R

S T OP

WR I T E

R T C S E T

P A S S WOR D

L A N GU A GE

↑ ↓ Move the Cursor to select the Main Menu Items OK Confirm to enter the selected items

ESC Back to original screen


6

Edit Function Blocks Select FUNctionBLOCK and press OK. See Function Block Editing on the Controller later in this chapter for instructions.

Edit Parameters Select PARAMETER from the menu to edit block parameters. See Parameter Editing on the Controller later in this chapter for instructions.

Run / Stop the Controller Select RUN or STOP from the menu to set the controller mode.

F U N B L OC KP A R A ME T E R

> R U NC L E A R P R OG .

Selecting RUN places the controller in Run mode. Selecting STOP places the controller in Stop mode.

Clear the Current Program In Stop mode, select Clear Program from the menu to clear the program and passwords. This function can only be used in Stop mode.

F U N B L OC KP A R A ME T E RR U N

> C L E A R P R OG .

Write a Program Select Write from the menu (by scrolling down) to write the program from the controller to the Memory Option Module.

P A R A ME T E RR U NC L E A R P R OG .

> WR I T E


6

Read a Program In Stop mode, select Read from the menu (by scrolling down) to read the program from the Memory Option Module to the controller.

R U NC L E A R P R OG .WR I T E

> R E A D

Change the Controller Setup In Stop mode, select Set from the menu (by scrolling down) to change the setup parameters for the controller.

C L E A R P R OG .WR I T ER E A D

> S E T

Select the setup parameters:

I D S E T 0 0 RE MOT E I / O NB A C K L I GHT ✗

M KE E P

I / O N U MB E R : 0 I / O A L A R M: �

C K E E P ✗

Z S E T

Set ID Number (00 to 99)

Select Remote I/O: None, Master, Slave

Turn on the LCD screen backlight

Make M instruction status retentive

Number of Expansion modules (0 to 3)

Alarm if Expansion Number not matched

Save Counter Current Value during Run/Stop

Enable Z inputs


6

Set the Real-time Clock Select RTC Set from the menu (by scrolling down) to set the Real-time Clock.

WR I T E R E A D S E T

> R T C S E T

RT C S E T V X . X 0 3 . 0 6 . 2 3 MO 0 9 : 3 7

Controller version

Set the Controller RTC

Use the keypad to enter the time and date:

SEL Begin to input the value SEL + ←/ → Move the Cursor SEL + ↑ / ↓ 1. Year = 00~99,Month = 01~12,Day = 01~31

2.Week ⇔TU⇔WE⇔TH⇔FR⇔SA⇔SU⇔MO 3. Hour = 00~23 or Minute = 00~59

OK Save the RTC Time, finish the original screen setting, then display the initial programming screen,

Enter Analog Gain and Offset In Stop mode, select Analog Set from the menu (by scrolling down) to enter or change gain and offset values for analog inputs.

R E A D S E T R T C S E T

> A N A L OG S E T

A 1 = GA I N : 0 1 0 OF F S E T : + 0 0

A 2 = GA I N : 0 1 0 OF F S E T : + 0 0

A 3 = GA I N : 0 1 0 OF F S E T : + 0 0

A 4 = GA I N : 0 1 0 OF F S E T : + 0 0

A 5 = GA I N : 0 1 0OF F S E T : + 0 0

A 6 = GA I N : 0 1 0OF F S E T : + 0 0

A 7 = GA I N : 0 1 0 OF F S E T : + 0 0

A 8 = GA I N : 0 1 0 OF F S E T : + 0 0

For example, for input A1, the Gain is set to 100 and the Offset is set to +10. If input A1 has an analog voltage of 6.80 volts, the HMI text (voltage x Gain + Offset) for input A1 will be equal to: (6.80V * 100) + 10 = 690. So the input value will be displayed as 690.


6

Set or Change a Password Select Password from the menu (by scrolling down) to enter or change the controller password.

S E T R T C S E T A N A L OG S E T

> P A S S WOR D

Set the Password

If a password is set, the password must be used to enter either Ladder Logic or Function Block mode. In addition, the password is required to use the ESC button to exit the homepage while the controller is in Run mode. If the password is forgotten, the only way to recover is to clear the program.

P A S S WOR D ✘

0 1 2 3

P A S S WOR D ✘

****

OK

Clear (Remove) the Password

If a password is set, if can be removed by entering either 0000 or FFFF as the new password. Either of those values removes password protection from the controller.

P A S S WOR D ✘

0 1 2 3

P A S S WOR D ✘

0 0 0 0

OK


6

Change the Display Language Select Language from the menu (by scrolling down) to change the display language.

R T C S E T A N A L OG S E T P A S S WOR D

> L A N GU A GE

> E N GL I S H �

F R A N ç A I S E S P A ÑÑÑÑ OL I T A L I A N O D E U T S C H P OR T U GU E S 筒体中文


6

View Point States From the initial screen, use the SELect and Arrow keys to display the point states.

Down Arrow

1 2 3 4 5 6 7 8 9 ABC

R U N WE 0 9 : 2 4A 1 = 6 . 8 3 VA 2 = 1 . 3 3 VA 3 = 4 . 8 7 VA 4 = 1 . 5 4 V

1 2 3 4 5 6 7 8 9 ABC

D E F N

1 2 3 4 5 6 7 8 9 ABC

D E F M

1 2 3 4 5 6 7 8 9 ABC

0 3 . 1 0 : 0 4

1 2 3 4 5 6 7 8 9 ABC

R U N WE 0 9 : 2 4

Analog Input Values

N Table States

M Table States

RTC in Year, Month, Date Format

Up Arrow

Down Arrow

Up Arrow

Down Arrow

Up Arrow

Down Arrow

Up Arrow

Down Arrow

Up Arrow


6

Expansion Inputs and Outputs When viewing expansion inputs and outputs, in addition to showing the individual point states, the display also shows the status of the expansion module.

Expansion Input On/Off

States = On =Off

Expansion Output On / Off

States

Point Numbers


1 2 3 4 5 6 7 8 9 ABC

•••• 0 3 . 1 0 . 0 4

Expansion Module Status

= On =Not linked

= Not Set


6

Display the Application’s HMI Screens From the initial screen, pressing the SEL button for three seconds displays any HMI screens that have been created using the programming software. The content of these screens depends on the application. Example HMI screens are shown below.

Press SEL for 3

seconds

1 2 3 4 5 6 7 8 9 A B C

R U N W E 0 9 : 2 4

H 1

Display H1

Display H2. If target value is displayed, it

can be modified. SEL

OK

Up / Down Arrow

OK

ESC

ESC

ESC

ESC

T 0 1 = 1 0 0 0 C 1 2 = 0 0 4 0 C 9 9 = 0 0 2 0

Down Arrow

Up Arrow

> T 0 1 = 1 0 0 0 C 1 2 = 0 0 4 0 C 9 9 = 0 0 2 0 Up / Down

Arrow move Cursor

T 0 1 = 1 0 0 0> C 1 2 = 0 0 4 0 C 9 9 = 0 0 2 0

T 0 1 = 1 0 0 0 C 1 2 = 0 0 4 0 C 9 9 = 0 0 2 0

T 0 1 = 1 0 0 0 C 1 2 = 1 0 4 0 C 9 9 = 0 0 2 0

T 0 1 = 1 0 0 0> C 1 2 = 1 0 4 0 C 9 9 = 0 0 2 0

T 0 1 = 1 0 0 0> C 1 2 = 0 0 4 0 C 9 9 = 0 0 2 0


6

Change a Preset If the HMI screens have been set up in the programming software to include changing Presets, they can be modified using the controller keypad. The following example shows how to modify the Preset Value of C1 in Run mode. In this example, the Preset Value 000010 of counter mode 7 is used as the Current Value of T2.

1. In the HMI screen, press SEL.

T 1 = 0 0 . 0 0 S e cT 1 = 0 0 . 0 5 S e cC 1 = 0 0 0 0 1 00 0 0 0 0 0

2. Press the Down arrow to move the cursor to the C1 Preset Value position.

T 1 = 0 0 . 0 0 S e cT 1 = 0 0 . 0 5 S e cC 1 = 0 0 0 0 1 00 0 0 0 0 0

3. Press SEL three times. The Preset Value changes from 000000 to A1 to T1.

T 1 = 0 0 . 0 0 S e cT 1 = 0 0 . 0 5 S e cC 1 = T 10 0 0 0 0 0

4. Press the Up arrow.

T 1 = 0 0 . 0 0 S e cT 1 = 0 0 . 0 5 S e cC 1 = T 20 0 0 0 0 0

5. Press OK to save the setting.


6

Block Diagram Editing on the Controller Ladder logic programs are created using the programming software, then stored to the controller. The program presently in the controller can be edited using the keypad as described below. For information about program functions, please refer to chapter 3.

Select FUN(ction) Block from the Main Menu to place the screen in Function Block mode.

There are three basic types of blocks that can be included in the application program:

▪ Coils and Contacts: Inputs, Analog Inputs, Keypad Inputs, Outputs, M Markers, N Markers, High and Low Status, Expansion Inputs, Expansion Outputs, HMI Instructions, Datalink Outputs, PWM Outputs, Shift Outputs, and High-speed Pulse Inputs.

▪ Logic Blocks: AND, AND (edge), NAND, NAND (Edge), OR, NOR, XOR, NOT, and Pulse.

▪ Function Blocks: Timers, Counters, RTC, and Analog Compares.

Keypad Functions in Function Block Mode Press Description

Move the cursor�⇔�⇔� ← →

① is Bxx, press ‘←’ to enter Bxx screen

Modify the code-③(Q : 01~08 , Y : 01~0C , M ,N , H : 01 ~ 0F , L : 01~08 , P : 01 ,S : 01)

↑ ↓

Modify output coil type-② (Q⇔Y⇔M⇔N⇔H⇔L ⇔P⇔S⇔Q )

② ，③ confirm the output coil (as Q,Y,M,N,)，the cursor move to ①. OK

When ② is H,L,P,S, enter H,L,P,S setting screen (6)(7) (8)

ESC Back to Main Menu


6

Editing Coils and Contacts

①Input Terminal ③Output Coil Range Input I I01~I0C(12) Expansion Input X X01~X0C(12) Output Q Q Q01~Q08(8) Expansion Output Y Y Y01~Y0C(12) M Marker M M M01~M0F(15) N Marker N N N01~N0F(15) HMI H H01~H0F(15) PWM P P01(1) SHIFT S S01(1) DATALINK L L01~L08(8) Logic /Function Block B B01~B99(99) Normal ON Hi Normal OFF Lo No Connection Nop


6

Coils and Contacts, Example

┏ ━ ━ ━ ━ ┓

┃ ┃

N O P ┫ Q 0 1 ┃

Original Screen

┗ ━ ━ ━ ━ ┛

┏ ━ ━ ━ ━ ┓

┃ ┃

N O P ┫ Q 0 1 ┃

Step 1: Press Left Arrow key to move the cursor.

┗ ━ ━ ━ ━ ┛

┏ ━ ━ ━ ━ ┓

┃ ┃

I 0 1 ┫ M 0 1 ┃

Step 2: Press Up Arrow twice. Press Up / Down arrow to change Q to M. ┗ ━ ━ ━ ━ ┛

┏ ━ ━ ━ ━ ┓

┃ ┃

I 0 1 ┫ M 0 1 ┃

Step 3: Press Right Arrow to select value.

┗ ━ ━ ━ ━ ┛

┏ ━ ━ ━ ━ ┓

┃ ┃

B 0 1 ┫ M 0 9 ┃

Step 4: Press Down Arrow six times. Press Up / Down Arrow’ to modify 1 to 9. ┗ ━ ━ ━ ━ ┛

┏ ━ ━ ━ ━ ┓

┃ ┃

B 0 1 ┫ M 0 9 ┃

Step 5: Press OK to confirm coil M09. Step 6: Press Left Arrow to go to B01.

┗ ━ ━ ━ ━ ┛


6

Editing Logic Blocks The basic format of a Logic block is shown below.

Move the cursor ①⇔②⇔③⇔⑤⇔next output screen ← → ↑ ↓

If ①②③ is Bxx, Press ← to enter Bxx Screen. ESC Back to Main Menu

Editing Logic Blocks Example

┏ ┓ B 0 1

M 0 3 ┫ O R ┃

B 0 2 ┫ ┣ M 0 9

Step 1: Press Left or Down Arrow.

N O P ┻ ┛

┏ ┓ B 0 1

M 0 3 ┫ O R ┃

B 0 2 ┫ ┣ M 0 9

Step 2: Press Down Arrow once.

N O P ┻ ┛

┏ ┓ B 0 1

M 0 3 ┫ O R ┃

B 0 2 ┫ ┣ M 0 9

Step 3: Press Left Arrow. Enter B02 screen

N O P ┻ ┛


6

Logic Block Formats

AND Logic Diagram

→→→→

Equivalent Ladder Logic:

I01 And I02 And I03 Note: The input terminal is NOP which is equivalent to High

AND (EDGE) Logic Diagram

→→→→


I01 And I02 And I03 And D Note: The input terminal is NOP which is equivalent to High

NAND Logic Diagram

→→→→


Not(I01 And I02 And I03)

Note: The input terminal is NOP which is equivalent to High

NAND (EDGE) Logic Diagram

→→→→


Not(I01 And I02 And I03) And d Note: The input terminal is NOP which is equivalent to Low


6

OR Logic Diagram

→→→→


I01 or I02 or I03

NOR Logic Diagram

→→→→


Not ( I01 or I02 or I03 ) Note: The input terminal is NOP which is equivalent to Low

XOR Logic Diagram

→→→→


I01 Xor I02 Note: The input terminal is NOP which is equivalent to Low


6

SR Logic Diagram; Set/Reset Coil Function Block Diagram:

→→→→


Logic Table

I01 I02 Bxx

0 0 holding 0 1 0 1 0 1 1 1 0 Note: The input terminal is NOP which is equivalent to Low

NOT Logic Diagram

→→→→


Not I01 Note: The input terminal is NOP which is equivalent to High

Pulse Logic Diagram

→→→→



6

Editing Function Blocks There are four types of function blocks: Timers, Counters, Real Time Clock Comparator ‘R’, and Analog Comparator ‘G’.

← → ↑ ↓ Move the cursor ①⇔②⇔④⇔ Output coil / Function block screen OK 1.②enter the parameter setting screen of the function block ESC 1.Back to Main Menu

Editing Example

┏ ┓ B 0 2

Q 0 1 ┫ � ┃

┃ ┣ B 0 1

Step 1: Press Down Arrow twice.

P a r ┻ D D ┛

B 0 2 : R

O N S U 1 0 : 1 0

Step 2: Press OK. Enter Parameter setting screen

O F F T U 0 8 : 3 0


6

Parameter Editing on the Controller Select PARAMETER from the main menu to edit parameters.

① display the previous / next Function Block Parameter

← →

④，⑤ move the cursor

move the cursor from ① to ④

↑ ↓

move the cursor from ④，⑤ to ①

④modify the setting value (000000~999999) SEL then ↑ ↓ ⑤modify the time unit(0.01s⇔0.1s⇔1s⇔1min) OK Save the modified data after press ‘SEL’

Cancel the modified data after press ‘SEL’ ESC Return to Main Menu.


6

Parameter Editing Example Take timer (mode 1) as an example: Analog input A4 is set as Preset Value. Time units are seconds.

B 0 1 1 : T 2

T = 0 0 . 0 0 S

Step 1:

Press Up/ Down Arrow to move the cursor to default location.

B 0 1 1 : T 2

T = A 1 S

Step 2:

Press SEL twice.

B 0 1 1 : T 2

T = A 4 S

Step 3:

Press Up Arrow three times to change to A2 to A4 in turn.

B 0 1 1 : T 2

T = A 4 S

Step 4:

Press OK to save the data.

GFK-2470 7-1

Software Operation in Block Diagram Mode

The programming software has two separate programming modes: Ladder Logic and

Function Block Diagram. After the Ladder Logic or Function Block Diagram mode is

selected on the software startup screen, all software operations continue in that mode.

This chapter explains how use the programming software for programming, simulation,

and emulation in Function Block Diagram mode. Similar instructions for using Ladder

Logic mode are in chapter 5.

▪ Using the Block Diagram Programming Software

▪ File Menu Functions

▪ Edit Menu Functions

▪ Operation Menu Functions

▪ View Menu Functions

▪ Using Simulation Mode

▪ Using Monitor Mode

▪ Programming in Block Diagram Mode

▪ Program Editing

▪ Program Elements

▪ Programming Steps

Chapter

7


7

Using the Block Diagram Programming Software

The main Block Diagram toolbar functions are shown below. Functions that are not

currently accessible are grayed out on the software screen. Functions can also be

selected using the pulldown menus as described on the following pages.

Create new FBD file

Open existing program file

Close the current file

Save the current program file

Print a program

Print Preview

Select COM port

Monitor mode

Simulation mode

Run mode

Stop Simulation

Stop Monitoring

Read program from controller

Write program to controller

Display version

Choose Display mode

Zoom controls

Right align selected components

Left align selected components

Down align selected components

Up align selected components

Auto-align all components

Redo

Undo

Paste

Copy

Cut

Find

Display all component parameters

Mark components

Set HMI text

Switch display to FBD

Switch display to keypad

GFK-2470 Chapter 7 Software Operation in Block Diagram Mode 7-3

7

File Menu Functions Select File or use the appropriate buttons to access the file functions:

New Create a new file. Select a controller model in the dialog box to create a

new FBD program.

Open Select an existing program file to open.

Close Close a program file. A file cannot be closed during Emulation mode or

Supervising mode.


7

Edit Menu Functions Select Edit or use the appropriate buttons to access the Edit Functions:

Select Model: Select the controller type to program or edit.

KeyPad: Switch to the keypad method to create or edit a program. This places the

software into keypad mode.

In Keypad mode, all the component tools are idle and the Function Block

Diagram functions are disabled. The program edited under FBD mode can

be browsed and edited.


7

In Keypad mode, the software displays the following controller screens.

Operation Display

Go to the Emulation mode home screen to select Emulation mode

Press ESC to display the Main Menu.

Press OK to display the program

Press the left key twice to view the program

To view parameters, press left arrow and down arrow. The cursor stops at P. Press OK

To change parameters, press 'SEL' key, the cursor changes to __

To change the units (seconds).


7

FBD: Switch to the FBD mode. After switching back to Function Block Diagram

mode, the software will query whether the components should be aligned

again. Choosing Yes returns the diagram to the default alignment:

Choosing No aligns the components in the upper left corner of the FBD

screen.

Find: Locate a label or symbol in the program.


7

HMI/Text: Use this function to program or edit the HMI; display custom messages,

change the Timer/Counter/RTC/Analog Preset Value and set instruction

M to On/Off in Run Mode.

Component Function Block that can be added to program Parameters of the selected components Units or no units Edit Analog Gain and Offset Add telephone number Edit the HMI / Text Delete the edited content. Cancel the HMI / Text edit Edit Chinese

The Text Block to edit: H01 – H0F

LCD Text Display

Authorizes display of text messageswhen operator presses SEL for three

seconds

If selected, controller will display theentered “Mobile Number” and

message

Sets up display language

Available characters

In the parameters window, select the Units item to include units. When Units are

selected, the Preset Value and Current Value can be entered. When Units are not

selected, only the current information appears.

Select Mobile message to display the message that is associated with the HMI /

Text item. The first line displays the phone number and the other lines display the

message text:

1 3 0 0 5 1 0 0 1 0 1ME S S A GECO N T E N T


7

Analog Display Set Set the Gain and Offset for individual analog inputs on this screen:

Analog Gain (0 to 999)

Analog Offset (-50 to +50)

Symbol: The Symbol setting window appears when selected from the Edit menu,

or with the toolbar icon. Double click in the Symbol fields to enter text or

other identifying information for each program component. Click OK to

save.


7

Parameters List: To display and modify all the parameters of the components under FBD

mode. Double click the component in the list to modify the parameters.


7

Operation Menu Functions Run: Put the controller in Run mode. If the software is linked to the controller,

the software is in supervision mode. If the software is not linked to the

controller, the software is in Simulation mode.

Stop: Put the controller in Stop mode. If the software is linked to the controller,

the controller is set to Stop mode and the software goes to program edit

mode.

Quit: Stop the application program. If the program is currently either simulating

or supervising the controller, the control program is stopped but the

operating mode of the controller is not changed.

Read: Read the program from the controller. This can only be done in FBD

mode.

Write: Write the program from the computer to the controller. The controller

must be stopped.

Module System Setting: When linked with the controller, the ID value and Remote

I/O, Expand I/O, M Keep, C Keep, Back Light mode, and Z input setting

can be read or set.

Controller ID

Number of Analog Expansion Modules

Alarming active for Expansion modules

No Expansion I/O: Controller does not control slaves but Data Link function is available

Expansion I/O System: Module is a controller (master) or a slave

M Keep: If set, M values and Timers E and F (14, 15) are retained if power is lost.

C Keep: If set, Counters in modes 3, 4, and 5 are retained if power is lost.

Back Light: If set, display is always lit. Otherwise, it only lights when controller keysare pressed.

Z Set: If set, Z inputs are valid.


7

RTC Set: When linked with the controller, the Real-time Clock value can be set. If

not linked with the controller, the computer will display its own clock

value.

Day of the Week Hour (0 to 23) Minute (0 to 59) Year (0 to 99) Month (1 to 12) Day of the Month (1 to 31)

Password: In Password mode, the correct password is required to enter program edit

mode, or to use the ESC button to exit the Home page in Run Mode.

When the software is linked with the controller, the password can be set

or changed. The numbers 0000 and FFFF both select No Password

mode. Any other number from A000 to FFFE becomes the password. If

the password is forgotten, the only way to recover is using Clear

Program, which also clears the password.

Set Password

Change Password


7

Language: Select the controller language when linked to the controller.

Link Com Port: Sets the computer serial port address to link with the controller’s (COM1-

COM8). Select whether to link to one controller or to multiple units.


7

View Menu Functions Input Status Tool: Display/hide the input and output state tool. The tool is only

available in the FBD edit window.

Data Link Status Tool: Display/hide Data Link state tool. The tool is only available in the

window containing 'Data Link' Function.

High Speed Input Tool: Display/hide High Speed Input Tool in the Keypad Edit window.

Can be used by the controller in Simulation Mode to simulate the High

Speed 1K Hz Input I1 and I2 for Counter function type 7 and 8. When

Input I1/I2 status Off to On, the current count value is added to the I1/I2

Input Value.


7

Simulation Analog Tool: Display/hide Analog Simulation Tool in the Analog Compare

window. The controller can use the analog inputs as discrete inputs. On

>= 9.80V, Off <= 4.90V

If A1 >= 9.80V Input I9 is On, if A1 <= 4.90V Input I9 is Off,

if A2 >= 9.80V Input IA is On, if A2 <= 4.90V Input IA is Off,

if A3 >= 9.80V Input IB is On, if A3 <= 4.90V Input IB is Off,

if A4 >= 9.80V Input IC is On, if A4 <= 4.90V Input IC is Off.

Expansion Analog Tool: Like the Analog Simulation tool, described above. Can be used

by the controller in Simulation Mode.


7

Text Editing For Function Block Diagram, the LCD display text can be edited as described for the

following example:

Editing data for text component H01(LCD display). When the controller is in Run mode,

the actual states or values are displayed.

T 2 = 1 0 . 0 0 S e c T 2 = # # . # # S e c

# T 1 # #

C 1 = 1 0 . 0 0 C 1 = # # #

# C 1

Editing Data for Text Component H01,

(Counter in mode 8)

I 1 = # # # # I 1 M1 = # # #

# M1

Editing Data for Text Component H02

Editing Data for Text Component H03

T 2 = 1 0 . 0 0 S e cT 2 = 0 0 . 0 0 S e c

0 0 . 0 0

C 1 = 1 0 . 0 0C 1 = OF F

OF F

Controller LCD Display for Component H01

I 1 = OF FOF F

M1 = OF FOF F




7

Using Simulation Mode

When the software is not connected to the controller, click the Simulation mode button to

put the software in Simulation mode. In this mode, the software can run through and

check the operation of an application program. An example FBD program is shown below.


7

Simulator: Simulates the operation of the controller.

This example shows an analog interface in FBD mode. In the example, the counter I01

simulates the operation of the High-speed input. The Input Status tool shows the states of

I, Q, X , Y, M and N in the circuit diagram. The states of I and X (inputs and expansion

inputs) are directly controlled.

Function Block Diagram components that are On are highlighted in green.

Controller Simulation Interface

Analog Inputs that are

On are shown in red

Analog Outputs that are On are shown in red

Expansion Analog Inputs that are On are shown in red Expansion Analog

Outputs that are On are shown in red

Analog inputs for voltage comparison. Use the cursor (mouse icon)to move the cursor on the display, and use the – and + keys to change the digit value at the cursor location.


7

Changing the State of a Component In Simulation mode, the states of the components can be changed by clicking on them.

Clicking the corresponding button on the 'Input Status Tool' panel will also change the

state.

To change the parameters of high-speed input components, left-click on the component to

display this dialog box:

Changing Function Block Parameters In Simulation mode, the parameters of a Function Block are displayed in real time. To

change a Preset value, double click on the component.


7

Simulating a Data Link Function If the program has Data Link component, its function can be simulated on the Data Link

tool panel. The program cannot be edited during Simulation mode; press ESC or click on

the Stop button.

When you switch the mode to Keypad interface, the FBD program is available under

Keypad. The Simulation screen is shown below:

On this screen you can:

(1) Click Inputs to change their status.

(2) Click External Inputs to change their status.

(3) Display External Output states

(4) Display Output states.

(5) Click the buttons on the analog modules to change analog values.


7

Using Monitor Mode

Monitor mode can be used to check system operation while the software is connected to

the controller.

States cannot be modified in this mode.

To exit Monitor mode, use the stop or exit command or click on the Stop Monitoring

button.

In Keypad mode, the screen is similar to the one in Simulation mode. The program cannot

be modified, but parameters can be changed. In FBD mode, the display shows the

diagram and Input Status Tool:

Components that are On are shown in red. The Input Status Tool window displays the

status of I, Q, X, Y, M, N points in the controller.


7

In Emulation mode, the display shows the system components:

States of the Controller inputs

States of the Controller outputs

States of the Expansion inputs States of the

Expansion outputs

States of the Controller Analog inputs


7

Programming in Block Diagram Mode

Select

Connect

Components

Logic

Functions

Cut

Delete

Comment

Timer Counter Real Time Clock Analog

Set / Reset Pulse NOT XOR Not OR OR Not AND (Edge) Not AND AND (Edge) AND

Shift Data Link PWM HMI / Text External Output External Input Low Status High Status N Marker Marker Output Z Input High Speed Input V Input Analog Input Input


7

Program Editing In the Function Block display area, add program components and set up logical

connections. Add comments wherever they are needed.

Select program components from the toolbar and click in the display area to add a

component to the program. The component’s parameters are displayed as the mouse

stops on the component.


7

Program Elements (1) Function Name

(2) Connector

(3) Parameters

(4) Input

(5) Output

(6) Number

(7) Parameter Output

(8) Parameter Input

▪ For all models, the maximum number of logic blocks and function blocks is 99. Blocks

are numbered as they are added to the program.

▪ Timer mode 7 uses two timers.

▪ The maximum number of Counters in mode 7 and mode 8 that can be used in a

program is two (two mode 7 counters, or two mode 8 counters, or one of each).

▪ The input pin cannot be connected with the output of the same component.

▪ Any input pin only can be connected to an input state.

▪ The output pins can connect with more than one input pin except in the case of high

speed input components.

▪ The output pin on a high speed component can only connect with high speed input

pins on counter mode 7 and 8. Once connected, the output cannot be connected with

the other input pins.

▪ Blocks cannot be linked in a closed loop.


7

Programming Steps Select program functions from the toolbar and click in the program window to place the

component in the program.

The software assigns each block a number. For example, the first input (x) component is

marked X01. Click the mouse again to add X02.

Block Diagram Contacts and Coils

In Block Diagram mode, the following Contacts and Coils can be created. After entering a

Contact or Coil in the Block Diagram window, double-click on the block to edit its

parameters.

Input

Analog Input


7

V Input: Analog input with a value equal to (analog input x gain) = offset

Keypad Input

Output

Marker: Auxiliary Marker

N Marker

High Status


7

Low Status input

Expansion Input

Expansion Output

HMI Instruction

DataLink Output


7

PWM Output

Shift Output

High Speed Input: high speed pulse input


7

Block Diagram Basic Logic Blocks

To insert a logic block, clock on its icon in the toolbar:

The software adds the selected logic block in the program window, and assigns its

number. Clicking on the block opens a box that shows the name of the Logic Block. A

Symbol (descriptive name) can be entered for each block.

AND

The output is high (1) if all the inputs are high. Default state for no connection is high.

Input1 Input2 Input3 Output

0 0 0 0 0 0 1 0 0 1 0 0 0 1 1 0 1 0 0 0 1 0 1 0 1 1 0 0 1 1 1 1


7

AND (Edge)

The output will be high for a period when the present inputs are all 1s and there was at least a '0' input in former period. Then it will be reset to zero. The low will be kept for at least one period before the next high. Default state for no connection is high(1).

NAND

The output is high if at least one input is low. The output is low if all the inputs are high. Default state for no connection is high (1).

Input1 Input2 Input3 Output 0 0 0 1 0 0 1 1 0 1 0 1 0 1 1 1 1 0 0 1 1 0 1 1 1 1 0 1 1 1 1 0

NAND (Edge)

The output is high when there is at least a '0' input in current period and there were all '1' inputs in the previous period. It is then reset to zero. The low is kept for at least one period before the next high. Default state for no connection is high (1).


7

OR

The output is high if there is at least one 1 input. Default state for no connection is low (0).


0 0 0 0 0 0 1 1 0 1 0 1 0 1 1 1 1 0 0 1 1 0 1 1 1 1 0 1 1 1 1 1

NOR

The output is high (1) if all the inputs are low (0). Default state for no connection is low (0).


0 0 0 1 0 0 1 0 0 1 0 0 0 1 1 0 1 0 0 0 1 0 1 0 1 1 0 0 1 1 1 0

XOR

The output is high (1) if the two inputs differ in states (one is '1',the other is '0'). Default state for no connection is low (0).

Input1 Input2 Output

0 0 0 0 1 1 1 0 1 1 1 0


7

NOT

The output state is inverted to input state. Default state for no connection is high (1).

Input Output

0 1 1 0

Pulse

The output will be inverted to the other state every time the input state transfers from '0' to '1'.

Block Diagram Function Blocks

Select the function block from the toolbar.

Click in the program window to add it to the program. Each Block that is added to the

program is numbered (for example, the first Block is B01. Each block has a box where

parameters can be specified. A Symbol (descriptive name) can be entered for each block.

See chapter 3 for detailed explanations of the Function Block types and parameters.

Timer


7

Counter

Real-time Clock

Analog Compare


7

If you double-click a Function Block, you can modify its setting and symbol. When not in

simulation or monitoring, you can change the function’s mode number. Changing the

mode of a function will sometimes change its pins. If the pins have been linked, the editing

rules are:

1. Same number of pins or more: retains the original links, the added pin has no link.

2. Fewer pins: deletes the link as the pin is cut.

3. If the current link is illegal when changing the mode, the illegal link is deleted.

Adding Comments Select 'Comment' and click the mouse at any position. Use the Set Comment window to

enter comments:

Selecting Components, Links, and Comments Program components, links and components can be selected by:

1. Clicking the left mouse key an individual item.

2. Pressing 'Ctrl' and clicking to select multiple items.

3. Dragging the mouse while pressing the left mouse button to draw a selection box.

4. Edit-->Select all to select all components, links and comments.

Moving Components, Links, and Comments Use the mouse to drag selected components to a different position.

Links can be moved only when the link and the corresponding components are selected

together. If only components are selected, links between them are adjusted automatically.


7

Adding Lines Click the connection icon in the toolbar, then use the mouse to select the pins to be

connected.

Click Drag Click

▪ An input pin must be connected to an output pin.

▪ Any output pin, except the output of High Speed Input components, can connect to

more than one input pin.

▪ The output pin of a High Speed Input component can only be connected to the Cnt

input of a mode 7 or mode 8 Counter, and vice-versa.

▪ The output pins of an Analog Input can connect with the Ax or Ay pin of Analog

Compare functions, and vice-versa.

Deleting Components, Links, and Comments Selected items can be deleted using the keyboard Delete key, or with Edit-->Delete.

Splitting Lines Click the Scissor icon in the toolbar to unlink two components. Then click on the link line to

be cut. The link will disconnect to two parts. The cut place shows the original link data.

Before cut After cut Recover

Click the left key--> under Split status

Click 1.2.3.4 with the left key-->

Recover


7

Changing a Connection 1. Select the link.

2. Move the mouse to the pin to be changed. Press the left mouse key to move.

3. Stop at the target pin.

Adjusting Lines 1. Select the link.

2. Use the mouse to drag the red corners of the link to the new position.

Before dragging After dragging


7

Cut, Copy, Paste The Cut and Copy commands place the selected items on the clipboard. The contents of

the clipboard can be pasted back into the program. The default position for pasted items is

below and to the right of the original location. To paste the contents of the clipboard in a

different position in the program, use the right mouse key to begin the paste operation

then click on the paste position. If a link is selected with the components before it and after

it, it can be pasted.

A broken link can only be pasted if all its elements (1, 2, 3, and 4 below, were selected).

Alignment Automatic: the default alignment.

Up: Aligns the selected components (shown with “handles”) upward to

the level of the top component. For example:

The selected three components are aligned up:


7

Down: Aligns the selected components downward to the level of the lowest

selected component. For example:

The selected three components are aligned down:

Left: Aligns the selected components with the leftmost selected

component. See below.

Right: Aligns the selected components with the rightmost selected

component. For example:

Original Diagram Selected Components Left-Aligned

Selected Components Right-Aligned

GFK-2470 8-1

MODBUS Communications

This chapter describes the MODBUS features that can be incorporated into a Durus

controller system by adding a MODBUS RTU Slave Communications Expansion Module,

24VDC (IC210EMS001).

▪ Overview

▪ The Profibus Expansion Module

▪ Specifications

▪ Operation

▪ Installation

▪ Operation

▪ The GSD File

▪ Input / Output Data

▪ Control Commands

Chapter

8


8

Overview

MODBUS RTU Slave Communications Expansion Module, 24VDC (IC210EMS001). A

Durus controller can communicate with a controller or other device using MODBUS RTU

Slave protocol. Parameters are: RS-485 Baud rate: 38400bps; 8 bits data, 2 stop bits, no

parity bit; Frame length maximum 64 bytes

**It is necessary to connect the terminal impedance (120, 1/4W) at both ends of the

communication wire.

Data Frame for RTU Mode

MASTER (PLC etc.) send request to SLAVE, whereas SLAVE response to MASTER. The

signal receiving is illustrated here. The data length depends on the command.

Slave Address 1byte Function Code Function Code DATA N bytes CRC16 Check 2 bytes Signal Interval Signal Interval

** The interval should be maintained at 10ms between command signal and request.

SLAVE Addresses 00H : Broadcast to all the drivers 01H : to the No.01 Driver 0FH : to the No.15 Driver 10H : to the No.16 Driver and so on.... , Max to No.99(63H)

GFK-2470 Chapter 8 MODBUS Communications 8-3

8

Supported MODBUS Function Codes

Durus controllers support the following MOCBUS function codes:

01H : Read Coils Status 03H : Read register data 05H : Write single coil 06H : Write a word to register memory 08H : Loopback check 10H : Write register data.

CMS (Checksum and time-out definition)

CRC CHECK:

CRC check code is from Slave Address to end of the data. The calculation method is

illustrated as follows:

(1) Load a 16-bit register with FFFF hex (all1’s). Call this the CRC register.

(2) Exclusive OR the first 8-bit byte of the message with the low-order byte of the 16-bit

CRC register, putting the result in the CRC register.

(3) Shift the CRC register one bit to the right (toward the LSB), Zero-filling the MSB,

Extract and examines the LSB.

(4) (If the LSB was 0): Repeat Steps (3) (another shift) (If the LSB was 1): Exclusive

OR the CRC register with the polynomial value A001 hex (1010 0000 0000 0001).

(5) Repeat Steps (3) and (4) until 8 shifts have been performed. When this is done, a

complete 8-bit byte will be processed.

(6) Repeat Steps (2) through (5) for next 8-bit byte of the message, Continue doing this

until all bytes have been processed. The final content of the CRC register is the

CRC value. Placing the CRC into the message: When the 16-bit CRC (2 8-bit bytes)

is transmitted in the message, the low-order byte will be transmitted first, followed

by the high-order byte. For example, if the CRC value is 1241 hex, the CRC-16 is

(Low) put 41h, if the CRC-16 is (High) put12h.


8

Application Logic to Perform a CRC Check UWORD ch_sum ( UBYTE long , UBYTE *rxdbuff ) { BYTE i = 0; UWORD wkg = 0xFFFF; while ( long-- ) { wkg ^= rxdbuff++; for ( i = 0 ; i < 8; i++ ) { if ( wkg & 0x0001 ) { wkg = ( wkg >> 1 ) ^ 0xa001; } else { wkg = wkg >> 1; } } } return( wkg ); } TIME-OUT (50ms) & RETRY (max. : 2 times)

PC-LINK S 500ms

PC-LINK S 500ms

PC-LINK S

If the controller times out or detects a checksum error, or if there is a checksum error, PC-LINK retries a maximum of two times. After two retries, if the error still exists, a “Communication error” is reported. When writing Durus-Special-Function-Block’s preset value, the TIME-OUT value is 1000ms.

When the Modbus Communication Module responds with an error, there is recommended waiting resetting-time (Modbus transfer 64bytes data time); if baud rate is 4800bps, the time is 147ms; if baud rate is 9600bps, the time is 73ms; if baud rate is 19200bps, the time is 37ms; if the baud rate is 38400bps, the time is 18ms; if baud rate is 57600bps, the time is 12ms.


8

Commands

Read Coils, Command 01

The MODBUS master can issue MODBUS RTU command 01 to read the value of one or

more coils in the slave Durus controller.

Read Registers, Command 03

The MODBUS master can issue MODBUS RTU command 03 to read the value of one or

more registers in the slave Durus controller.

Master Command Slave Address 01H Function Code 01H

High 05H *Register Address Low 40H

High 00H Nomber of Coils Low 10H

Low 3CH CRC-16 High DEH

Normal Slave Response Address 01H Function Code 01H Byte Count 02H Outputs status M8-1 45H Outputs status MF-9 34H

Low 3AH CRC-16 High BBH

Error Slave Response Address 01H Function Code 81H Exception Code 51H

Low 81H CRC-16 High ACH

Master Command Address 01H Function Code 03H


High 00H Data Length Low 13H Low 04H CRC-16 High 07H

Normal Slave Response Address 01H Function Code 03HData (byte) 00HSend the data

Low ? CRC-16 High ?


Low C0H CRC-16 High CDH


8

Read Single Coil, Command 05

The MODBUS master can issue MODBUS RTU command 05 to read the value of one coil

in the slave Durus controller.

Preset Single Register, Command 06

The MODBUS master can issue MODBUS RTU command 06 to write a value to one or

register in the slave Durus controller.


High 05H Coil Address Low 02H High FFH Coil Value Low 00H Low 2DH CRC-16 High 36H

Normal Slave Response Address 01H Function Code 05H

High 05H Coil Address Low 02H High FFH Coil Value Low 00H Low 2DH CRC-16 High 36H


Low C3H CRC-16 High 6DH



High 17H Write Data Low 70H Low 27H CRC-16 High E2H

Normal Slave Response Address 01H Function Code 06H


High 17H Write Data Low 70H Low 27H CRC-16 High E2H


Low C3H CRC-16 High 9DH


8

Loopback Check, Command 08

The MODBUS master can issue MODBUS RTU command 08 to test the slave Durus

controller’s ability to communicate. The content of the Data word is not meaningful.

Write Registers, Command 10

The MODBUS master can issue MODBUS RTU command 10 to write a group of 1 to

approximately 27 registers in the slave Durus controller.


High 00H Check Code Low 00H High A5H Data Low 37H Low DAH CRC-16 High 8DH

Normal Slave Response Slave Address 01H Function Code 08H

High 00H Check Code Low 00H High A5H Data Low 37H Low DAH CRC-16 High 8DH

Error Slave Response Slave Address 01H Function Code 88H Exception Code 20H

Low 47H CRC-16 High D8H

Master Command Address 01H Function Code 10H


High 00H Data Length Low 13H

Byte Counters 26H Data Content

Low ? CRC-16 High ?

Normal Slave Response Slave Address 01H Function Code 10H


High 00H Data Length Low 13H High 81H CRC-16 Low C4H

Error Slave Response Slave Address 01H Function Code 90H Exception Code 52H

Low ACH CRC-16 High 3DH


8

Exception Codes

If an error occurs, the controller returns an Exception Code (see below) and an error

Function Code to the master. The error Function Code is the sum of the command

Function Code plus 80H.

Exception Code Description 51 Frame error (Function Code error, Register Encoding error,

Data Quantity Error) 52 Run mode and command disable 53 Secret mode and command disable 54 Data value over range 55 System ROM error 56 No Real Time Clock 57 Other Durus slave error 58 Commands do not match Durus edit mode 59 ID error


8

Register Addresses

This section shows register address and bit assignments in the Durus controller that can

be read or written by the MODBUS Master.

Coil Status Addresses (00xxH)

The MODBUS Master can access addresses 0000H through 000FH below using the

read/write MODBUS command numbers 03, 06, and 10. Each register address has a

length of 1 in the commands, although some registers do not use all 16 available bits.

Addresses 0D10H through 0D16H contain function block data, and can be accessed by

command 03 only.

Bit Offset in the Register Register Address 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0000H - RF RE RD RC RB RA R9 R8 R7 R6 R5 R4 R3 R2 R10001H - GF GE GD GC GB GA G9 G8 G7 G6 G5 G4 G3 G2 G10002H - TF TE TD TC TB TA T9 T8 T7 T6 T5 T4 T3 T2 T10003H - CF CE CD CC CB CA C9 C8 C7 C6 C5 C4 C3 C2 C10004H - MF ME MD MC MB MA M9 M8 M7 M6 M5 M4 M3 M2 M10005H Z4 Z3 Z2 Z1 IC IB IA I9 I8 I7 I6 I5 I4 I3 I2 I1 0006H - - - - XC XB XA X9 X8 X7 X6 X5 X4 X3 X2 X10007H - - - - - - - - Q8 Q7 Q6 Q5 Q4 Q3 Q2 Q10008H - - - - YC YB YA Y9 Y8 Y7 Y6 Y5 Y4 Y3 Y2 Y10009H - NF NE ND NC NB NA N9 N8 N7 N6 N5 N4 N3 N2 N1000AH - HD HE HD HC HB HA H9 H8 H7 H6 H5 H4 H3 H2 H1000BH W16 W15 W14 W13 W12 W11 W10 W9 W8 W7 W6 W5 W4 W3 W2 W1

000CH W32 W31 W30 W29 W28 W27 W26 W25 W24 W23 W22 W21 W20 W19 W18 W17

000DH W48 W47 W46 W45 W44 W43 W42 W41 W40 W39 W38 W37 W36 W35 W34 W33

000EH W64 W63 W62 W61 W60 W59 W58 W57 W56 W55 W54 W53 W52 W51 W50 W49

000FH - - - - - - P1 L8 L7 L6 L5 L4 L3 L2 L1

0010H B16 B15 B14 B13 B12 B11 B10 B9 B8 B7 B6 B5 B4 B3 B2 B1






0016H - - - - - - - - - - - - - - B99 B97


8

Control Register Addresses (01xxH)

The master can read or write controller status or configuration data in the registers listed

below. Each register address has a length of 1 in the commands.

Bit Offset in the Register Register Address 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0100H

Register 0100H is accessible using MODBUS commands 03, 06, and 10. Bit 0 = Controller operating mode: 0 = Stop Mode. 1 = Run Mode Bits 1 – 15 not used.

0101H (read only)

Register 0101H is accessible using command 03 only.

Model Type (Voltage Models) 30 = IC210MDR024 34 = IC210MDD024 70 = IC210MDR124

A Z I1 I0 Language - S1 S2 B - - D1 D00102H Register 0102H is accessible using

MODBUS commands 03, 06, and 10. A = Alarm at Expansion I/O Number: 0 = alarm; 1 = no alarm Z = Z set: 0 = disable; 1 = enable I1, I0 = Expansion I/O Number: 0 to 3 Language: 1 = English 2 = French 3 = Spanish 4 = Italian 5 = German 6 = Portugese 7 = Chinese

S1 = M coil state at power down: 0 = retain; 1 = don’t retain S2 = Counter value at power down: 0 = retain; 1 = don’t retain B = Backlight On or Off: 0 = Auto on/off; 1 = always onD1, D0 = Communications mode 0 = data link 1 = remote I/O master 2 = remote I/O slave

- - - - - - - P - - - - Error 0103H (read only)

Register 0103H is accessible using command 03 only. P = Password Protection 0 = Password off 1 = Password on

Error: 0 = No error 1 = ROM error 2 = RAM error 3 = EEPROM error 4 = Program error 5 = Watchdog error 6 = Expansion error 7 = Communications error


8

Bit Offset in the Register Register Address 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Registers 0104 through 010B are used for analog configuration. They can be read using command 03 or written using command 10. Gain has a range of 0 to 999. Offset has a range of -50 to~50 (complement)

0104H Analog 1 Gain: High Analog 1 Gain: Low 0105H Analog 1 Offset 0106H Analog 2 Gain: High Analog 2 Gain: Low 0107H Analog 2 Offset 0108H Analog 3 Gain: High Analog 3 Gain: Low 0109H Analog 3 Offset 010AH Analog 4 Gain: High Analog 4 Gain: Low 010BH Analog 4 Offset

The least significant bit of register 0110 can be written to clear code using MODBUS command 06 or 10.

0110H 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1

Registers 120H through 012BH can be accessed using MODBUS commands 03 and 10.

0120H Analog 1 Gain: High Analog 1 Gain: Low 0121H Analog 1 Offset 0122H Analog 2 Gain: High Analog 2 Gain: Low 0123H Analog 2 Offset 0124H Analog 3 Gain: High Analog 3 Gain: Low 0125H Analog 3 Offset 0126H Analog 4 Gain: High Analog 4 Gain: Low 0127H Analog 4 Offset 0128H Analog 1 Gain: High Analog 1 Gain: Low 0129H Analog 5 Offset 012AH Analog 2 Gain: High Analog 2 Gain: Low 012BH Analog 6 Offset 012CH Analog 3 Gain: High Analog 3 Gain: Low 012DH Analog 7 Offset 012EH Analog 4 Gain: High Analog 4 Gain: Low 012FH Analog 8 Offset


8

Current Values Registers (02xxH)

The master can use MODBUS command 03 to read current function values in the

registers listed below. For the Real-Time Clock current values (0220H – 022AH) only,

MODBUS command 10 can also be used to write clock data.

Register Address

Length Description

0200H 1 Timer 1 Current Value - - - - - - - - - - - - - - - - - - - - - 020EH 1 Timer F Current Value

Registers 0210 through 021E contain the counter current value. Range is 0 to 999999 decimal, 0 to 0F423F hexadecimal.

Counter 1 Value, Middle Counter 1 Value, Low 0210H 2 00 Counter 1 Value, High

0211H 2 Counter 2 Current Value, see Counter 1 format - - - - - - - - - - - - - - - - - - - - - 021EH 2 Counter F Current Value, see Counter 1 format

Registers 0220 through 0223 contain the Real Time Clock Current Value. 0220H 1 Current Year Current Month 0221H 1 Current Day Current Week 0222H 1 Current Hour Current Minute 0223H 1 Current Second 00 0224H 1 00 Current Year 0225H 1 00 Current Month 0226H 1 00 Current Day 0227H 1 00 Current Week 0228H 1 00 Current Hour 0229H 1 00 Current Minute 022AH 1 00 Current Second

Registers 0230 through 0237 contain the analog values. 0230H 1 Analog 1 High Value Analog 1 Low Value

- - - - - - - - - - - - - - - - - - - - - 0237H 1 Analog 8 High Value Analog 8 Low Value

Register 0260 contains the PWM current values.

00 PWM Run Number Pulse Width High Pulse Width Low

0260H 1

Period Time High Period Time Low


8

Chinese Character Registers (03xxH)

Registers 0300 through 0327 can be used to write characters in Chinese language

applications, with MODBUS commands 03 and 10.

Register Address

Length Description

0300H 10H Character 5 - - - - - - - - - - - - - - - - - - - - - 0327H 10H Character 44


8

Preset Values Registers (04xxH)

The master can read or write Preset values in the registers listed below using MODBUS

commands 03 and 10.

Register Address

Length Description

0400H 1 Timer 1 Preset Value - - - - - - - - - - - - - - - - - - - - - 040EH 1 Timer F Preset Value

Registers 0410 through 041E contain Counter Preset value. Range is 0 to 999999 decimal, 0 to 0F423F hexadecimal.

Preset Data Format for Counter Modes 1 to 7 Counter 1 Preset, Middle Counter 1 Preset, Low

2

00 Counter 1 Preset, High Preset Data Format for Counter Mode 8

Fixed Timer High Fixed Timer Low Counter ON Preset, Middle Counter ON Preset, Low

00 Counter ON Preset, High Counter OFF Preset, Middle Counter OFF Preset, Low

0410H

5

00 Counter OFF Preset, High - - - - - - - - - - - - - - - - - - - - - 041EH 2/5 Counter F Preset, see Counter 1 formats

Registers 0420 through 042E contain the Real Time Clock Preset Value. 0420H 3 RTC Mode 1 or RTC Mode 2

Turn On Week (00-06) Turn Off Week (00-06) Turn On Time, Hour (00-23) Turn On Time, Minute (00-59) Turn Off Time, Hour (00-23) Turn Off Time, Minute(00-59) RTC Mode 3 Turn On Year (00-99) Turn Off Year (00-99) Turn On Month (01-12) Turn On Day (01 to 31) Turn Off Month (01-12) Turn Off Day (01-31) RTC Mode 4: 30-second adjustment 00 Round time: week Round time: hour Round time: minute 00 Round time: second

- - - - - - - - - - - - - - - - - - - - - 042EH 3 RTC Preset F, See RTC Preset 1 formats

Registers 0430 through 043E contain the analog values. 0430H 1 Analog 1 High Value Analog 1 Low Value

- - - - - - - - - - - - - - - - - - - - - - - - - - - - 043EH 1 Analog 8 High Value Analog 8 Low Value


8

Preset Values Registers (04xxH) (continued) Registers 0460 to 046E contain the PWM Preset values. Pulse Width Range is 00000 to

32767. Period Time range is 00001 to 32767. They can be accessed using MODBUS

commands 01 and 05.

Register Address

Length Description

0460H 10 Pulse Width 1 High Pulse Width 1 Low 0461H Period Time 1 High Period Time 1 Low 0462H Pulse Width 2 High Pulse Width 2 Low 0463H Period Time 2 High Period Time 2 Low 0464H Pulse Width 3 High Pulse Width 3 Low 0465H Period Time 3 High Period Time 3 Low 0466H Pulse Width 4 High Pulse Width 4 Low 0467H Period Time 4 High Period Time 4 Low 0468H Pulse Width 5 High Pulse Width 5 Low 0469H Period Time 5 High Period Time 5 Low 046AH Pulse Width 6 High Pulse Width 6 Low 046BH Period Time 6 High Period Time 6 Low 046CH Pulse Width 7 High Pulse Width 7 Low 046DH Period Time 7 High Period Time 7 Low 046EH Pulse Width 8 High Pulse Width 8 Low 046FH Period Time 8 High Period Time 8 Low


8

Coils Address (05xxH)

The master use MODBUS command 01 or 05 to read or write Coil values in the registers

listed below. Starting address and quantity of coils are multiples of 10H.

Register Address

Length Description

0500H-050FH 10H R1 – RF 050FH reserved 0510H-051FH 10H G1 – GF 051FH reserved 0520H-052FH 10H T1 – TF 052FH reserved 0530H-053FH 10H C1 –CF 053FH reserved 0540H-054FH 10H M1 –MF 054FH reserved 0550H-055FH 10H I1 –IC, Z1 - ZF Z1 to Z4 cannot be written 0560H-056FH 10H X1 –XC 056CH – 056FH reserved 0570H-057FH 10H Q1 –Q8 0578H - 057FH reserved 0580H-058FH 10H Y1 –YC 058CH - 058FH reserved 0590H-059FH 10H N1 –NF 059FH reserved 05A0H-05AFH 10H H1 –HF 0A5FH reserved 05B0H-05BFH 10H W1 –W16 05C0H-05CFH 10H W17 –W32 05D0H-05DFH 10H W33 –W48 05E0H-05EFH 10H W49 –W64

05F0H-05FFH 10H L1 – L8, P1 05F9H - 05FFH reserved

GFK-2470 9-1

Profibus Communications

This chapter describes the Profibus-DP features that can be incorporated into a Durus

controller system by including a Profibus-DP Slave Communications Expansion Module,

24VDC (IC210EPS001).

▪ Overview

▪ The Profibus Expansion Module

▪ Specifications

▪ Operation

▪ Installation

▪ Startup

▪ The GSD File

▪ Control Commands

9 Chapter


9

Overview

The Profibus-DP Slave Communications Expansion Module, 24VDC (IC210EPS001)

always operates as network slave (2 below).

Influence on Cycle Scan Time

Communication between the controller and the Profibus interface extends the cycle scan

time of the controller by as much as 100ms. This should be taken into account when you

calculate the response times of the controller.

GFK-2470 Chapter 9 Profibus Communications 9-3

9

The Profibus Expansion Module

1. Terminating Resistor Switch. Used if last slave on the Network.

2. 24VDC power supply terminals

3. POWer LED

4. BUS LED

5. Connector

6. DIP switch (address setting switch )

7. Profibus DP connection, 9-pole socket


9

Specifications: Profibus-DP Expansion Module Item Specification

Power supply voltage DC24V Operation temperature 0~55 degrees C Storage temperature -40~70 degrees C Operation humidity 20~90% RH No Frost

Ambient

Environmental gas No corrosive gas exists Vibration resistance IEC60068-2-6 standard

0.075mm amplitude/1.0g acceleration Main setup

Impact resistance IEC60068-2-27 standard 15g peak, 11ms duration

Degree of protection IP20 Installation Installation method Direct installation or DIN Rail (35mm)

installation Function Slave Connection 9-pole socket Interface RS-485 Baud rate Auto search, up to 12M Bus termination On communication module 1 Station address Set using switch on module Services As input module: read data: coil As output module: write data: coil As command control module: read/write coli

status, controller status. Controller Synchronization

Via command from Profibus master

Profibus-DP

Slave output synchronization

Via command from Profibus master


9

Operation

The following data can be transferred if appropriate module in GSD file is selected.

▪ Data that can be read by the Profibus-DP master

All coils: I1-IC, X1-XC, M1-MF, Q1-Q8, Y1-YC, T1-TF, C1-CF, G1-GF, R1-RF

T1-TF’s current value and preset value

C1-CF’s current value and preset value

G1-GF’s current value and preset value

RTC’s current value and R1-RF’s preset value

PWM’s current value and preset value

Controller’s Run/Stop status

▪ Data that can be written by the Profibus-DP master

Coils: M1-MF, Q1-Q8, Y1-YC, T1-TF, C1-CF, G1-GF, R1-RF

T1-TF’s preset value

C1-CF’s preset value

G1-GF’s preset value

RTC’s current value and R1-RF’s preset value

PWM’s preset value

Controller’s Run/Stop status


9

Installation

1. Connect the expansion connector to the Profibus-DP Slave expansion module.

2. Connect the expansion module to the controller module. See chapter 2 for

additional installation instructions.

There can be at most three I/O expansion modules and one 4AI expansion modules

between the Profibus-DP Expansion module and the controller.

The number of I/O modules in the setup menu of the controller must match the number of

connected modules.

Power Supply Connection

The module requires an external source of 24VDC power.


9

Profibus-DP Bus Connection

Use a 9-pole Profibus-DP plug and cable to connect the Profibus Expansion Module to the

Profibus-DP field bus. The type of cable used has an influence on the maximum available

length of the bus line and thus on the data transfer rate.

Pin Signal name Description 1 Unused 2 Unused 3 RxD/TxD-P (B- Line) Send/receive data (positive) 4 Unused 5 DGND (2M) Data reference potential

6 VP (2 P5) +5V DC

7 Unused 8 RxD/TxD-N (A-Line) Send/receive data (negative) 9 Unused

Bus Termination

The first and last station in a bus segment must be terminated. If the Profibus-DP

Expansion module is at the end of a bus segment, set the termination switches on the

front of the module to the On position.

SW2 – 1 SW2 – 2 Termination Off Off Off On On On


9

Electrical Isolation

The following electrical isolation is provided for the Profibus-DP Expansion module:

1. 24VDC power supply of module

2. 5VDC power supply of inner circuits

3. photocoupler isolation between Durus controller and power supply

4. photocoupler isolation between Profibus DP fieldbus and power supply

Profibus Cable Types

Cable type B should not be used because it is obsolete. Cable type A allows all transfer

rates up to 12M bit/s to be used.

Parameter Cable type A Cable type B Impedance 135Ω—165Ω (f=3MHz---

20MHz) 100Ω—130Ω (f>100KHz)

Capacitance <30Pf/m) <60Pf/m

Resistor <110Ω/KM -----

Core cross-section (mm2) >0.34mm2(22A WG) >0.22mm2 (24 AWG)

Data Transfer Rate

The Profibus-DP Expansion module can automatically detect the baud rate used in the

Profibus-DP network at powerup, if there is at least one master station that can send valid

telegrams in the network. The data rate can be 9.6K bps to 12Mbps.


9

Startup

Before switching on the Profibus-DP Expansion module, be sure it is properly connected

to the power supply, to the bus, and to the Durus controller. Before the module can

communicate it must be assigned a Station Address as described below.

Setting the Station Address

Every Profibus-DP station must be given a unique Station Address. Use the DIP switches

on the front of the Profibus-DP Expansion module to set its address. SW1-1 is the lowest

bit and SW1-7 is highest bit. SW1-8 is not used. The default address is 0.

SW1_7 SW1-6 SW1-5 SW1-4 SW1-3 SW1-2 SW1-1 address

OFF OFF OFF OFF OFF OFF OFF 0 OFF OFF OFF OFF OFF OFF ON 1 OFF OFF OFF OFF OFF ON OFF 2 OFF OFF OFF OFF OFF ON ON 3 OFF OFF OFF OFF ON OFF OFF 4 --- --- --- --- --- --- --- --- ON ON ON ON ON OFF ON 125 ON ON ON ON ON ON OFF 126

LED Status Displays

The Profibus-DP Expansion module has two dual-color LEDs (Green/Red) for quick

diagnostics.

On green Power supply present and communication with the controller correct

Flashing yellow 4Hz

Hardware verification failure. Return module for repair

Flashing yellow, 2Hz

Expansion IO number setting wrong in the controller. Compare the actual expansion number with the setting.

Flashing red, 2Hz

Connection to controller failure. Check the connection to the controller.

Flashing red, 1Hz

Communication error with controller. Check the connection to the controller.

POW

Off No Power supply present. Check the power connection.On green Data exchange on Profibus DP fieldbus BUS Off Data exchange aborted


9

The GSD File

The GSD file is required for network configuration in Profibus DP fieldbus. The GSD file

contains standard Profibus DP station descriptions.

#Profibus_DP ; Release GSD_Revision =1 Hardware_Release ="HW_V1.0" Software_Release ="SW_V1.0" Revision ="V1.0" ; Name Vendor_Name ="TAIAN-TECH" Model_Name ="Durus PROFIBUS_DP" ; Ident_Number =0x7200 ;(the same with sg2) Protocol_Ident =0 ;profibus dp Station_Type =0 ;dp slave FMS_supp =0 ;pure dp device 9.6_supp =1 19.2_supp =1 45.45_supp =1 93.75_supp =1 187.5_supp =1 500_supp =1 1.5M_supp =1 3M_supp =1 6M_supp =1 12M_supp =1 MaxTsdr_9.6 = 60 MaxTsdr_19.2 = 60 MaxTsdr_93.75 = 60 MaxTsdr_187.5 = 60 MaxTsdr_500 = 100 MaxTsdr_1.5M = 150 MaxTsdr_3M = 250 MaxTsdr_6M = 450 MaxTsdr_12M = 800 ;<Model definition unit> Implementation_Type ="SPC3" Slave_Family =2@TAIAN@Durus ;2:SWITCH taian:firstfile


9

Durus :secondfile Bitmap_Device ="Durus" Bitmap_Diag ="Durus" ;Bitmap_SF ="SF_STAT" ; OrderNumber ="IC210EPS001" Freeze_Mode_supp = 1 ;supported Sync_Mode_supp = 1 ;supported Auto_Baud_supp = 1 ;Supported Set_Slave_Add_supp = 0 ;can not change via profibus Redundancy = 0 ;not supported Repeater_Ctrl_Sig = 0 ;NOT CONNECTED Fail_Safe = 0 Min_Slave_Intervall =10 ;a poll cycle of 1ms(10*100us) 24V_Pins = 0 ;NOT CONNECTED Modular_Station =1 Max_Module =5 Modul_Offset = 1 Max_Input_Len =23 Max_Output_Len =19 Max_Data_Len =42 Max_Diag_Data_Len =10 Max_User_Prm_Data_Len =0 ; Diagnostics unit Unit_Diag_Bit(0) = "not connected with SG2" ; Module-Definitions: Module =" Control commands, 14 bytes" 0XBD 1 EndModule Module =" Inputs, 7 bytes" 0X96 2 EndModule Module =" Inputs, 2 byte" 0X91 3 EndModule Module =" Outputs, 2 bytes " 0XA1 4 EndModule Module ="Outputs, 3 byte" 0XA2 5 EndModule


9

Profibus Functions Defined in the GSD File

The GSD file for the Profibus-DP Expansion module defines five different operating

“modules”, which can be selected network configuration tools. These modules are

described in detail starting on the next page.

Operating “Module” Input / Output (Byte)

Service Code (hex)

Control Command

Module 1 Input / Output 14 bytes

▪ Status of all coils

▪ Run/Stop status of basic unit

▪ Value of function block

0XBD

Module 2 Input 7 bytes ▪ Coil (I, X, Q, Y) 0X96

Module 3 Input 2 bytes ▪ Coil (M) 0X91

Module 4 Output 2 bytes ▪ Coil (M) 0XA1

Input / Output

Module 5 Output 3 bytes ▪ Coil (Q, Y) 0XA2

Diagnostics Data

No. Name Value and meaning 0 Length 0x04: Length of user data is 4 bytes 1 Diagnostics 0x00: Profibus interface is connected with Controller

0x01: Profibus interface is not connected with Controller 2 Reserved 0x00 3 Reserved 0x00


9

Reading and Writing Durus Controller Data

By selecting input and output “modules” in the network configuration, the Profibus-DP

Master can read or write Durus Controller data. See the bit definitions at the bottom of the

page.

Input Module 2 reads 7 bytes of data in the I (input) X (expansion input), Q (output), and

Y (expansion output) tables:

Byte Meaning Value 0 COIL (I_L) TABLE: COIL _I 1 COIL (I_H) TABLE: COIL _I 2 COIL (X_L) TABLE: COIL_X 3 COIL (X_H) TABLE: COIL_X 4 COIL (Q) TABLE: COIL_Q 5 COIL (Y_L) TABLE: COIL_Y 6 COIL (Y_H) TABLE: COIL_Y

Input Module 3 reads 2 bytes of data in the M (internal coils) table:

Byte Meaning Value 0 COIL (M_L) TABLE: COIL _M 1 COIL (M_H) TABLE: COIL _M

Output Module 4 sets or clears bits in 2 bytes of data in the M (internal coils) table:

Byte Meaning Value 0 COIL (M_L) TABLE: COIL _M 1 COIL (M_H) TABLE: COIL _M

Output Module 5: sets or clears bits in 3 bytes of data in the Q (output) and Y (expansion

output) tables.

Byte Meaning Value 0 COIL (Q) TABLE: COIL_Q 1 COIL (Y_L) TABLE: COIL_Y 2 COIL (Y_H) TABLE: COIL_Y

Bit Definitions Within each type of coils table (I, X, Q, Y, M), the bits assignments are:

Byte1 Byte0 Bits Bits

7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0 0 0 0 0 0 0 0 0 8 7 6 5 4 3 2 1 Coils Q 0 0 0 0 12 11 10 9 8 7 6 5 4 3 2 1 Coils I, X, Y 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 Coils M


9

Control Commands

The Command Control module allows extended data exchange services on the Profibus-

DP network. If this module is selected through network configuration tools, the Profibus

Master can read or write the following Durus controller data:

▪ Run/stop status of the controller

▪ Coil states

▪ Function block values

The control command itself has 14 bytes.

▪ byte 0: activate the required services

▪ byte 1: specify the service type

▪ byte 2: specify the service index

▪ byte 3: specify the service data length

▪ byte 4~13: represent specific transferred data

Data formats are shown on the following pages.

Byte 0: Activate the Service

The basic format of byte 0 for all commands is shown below.

7 6 5 4 3 2 1 0

Function Code: 0 = Read / write status of controller (Run / Stop) 1 = Read / write coils 2 = Read / write function block values 3 to 31 = Reserved

0 = Read 1 = Write

Toggle Bit

To send a command, bit 7 must be toggled (either 0 to 1, or 1 to 0).

The I/O data is refreshed after the Control Commands data exchange is complete.


9

Read / Write Coils Command

For a Read / Write Coils command, the complete format of the 14 bytes is:

Send Data (hex) Byte Meaning Master Slave

Read 01H/81H Command Write 41H/C1H Read successful 82H/02H Write successful 81H/01H

0

Response

Command rejected 80H/00H 1 Type Table: coil status Table: coil status 2 Index Table: coil status Table: coil status 3 Length Table: coil status Table: coil status

Read 00 Table: coil status 4 Coil Status (low byte) Write Table: coil status 00

Read 00 Table: coil status 5 Coil Status (high byte) Write Table: coil status 00

Data in the Coil Status table is:

Type Meaning Index Length Byte4 R1-R8 1 1 0 Byte 5 R9-RF 1 1 Byte 4 G1-G8 1 1 1 Byte 5 G9-GF 1 1 Byte 4 T1-T8 1 1 2 Byte 5 T9-TF 1 1 Byte 4 C1-C8 1 1 3 Byte 5 C9-CF 1 1 Byte 4 M1-M8 1 1 4 Byte 5 M9-MF 1 1 Byte 4 I1-I8 1 1 5 Byte 5 I9-IC 1 1 Byte 4 X1-X8 1 1 6 Byte 5 X9-XC 1 1 Byte 4 Q1-Q8 1 1 7 Byte 5 00H 1 1 Byte 4 Y1-Y8 1 1 8 Byte 5 Y9-YC 1 1


9

Read / Write Function Blocks Command Basic Format

For a Read / Write Function Blocks command, the complete format of the 14 bytes is:



0

Response

Command rejected 80H/00H 1 Type See Types below See Types below 2 Index 00H 00H 3 Length 01H 01H

Read 00 4 - 13 Data Write 00

Response

Possible responses to a Read/Write Function Blocks are:

▪ Read Successful. The command is valid and the slave returns the requested data.

▪ Write Successful. The command is valid and the slave supplies the data to the

controller.

▪ Command Rejected. The command is invalid and is rejected by the slave. Invalid

commands may be caused by: 1) Command code error, 2) Toggle bit error, 3)

Type code error, 4) Index error, 5) Length error.

Types of Read / Write Function Block Commands

The following command types can be used with a Read/Write Function Blocks command. Command and data formats are detailed on the following pages.

Value (hex) Definition 00H Timer current value 80H Timer preset value 01H Counter current value 81H Counter preset value 02H RTC current value 82H RTC preset value 03H Comparator current value 83H Comparator preset value 04H PWM current value 84H PWM preset value


9

Read / Write Function Blocks Command: Read Timer Current Value

If a Read / Write Function Blocks command is used to read the Current Value of one or more of the controller Timer function(s), the complete format of the 14 bytes is:


Read 02H/82H Command Write 42H/C2H Read successful 82H/02H

0

Response Command rejected 80H/00H

1 Type 00H 00H 2 Index See Index below See Index below 3 Length See Length below See Length below 4 - 13 Data 00H See below

Timer Current Value definitions are:

Index Meaning Length Byte 4 Timer 1 Current Value High byte 1 0 Byte 5 Timer 1 Current Value Low byte 1 Byte 4 Timer 2 Current Value High byte 1

1 Byte 5 Timer 2 Current Value Low byte 1 Byte 4 Timer 3 Current Value High byte 1







8 Byte 5 Timer 9 Current Value Low byte 1 Byte 4 Timer A Current Value High byte 1

9 Byte 5 Timer A Current Value Low byte 1 Byte 4 Timer B Current Value High byte 1

A Byte 5 Timer B Current Value Low byte 1 Byte 4 Timer C Current Value High byte 1

B Byte 5 Timer C Current Value Low byte 1 Byte 4 Timer D Current Value High byte 1

C Byte 5 Timer D Current Value Low byte 1 Byte 4 Timer E Current Value High byte 1

D Byte 5 Timer E Current Value Low byte 1 Byte 4 Timer F Current Value High byte 1

E Byte 5 Timer F Current Value Low byte 1


9

Read / Write Function Blocks Command: Timer Preset Value

If a Read / Write Function Blocks command is used to read or write the Preset Value of

one or more of the controller Timer function(s), the complete format of the 14 bytes is:



0

Response

Command rejected 80H/00H 1 Type 80H 80H 2 Index See Index below. See Index below. 3 Length See Length below See Length below 4 - 13 Data See below See below

Timer Preset Value definitions are:

Index Meaning Length Byte 4 Timer 1 Preset Value High byte 1 0 Byte 5 Timer 1 Preset Value Low byte 1 Byte 4 Timer 2 Preset Value High byte 1

1 Byte 5 Timer 2 Preset Value Low byte 1 Byte 4 Timer 3 Preset Value High byte 1







8 Byte 5 Timer 9 Preset Value Low byte 1 Byte 4 Timer A Preset Value High byte 1

9 Byte 5 Timer A Preset Value Low byte 1 Byte 4 Timer B Preset Value High byte 1

A Byte 5 Timer B Preset Value Low byte 1 Byte 4 Timer C Preset Value High byte 1

B Byte 5 Timer C Preset Value Low byte 1 Byte 4 Timer D Preset Value High byte 1

C Byte 5 Timer D Preset Value Low byte 1 Byte 4 Timer E Preset Value High byte 1

D Byte 5 Timer E Preset Value Low byte 1 Byte 4 Timer F Preset Value High byte 1

E Byte 5 Timer F Current Value Low byte 1


9

Read / Write Function Blocks Command: Read Counter Current Value

If a Read / Write Function Blocks command is used to read the current value of one or

more controller counter(s), the complete format of the 14 bytes is:


Command Read 02H/82H Read successful 82H/02H

0 Response

Command rejected 80H/00H 1 Type 01H 01H 2 Index See Index below See Index below 3 Length See Length below See Length below 4 - 13 Data See below See below

Timer Current Value (CV) definitions are:

Index Meaning Length Index Meaning Length Byte 4 00H 1 Byte 4 00H 1 Byte 5 Counter 1 CV High byte 1 Byte 5 Counter 9 CV High byte 1 Byte 6 Counter 1 CV Middle byte 1 Byte 6 Counter 9 CV Middle byte 1 0

Byte 7 Counter 1 CV Low byte 1

8

Byte 7 Counter 9 CV Low byte 1 Byte 4 00H 1 Byte 4 00H 1 Byte 5 Counter 2 CV High byte 1 Byte 5 Counter A CV High byte 1 Byte 6 Counter 2 CV Middle byte 1 Byte 6 Counter A CV Middle byte 1 1


9

Byte 7 Counter A CV Low byte 1 Byte 4 00H 1 Byte 4 00H 1 Byte 5 Counter 3 CV High byte 1 Byte 5 Counter B CV High byte 1 Byte 6 Counter 3 CV Middle byte 1 Byte 6 Counter B CV Middle byte 1 2


A

Byte 7 Counter B CV Low byte 1 Byte 4 00H 1 Byte 4 00H 1 Byte 5 Counter 4 CV High byte 1 Byte 5 Counter C CV High byte 1 Byte 6 Counter 4 CV Middle byte 1 Byte 6 Counter C CV Middle byte 1 3


B

Byte 7 Counter C CV Low byte 1 Byte 4 00H 1 Byte 4 00H 1 Byte 5 Counter 5 CV High byte 1 Byte 5 Counter D CV High byte 1 Byte 6 Counter 5 CV Middle byte 1 Byte 6 Counter D CV Middle byte 1 4


C

Byte 7 Counter D CV Low byte 1 Byte 4 00H 1 Byte 4 00H 1 Byte 5 Counter 6 CV High byte 1 Byte 5 Counter E CV High byte 1 Byte 6 Counter 6 CV Middle byte 1 Byte 6 Counter E CV Middle byte 1 5


D

Byte 7 Counter E CV Low byte 1 Byte 4 00H 1 Byte 4 00H 1 Byte 5 Counter 7 CV High byte 1 Byte 5 Counter F CV High byte 1 Byte 6 Counter 7 CV Middle byte 1 Byte 6 Counter F CV Middle byte 1 6


E

Byte 7 Counter F CV Low byte 1 Byte 4 00H 1 Byte 5 Counter 8 CV High byte 1 Byte 6 Counter 8 CV Middle byte 1 7



9

Read / Write Function Blocks Command: Counter Preset Value


one of more controller counter(s), the complete format of the 14 bytes is:



0

Response


Counter Preset Value (PV) definitions are:

Index Bytes Meaning, Modes 1 to 7 Length Meaning, Mode 8 LengthByte 4 00H 1 T_H 1 Byte 5 Counter 1 PV High byte 1 T_L 1 Byte 6 Counter 1 V Middle byte 1 00H 1 Byte 7 Counter 1 PV Low byte 1 Counter 1 On High byte 1 Byte 8 00H Counter 1 On Middle byte 1 Byte 9 00H Counter 1 On Low byte 1 Byte 10 00H 00H 1 Byte 11 00H Counter 1 Off High byte 1 Byte 12 00H Counter 1 Off Middle byte 1

0

Byte 13 00H Counter 1 Off Low byte 1 --- --- --- --- --- ---

Byte 4 00H 1 T_H 1 Byte 5 Counter F PV High byte 1 T_L 1 Byte 6 Counter F PV Middle byte 1 00H 1 Byte 7 Counter F V Low byte 1 Counter F On High byte 1 Byte 8 00H Counter F On Middle byte 1 Byte 9 00H Counter F On Low byte 1 Byte 10 00H 00H 1 Byte 11 00H Counter F Off High byte 1 Byte 12 00H Counter F Off Middle byte 1

E

Byte 13 00H Counter F Off Low byte 1


9

Read / Write Function Blocks Command: Read / Write Real Time Clock Current Value

If a Read / Write Function Blocks command is used to read or write the Current Value of

one or more of the controller Real Time Clock(s), the complete format of the 14 bytes is:



0

Response

Command rejected 80H/00H 1 Type 02H 02H 2 Index See Index below See Index below 3 Length See Length below See Length below 4 - 13 Data 00H See below

Real Time Clock byte definitions are:

Index Meaning Length Byte 4 Year 1 Byte 5 Month 1 Byte 6 Day 1 Byte 7 Week 1 Byte 8 Hour 1 Byte 9 Minute 1

0

Byte 10 Second 1


9

Read / Write Function Blocks Command: Read / Write Real Time Clock Preset Value


one or more Real Time Clock function(s), the complete format of the 14 bytes is:



0

Response


Real Time Clock Preset Value definitions are:

Index Bytes Meaning, Modes 1, 2 Length Meaning, Mode 3 LengthByte 4 R1: On Week 1 R1: On Year 1 Byte 5 R1: Off Week 1 R1: Off Year 1 Byte 6 R1: On Hour 1 R1: On Month 1 Byte 7 R1: Off Hour 1 R1: Off Month 1 Byte 8 R1: On Minute 1 R1: On Day 1

0

Byte 9 R1: Off Minute 1 R1: Off Day 1 --- --- --- --- --- ---

Byte 4 RF: On Week 1 R1: On Year 1 Byte 5 RF: Off Week 1 R1: Off Year 1 Byte 6 RF: On Hour 1 R1: On Month 1 Byte 7 RF: Off Hour 1 R1: Off Month 1 Byte 8 RF: On Minute 1 R1: On Day 1

E

Byte 9 RF: Off Minute 1 R1: Off Day 1


9

Read / Write Function Blocks Command: Read Comparator Current Value

If a Read / Write Function Blocks command is used to read the Current Value of one or

more Analog Comparator function(s), the complete format of the 14 bytes is:



0



Comparator definitions are:

Index Meaning Length Byte 4 A1 Comparator Value, High 1 Byte 5 A1 Comparator Value, Low 1 Byte 6 A2 Comparator Value, High 1 Byte 7 A2 Comparator Value, Low 1 Byte 8 A3 Comparator Value, High 1 Byte 9 A3 Comparator Value, Low 1 Byte 10 A4 Comparator Value, High 1

0

Byte 10 A4 Comparator Value, Low 1 Byte 4 A51 Comparator Value, High 1 Byte 5 A51 Comparator Value, Low 1 Byte 6 A6 Comparator Value, High 1 Byte 7 A6 Comparator Value, Low 1 Byte 8 A7 Comparator Value, High 1 Byte 9 A7 Comparator Value, Low 1 Byte 10 A8 Comparator Value, High 1

1

Byte 10 A8 Comparator Value, Low 1


9

Read / Write Function Blocks Command: Read / Write Comparator Preset Value

If a Read / Write Function Blocks command is used to read or write the Preset Value of one or more Analog Comparator function(s), the complete format of the 14 bytes is:



0

Response


Comparator Preset Value definitions are:

Index Meaning Length Byte 4 G1 Preset Value High byte 1 0 Byte 5 G1 Preset Value Low byte 1 Byte 4 G2 Preset Value High byte 1 1 Byte 5 G2 Preset Value Low byte 1 Byte 4 G 3 Preset Value High byte 1 2 Byte 5 G 3 Preset Value Low byte 1 Byte 4 G 4 Preset Value High byte 1 3 Byte 5 G 4 Preset Value Low byte 1 Byte 4 G 5 Preset Value High byte 1 4 Byte 5 G 5 Preset Value Low byte 1 Byte 4 G 6 Preset Value High byte 1 5 Byte 5 G 6 Preset Value Low byte 1 Byte 4 G 7 Preset Value High byte 1 6 Byte 5 G 7 Preset Value Low byte 1 Byte 4 G 8 Preset Value High byte 1 7 Byte 5 G 8 Preset Value Low byte 1 Byte 4 G 9 Preset Value High byte 1 8 Byte 5 G 9 Preset Value Low byte 1 Byte 4 G A Preset Value High byte 1 9 Byte 5 G A Preset Value Low byte 1 Byte 4 G B Preset Value High byte 1 A Byte 5 G B Preset Value Low byte 1 Byte 4 G C Preset Value High byte 1 B Byte 5 G C Preset Value Low byte 1 Byte 4 G D Preset Value High byte 1 C Byte 5 G D Preset Value Low byte 1 Byte 4 G E Preset Value High byte 1 D Byte 5 G E Preset Value Low byte 1 Byte 4 G F Preset Value High byte 1 E Byte 5 G F Current Value Low byte 1


9

Read / Write Function Blocks Command: Read PWM Current Value

If a Read / Write Function Blocks command is used to read the current value of one or

more controller PWM function(s), the complete format of the 14 bytes is:



0



PWM definitions are:

Index Meaning Length Byte 4 PW1 Run Num 1 Byte 5 PW High 1 Byte 6 PW Low 1 Byte 7 PT High 1

0

Byte 8 PT Low 1


9

Read / Write Function Blocks Command: Read / Write PWM Preset Value


one or more controller PWM function(s), the complete format of the 14 bytes is:



0

Response


PWM Preset Value definitions are:

Index Meaning Length Byte 4 PW 1 High 1 Byte 5 PW 1 Low 1 Byte 6 PT 1 High 1 0

Byte 7 PT 1 Low 1 Byte 4 PW 2 High 1 Byte 5 PW 2 Low 1 Byte 6 PT 2 High 1 1







Byte 7 PT 8 Low 1

GFK-2470 10-1

DeviceNet Communications

This chapter describes the DeviceNet features that can be incorporated into a Durus

controller system by including a DeviceNet Slave Communications Expansion Module,

24VDC (IC210EDS001).

▪ Overview

▪ Device Profile

▪ I/O Assembly Data Definitions

▪ DeviceNet Information

▪ DeviceNet Object Class Definitions

Chapter

10


10

Overview

The DeviceNet Slave Communications Expansion Module (IC210EDS001) operates as a DeviceNet Group II Only Slave device, interfacing the Durus controller to a DeviceNet communications bus. If a DeviceNet Communications Expansion Module is installed in the controller, it must be the only communications module present.

Network Parameters ▪ Group 2 Slave only

▪ Baud rate and MAC ID set by a 8-bit DIP switch. Not set from network.

▪ Standard DeviceNet Baud rates: 125K, 250K, 500K;

▪ Network MAC ID: 0 to 63;

▪ Powered by the network.

DeviceNet Features of the Module ▪ Predefined master slave connection

▪ Predefined explicit message connection

▪ Predefined poll IO message connection

▪ Explicit and I/O message fragment

▪ Duplicate MAC ID check

▪ UCMM incapable device

The following are not supported:

▪ Bit-strobe I/O message

▪ Change of state and cyclic I/O message

▪ Device communication faulted message

▪ Device heartbeat message

▪ Device shutdown message

GFK-2470 Chapter 10 DeviceNet Communications 10-3

10

Operation

The DeviceNet Master can access the following Durus controller data:

▪ Read and write controller coils states

▪ Read Current Value of Timer, Counter, RTC, Analog, PWM

▪ Read and write Preset Value of Timer, Counter, RTC, Analog, PWM

▪ Read and set Durus controller Run/Stop mode.

▪ Read Durus controller ID number

Configuration ▪ Detailed EDS configuration file.

▪ DeviceNet MAC ID and communication baud rate can be configured.

▪ I/O Assembly can be configured.

LED Status Displays On green Online, connected, link ok. The device is

allocated to a Master. Flashing green Online, Not allocated to a master.

Flashing red and green

Communication Faulted and Received an Identify Comm. Fault Request - Long Protocol. The device has detected a Network access error and is in the Communication Faulted state.

Flashing red I/O Connections have Timed–Out. On red Critical Link Failure The module has detected an

error that prevents communicating on the network (Duplicate MAC ID, or bus off).

Network

Off Not receiving power. Duplicate MAC_ID test not yet completed.

Module Status

On green Module is operating in a normal condition.

Flashing green Device in Standby. Not connected with controller. User-defined.

Flashing red and green

Self Testing

Flashing red Recoverable Fault. Module may need replacing. Error communicating with controller.

On red Unrecoverable fault, such as a hardware error. Module may need to be replaced

Off No power to the module


10

Device Profile

Device Name: Durus DeviceNet Slave Communications Expansion Module

Device Type Code: 0C Hex (Communications Adapter)

Object Classes

The DeviceNet Slave Communications Expansion Module supports the following

DeviceNet object classes.

Object Class

Required or

Optional

Object Behavior Object Interface

Instances

Identity Required Support reset operation, nonsupport heartbeat message

Router 1

Router Required No effect Identity, DeviceNet, Connection, Assembly, Application

1

DeviceNet Required Configure net port instance (such as node ID, baud rate）

Router 1

Connection Required Define and handle communication data in detail

Router, Assembly

2: I/O connection and Explicit connection

Assembly Optional Define I/O assembly data format and content

Router, Connection, Application

1 or more

Control Optional Define control and monitoring parameters

Router, Assemble

1

Interface Optional Define communication module parameters

Router 1

Application Optional Communication with Durus controller

Router, Assemble

1 or more


10

I/O Assembly Data Definitions

I/O Assemblies are sets of data of different types. Contents of the I/O Assemblies are listed below. In each assembly, for each bit, 1 = on and 0 = off. For bits representing the controller run state, 1 = running, 0 = stopped.

The default I/O Assemblies are 6 (inputs) and 36 (outputs).

Base input assembly 6, data length 8 bytes

This assembly includes 8 output points, 8 input points, and 16 internal coils.

Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 Q8 Q7 Q6 Q5 Q4 Q3 Q2 Q1 1 I8 I7 I6 I5 I4 I3 I2 I1 2 Z4 Z3 Z2 Z1 IC IB IA I9 3 M8 M7 M6 M5 M4 M3 M2 M1 4 Reserved MF ME MD MC MB MA M9 5 Reserved 6 Reserved 7 Reserved, all bits should be set to 0

Base input assembly 7, data length 8 bytes

This assembly includes 8 output points, 12 input points, 12 expansion outputs and 12 expansion inputs.

Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 Q8 Q7 Q6 Q5 Q4 Q3 Q2 Q1 1 I8 I7 I6 I5 I4 I3 I2 I1 2 Z4 Z3 Z2 Z1 IC IB IA I9 3 Y8 Y7 Y6 Y5 Y4 Y3 Y2 Y1 4 Reserved YC YB YA Y9 5 X8 X7 X6 X5 X4 X3 X2 X1 6 Reserved XC XB XA X9 7 Reserved


10

Extend input assembly 110, data length 8 bytes

This assembly includes 8 output points, 12 input points, 12 external outputs, 12 external inputs, and the controller run/stop status.

Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 Q8 Q7 Q6 Q5 Q4 Q3 Q2 Q1 1 I8 I7 I6 I5 I4 I3 I2 I1 2 Z4 Z3 Z2 Z1 IC IB IA I9 3 Y8 Y7 Y6 Y5 Y4 Y3 Y2 Y1 4 Reserved YC YB YA Y9 5 X8 X7 X6 X5 X4 X3 X2 X1 6 Reserved XC XB XA X9 7 Reserved Running

Base output assembly 36, data length 4 bytes

This assembly includes 8 output points and 15 internal coils.

Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 Q8 Q7 Q6 Q5 Q4 Q3 Q2 Q1 1 M8 M7 M6 M5 M4 M3 M2 M1 2 Reserved MF ME MD MC MB MA M9 3 Reserved

Base output assembly 37, data length 4 bytes

This assembly includes 8 output points and 12 external outputs.

Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 Q8 Q7 Q6 Q5 Q4 Q3 Q2 Q1 1 Y8 Y7 Y6 Y5 Y4 Y3 Y2 Y1 2 Reserved YC YB YA Y9 3 Reserved

Expansoin output assembly 100, data length 4 bytes

This assembly includes eight output points, 12 external outputs, and the run/stop state of the controller.

Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 Q8 Q7 Q6 Q5 Q4 Q3 Q2 Q1 1 Y8 Y7 Y6 Y5 Y4 Y3 Y2 Y1 2 Reserved YC YB YA Y9 3 Reserved Run

Parameter Configuration Refer to EDS file.


10

DeviceNet Information

Message Types As a Group II slave device, the communication module supports the following message types:

Communication module consumed message type

CAN Identity Field Group2 Message Type Remark 10xxxxxx111 Duplicate MAC ID check

message 10xxxxxx110 Predefine master/slave

connection message 10xxxxxx101 Source poll IO request

message 10xxxxxx100 Source explicit request

message

xxxxxx is device MAC ID

DeviceNet Services As a Group II only slave device, the DeviceNet Expansion Communication module supports the following class services and instance services:

Service name Service code Reset 0x05 Get Attribute Single 0x0E Set Attribute Single 0x10 Allocate Master Slave Connection Set 0x4B Release Master Slave Connection Set 0x4C

DeviceNet Objects Class code Object class name Instance number

01hex Identity 1 02hex Router 1 03hex DeviceNet 1 04hex Assembly 6 05hex Connection 2 29hex Control 1 64hex Interface 1 65hex Durus expansion 1


10

DeviceNet Object Class Definitions

Identity Object Object Class code: 01Hex

This object provides identification of and general information about the device. There is only one instance of this object.

Class Attributes

ID Access Rule

Description Data Type Default Value

Byte Number

1 Get Revision of this class UINT 1 2

Instance Attributes

ID Access Rule


Byte Number

1 Get Vendor ID UINT 1234 2 2 Get Device Type UINT 0x0C 2 3 Get Product Code UINT 0x02 (slave) 2

Revision STRUCT Major USINT 0x01

4 Get

Minor USINT 0x01

2

5 Get Status WORD 0x00 2 6 Get Serial Number UDINT 0x12345678 4

15 7 Get Product Name Short String Durus-DNET

Module

16

8 Get State of the device: 0 = no device 1 = device self-testing 2 = Standby 3 = Operational 4 = Recoverable fault 5 = Fatal fault

USINT 0x00 1

9 Get Device Configuration UINT 0x00 2 A Get/Set Heartbeat interval in

seconds, nominal USINT 0x00 1


10

Class Service

Service code

Service name Description of service

0x0E Get Attribute Single Returns the contents of the specified attribute

Instance Service Service

code Service name Description of service

0x0E Get Attribute Single Returns the contents of the specified attribute 0x10 Set Attribute Single Modifies an attribute 0x05 Reset Invokes the Reset service for the device.


10

Router Object Class code: 02Hex

The Message Router Object provides a messaging connection point through which a Client may address a service to any object class or instance residing in the physical device.

Class Attributes

ID Access Rule


Byte Number


Instance Attributes (none)

Class Service

Service code

Service name Description of service


Instance Service (none)


10

DeviceNet Object Class code: 03Hex

The DeviceNet Object provides the configuration and status of a DeviceNet port. There can only be one DeviceNet object per physical connection to the DeviceNet communication link.

Class Attributes

ID Access Rule

Description Data Type

Default Value

Byte Number


Instance Attributes

ID Access Rule


Default Value

Byte Number

1 Get Mac ID, range 0-63 USINT 63 1 2 Get Baud Rate, range 0-2 USINT 0 1 3 Get/Set Bus Off Interrupt BOOL 1 1 4 Get/Set Bus Off Counter, range 0-

255 USINT 0 1

Allocation Master/Slave Connection Set

STRUCT 2

Choice: which predefined Master/Slave connections are allocated to the Master

BYTE 0x00

5 Get

Master MAC IC USINT 0xFF 8 Get MAC IC Switch Value,

range 0-63 USINT 1

9 Get Baud rate switch value, range 0-2

USINT 1

Class Service Service




10



0x0E Get Attribute Single Returns the contents of the specified attribute 0x10 Set Attribute Single Modifies an attribute



0x4B Allocate Master/Slave connection set

Requests use of the predefined Master/Slave connection set.

0x4C Release Master/Slave connection set

Indicates that the specified connections within the predefined Master/Slave connection set should be released (deleted).


10

Connection Object Class code: 05Hex

The Connection Class allocates and manages the internal resources associated with both I/O and Explicit Messaging Connections.

Class Attributes

ID Access Rule


Default Value

Byte Number


Instance Attributes 1 (Explicit message connection) ID Access

Rule Description Data

Type Default Value Byte

Number

1 Get State of the object: 00 = non existent 03 = established 05 = deferred delete

USINT 00 1

2 Get Instance Type: 0 = Explicit connection 1 = I/O connection

USINT 00 1

3 Get Transport Class Trigger BYTE 0x83 1 4 Get Produced connection ID. Placed in

CAN identifier field when the connection transmits.

UINT 10******011 (****** is the MAC ID).

2

5 Get Consumed connection ID, denotes the message to be received.

UINT 10******100 (****** is the MAC ID).

2

6 Get Initial Comm. Characteristics BYTE 0x21 1 7 Get Produced Connection Size,

maximum number of bytes. UINT 40 2

8 Get Consumed Connection Size. maximum number of bytes.

UINT 40 2

9 Get/Set Expected Packet Rate UINT 2500 (ms) 2 C Get/Set Watchdog Timeout Action:

1 = auto-delete 3 = deferred delete

USINT 3 1

D Get Produced Connection Path Length, number of bytes

USINT 0 2

E Get Produced Connection Path: Application object whose data will be produced by this connection object

SEG No 6

F Get Consumed Connection Path length, number of bytes in the consumed connection path attribute.

USINT 0 2

10 Get Consumed Connection Path: Application object that is to receive the data consumed by this connection object.

SEG No 6

11 Get Production inhibit time: minimum time between new data production.

UINT 0 2


10

Instance Attributes 2 (Poll I/O message connection)

ID Access Rule


Default Value

Byte Number

1 Get State of the object: 00 = non existent 01 = configuring 03 = established 04 = timed out

USINT 00 1

2 Get Instance Type: 0 = Explicit connection 1 = I/O connection

USINT 00 1

3 Get Transport Class Trigger BYTE 0x83 1 4 Get Produced connection ID.

Placed in CAN identifier field when the connection transmits.

UINT 01111****** (****** is the MAC ID).

2

5 Get Consumed connection ID, denotes the message to be received.

UINT 10******101 (****** is the MAC ID).

2

6 Get Initial Comm. Characteristics BYTE 0x01 1 7 Get Produced Connection Size,

maximum number of bytes. UINT 8 2

8 Get Consumed Connection Size, maximum number of bytes.

UINT 4 2

9 Get/Set Expected Packet Rate UINT 0 (ms) 2 C Get/Set Watchdog Timeout Action:

0 = transition to timeout 2 = auto-reset

USINT 0 1

D Get Produced Connection Path Length, number of bytes

USINT 6 2

E Get Produced Connection Path: Application object whose data will be produced by this connection object. Input assembly default is 6.

SEG 20, 04, 24, 06, 30, 03

6

F Get Consumed Connection Path Length, number of bytes in the consumed connection path attribute.

USINT 6 2

10 Get Consumed Connection Path: Application object that is to receive the data consumed by this connection object. Output assembly default is 36.

SEG 20, 04, 24, 06, 30, 03

6

11 Get Production inhibit time: minimum time between new data production.

UINT 0 2


10

Common Service

Optional Operation Service code Class Instance

Service Name

0x05 Yes (reset all connections to non-exist state)

Yes Used to track the inactivity/watchdog timer associated with a Connection Object. When a Connection in the Timed Out state or Deferred Delete State receives a Reset request, it also transitions back to the Established state.

Reset

0x0E Yes Yes Get attribute single 0x10 No Yes Get attribute single


10

Assembly Object Class code: 04hex

Assembled controlling I/O states in the controller.

Class Attributes

Attributes ID

Access Rule Name Data

type Description of

Attributes and Semantics

Default value Byte number

1 Get Revision UINT Revision of this class

1 2

Instance 6, 7, 110 Attributes (Input assembly, default is 6)

Attributes ID

Access Rule Name Data type Description of Attributes

3 Get Data STRUCT of: WORD Controller, status data

Instance 36, 37, 100 Attributes (Output assemble, default is 36)

Attributes ID

Access Rule Name Data type Description of Attributes

3 Get/Set Data STRUCT of: WORD Controller, control data

Class Service Service



Instance Services Service




10

Control Supervisor Object Class code: 29Hex

This object includes the Run/Stop state and fault state of the Durus controller.

Instance Attributes ID Access


Type Default Value

Byte Number

3 Get/Set Run State 0 = Stop, 1 = Run

BOOL 0 1

7 Get Running State 0 = Stopping, 1 = Running

BOOL 0 1

9 Get Ready State 0 = Not Ready, 1 = Ready

BOOL 0 1

A Get Fault State 0 = Not faulted, 1 = Faulted

BOOL 0 1

C Get Fault Reset State 0 = No operation, 1 = Faulted reset

BOOL 0 1

D Get Fault Code that indicates the cause of the last transition to the Faulted state.

UINT 0 2





10

Interface Object Class code: 64Hex

The class describes the parameters of the DeviceNet Communication Module.



Type Default Value

Byte Number

1 Get/Set Input Assembly Configure 6, 7, 110

USINT 6 1

2 Get/Set Output Assembly Configure36, 37, 100

USINT 36 1

3 Get Baud Rate USINT 0 1 4 Get Node MAC ID USINT 63 1 5 Get Software version USINT 1.1 2





10

Durus Controller Extended Object Class code: 65Hex

This object includes the controller’s coils data and function block values.



Type Default Value

Bytes

1 Get Controller ID Number USINT 1 1 R Coils (RTC Blocks) current states:

Byte 2, Bits Byte 1, Bits 2 Get / Set

-- F E D C B A 9 8 7 6 5 4 3 2 1

UINT 0 2

3 Get / Set G Coils (Analog Blocks) current states. See bit assignments for R Coils above.

UINT 0 2

4 Get / Set T Coils (Timer Blocks) current states. See bit assignments for R Coils above.

UINT 0 2

5 Get / Set C Coils (Counter Blockls) current states. See bit assignments for R Coils above.

UINT 0 2

6 Get / Set M Coils current states. See bit assignments for R Coils above.

UINT 0 2

I Coils (Input Points) current states Byte 2, Bits Byte 1, Bits

7 Get

-- -- -- -- C B A 9 8 7 6 5 4 3 2 1

UINT 0 2

8 Get X Coils (Extended Inputs) current states. See bit assignments for I Coils above.

UINT 0 2

Q Coils (Output Points) current states Byte 2, Bits Byte 1, Bits

9 Get / Set

-- -- -- -- -- -- -- -- 8 7 6 5 4 3 2 1

UINT 0 1

0A Get / Set Y Coils (Extended Outputs) current states. See bit assignments for I Coils above.

UINT 0 2

0B Get / Set N Coils current states. See bit assignments for R Coils above.

UINT 0 2

0C Get / Set RTC Current Value. Read Only. Byte 1 = Year, Byte 2 = Month, Byte 3 = Day, Byte 4 = Week, Byte 5 = Hour, Byte 6 = Minute Byte 8 = Second

UINT 7

0D Get PWM Current Value, running. Read Only Byte 1 = Current running number Byte 2 = Current PW Value low byte Byte 3 = Current PW Value high byte Byte 4 = Current PT Value low byte Byte 5 = Current PT Value high byte

UINT 5

0E Reserved 0F Reserved


10

ID Access Rule


Default Value

Bytes

10 Get Timer 1 Current Value Byte 1 = Timer Current Value low byte Byte 2 = Timer Current Value high byte

UINT 2

11 Get Timer 2 Current Value. See Timer 1 format UINT 2 12 Get Timer 3 Current Value. See Timer 1 format UINT 2 13 Get Timer 4 Current Value. See Timer 1 format UINT 2 14 Get Timer 5 Current Value. See Timer 1 format UINT 2 15 Get Timer 6 Current Value. See Timer 1 format UINT 2 16 Get Timer 7 Current Value. See Timer 1 format UINT 2 17 Get Timer 8 Current Value. See Timer 1 format UINT 2 18 Get Timer 9 Current Value. See Timer 1 format UINT 2 19 Get Timer A Current Value. See Timer 1 format UINT 2 1A Get Timer B Current Value. See Timer 1 format UINT 2 1B Get Timer C Current Value. See Timer 1 format UINT 2 1C Get Timer D Current Value. See Timer 1 format UINT 2 1D Get Timer E Current Value. See Timer 1 format UINT 2 1E Get Timer F Current Value. See Timer 1 format UINT 2 1F Reserved 20 Get Counter 1 Current Value

Byte 1 = Counter Value low byte Byte 2 = Counter Value middle byte Byte 3 = Counter Value high byte Byte 4 = 00

UINT 4

21 Get Counter 2 Current Value. See Counter 1. UINT 4 22 Get Counter 3 Current Value. See Counter 1. UINT 4 23 Get Counter 4 Current Value. See Counter 1. UINT 4 24 Get Counter 5Current Value. See Counter 1. UINT 4 25 Get Counter 6 Current Value. See Counter 1. UINT 4 26 Get Counter 7 Current Value. See Counter 1. UINT 4 27 Get Counter 8 Current Value. See Counter 1. UINT 4 28 Get Counter 9 Current Value. See Counter 1. UINT 4 29 Get Counter A Current Value. See Counter 1. UINT 4 2A Get Counter B Current Value. See Counter 1. UINT 4 2B Get Counter C Current Value. See Counter 1. UINT 4 2C Get Counter D Current Value. See Counter 1. UINT 4 2D Get Counter E Current Value. See Counter 1. UINT 4 2E Get Counter F Current Value. See Counter 1. UINT 4 2F Reserved


10

ID Access Rule


Default Value

Bytes

30 Get / Set Timer 1 Preset Value. Byte 1 = Preset Value low byte Byte 2 = Preset Value high byte.

UINT 2

31 Get / Set Timer 2 Preset Value. See Timer 1. UINT 2 32 Get / Set Timer 3 Preset Value. See Timer 1. UINT 2 33 Get / Set Timer 4 Preset Value. See Timer 1. UINT 2 34 Get / Set Timer 5 Preset Value. See Timer 1. UINT 2 35 Get / Set Timer 6 Preset Value. See Timer 1. UINT 2 36 Get / Set Timer 7 Preset Value. See Timer 1. UINT 2 37 Get / Set Timer 8 Preset Value. See Timer 1. UINT 2 38 Get / Set Timer 9 Preset Value. See Timer 1. UINT 2 39 Get / Set Timer A Preset Value. See Timer 1. UINT 2 3A Get / Set Timer B Preset Value. See Timer 1. UINT 2 3B Get / Set Timer C Preset Value. See Timer 1. UINT 2 3C Get / Set Timer D Preset Value. See Timer 1. UINT 2 3D Get / Set Timer E Preset Value. See Timer 1. UINT 2 3E Get / Set Timer F Preset Value. See Timer 1. UINT 2 3F Reserved

Counter 1 Preset Value UINT In Mode 1 to Mode 7: Byte 1 = Counter Preset Value low byte Byte 2 = Counter Preset Value middle Byte 3 = Counter Preset Value high byte Byte 4 = 00

4 40 Get / Set

In Mode 8: Byte 1 = Period Time low byte Byte 2 = Period Time high byte Byte 3 = Counter ON Value low byte Byte 4 = Counter ON Value middle byte Byte 5 = Counter ON Value high byte Byte 6 = Counter OFF Value low byte Byte 7 = Counter OFF Value middle byte Byte 7 = Counter OFF Value high byte

8

41 Get / Set Counter 2 Preset Value. See Counter 1. UINT 4/8 42 Get / Set Counter 3 Preset Value. See Counter 1. UINT 4/8 43 Get / Set Counter 4 Preset Value. See Counter 1. UINT 4/8 44 Get / Set Counter 5Preset Value. See Counter 1. UINT 4/8 45 Get / Set Counter 6 Preset Value. See Counter 1. UINT 4/8 46 Get / Set Counter 7 Preset Value. See Counter 1. UINT 4/8 47 Get / Set Counter 8 Preset Value. See Counter 1. UINT 4/8 48 Get / Set Counter 9 Preset Value. See Counter 1. UINT 4/8 49 Get / Set Counter A Preset Value. See Counter 1. UINT 4/8 4A Get / Set Counter B Preset Value. See Counter 1. UINT 4/8 4B Get / Set Counter C Preset Value. See Counter 1. UINT 4/8 4C Get / Set Counter D Preset Value. See Counter 1. UINT 4/8 4D Get / Set Counter E Preset Value. See Counter 1. UINT 4/8 4E Get / Set Counter F Preset Value. See Counter 1. UINT 4/8 4F Reserved


10

ID Access Rule


Default Value

Bytes

RTC 1 Preset Value Mode 1 and Mode 2: Byte 1 = On week, Byte 2 = Off week Byte 3 = On hour, Byte 4 = On minute Byte 5 = Off hour, Byte 6 = Off minute

50 Get / Set

Mode 3: Byte 1 = On year, Byte 2 = Off year Byte 3 = On month, Byte 4 = On day Byte 5 = Off month, Byte 6 = Off day

UINT 6

51 Get / Set RTC 2 Preset Value. See RTC Preset 1. UINT 6 52 Get / Set RTC 3 Preset Value. See RTC Preset 1. UINT 6 53 Get / Set RTC 4 Preset Value. See RTC Preset 1. UINT 6 54 Get / Set RTC 5 Preset Value. See RTC Preset 1. UINT 6 55 Get / Set RTC 6 Preset Value. See RTC Preset 1. UINT 6 56 Get / Set RTC 7 Preset Value. See RTC Preset 1. UINT 6 57 Get / Set RTC 8 Preset Value. See RTC Preset 1. UINT 6 58 Get / Set RTC 9 Preset Value. See RTC Preset 1. UINT 6 59 Get / Set RTC A Preset Value. See RTC Preset 1. UINT 6 5A Get / Set RTC B Preset Value UINT 6 5B Get / Set RTC C Preset Value UINT 6 5C Get / Set RTC D Preset Value UINT 6 5D Get / Set RTC E Preset Value UINT 6 5E Get / Set RTC F Preset Value UINT 6 5F Reserved 60 Get / Set Analog 1 Preset Value:

Byte 1 = low byte, Byte 2 = high byte UINT 2

61 Get / Set Analog 2 Preset Value. See Analog 1. UINT 2 62 Get / Set Analog 3 Preset Value. See Analog 1. UINT 2 63 Get / Set Analog 4 Preset Value. See Analog 1. UINT 2 64 Get / Set Analog 5 Preset Value. See Analog 1. UINT 2 65 Get / Set Analog 6 Preset Value. See Analog 1. UINT 2 66 Get / Set Analog 7 Preset Value. See Analog 1. UINT 2 67 Get / Set Analog 8 Preset Value. See Analog 1. UINT 2 68 Get / Set Analog 9 Preset Value. See Analog 1. UINT 2 69 Get / Set Analog A Preset Value. See Analog 1. UINT 2 6A Get / Set Analog B Preset Value. See Analog 1. UINT 2 6B Get / Set Analog C Preset Value. See Analog 1. UINT 2 6C Get / Set Analog D Preset Value. See Analog 1. UINT 2 6D Get / Set Analog E Preset Value. See Analog 1. UINT 2 6E Get / Set Analog F Preset Value. See Analog 1. UINT 2 6F Reserved


10

ID Access Rule


Default Value

Bytes

70 Get / Set PWM 1 Preset Value Byte 1 = Preset PW Value low byte Byte 2 = Preset PW Value high byte Byte 3 = Preset PT Value low byte Byte 4 = Preset PT Value high byte

UINT 4

71 Get / Set PWM 2 Preset Value. See PWM 1. UINT 4 72 Get / Set PWM 3 Preset Value. See PWM 1. UINT 4 73 Get / Set PWM 4 Preset Value. See PWM 1. UINT 4 74 Get / Set PWM 5 Preset Value. See PWM 1. UINT 4 75 Get / Set PWM 6 Preset Value. See PWM 1. UINT 4 76 Get / Set PWM 7 Preset Value. See PWM 1. UINT 4 77 Get / Set PWM 8 Preset Value. See PWM 1. UINT 4 78 Get Analog input 1 Current Value:

Byte 1 = low byte, Byte 2 = high byte UINT 2

79 Get Analog input 2 Current Value. See A1 UINT 2 7A Get Analog input 3 Current Value. See A1 UINT 2 7B Get Analog input 4 Current Value. See A1 UINT 2 7C Get Analog input 5 Current Value. See A1 UINT 2 7D Get Analog input 6 Current Value. See A1 UINT 2 7E Get Analog input 7 Current Value. See A1 UINT 2 7F Get Analog input 8 Current Value. See A1 UINT 2





10

Index

GFK-2470 Index-1

A Accessories, 1-9 Agency Approvals, 1-3 Analog Comparator Format on the

Controller, 4-26 Analog Compares, 1-2, 1-4 Analog Display Set, 7-8 Analog Gain and Offset, 4-8, 6-6 Analog Inputs, 1-5 AND (EDGE) Logic Diagram, 6-17 AND Logic Diagram, 6-17 Approvals, 1-3 Assembly Object, 10-16

B Block Diagram Editing on the Controller, 6-

13 Block Diagram Format, 1-13 Block Diagram Mode, 7-22 Bus Termination, 9-7

C Cascaded Flash Timer without Reset, 3-29 Clear the Current Program, 4-4, 6-4 CMS (Checksum and time-out definition),

8-3 Coil Status Addresses, 8-9 Coils Address, 8-16 Coils and Contacts, 6-14 Comments, 7-34 Communications Features, 1-15 Communications Option Modules, 1-9 Compare Functions, 3-40 Comparison of Module Features, 1-10 Connection Object, 10-13 Control Supervisor Object, 10-17 Controller Main Menu in Function Block

Mode, 6-3 Controller Main Menu in Ladder Mode, 4-3 Controller Setup, 4-6, 6-5 Controllers and Expansion Modules, 1-6 Count Up or Down and Stop, Retentive, 3-

12 Count Up or Down Past Preset Value,

Retentive, 3-15 Count Up or Down to Preset, Non-

Retentive, 3-10 Count Up or Down, Non-Retentive, 3-11,

3-14 Count Up or Down, Retentive, 3-13

Count Up to Target Value, 3-16 Counter Format on the Controller, 4-23 Counters, 1-2, 1-4, 3-9 Current Values Registers, 8-12

D Data Link, 1-16 Data Link Format on the Controller, 4-27 Data Link Function, 7-19 DATALINK Function, 3-46 Description, 1-11 DeviceNet, 1-15 DeviceNet Features, 10-2 DeviceNet Object, 10-11 DeviceNet Object Class Definitions, 10-8 DeviceNet Objects, 10-7 DeviceNet Services, 10-7 DeviceNet Slave Communications

Expansion Module (IC210EDS001), 10-2

Dimensions, 1-11 DIN Rail Installation, 2-5 Discrete Inputs, 1-5 Display Language, 4-10, 6-8 Durus Controller Extended Object, 10-19 DURUS-10 Controllers, 1-7 DURUS-12 Controllers, 1-7 DURUS-20 Controllers, 1-8 DURUS-24 Controllers, 1-8

E Edit Function Blocks, 4-4 Edit Ladder Logic, 4-4 Editing on the Controller, 6-21 Electrical Isolation, 9-8 Exception Codes, 8-8 Expansion Inputs and Outputs, 4-12, 6-10 Expansion Module Installation, 2-4 Expansion Modules, 1-6

F Features, 1-2, 1-10 Field Wiring, 2-7 Flash with Reset Input, 3-28 Flash without Reset Input, 3-27 Frequency Comparison, 3-18 Function Block Editing on the Controller, 4-

22 Function Block Mode, 6-3 Function Blocks, 6-4

Index

Index-2 DURUS Controllers System Manual – June 2007 GFK-2470

G GSD File, 9-10

H Hazardous Locations, 2-2 High-Speed Counter, 3-16 HMI Instructions, 3-45 HMI Screens, 4-13, 6-11

I I/O Assembly Data Definitions, 10-5 I/O Expansion Option Modules, 1-9 I/O Link Wiring, 2-11 I/O Specifications, 1-5 Identity Object, 10-8 Inspection, 2-14 Installation Environment, 2-2 Installation, Expansion Module, 9-6 Interface Object, 10-18

K Keypad Functions in Function Block Mode,

6-13 Keypad Functions in Ladder Mode, 4-15 Keypad Mode, 5-18

L Ladder Logic Editing on the Controller, 4-

15 Ladder Logic Editing with the

Programming Software, 5-16 Ladder Logic Format, 1-12 Ladder Logic Instructions, 3-2 Ladder Logic Programming Software, 5-2 Ladder Logic Software in Keypad Mode, 5-

18 Languages, 1-2 Logic Blocks, 6-16 Loopback Check, Command, 8-7

M Maintenance, 2-14 Memory in the Controller, 3-3 Memory Option Module Installation, 2-12 MODBUS Function Codes, 8-3 MODBUS RTU, 1-15

MODBUS RTU Slave Communications Expansion Module, 24VDC (IC210EMS001), 8-2

Monitor Mode, 7-20 Mounting Clamps, 2-6 Mounting Instructions, 2-3

N NAND (EDGE) Logic Diagram, 6-17 NAND Logic Diagram, 6-17 Negative Input Differential Instruction, 3-5 NOR Logic Diagram, 6-18 Normal Output, 3-6 NOT Logic Diagram, 6-19

O Off Delay with Reset, 3-23, 3-25 On Delay with Reset Input, 3-22 On-Delay Mode Timer, 3-21 OR Logic Diagram, 6-18 Over-current Protection, 2-8

P Panel Mounting, 2-4 Password, 4-9, 6-7 Point States, 4-11, 6-9 Positive Input Differential Instruction, 3-5 Power Supply, 1-2 Preset, 4-14, 6-12 Preset Single Register, Command, 8-6 Preset Values Registers, 8-14, 8-15 Profibus Cable Types, 9-8 Profibus Functions, 9-12 Profibus-DP, 1-15 Profibus-DP Bus Connection, 9-7 Profibus-DP Slave Communications

Expansion Module, 24VDC (IC210EPS001), 9-2

Program Editing, 7-23 Program Elements, 7-24 Program Transfer, 1-14, 2-12 Programming, 1-2, 1-4, 1-12 Programming Computer, Connecting, 2-13 Programming Software and Cables, 1-9 Protection Devices, 2-2 Pulse Logic Diagram, 6-19 Pulse Output (Flip/Flop), 3-8 PWM Format on the Controller, 4-26 PWM Output Instruction, 3-44

Index

GFK-2470 Index Index-3

R Read / Write Coils Command, 9-15 Read / Write Function Blocks Command,

9-16 Read a Program, 4-5, 6-5 Read Coils, Command, 8-5 Read Registers, Command, 8-5 Reading and Writing Durus Controller

Data, 9-13 Real Time Clock Format on the Controller,

4-25 Real Time Clock Instructions, 3-30 Real Time Clock: 30 Second Modify Mode,

3-39 Real Time Clocks, 1-2, 1-4 Real-time Clock, 6-6 Register Addresses, 8-10 Relay Outputs, 1-5 Remote I/O, 1-16 Remote I/O Wiring, 2-11 RESET Output (Unlatch), 3-7 Router Object, 10-10 RTC Mode 1, Daily, 3-31 RTC Mode 2, Weekly, 3-33 RTC Mode 3: Year, Month, Day Operation,

3-36 RTU Mode, 8-2 Run / Stop the Controller, 4-4, 6-4

S SET Output (Latch), 3-6 Set the Real-time Clock, 4-7 Simulation Mode, 7-16 SLAVE Addresses, 8-2 Specifications, 1-3 SR Logic Diagram; Set/Reset Coil, 6-19 Startup Screen, 4-2, 6-2

T Text Editing, 7-15 Timer Format on the Controller, 4-22 Timers, 1-2, 1-4, 3-19 Transistor Outputs, 1-5

W Wiring, 1-3 Write a Program, 4-5, 6-4 Write Registers, Command, 8-7

X XOR Logic Diagram, 6-18

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