3G3RV-P10ST Option Board User's Manual

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iv

TABLE OF CONTENTS
PRECAUTIONS..........................................................................................ix
1 Intended Audience......................................................................................................................................................x
2 General Precautions....................................................................................................................................................x
3 Safety Precautions .................................................................................................................................................... xi
4 Maintenance and Inspection Precautions................................................................................................................. xii
5 Operation and Adjustment Precautions ................................................................................................................... xii
6 Wiring Precautions ................................................................................................................................................. xiii
7 Application Precautions.......................................................................................................................................... xiii
8 EC Directives ...........................................................................................................................................................xv
SECTION 1
INTRODUCTION ........................................................................................ 1
1-1 3G3RV-P10ST Features and Functions..................................................................................................................2
1-2 System Configurations............................................................................................................................................5
1-3 3G3RV-P10ST Structure and Operation ................................................................................................................6
1-4 Comparison with the CPM2C-S ...........................................................................................................................10
1-5 Preparation for Operation .....................................................................................................................................15
SECTION 2
UNIT COMPONENTS AND SPECIFICATIONS .................................16
2-1 Specifications........................................................................................................................................................17
2-2 Unit Components ..................................................................................................................................................25
SECTION 3
INSTALLATION AND WIRING ............................................................31
3-1 Installation ............................................................................................................................................................32
3-2 Mounting Procedure .............................................................................................................................................33
3-3 Wiring...................................................................................................................................................................35
3-4 Connecting I/O Devices........................................................................................................................................35
3-5 Wiring Communication Cables.............................................................................................................................36
3-6 Programming Device Connections .......................................................................................................................36
3-7 Battery replacement ..............................................................................................................................................37
SECTION 4
COMMUNICATION, COUNTER AND PULSE ...................................38
4-1 PLC-setup Communication...................................................................................................................................39
4-2 High-speed Counters ............................................................................................................................................42
4-3 Input Interrupts In Counter Mode.........................................................................................................................45
4-4 Pulse Output Functions.........................................................................................................................................48
SECTION 5
INVERTER INTERFACE ........................................................................56
5-1 Inverter interface...................................................................................................................................................57
5-2 I/O Allocation IR ..................................................................................................................................................57
5-3 I/O Allocation DM................................................................................................................................................60
5-4 Transfer command ................................................................................................................................................61
v

SECTION 6
EXCHANGING DATA WITH COMPOBUS/S SLAVES .................... 69
6-1 Initial Settings ...................................................................................................................................................... 70
6-1-1 Setting the Maximum Number of Nodes............................................................................................................ 70
6-1-2 Setting the CompoBus/S Communications Mode .............................................................................................. 70
6-2 Remote I/O Communications............................................................................................................................... 71
6-2-1 Slaves ................................................................................................................................................................. 71
6-2-2 I/O Allocation .................................................................................................................................................... 72
6-3 Communications Status........................................................................................................................................ 73
SECTION 7
EXCHANGING DATA WITH A DEVICENET MASTER ................. 75
7-1 Initial Settings ...................................................................................................................................................... 76
7-1-1 Setting the Node Number ................................................................................................................................... 76
7-1-2 Setting the Communications Speed .................................................................................................................... 76
7-1-3 Attaching Status Information ............................................................................................................................. 76
7-2 Remote I/O Communications............................................................................................................................... 76
7-3 Explicit Message Communications ...................................................................................................................... 79
7-3-1 DeviceNet Explicit Message Functions.............................................................................................................. 79
7-3-2 Command and Response Formats ...................................................................................................................... 81
7-4 Status Information................................................................................................................................................ 88
7-4-1 LED Indicators................................................................................................................................................... 88
7-4-2 AR Area Flags indicating DeviceNet Status ...................................................................................................... 89
7-4-3 3G3RV-P10ST Status Output to DeviceNet ...................................................................................................... 89
SECTION 8
ENCODER INTERFACE......................................................................... 91
8-1 Features and Functions......................................................................................................................................... 92
8-2 Counter Present value .......................................................................................................................................... 93
8-2-1 Upper count limit ............................................................................................................................................... 93
8-2-2 Counter clear, Counter enable, Over- and Underflow........................................................................................ 94
8-3 Input Signal Types ............................................................................................................................................... 95
8-3-1 Phase Differential............................................................................................................................................... 95
8-3-2 Up & Down........................................................................................................................................................ 96
8-3-3 Pulse & Direction............................................................................................................................................... 97
8-4 Capturing ............................................................................................................................................................. 98
8-4-1 Capture mask range.......................................................................................................................................... 100
8-5 Comparison........................................................................................................................................................ 102
8-6 Counter clear...................................................................................................................................................... 103
8-7 Interrupts............................................................................................................................................................ 105
8-8 Memory Allocation ............................................................................................................................................ 107
8-8-1 I/O Allocation IR ............................................................................................................................................. 107
8-8-2 I/O-Allocation DM........................................................................................................................................... 109
vi

APPENDIX A
INSTRUCTIONS .....................................................................................110
APPENDIX B
EXAMPLE PROGRAMS........................................................................112
B-1 Basic RUN template program ............................................................................................................................112
B-2 Basic Read Parameter template program ...........................................................................................................113
B-3 Basic Write Parameter template program ..........................................................................................................115
B-4 F7-PLC SAMPLE : Basic Positioning template program
using PLC High Speed Inputs for LowFreq Encoder ..........................................................................................121
REVISION HISTORY.............................................................................143
vii

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2 General Precautions....................................................................................................................................................x
3 Safety Precautions .................................................................................................................................................... xi
4 Maintenance and Inspection Precautions................................................................................................................. xii
5 Operation and Adjustment Precautions ................................................................................................................... xii
6 Wiring Precautions ................................................................................................................................................. xiii
7 Application Precautions.......................................................................................................................................... xiii
8 EC Directives ...........................................................................................................................................................xv

ix
General Precautions

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xi
Operation and Adjustment Precautions

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VJGUGYKVJQWVEQPHKTOKPIUCHGV[OC[TGUWNVKPKPLWT[
/CKPVGPCPEGCPF+PURGEVKQP2TGECWVKQPU
&QPQVVQWEJVJG+PXGTVGTVGTOKPCNUYJKNGVJGRQYGTKUDGKPIUWRRNKGF
9#40+0)

/CKPVGPCPEGQTKPURGEVKQPOWUVDGRGTHQTOGFQPN[CHVGTVWTPKPI1((VJG
9#40+0)
RQYGTUWRRN[QHVJG+PXGTVGTEQPHKTOKPIVJCVVJG%*#4)'KPFKECVQT
QTUVCVWU
KPFKECVQTUKUVWTPGF1((CPFCHVGTYCKVKPIHQTVJGVKOGURGEKHKGFQPVJGHTQPV

/CKPVGPCPEG KPURGEVKQP QT RCTVU TGRNCEGOGPV OWUV DG RGTHQTOGF D[
9#40+0)
CWVJQTK\GFRGTUQPPGN0QVFQKPIUQOC[TGUWNVKPGNGEVTKECNUJQEMQTKPLWT[

&Q PQV CVVGORV VQ VCMG VJG 7PKV CRCTV QT TGRCKT &QKPI GKVJGT QH VJGUG OC[
9#40+0)
TGUWNVKPGNGEVTKECNUJQEMQTKPLWT[

%CWVKQP %CTGHWNN[ JCPFNG VJG +PXGTVGT DGECWUG KV WUGU UGOKEQPFWEVQT GNGOGPVU
%CTGNGUUJCPFNKPIOC[TGUWNVKPOCNHWPEVKQP

%CWVKQP &Q PQV EJCPIG YKTKPI FKUEQPPGEV EQPPGEVQTU QT 1RGTCVQT QT TGRNCEG HCPU
YJKNGRQYGTKUDGKPIUWRRNKGF&QKPIUQOC[TGUWNVKPKPLWT[QTOCNHWPEVKQP
%CWVKQP $G UWTG VQ YKTG EQTTGEVN[ CPF UGEWTGN[ 0QV FQKPI UQ OC[ TGUWNV KP KPLWT[ QT
FCOCIGVQVJGRTQFWEV
1RGTCVKQPCPF#FLWUVOGPV2TGECWVKQPU
6WTP10VJGKPRWVRQYGTUWRRN[QHVJG+PXGTVGTQPN[CHVGTOQWPVKPIVJGHTQPV
9#40+0)
EQXGTVGTOKPCNEQXGTUDQVVQOEQXGT1RGTCVQTCPFQRVKQPCNKVGOU0QVFQKPI
UQOC[TGUWNVKPGNGEVTKECNUJQEM

&Q PQV TGOQXG VJG HTQPV EQXGT VGTOKPCN EQXGTU QT QRVKQPCN KVGOU YJKNG VJG
9#40+0)
RQYGTKUDGKPIUWRRNKGF0QVFQKPIUQOC[TGUWNVKPGNGEVTKECNUJQEM

&QPQVQRGTCVGVJG1RGTCVQTQTUYKVEJGUYKVJYGVJCPFU&QKPIUQOC[TGUWNV
9#40+0)
KPGNGEVTKECNUJQEM

&Q PQV VQWEJ VJG KPUKFG QH VJG +PXGTVGT &QKPI UQ OC[ TGUWNV KP GNGEVTKECN
9#40+0)
UJQEM

2TQXKFG C UGRCTCVG GOGTIGPE[ UVQR UYKVEJ DGECWUG VJG 5612 -G[ QP VJG
9#40+0)
1RGTCVQT KU XCNKF QPN[ YJGP HWPEVKQP UGVVKPIU CTG RGTHQTOGF 0QV FQKPI UQ
OC[TGUWNVKPKPLWT[
xii
Application Precautions
9KTKPI2TGECWVKQPU
9KTKPIOWUVDGRGTHQTOGFQPN[CHVGTEQPHKTOKPIVJCVVJGRQYGTUWRRN[QHVJG
9#40+0)
+PXGTVGTJCUDGGPVWTPGF1((0QVFQKPIUQOC[TGUWNVKPGNGEVTKECNUJQEM

9KTKPIOWUVDGRGTHQTOGFD[CWVJQTK\GFRGTUQPPGN0QVFQKPIUQOC[TGUWNV
9#40+0)
KPGNGEVTKECNUJQEMQTHKTG
#RRNKECVKQP2TGECWVKQPU
1DUGTXGVJGHQNNQYKPIRTGECWVKQPUYJGPWUKPIVJG2.%7PKV

(CKNWTGVQCDKFGD[VJGHQNNQYKPIRTGECWVKQPUEQWNFNGCFVQUGTKQWUQTRQUUKDN[
9#40+0)
HCVCNKPLWT[#NYC[UJGGFVJGUGRTGECWVKQPU
• #NYC[UITQWPFVJGU[UVGOYKVJΩQTNGUUYJGPKPUVCNNKPIVJGU[UVGOVQ
RTQVGEVCICKPUVGNGEVTKECNUJQEM
• #NYC[U VWTP QHH VJG RQYGT UWRRN[ QH VJG +PXGTVGT DGHQTG CVVGORVKPI CP[ QH
VJGHQNNQYKPI2GTHQTOKPICP[QHVJGHQNNQYKPIYKVJVJGRQYGTUWRRN[VWTPGF
QPOC[NGCFVQGNGEVTKECNUJQEM
• #UUGODNKPICP[FGXKEGUQTTCEMU
• %QPPGEVKPIQTFKUEQPPGEVKPICP[EQPPGEVQTUECDNGUQTYKTKPI
• 5GVVKPI&+2UYKVEJGUQTTQVCT[UYKVEJGU

(CKNWTGVQCDKFGD[VJGHQNNQYKPIRTGECWVKQPUEQWNFNGCFVQHCWNV[QRGTCVKQPQH
9#40+0)
VJG2.%QTVJGU[UVGOQTEQWNFFCOCIGVJG2.%QT2.%7PKVU#NYC[UJGGF
VJGUGRTGECWVKQPU
• (CKNUCHGOGCUWTGUOWUVDGVCMGPD[VJGEWUVQOGTVQGPUWTGUCHGV[KPVJG
GXGPV QH KPEQTTGEV OKUUKPI QT CDPQTOCN UKIPCNU ECWUGF D[ DTQMGP UKIPCN
NKPGUOQOGPVCT[RQYGTKPVGTTWRVKQPUQTQVJGTECWUGU
• +PVGTNQEM EKTEWKVU NKOKV EKTEWKVU CPF UKOKNCT UCHGV[ OGCUWTGU KP GZVGTPCN
EKTEWKVU
KG PQV KP VJG2TQITCOOCDNG%QPVTQNNGTOWUVDGRTQXKFGFD[VJG
EWUVQOGT
• 7UG VJG 7PKVU QPN[ YKVJ VJG RQYGT UWRRNKGU CPF XQNVCIGU URGEKHKGF KP VJG
QRGTCVKQP OCPWCNU 1VJGT RQYGT UWRRNKGU CPF XQNVCIGU OC[ FCOCIG VJG
7PKVU
• 6CMG CRRTQRTKCVG OGCUWTGU VQ GPUWTG VJCV VJG URGEKHKGF RQYGT YKVJ VJG
TCVGF XQNVCIG CPF HTGSWGPE[ KU UWRRNKGF $G RCTVKEWNCTN[ ECTGHWN KP RNCEGU
YJGTGVJGRQYGTUWRRN[KUWPUVCDNG#PKPEQTTGEVRQYGTUWRRN[OC[TGUWNV
KPOCNHWPEVKQP
• +PUVCNN GZVGTPCN DTGCMGTU CPF VCMG QVJGT UCHGV[ OGCUWTGU CICKPUV UJQTV
EKTEWKVKPI KP GZVGTPCN YKTKPI +PUWHHKEKGPV UCHGV[ OGCUWTGU CICKPUV UJQTV
EKTEWKVKPIOC[TGUWNVKPDWTPKPI
• &QPQVCRRN[XQNVCIGUGZEGGFKPIVJGTCVGFKPRWVXQNVCIGVQ+PRWV7PKVU6JG
+PRWV7PKVUOC[DGFGUVTQ[GF
• &QPQVCRRN[XQNVCIGUGZEGGFKPIVJGOCZKOWOUYKVEJKPIECRCEKV[VQ1WVRWV
7PKVU6JG1WVRWV7PKVUOC[DGFGUVTQ[GF
xiii
Application Precautions

%CWVKQP • +PUVCNN VJG 7PKVU RTQRGTN[ CU URGEKHKGF KP VJG QRGTCVKQP OCPWCNU +ORTQRGT
KPUVCNNCVKQPQHVJG7PKVUOC[TGUWNVKPOCNHWPEVKQP
• 9KTG CNN EQPPGEVKQPU EQTTGEVN[ &QWDNGEJGEM CNN YKTKPI CPF UYKVEJ UGVVKPIU
DGHQTGVWTPKPIQPVJGRQYGTUWRRN[+PEQTTGEVYKTKPIOC[TGUWNVKPDWTPKPI
• /QWPV7PKVUQPN[CHVGTEJGEMKPIVGTOKPCNDNQEMUCPFEQPPGEVQTUEQORNGVGN[
• $G UWTG VJCV VJG VGTOKPCN DNQEMU /GOQT[ 7PKVU GZRCPUKQP ECDNGU CPF
QVJGT KVGOU YKVJ NQEMKPI FGXKEGU CTG RTQRGTN[ NQEMGF KPVQ RNCEG +ORTQRGT
NQEMKPIOC[TGUWNVKPOCNHWPEVKQP
• %JGEMUYKVEJUGVVKPIUVJGEQPVGPVUQHVJG&/#TGCCPFQVJGTRTGRCTCVKQPU
DGHQTG UVCTVKPI QRGTCVKQP 5VCTVKPI QRGTCVKQP YKVJQWV VJG RTQRGT UGVVKPIU QT
FCVCOC[TGUWNVKPCPWPGZRGEVGFQRGTCVKQP
• %JGEM VJG WUGTRTQITCOHQTRTQRGTGZGEWVKQPDGHQTGCEVWCNN[TWPPKPIKVQP
VJG7PKV0QVEJGEMKPIVJGRTQITCOOC[TGUWNVKPCPWPGZRGEVGFQRGTCVKQP
• %QPHKTO VJCV PQ CFXGTUG GHHGEV YKNN QEEWT KP VJG U[UVGO DGHQTG CVVGORVKPI
CP[QHVJGHQNNQYKPI0QVFQKPIUQOC[TGUWNVKPCPWPGZRGEVGFQRGTCVKQP
• %JCPIKPIVJGQRGTCVKPIOQFGQHVJG2.%
• (QTEGUGVVKPIHQTEGTGUGVVKPICP[DKVKPOGOQT[
• %JCPIKPIVJGRTGUGPVXCNWGQHCP[YQTFQTCP[UGVXCNWGKPOGOQT[
• 4GUWOGQRGTCVKQPYKVJCPGY%277PKVQPN[CHVGTVTCPUHGTTKPIVJGEQPVGPVU
QHVJG&/#TGC*4#TGCCPFQVJGTFCVCTGSWKTGFHQTTGUWOKPIQRGTCVKQPVQ
VJGPGY7PKV0QVFQKPIUQOC[TGUWNVKPCPWPGZRGEVGFQRGTCVKQP
• &Q PQV RWNN QP VJG ECDNGU QT DGPF VJG ECDNGU DG[QPF VJGKT PCVWTCN NKOKV
&QKPIGKVJGTQHVJGUGOC[DTGCMVJGECDNGU
• &Q PQV RNCEG QDLGEVU QP VQR QH VJG ECDNGU QT QVJGT YKTKPI NKPGU &QKPI UQ
OC[DTGCMVJGECDNGU
• $GHQTGVQWEJKPIC7PKVDGUWTGVQHKTUVVQWEJCITQWPFGFOGVCNNKEQDLGEVKP
QTFGT VQ FKUEJCTIG CP[ UVCVKEDWKNVWR0QVFQKPIUQOC[TGUWNVKPOCNHWPE
VKQPQTFCOCIG
• &QPQVVQWEJEKTEWKVDQCTFUQTVJGEQORQPGPVUOQWPVGFVQVJGOYKVJ[QWT
DCTGJCPFU6JGTGCTGUJCTRNGCFUCPFQVJGTRCTVUQPVJGDQCTFUVJCVOC[
ECWUGKPLWT[KHJCPFNGFKORTQRGTN[
• &QPQVCVVGORVVQVCMGCP[7PKVUCRCTVVQTGRCKTCP[7PKVUQTVQOQFKH[CP[
7PKVUKPCP[YC[
xiv
EC Directives
'%&KTGEVKXGU
#RRNKECDNG&KTGEVKXGU
• '/%&KTGEVKXGU
• .QY8QNVCIG&KTGEVKXG
%QPEGRVU
'/%&KTGEVKXGU
1/410FGXKEGUVJCVEQORN[YKVJ'%&KTGEVKXGUCNUQEQPHQTOVQVJGTGNCVGF
'/%UVCPFCTFUUQVJCVVJG[ECPDGOQTGGCUKN[DWKNVKPVQQVJGTFGXKEGUQTVJG
QXGTCNN OCEJKPG 6JG CEVWCN RTQFWEVU JCXG DGGP EJGEMGF HQT EQPHQTOKV[ VQ
'/%UVCPFCTFU
UGGVJGHQNNQYKPIPQVG9JGVJGTVJGRTQFWEVUEQPHQTOVQVJG
UVCPFCTFUKPVJGU[UVGOWUGFD[VJGEWUVQOGTJQYGXGTOWUVDGEJGEMGFD[
VJGEWUVQOGT
'/%TGNCVGF RGTHQTOCPEG QH VJG 1/410 FGXKEGU VJCV EQORN[ YKVJ '%
&KTGEVKXGU YKNN XCT[ FGRGPFKPI QP VJG EQPHKIWTCVKQP YKTKPI CPF QVJGT
EQPFKVKQPU QH VJG GSWKROGPV QT EQPVTQN RCPGN QP YJKEJ VJG 1/410 FGXKEGU
CTGKPUVCNNGF6JGEWUVQOGTOWUVVJGTGHQTGRGTHQTOVJGHKPCNEJGEMVQEQPHKTO
VJCVFGXKEGUCPFVJGQXGTCNNOCEJKPGEQPHQTOVQ'/%UVCPFCTFU
0QVG #RRNKECDNG'/%
'NGEVTQOCIPGVKE%QORCVKDKNKV[UVCPFCTFUCTGCUHQNNQYU
'/5
'NGEVTQOCIPGVKE5WUEGRVKDKNKV[ '0
'/+
'NGEVTQOCIPGVKE+PVGTHGTGPEG '0'0

4CFKCVGFGOKUUKQPOTGIWNCVKQPU
.QY8QNVCIG&KTGEVKXG
5CHGV[UVCPFCTF'0

%QPHQTOCPEGVQ'%&KTGEVKXGU
6JG )48256 UGTKGU RTQFWEVU EQORN[ YKVJ '% &KTGEVKXGU 6Q GPUWTG
VJCV VJG OCEJKPG QT FGXKEG KP YJKEJ VJG 2.% KU WUGF EQORNKGU YKVJ '%
&KTGEVKXGUVJG2.%OWUVDGKPUVCNNGFCUHQNNQYU
6JG2.%OWUVDGKPUVCNNGFYKVJKPCEQPVTQNRCPGN
;QWOWUVWUGTGKPHQTEGFKPUWNCVKQPQTFQWDNGKPUWNCVKQPHQTVJG&%RQYGT
UWRRNKGU WUGF HQT VJG EQOOWPKECVKQPU RQYGT UWRRN[ CPF +1 RQYGT
UWRRNKGU
1/410 2.%U EQORN[KPI YKVJ '% &KTGEVKXGU CNUQ EQPHQTO VQ VJG
%QOOQP'OKUUKQP5VCPFCTF
'04CFKCVGFGOKUUKQPEJCTCEVGT
KUVKEU
OTGIWNCVKQPUOC[XCT[FGRGPFKPIQPVJGEQPHKIWTCVKQPQHVJG
EQPVTQNRCPGNWUGFQVJGTFGXKEGUEQPPGEVGFVQVJGEQPVTQNRCPGNYKTKPI
CPFQVJGTEQPFKVKQPU;QWOWUVVJGTGHQTGEQPHKTOVJCVVJGQXGTCNNOCEJKPG
QTGSWKROGPVEQORNKGUYKVJ'%&KTGEVKXGU
xv

SECTION 1
Introduction

6JKUUGEVKQPFGUETKDGUVJGURGEKCNHGCVWTGUCPFHWPEVKQPUQHVJG)48256UJQYUVJGRQUUKDNGU[UVGOEQPHKIWTCVKQPU
CPFQWVNKPGUVJGUVGRUTGSWKTGFDGHQTGQRGTCVKQP4GCFVJKUUGEVKQPHKTUVYJGPWUKPIVJG)48256HQTVJGHKTUVVKOG
4GHGTVQVJG%2/%2/#%2/#%2/%54/
82TQITCOOKPI/CPWCN
9HQTFGVCKNUQPRTQITCOOKPI
QRGTCVKQPU

1-1 3G3RV-P10ST Features and Functions..................................................................................................................2
1-1-1 3G3RV-P10ST Features..................................................................................................................................2
1-1-2 Overview of 3G3RV-P10ST Functions............................................................................................................3
1-2 System Configurations............................................................................................................................................5
1-2-1 Unit types ........................................................................................................................................................5
1-3 3G3RV-P10ST Structure and Operation ................................................................................................................6
1-3-1 3G3RV-P10ST Structure .................................................................................................................................6
1-3-2 Operating Modes.............................................................................................................................................7
1-3-3 Operating Mode at Startup .............................................................................................................................8
1-3-4 Cyclic Operation and Interrupts .....................................................................................................................9
1-4 Comparison with the CPM2C-S ...........................................................................................................................10
1-5 Preparation for Operation .....................................................................................................................................15

1
3G3RV-P10ST Features and Functions 5GEVKQP

)48256(GCVWTGUCPF(WPEVKQPU
)48256(GCVWTGU
6JG)482562.%1RVKQP7PKVUCTGEQORCEV%2/%2.%UVJCVJCXG
DGGPGSWKRRGFYKVJCP(<'<.<+PXGTVGTKPVGTHCEG6JG)48256
KPEQTRQTCVGUCXCTKGV[QHURGEKCNHGCVWTGULWUVNKMGVJG%2/%KPENWFKPIU[P
EJTQPK\GFRWNUGEQPVTQNKPVGTTWRVKPRWVURWNUGQWVRWVUCPFCENQEMHWPEVKQP
• 6JG+PXGTVGTKPVGTHCEGTGFWEGUYKTKPICPFUCXGUURCEG+PUVGCFQHWUKPI
C%2/%YKVJ%+(VQEQOOWPKECVGVQCP(+PXGTVGTVJG25&6
EQOOWPKECVGUFKTGEVN[VQVJG+PXGTVGTYKVJQWVVJGQXGTJGCF
• 6JG)48256KVUGNHECPJCPFNGCYKFGTCPIGQHOCEJKPGEQPVTQNCR
RNKECVKQPU+PCFFKVKQPVJG)48256KUECRCDNGQHEQOOWPKECVKQPU
YKVJFGXKEGUUWEJCURGTUQPCNEQORWVGTUCPF1/4102TQITCOOCDNG
6GTOKPCNUUQKVKUKFGCNVQWUGVQGZRCPFQTWRITCFGGZKUVKPIU[UVGOU
• 6JG)48256%277PKVJCUCVQVCNQH+1RQKPVUKPRWVUCPF
VTCPUKUVQTQWVRWVU
• 6JG)48256JCUCFGFKECVGF'PEQFGTKPVGTHCEGECRCDNGQHTGCF
KPIRQUKVKQPUQHGPEQFGTUYKVJCOCZKOWOHTGSWGPE[KPRWVQHM*\
• 6JGEQOOWPKECVKQPURQTVECPDGWUGFUKOWNVCPGQWUN[CUVYQRQTVU2G
TKRJGTCNCPF45%6JGRGTKRJGTCNRQTVUWRRQTVU2TQITCOOKPI&G
XKEGU*QUV.KPMCPFPQRTQVQEQNEQOOWPKECVKQPU6JG45%RQTV
UWRRQTVU*QUV.KPMPQRTQVQEQN
UGTKCN2.%.KPMCPF06.KPM
EQOOWPKECVKQPU
• +PENWFGFKUCNUQCP45KPVGTHCEGYJKEJCNNQYUHQTCEJGCREQP
PGEVKQPVQQVJGT)48256ŏUQVJGT+PXGTVGTU06VGTOKPCNUGVE
• 'ZVTC+1ECPDGETGCVGFD[EQPPGEVKPI%QORQ$WU5UNCXGUVQVJG
)48256
• 6JG)48256&46XGTUKQPCNUQKPENWFGUC&GXKEG0GVUNCXGKPVGT
HCEGCNNQYKPIKVVQDGEQPPGEVGFVQC&GXKEG0GVOCUVGT

.QUUQH+PXGTVGTHWPEVKQPCNKV[
9JGPGXGTVJG)48256KUCVVCEJGFVQCP(+PXGTVGTVJGHQNNQYKPIHWPE
VKQPCNKV[QHVJG+PXGTVGTKUNQUV
• /'/1$75EQOOWPKECVKQPVJTQWIJVJG45KPVGTHCEGQHVJG+P
XGTVGTKUFKUCDNGF6JG/'/1$75EQOOWPKECVKQPVJTQWIJVJG4,
EQPPGEVQTKUUVKNNCXCKNCDNG
2

1XGTXKGYQH)48256(WPEVKQPU
/CKPHWPEVKQP 8CTKCVKQPU&GVCKNU
+PXGTVGTKPVGTHCEG &KTGEVKPVGTHCEGYKVJ'(.+PXGTVGTVJTQWIJ
• +4OGOQT[
• &/OGOQT[
• 6TCPUHGTEQOOCPF
CompoBus/S Master • Remote I/O FGXKEGUECPDGCNNQECVGFWRVQ+1RQKPVU
KPRWVUCPFQWVRWVU
functions KPKPRWVCTGC+4VQ+4CPFQWVRWVCTGC+4VQ+4

• 6JGPQFGPWODGTUECPDGUGVVQVQ
RQKPVOQFGQTVQ
RQKPVOQFG
• 6JGEQOOWPKECVKQPUOQFGECPDGUGVVQJKIJURGGFOQFG
OCZNGPIVJOQTNQPI
FKUVCPEGOQFG
OCZNGPIVJO
DeviceNet Slave • 7RVQYQTFU
KPRWVYQTFUCPFQWVRWVYQTFUECPDGCNNQECVGFVQVJG&GXKEG0GV
functions /CUVGTŏU+16JG/CUVGTŏU+1ECPDGCNNQECVGFVQVJGHQNNQYKPIFCVCCTGCU

+4VQ+4
+4VQ+4
&/VQ&/
.4VQ.4
*4VQ*4
#4VQ#4
)48256Æ/CUVGTTGCFQPN[
6%VQ6%
• 'ZRNKEKVOGUUCIGEQOOWPKECVKQPUCTGUWRRQTVGF#P[)48256FCVCCTGCECPDG
CEEGUUGFHTQOVJG&GXKEG0GV/CUVGT
• 6JGEQOOWPKECVKQPUURGGFECPDGUGVVQMDRU
VQVCNPGVYQTMNGPIVJOOCZ
MDRU
VQVCNPGVYQTMNGPIVJOOCZQTMDRU
VQVCNPGVYQTMNGPIVJO
OCZ
+PVGTTWRVU +PVGTTWRVKPRWVU
KPRWVU
4GURQPUGVKOGµU
+PVGTXCNVKOGTKPVGTTWRVU 5EJGFWNGFKPVGTTWRVU
KPRWV
5GVXCNWGVQOU 1PGUJQVKPVGTTWRV
2TGEKUKQPOU
*KIJURGGFEQWPVGTU *KIJURGGFEQWPVGT 0QKPVGTTWRV
KPRWVUGGPQVG %QWPVEJGEMKPVGTTWRV
&KHHGTGPVKCNRJCUGOQFG
M*\
#PKPVGTTWRVECPDGIGPGTCVGFYJGPVJG
2WNUGRNWUFKTGEVKQPKPRWVOQFG
M*\ EQWPVGSWCNUVJGUGVXCNWGQTVJGEQWPV
7RFQYPKPRWVOQFG
M*\ NKGUYKVJKPCRTGUGVTCPIG
+PETGOGPVOQFG
M*\
+PVGTTWRVKPRWVU
EQWPVGTOQFG 0QKPVGTTWRV
KPRWVU
+PETGOGPVKPIEQWPVGT
M*\ %QWPVWRKPVGTTWRV
&GETGOGPVKPIEQWPVGT
M*\
2WNUGQWVRWVU • QWVRWVU
5KPINGRJCUGRWNUGQWVRWVYKVJQWVCEEGNGTCVKQPFGEGNGTCVKQP
5GGPQVG
*\VQM*\
• QWVRWVU
8CTKCDNGFWV[TCVKQRWNUGQWVRWV
5GGPQVG
VQ*\FWV[TCVKQVQ
• QWVRWV
2WNUGQWVRWVYKVJVTCRG\QKFCNCEEGNGTCVKQPFGEGNGTCVKQP
5GGPQVG
2WNUGRNWUFKTGEVKQPQWVRWVWRFQYPRWNUGQWVRWV*\VQM*\
3

/CKPHWPEVKQP 8CTKCVKQPU&GVCKNU
5[PEJTQPK\GFRWNUG RQKPVUGGPQVGUCPF
EQPVTQN +PRWVHTGSWGPE[TCPIGVQ*\*\VQM*\QT*\VQM*\
1WVRWVHTGSWGPE[TCPIG*\VQM*\
3WKEMTGURQPUGKPRWV KPRWVU
/KPKOWOKPRWVUKIPCNYKFVJµU
+PRWVVKOGEQPUVCPV &GVGTOKPGUVJGKPRWVVKOGEQPUVCPVHQTCNNKPRWVU
5GVVKPIUQTOU
%CNGPFCT%NQEM 5JQYUVJGEWTTGPV[GCTOQPVJFC[QHVJGYGGMFC[QHVJGOQPVJJQWTOKPWVGCPFUGEQPF
'PEQFGTKPVGTHCEG KPRWVOQFGU
&KHHGTGPVKCNRJCUG
WRFQYP
2WNUGRNWUFKTGEVKQP
7RFQYPRWNUG
/CZKOWOKPRWVHTGSWGPE[M*\

/CZKOWOEQWPVGTTCPIG

6YQECRVWTGTGIKUVGTUUGNGEVCDNGTGIKUVTCVKQPKPRWVU
1PGEQORCTKUQPXCNWG
%QWPVGTTGUGVVJTQWIJUQHVYCTGQT<RJCUG
+PVGTTWRVHWPEVKQP
0QVG 6JKUKPRWVKUUJCTGFD[VJGJKIJURGGFEQWPVGTCPFU[PEJTQPK\GFRWNUGEQP
VTQNHWPEVKQPU
This output is shared by the pulse output and synchronized pulse control func-
tions.
4
System Configurations 5GEVKQP

5[UVGO%QPHKIWTCVKQPU
7PKVV[RGU

)482567PKVU

+VGO )48256' )48256&46'
2.%EQTG %2/%5 %2/%5
+PRWVU 8&%KPRWVU 8&%KPRWVU
1WVRWVU UQWTEKPIVTCPUKUVQTQWVRWVU UQWTEKPIVTCPUKUVQTQWVRWVU
2GTKRJGTCNRQTV ;GU ;GU
45%RQTV ;GU ;GU
45RQTV ;GU ;GU
%CNGPFCT%NQEM ;GU ;GU
/GOQT[DCEMWR (NCUJOGOQT[CPFDCVVGT[ (NCUJOGOQT[CPFDCVVGT[
%QORQ$WU5OCUVGTKPVGTHCEG ;GU ;GU
'PEQFGTKPVGTHCEG ;GU ;GU
&GXKEG0GVUNCXGKPVGTHCEG 0Q ;GU
5
3G3RV-P10ST Structure and Operation 5GEVKQP

)482565VTWEVWTGCPF1RGTCVKQP
)482565VTWEVWTG
6JGHQNNQYKPIFKCITCOUJQYUVJGKPVGTPCNUVTWEVWTGQHVJG7PKV
E7/F7/L7
Inverter
DeviceNet DeviceNet Inverter CompoBus/S CompoBus/S

master interface interface interface slaves
I/O memory
Input circuits
External
input
Output circuits
devices
PLC Setup External
output
devices
Program Settings
interface
Encoder
Encoder
Settings
Communications
ports
Settings
Communications
Switches

+1/GOQT[ 6JGRTQITCOTGCFUCPFYTKVGUFCVCKPVJKUOGOQT[CTGCFWTKPIGZGEWVKQP
2CTVQHVJG+1OGOQT[EQPVCKPUVJGDKVUVJCVTGHNGEVVJGUVCVWUQHVJG2.%ŏUKP
RWVUCPFQWVRWVU2CTVUQHVJG+1OGOQT[CTGENGCTGFYJGPVJGRQYGTKU
VWTPGF10CPFQVJGTRCTVUCTGTGVCKPGF
2TQITCO 6JKUKUVJGRTQITCOYTKVVGPD[VJGWUGT6JG)48256GZGEWVGUVJG
RTQITCOE[ENKECNN[
4GHGTVQUGEVKQP%[ENKE1RGTCVKQPCPF+PVGTTWRVUHQT
FGVCKNU6JGRTQITCOECPDGFKXKFGFDTQCFN[KPVQVYQRCTVUVJGőOCKPRTQ
ITCOŒVJCVKUGZGEWVGFE[ENKECNN[CPFVJGőKPVGTTWRVRTQITCOUŒVJCVCTGGZG
EWVGFQPN[YJGPVJGEQTTGURQPFKPIKPVGTTWRVKUIGPGTCVGF
2.%5GVWR 6JG2.%5GVWREQPVCKPUXCTKQWUUVCTVWRCPFQRGTCVKPIRCTCOGVGTU6JG2.%
5GVWRRCTCOGVGTUECPDGEJCPIGFHTQOC2TQITCOOKPI&GXKEGQPN[VJG[
ECPPQVDGEJCPIGFHTQOVJGRTQITCO
5QOGRCTCOGVGTUCTGCEEGUUGFQPN[YJGP2.%ŏURQYGTUWRRN[KUVWTPGF10
CPFQVJGTUCTGCEEGUUGFTGIWNCTN[YJKNGVJGRQYGTKU10+VYKNNDGPGEGUUCT[
VQVWTPVJGRQYGT1((CPFVJGP10CICKPVQGPCDNGCPGYUGVVKPIKHVJGRC
TCOGVGTKUCEEGUUGFQPN[YJGPVJGRQYGTKUVWTPGF10
0QVG 4GHGTVQ2.%UGVWRHQTFGVCKNUQPVJG2.%5GVWR
%QOOWPKECVKQPU 6JG%QOOWPKECVKQPU5YKVEJGUFGVGTOKPGYJGVJGTVJGRGTKRJGTCNRQTVCPF
5YKVEJGU 45%RQTVEQPPGEVGFVJTQWIJVJGEQOOWPKECVKQPURQTVQRGTCVGYKVJVJG
UVCPFCTFEQOOWPKECVKQPUUGVVKPIUQTVJGEQOOWPKECVKQPUUGVVKPIUKPVJG2.%
5GVWR
+PXGTVGT+PVGTHCEG 6JG2.%EQTGEQOOWPKECVGUVQVJG+PXGTVGTVJTQWIJ+4&/OGOQT[GKVJGT
D[FKTGEVOCRRKPIQTVJTQWIJVJG6TCPUHGTEQOOCPF
0QVG 4GHGTVQUGEVKQP6TCPUHGTEQOOCPFHQTOQTGFGVCKNU
6

1RGTCVKPI/QFGU
)482567PKVUJCXGQRGTCVKPIOQFGU241)4#//10+614CPF
470
241)4#//QFG 6JGRTQITCOECPPQVDGGZGEWVGFKP241)4#/OQFG6JKUOQFGKUWUGFVQ
RGTHQTOVJGHQNNQYKPIQRGTCVKQPUKPRTGRCTCVKQPHQTRTQITCOGZGEWVKQP
Ŗ %JCPIKPIKPKVKCNQRGTCVKPIRCTCOGVGTUUWEJCUVJQUGKPVJG2.%5GVWR
Ŗ 9TKVKPIVTCPUHGTTKPIQTEJGEMKPIVJGRTQITCO
Ŗ %JGEMKPIYKTKPID[HQTEGUGVVKPICPFHQTEGTGUGVVKPI+1DKVU
%CWVKQP 6JG2.%EQPVKPWGUVQTGHTGUJ+1DKVUGXGPKHVJG2.%KUKP241)4#/OQFG
UQFGXKEGUEQPPGEVGFVQQWVRWVRQKPVUOC[QRGTCVGWPGZRGEVGFN[KHVJG
EQTTGURQPFKPIQWVRWVDKVKUVWTPGF10D[VTCPUHGTTKPI+1OGOQT[QTHQTEG
UGVVKPIQWVRWVDKVUHTQOC2TQITCOOKPI&GXKEG
/10+614/QFG 6JGRTQITCOKUGZGEWVGFKP/10+614OQFGCPFVJGHQNNQYKPIQRGTCVKQPU
ECPDGRGTHQTOGFHTQOC2TQITCOOKPI&GXKEG+PIGPGTCN/10+614OQFG
KUWUGFVQFGDWIVJGRTQITCOVGUVQRGTCVKQPCPFOCMGCFLWUVOGPVU
Ŗ 1PNKPGGFKVKPI
Ŗ /QPKVQTKPI+1OGOQT[FWTKPIQRGTCVKQP
Ŗ (QTEGUGVVKPIHQTEGTGUGVVKPI+1DKVUEJCPIKPIUGVXCNWGUCPFEJCPIKPI
RTGUGPVXCNWGUFWTKPIQRGTCVKQP
470/QFG 6JGRTQITCOKUGZGEWVGFCVPQTOCNURGGFKP470OQFG1RGTCVKQPUUWEJCU
QPNKPGGFKVKPIHQTEGUGVVKPIHQTEGTGUGVVKPI+1DKVUCPFEJCPIKPIUGVXCNWGU
RTGUGPVXCNWGUECPPQVDGRGTHQTOGFKP470OQFGDWVVJGUVCVWUQH+1DKVU
ECPDGOQPKVQTGF
7

1RGTCVKPI/QFGCV5VCTVWR
6JGQRGTCVKPIOQFGQHVJG)48256YJGPVJGRQYGTKUVWTPGF10FG
RGPFUWRQPVJGUGVVKPIQHRKPQPVJG&+2UYKVEJQPVJGHTQPVQHVJG)48
256VJG2.%5GVWRUGVVKPIUKP&/CPFVJG2TQITCOOKPI%QPUQNGŏU
OQFGUYKVEJUGVVKPIKHC2TQITCOOKPI%QPUQNGKUEQPPGEVGF
2.%5GVWRUGVVKPI 1RGTCVKPIOQFG
9QTF $KVU 5GVVKPI
&/ VQ
*GZ 5GGPQVG

*GZ 5VCTVWROQFGKUVJGUCOGCUVJGQRGTCVKPI
OQFGDGHQTGRQYGTYCUKPVGTTWRVGF

*GZ 5VCTVWROQFGKUFGVGTOKPGFD[DKVUVQ
VQ
*GZ 241)4#/OQFG

*GZ /10+614OQFG

*GZ 470OQFG

0QVG 6JGQRGTCVKPIOQFGCVUVCTVWRFGRGPFUWRQPVJGUGVVKPIQH&+2UYKVEJRKP
CPFVJG2TQITCOOKPI&GXKEGEQPPGEVGFVQVJGEQOOWPKECVKQPURQTV
RGTKRJ
GTCNRQTV
2TQITCOOKPI&GXKEG 2KP1(( 2KP10
0QPG 241)4#/OQFG 470OQFG
2TQITCOOKPI%QPUQNG 1RGTCVKPIOQFGUGVQPVJG2TQITCOOKPI%QPUQNGŏU
OQFGUYKVEJ
1VJGTFGXKEG 241)4#/OQFG
6JGFGHCWNVUGVVKPIHQTDKVUVQQH&/KU+HVJKUFGHCWNVUGVVKPIKU
WUGFCPFRKPKU1((VJG)48256YKNNCWVQOCVKECNN[UVCTVQRGTCVKPIKP
470OQFGYJGPVJGRQYGTKUVWTPGF10
0QVG +HRKPKU1((CPFQPN[CP45%ECDNGKUEQPPGEVGFVQVJGEQOOWPKEC
VKQPURQTV
KGVJGTGKUPQRGTKRJGTCNRQTVEQPPGEVKQPVJG)48256YKNN
CWVQOCVKECNN[UVCTVQRGTCVKPIKP470OQFGYJGPVJGRQYGTKUVWTPGF10
'ZCORNG%CDNG%QPPGEVKQPU
%59%0CPF:9<55
%59%0CPF:9<5858
%2/%%0CPF:9<55
PQRGTKRJGTCNRQTVEQPPGEVKQP
%2/%%0CPF:9<5858
PQRGTKRJGTCNRQTVEQPPGEVKQP
8

%[ENKE1RGTCVKQPCPF+PVGTTWRVU
$CUKE%271RGTCVKQP +PKVKCNKUCVKQPRTQEGUUKPIKURGTHQTOGFYJGPVJGRQYGTKUVWTPGFQP+HVJGTGCTG
PQKPKVKCNKUCVKQPGTTQTUVJGQXGTUGGKPIRTQEGUUGURTQITCOGZGEWVKQP+1TG
HTGUJKPICPFEQOOWPKECVKQPURQTVUGTXKEKPICTGRGTHQTOGFTGRGCVGFN[
E[ENK
ECNN[
y Check hardware.
Startup y Check memory.
initialisation y Read data from flash memory (program, read-only DM data, and
PLC Setup settings).
Inverter interface
y Inverter Interface initial processing
initial Processing
y Check for battery error.

Overseeing y Preset the watch (maximum) cycle time.
processes y Check program memory.
y Refresh bits for expansion functions.
CompoBus/S
y Read input data from CompoBus/S remote I/O Slaves.
input refreshing
Inverter input
y Inverter Interface status refresh
refreshing
y Execute the program.

Program
(Refer to the Programming Manual (W353) for details on cycle
execution
time and I/O response times.)
y Wait for minimum cycle time if a minimum cycle time has been
Cycle time
set in the PC Setup (DM 6619).
calculation
y Calculate cycle time.
CompoBus/S
y Write output data to CompoBus/S remote I/O Slaves.
output refreshing
y Read input data from input bits.

I/O refreshing
y Write output data to output bits.
DeviceNet y Exchange I/O data with the DeviceNet Master.

I/O refreshing (-DRT versions only)
Inverter output
refreshing y Inverter Interface control data refresh
y Inverter Interface Modbus command execution
y When Inverter processing is ended by END refresh timing, a
Inverter Modbus
maximum of eight data items are read or written. If the Inverter is
transfer
currently processing, nothing will be done and it will be checked
with the next scan.
DeviceNet
y Perform explicit message communications with the DeviceNet
message
Master. (-DRT versions only)
communications
RS-232C port y Perform RS-232C port communications processing.

servicing (Can be changed in DM 6616.)
Peripheral port y Perform peripheral port communications processing.

servicing (Can be changed in DM 6617.)
6JGE[ENGVKOGECPDGTGCFHTQOC2TQITCOOKPI&GXKEG
#4EQPVCKPUVJGOCZKOWOE[ENGVKOGCPF#4EQPVCKPUVJGRTGUGPVE[ENG
VKOGKPOWNVKRNGUQHOU
9
Comparison with the CPM2C-S 5GEVKQP

%QORCTKUQPYKVJVJG%2/%5
+VGO %2/%5 )48256
+PUVTWEVKQPUGV $CUKEKPUVTWEVKQPU
5RGEKCNKPUVTWEVKQPU KPUVTWEVKQPUXCTKCVKQPU KPUVTWEVKQPUXCTKCVKQPU
+PUVTWEVKQP $CUKEKPUVTWEVKQPU .&µU .&µU
GZGEWVKQPVKOGU 5RGEKCNKPUVTWEVKQPU /18
µU /18
µU
2TQITCOECRCEKV[ YQTFU YQTFU
/CZKOWO 5VCPFCNQPG%277PKV RQKPVU RQKPVU
PWODGTQH+1 %277PKVYKVJ'ZRCPUKQP+1 RQKPVUOCZ
RQKPVU 7PKVU
'ZRCPUKQP7PKVU /CZKOWOPWODGTQH7PKVU #OCZKOWOQH7PKVU
CPF'ZRCPUKQP #XCKNCDNGOQFGNU 'ZRCPUKQP+17PKVU#PCNQI+1
+17PKVU 7PKV6GORGTCVWTG5GPUQT7PKV
CPF%QORQ$WU5+1.KPM7PKV
+1OGOQT[ +PRWVDKVU +4VQ+4 +4VQ+4
1WVRWVDKVU +4VQ+4 +4VQ+4
9QTMDKVU DKVU DKVU
+4VQ+4 +4VQ+4
+4VQ+4 +4VQ+4
+4VQ+4 +4VQ+4
54
5RGEKCN4GNC[CTGC DKVU DKVU
54VQ54 54VQ54
64
6GORQTCT[4GNC[CTGC DKVU64VQ64 DKVU64VQ64
*4
*QNFKPI4GNC[CTGC DKVU DKVU
*4VQ*4 *4VQ*4
#4
#WZKNKCT[4GNC[CTGC DKVU DKVU
#4VQ#4 #4VQ#4
.4
.KPM4GNC[CTGC DKVU DKVU
.4VQ.4 .4VQ.4
6KOGT%QWPVGTCTGC DKVU DKVU
6+/%06VQ6+/%06 6+/%06VQ6+/%06
&/
&CVC 4GCFYTKVG YQTFU YQTFU
/GOQT[CTGC CTGC &/VQ&/ &/VQ&/
&/VQ&/
4GCFQPN[ YQTFU YQTFU
CTGC &/VQ&/ &/VQ&/
2.%5GVWR YQTFU YQTFU
&/VQ&/ &/VQ&/
+PXGTVGT+PVGTHCEG DKVU
+4VQ+4
YQTFU
&/VQ&/
'PEQFGTKPVGTHCEG DKVU
+4VQ
+4VQ
YQTFU
&/VQ&/

10

+VGO %2/%5 )48256

/GOQT[DCEMWR 2TQITCOCTGCTGCFQPN[&/ (NCUJOGOQT[DCEMWR (NCUJOGOQT[DCEMWR
CTGC
KPENWFKPI2.%5GVWR
4GCFYTKVG&/CTGC*4 +PVGTPCNDCVVGT[DCEMWR
[GCT +PVGTPCNDCVVGT[DCEMWR
[GCT
CTGC#4CTGCCPFEQWPVGTU NKHGVKOGCVu%TGRNCEGCDNG NKHGVKOGCVu%TGRNCEGCDNG
%QORQ$WU5/CUVGT(WPEVKQPU 7RVQ5NCXGUECPDG 7RVQ5NCXGUECPDG
EQPPGEVGFCPFWRVQ+1 EQPPGEVGFCPFWRVQ+1
RQKPVUECPDGEQPVTQNNGF RQKPVUECPDGEQPVTQNNGF
&GXKEG0GV5NCXG(WPEVKQPU &GXKEG0GV4GOQVG+1.KPM &GXKEG0GV4GOQVG+1.KPM
7UGWRVQ+1RQKPVUKP 7UGWRVQ+1RQKPVUKP
VJG+1.KPM'ZRNKEKV/GUUCIG VJG+1.KPM'ZRNKEKV/GUUCIG
%QOOWPKECVKQPU#P[2.%FCVC %QOOWPKECVKQPU#P[2.%FCVC
CTGCECPDGCEEGUUGFHTQOVJG CTGCECPDGCEEGUUGFHTQOVJG
/CUVGT /CUVGT
+PVGTTWRVKPRWVU
KPVGTTWRVKPRWVOQFG
+PVGTTWRVKPRWVU %QWPVGTOQFG +PETGOGPVKPIEQWPVGT +PETGOGPVKPIEQWPVGT

EQWPVGTOQFG &GETGOGPVKPIEQWPVGT &GETGOGPVKPIEQWPVGT
%QWPVGTWRRGTNKOKV M*\ M*\
54VQ54 %QPVCKPUEQWPVGT28 %QPVCKPUEQWPVGT28
/GVJQF
UVQTGCFEQWPVGT 4GCF54VQ54 4GCF54VQ54
28 'ZGEWVG248
'ZGEWVG248

/GVJQFVQEJCPIGEQWPVGT 'ZGEWVG+0+
'ZGEWVG+0+

28
+PVGTXCNVKOGT 1PGUJQVOQFG ;GU ;GU
5EJGFWNGFKPVGTTWRVOQFG ;GU ;GU
3WKEMTGURQPUG 5GVVKPIVJGSWKEMTGURQPUG 2.%5GVWR 2.%5GVWR
KPRWVU HWPEVKQP
+06

/CUM 0QVUWRRQTVGF
KIPQTGF 0QVUWRRQTVGF
KIPQTGF
+06

4GCFOCUM 4GCFUOCUMUVCVWU 4GCFUOCUMUVCVWU
+06

%NGCT 0QVUWRRQTVGF
KIPQTGF 0QVUWRRQTVGF
KIPQTGF
/KPKOWORWNUGYKFVJ µUOKP µUOKP
*KIJURGGF %QWPVOQFG &KHHGTGPVKCNRJCUG
WRFQYP &KHHGTGPVKCNRJCUG
WRFQYP
EQWPVGT OQFG OQFG
2WNUGRNWUFKTGEVKQPOQFG 2WNUGRNWUFKTGEVKQPOQFG
7RFQYPRWNUGOQFG 7RFQYPRWNUGOQFG
+PETGOGPVOQFG +PETGOGPVOQFG
/CZEQWPVGTHTGSWGPE[ M*\KPFKHHGTGPVKCNRJCUG M*\KPFKHHGTGPVKCNRJCUG

WRFQYPOQFG
WRFQYPOQFG
M*\KPRWNUGRNWUFKTGEVKQP M*\KPRWNUGRNWUFKTGEVKQP
OQFGWRFQYPRWNUGOQFG OQFGWRFQYPRWNUGOQFG
CPFKPETGOGPVOQFG CPFKPETGOGPVOQFG
%QWPVGT28TCPIG ŌVQKP ŌVQKP
FKHHGTGPVKCNRJCUG
WRFQYP FKHHGTGPVKCNRJCUG
WRFQYP
OQFG OQFG
RWNUGRNWUFKTGEVKQPOQFGCPF RWNUGRNWUFKTGEVKQPOQFGCPF
WRFQYPRWNUGOQFG WRFQYPRWNUGOQFG
VQKPKPETGOGPV VQKPKPETGOGPV
OQFG OQFG
%JGEMYJGPTGIKUVGTKPIVCT 5COGFKTGEVKQPUCOG58PQV 5COGFKTGEVKQPUCOG58PQV
IGVXCNWGOCVEJVCDNG RQUUKDNG RQUUKDNG

11

+VGO %2/%5 )48256

*KIJURGGF /GVJQFWUGFVQTGHGTGPEG %QORCTKUQPQHCNNXCNWGUKPVJG %QORCTKUQPQHCNNXCNWGUKPVJG
EQWPVGT VJGVCTIGVXCNWGOCVEJ VCDNGTGICTFNGUUQHQTFGTQH VCDNGTGICTFNGUUQHQTFGTQH

EQPVKPWGF KPVGTTWRVVCDNG CRRGCTCPEGKPVCDNG CRRGCTCPEGKPVCDNG
4GCFKPITCPIGEQORCTKUQP %JGEM#4VQ#4QT %JGEM#4VQ#4QT
TGUWNVU GZGEWVG248
GZGEWVG248

4GCFKPIUVCVWU %JGEM#4
EQORCTKUQPKP %JGEM#4
EQORCTKUQPKP
RTQITGUUEJGEM#4 RTQITGUUEJGEM#4

JKIJURGGFEQWPVGT28
JKIJURGGFEQWPVGT28
QXGTHNQYWPFGTHNQYQTGZGEWVG QXGTHNQYWPFGTHNQYQTGZGEWVG
248
248

2WNUGU[PEJTQPK\CVKQP 5WRRQTVGF 5WRRQTVGF
2WNUGQWVRWV 6TCRG\QKFCNCEEGNGTCVKQP 5WRRQTVGFYKVJ#%%
ŌŌ6JG 5WRRQTVGFYKVJ#%%
ŌŌ6JG
EQPVTQN FGEGNGTCVKQP KPKVKCNHTGSWGPE[ECPDGUGV KPKVKCNHTGSWGPE[ECPDGUGV
29/
ŌŌQWVRWV 5WRRQTVGF 5WRRQTVGF
0WODGTQHUKOWNVCPGQWU OCZ OCZ
RWNUGQWVRWVU
/CZKOWOHTGSWGPE[ M*\OCZ M*\OCZ
/KPKOWOHTGSWGPE[ *\ *\
2WNUGQWVRWVSWCPVKV[ ŌVQ ŌVQ
&KTGEVKQPEQPVTQN 5WRRQTVGF 5WRRQTVGF
2QUKVKQPKPIVQCDUQNWVG 5WRRQTVGF 5WRRQTVGF
RQUKVKQPU
$KVUVCVWUYJKNGRWNUGUCTG 0QGHHGEV 0QGHHGEV
DGKPIQWVRWV
4GCFKPI28 4GCF54VJTQWIJ54 4GCF54VJTQWIJ54
QTGZGEWVG248
QTGZGEWVG248

4GUGVVKPI28 5WRRQTVGF 5WRRQTVGF
5VCVWUQWVRWVU #EEGNGTCVKPIFGEGNGTCVKPI #EEGNGTCVKPIFGEGNGTCVKPI
28QXGTHNQYWPFGTHNQY 28QXGTHNQYWPFGTHNQY
2WNUGSWCPVKV[UGV 2WNUGSWCPVKV[UGV
2WNUGQWVRWVEQORNGVGF 2WNUGQWVRWVEQORNGVGF
2WNUGQWVRWVUVCVWU 2WNUGQWVRWVUVCVWU
%NQEMHWPEVKQP +PVGTPCN +PVGTPCN
9QTFUEQPVCKPKPI #4VQ#4 #4VQ#4
VKOGKPHQ
%QOOWPKECVKQPUUYKVEJ 6JKUUYKVEJFGVGTOKPGUYJGVJGT 6JKUUYKVEJFGVGTOKPGUYJGVJGT
EQOOWPKECVKQPUCTGIQXGTPGF EQOOWPKECVKQPUCTGIQXGTPGF
D[VJGUVCPFCTFUGVVKPIUQT2.% D[VJGUVCPFCTFUGVVKPIUQT2.%
5GVWRUGVVKPIU#NUQUGVUVJG 5GVWRUGVVKPIU#NUQUGVUVJG
2TQITCOOKPI&GXKEG 2TQITCOOKPI&GXKEG
EQPPGEVKQP EQPPGEVKQP
$CVVGT[ $CVVGT[ +PVGTPCNNKVJKWODCVVGT[DCEMWR +PVGTPCNNKVJKWODCVVGT[DCEMWR
$CVVGT[TGRNCEGOGPV 2QUUKDNG 2QUUKDNG
.KHGGZRGEVCPE[DCEMWRVKOG [GCTNKHGVKOGCV°% [GCTNKHGVKOGCV°%
$CVVGT[GTTQTFGVGEVKQP 5WRRQTVGF 5WRRQTVGF
12

+VGO %2/%5 )48256

%QOOWPKECVKQPU 2GTKRJGTCNRQTV
XKC 2TQITCOOKPI%QPUQNG
5GV 2TQITCOOKPI%QPUQNG
5GV

KP%277PKV EQOOWPKECVKQPU YKVJ%QOOWPKECVKQPU5YKVEJ YKVJ%QOOWPKECVKQPU5YKVEJ
RQTV 2GTKRJGTCNDWU
5GVYKVJ 2GTKRJGTCNDWU
5GVYKVJ
%QOOWPKECVKQPU5YKVEJ %QOOWPKECVKQPU5YKVEJ
*QUV.KPM
YKVJ5NCXGKPKVKCVGF *QUV.KPM
YKVJ5NCXGKPKVKCVGF
EQOOWPKECVKQPU EQOOWPKECVKQPU
0QRTQVQEQN 0QRTQVQEQN
45%RQTV
XKC 2GTKRJGTCNDWU
5GVYKVJ 2GTKRJGTCNDWU
5GVYKVJ
EQOOWPKECVKQPU %QOOWPKECVKQPU5YKVEJ %QOOWPKECVKQPU5YKVEJ
RQTV *QUV.KPM *QUV.KPM
0QRTQVQEQN 0QRTQVQEQN
2.%.+PM 2.%.+PM
06.KPM 06.KPM
45RQTV 6JTQWIJ%+(WPKV 2GTKRJGTCNDWU
*QUV.KPM
YKVJ5NCXGKPKVKCVGF
EQOOWPKECVKQPU
0QRTQVQEQN
+PRWVVKOGEQPUVCPV %CPDGUGVVQ %CPDGUGVVQ
QTOU
&GHCWNVOU QTOU
&GHCWNVOU
'PEQFGTKPVGTHCEG %QWPVOQFG &KHHGTGPVKCNRJCUG
WRFQYP
OQFG
2WNUGRNWUFKTGEVKQPOQFG
7RFQYPRWNUGOQFG
/CZEQWPVGTHTGSWGPE[ M*\

%QWPVGTTCPIG VQ
QT
WUGTFGHKPGFWRRGTNKOKV
%CRVWTKPI 6YQECRVWTGTGIKUVGTU
+PRWVU2JCUG<
KPRWV
%QORCTKUQP 1PGEQORCTKUQPXCNWG
%QWPVGTTGUGV 6JTQWIJUQHVYCTGQT2JCUG<
KPRWV
+PVGTTWRVHWPEVKQP )GPGTCVGFCVRTQITCOOCDNG
GXGPV
%CRVWTKPI7PFGT1XGTHNQY
%QORCTKUQP
13

&KHHGTGPEGUKP+1/GOQT[
+4#TGC&KHHGTGPEGU
(WPEVKQP %2/%5 )48256
9QTMDKVU DKVU DKVU
+4VQ+4 +4
+4VQ+4 +4VQ+4
+4VQ+4 +4VQ+4
+PXGTVGT+PVGTHCEG DKVU
+4VQ+4
'PEQFGTKPVGTHCEG DKVU
+4
+4VQ
&/#TGC&KHHGTGPEGU
(WPEVKQP %2/%5 )48256
+PXGTVGT+PVGTHCEG YQTFU
&/VQ&/
'PEQFGTKPVGTHCEG YQTFU
&/VQ&/
14
Preparation for Operation 5GEVKQP

2TGRCTCVKQPHQT1RGTCVKQP
(QNNQYVJGUVGRUNKUVGFDGNQYYJGPUGVVKPIWRC)48256U[UVGO
5[UVGO&GUKIP
• 5GNGEVC)482567PKVYKVJVJGURGEKHKECVKQPUTGSWKTGFKPVJGEQP
VTQNNGFU[UVGO
• &GUKIPGZVGTPCNHCKNUCHGEKTEWKVUUWEJCUKPVGTNQEMEKTEWKVUCPFNKOKVEKT
EWKVU
+PUVCNNCVKQP
• +PUVCNNVJG7PKVQPVJG+PXGTVGTEQPVTQNNGTDQCTF
9KTKPI
• 9KTGVJG+PXGTVGTCPF+1FGXKEGU
• %QPPGEVEQOOWPKECVKQPUFGXKEGUKHPGEGUUCT[
• %QPPGEVVJG2TQITCOOKPI%QPUQNG
+PKVKCN5GVVKPIU
• 5GVVJG%QOOWPKECVKQPU5YKVEJGUQPVJGHTQPVQHVJG%277PKVKHPGE
GUUCT[
6JGUYKVEJGUOWUVDGUGVYJGPCFGXKEGQVJGTVJCPVJG2TQ
ITCOOKPI%QPUQNGKUEQPPGEVGFQTVJGUVCPFCTFEQOOWPKECVKQPUUGV
VKPIUCTGPQVWUGF
• %QPPGEVVJG2TQITCOOKPI%QPUQNGUGVVJGOQFGUYKVEJVQ241)4#/
OQFGCPFVWTP10VJG+PXGTVGT
• %JGEMVJG7PKVŏU.'&KPFKECVQTUCPFVJG2TQITCOOKPI%QPUQNGŏUFKU
RNC[
• %NGCTVJG2.%ŏUOGOQT[
#NN%NGCT
• /CMG2.%5GVWRUGVVKPIU
%TGCVG.CFFGT2TQITCO
• %TGCVGCNCFFGTRTQITCOVQEQPVTQNVJGU[UVGO
9TKVG.CFFGT2TQITCOKP2.%
• 9TKVGVJGNCFFGTRTQITCOKPVJG2.%YKVJVJG2TQITCOOKPI%QPUQNGQT
VTCPUHGTVJGRTQITCOVQVJG2.%HTQOVJG5WRRQTV5QHVYCTG
6GUV4WP
• %JGEM+1YKTKPIKP241)4#/OQFG
• %JGEMCPFFGDWIRTQITCOGZGEWVKQPKP/10+614OQFG
15

SECTION 2
Unit Components and Specifications

6JKUUGEVKQPRTQXKFGUVJGVGEJPKECNURGEKHKECVKQPUQHVJG)482567PKVUCPFFGUETKDGUVJGOCKPEQORQPGPVUQH
VJGUG7PKVU
2-1 Specifications....................................................................................................................................................... 17
2-1-1 General Specifications ................................................................................................................................. 17
2-1-2 Characteristics ............................................................................................................................................. 17
2-1-3 I/O Specifications ......................................................................................................................................... 20
2-1-3-1 Input Specifications ...................................................................................................................................................20
2-1-3-2 Output Specifications ................................................................................................................................................22
2-1-3-3 Encoder input Specifications .....................................................................................................................................23
2-1-4 Dimensions ................................................................................................................................................... 24
2-2 Unit Components ................................................................................................................................................. 25
2-2-1 CPU Unit Component Names....................................................................................................................... 25
2-2-2 CPU Unit Component Descriptions ............................................................................................................. 26

16
Specifications 5GEVKQP

5RGEKHKECVKQPU
)GPGTCN5RGEKHKECVKQPU
5RGEKHKECVKQPU
+VGO )48256' )48256&46'

4CVGFRQYGTUWRRN[XQNVCIG 8&% Ō
'ZVGTPCNRQYGTUWRRN[HQT+1
Communications power supply VQ8&%
UWRRNKGFD[
XQNVCIG &GXKEG0GVEQPPGEVQT
2QYGT +PVGTPCNRQYGT 9
5WRRNKGFKPVGTPCNN[ 9
5WRRNKGFKPVGTPCNN[
%QPUWORVKQP UWRRN[
UGGPQVG
UGGPQVG
%QOOWPKECVKQPU O#OCZ
RQYGTUWRRN[

8KDTCVKQPTGUKUVCPEG VQ*\OU OCZ

VQ*\OU OCZ
#ODKGPVQRGTCVKPIVGORGTCVWTG VQu%
#ODKGPVQRGTCVKPITGNCVKXG VQ
PQEQPFGPUCVKQP
JWOKFKV[
#ODKGPVUVQTCIGVGORGTCVWTG VQu%
#VOQURJGTG /WUVDGHTGGHTQOEQTTQUKXGICU
0QVG 6JGCDQXGHKIWTGHQTRQYGTEQPUWORVKQPKPENWFGUVJGRQYGTEQPUWORVKQPQH
VJG2TQITCOOKPI%QPUQNG
%JCTCEVGTKUVKEU
+VGO 5RGEKHKECVKQPU
%QPVTQNOGVJQF 5VQTGRTQITCOOGVJQF
+1EQPVTQNOGVJQF %[ENKEUECPOGVJQF
2TQITCOOKPINCPIWCIG .CFFGTEJCTVOGVJQF
+PUVTWEVKQPNGPIVJ UVGRKPUVTWEVKQPVQYQTFUKPUVTWEVKQP
+PUVTWEVKQP $CUKE V[RGU
5COGCUHQT2TQITCOOCDNG5NCXGU
V[RGU 5RGEKCN V[RGUKPUVTWEVKQPU
5COGCUHQT2TQITCOOCDNG5NCXGU
2TQEGUUKPI $CUKEKPUVTWEVKQPU U
.&
URGGF 5RGEKCN U
/18
KPUVTWEVKQPU
2TQITCOECRCEKV[ YQTFU
/CZKOWOPWODGTQH+1RQKPVU
+PRWVDKVU VQ
RJ[UKECNKPRWVU
1WVRWVDKVU VQ
RJ[UKECNQWVRWVU
%QORQ$WU5KPRWVDKVU DKVU+4VQ+4
$KVUPQVWUGFHQT%QORQ$WU5KPRWVDKVU
ECPDGWUGFHQTYQTMDKVU
%QORQ$WU5QWVRWVDKVU DKVU+4VQ+4
$KVUPQVWUGFHQT%QORQ$WU5QWVRWV
DKVUECPDGWUGFHQTYQTMDKVU
+PXGTVGTKPVGTHCEGDKVU DKVU+4VQ+4
'PEQFGTKPVGTHCEGDKVU DKVU+4VQ+4CPF+4VQ+4
9QTMDKVU DKVU+4VQ+4+4VQ+4CPF+4VQ
+4
5RGEKCNDKVU
54CTGC DKVU54VQ54
YQTFU54VQ54
6GORQTCT[DKVU
64CTGC DKVU
64VQ64
17

+VGO 5RGEKHKECVKQPU
*QNFKPIDKVU
*4CTGC DKVU*4VQ*4
YQTFU*4VQ
#WZKNKCT[DKVU
#4CTGC DKVU#4#4
YQTFU#4VQ#4
.KPMDKVU
.4CTGC DKVU.4VQ.4
YQTFU.4VQ.4
6KOGTU%QWPVGTU VKOGTUEQWPVGTU
6+/%06VQ6+/%06
OUVKOGTU6/**
ŌŌ
OUVKOGTU6+/*

OUVKOGTU6+/
UUVKOGTU6+/.
ŌŌ
&GETGOGPVKPIEQWPVGTU%06
4GXGTUKDNGEQWPVGTU%064

%QORQ$WU5/CUVGTHWPEVKQPU 7RVQ5NCXGUECPDGEQPPGEVGFCPFWRVQ+1RQKPVUECPDG
EQPVTQNNGF
&GXKEG0GV5NCXGHWPEVKQPU &GXKEG0GV4GOQVG+1.KPM
7UGWRVQ+1RQKPVUKPVJG+1.KPM
'ZRNKEKV/GUUCIG%QOOWPKECVKQPU
#P[2.%FCVCCTGCECPDGCEEGUUGFHTQOVJG/CUVGT
&/#TGC 4GCF9TKVG YQTFU
&/VQ&/&/VQ&/
&/VQ&/'TTQT.QI5VQTCIG#TGC
4GCFQPN[ YQTFU
&/VQ
+PXGTVGTKPVGTHCEG YQTFU
&/VQ&/
'PEQFGTKPVGTHCEG YQTFU
&/VQ&/
2.%5GVWR YQTFU
&/VQ&/
+PVGTTWRV 'ZVGTPCNKPVGTTWRVU DKVU
7UGFKPEQOOQPHQTKPRWVKPVGTTWRVEQWPVGTOQFGCPFJKIJURGGF
RTQEGUUKPI KPRWVU
5EJGFWNGF DKV
5EJGFWNGFKPVGTTWRVUQTQPGUJQVKPVGTTWRVU
KPVGTTWRVU
2WNUGQWVRWVU DKVU
YKVJQWVCEEGNGTCVKQPFGEGNGTCVKQP*\VQM*\GCEJYKVJQWV
FKTGEVKQPCNEQPVTQN
1TDKV
YKVJVTCRG\QKFCNCEEGNGTCVKQPFGEGNGTCVKQP*\VQM*\
GCEJYKVJFKTGEVKQPCNEQPVTQN
1TDKVU
8CTKCDNGFWV[TCVKQQWVRWV
2WNUGU[PEJTQPQWUEQPVTQN DKV
#JKIJURGGFEQWPVGTECPDGEQODKPGFYKVJRWNUGQWVRWVCPFVJGKPRWV
RWNUGHTGSWGPE[HTQOVJGJKIJURGGFEQWPVGTECPDGOWNVKRNKGFD[C
HKZGFHCEVQTHQTRWNUGQWVRWV
2WNUGECVEJKPRWVU DKVU
/KPKOWORWNUGKPRWV UOCZ
7UGFKPEQOOQPD[KPRWVKPVGTTWRVUCPFKPRWVKPVGTTWRVEQWPVGTOQFG
#PCNQIXQNWOG 0QPG
+PRWVVKOGEQPUVCPV 1PN[CNNKPRWVUECPDGUGV

10TGURQPUGVKOG
OUOUOUOUOUOUOUOU
1((TGURQPUGVKOG
%NQEMHWPEVKQP ;GU
%QOOWPKECVKQPHWPEVKQP 2QTV2GTKRJGTCNCPF45
*QUV.KPM2GTKRJGTCNDWU0QRTQVQEQN2TQITCOOKPI%QPUQNG
2QTV45%RQTV
*QUV.KPMPQRTQVQEQN2.%.KPM06.KPM
2QYGTKPVGTTWRVKQPJQNFHWPEVKQP *QNFUVJGEQPVGPVUQH*4#4%06CPF&/#TGCU
18

+VGO 5RGEKHKECVKQPU
/GOQT[DCEMWR (NCUJOGOQT[

UGGPQVGUCPF 2TQITCOTGCFQPN[&/CTGCCPF2%5GVWR
/GOQT[DCEMWR
6JGTGCFYTKVG&/CTGC*4CTGC#4CTGCCPFEQWPVGTXCNWGUCTG
DCEMGFWR
6JGDCVVGT[JCUC[GCTNKHGVKOGCV°%CPFKVKU
TGRNCEGCDNG
5GNHFKCIPQUVKEHWPEVKQP %27GTTQTUOGOQT[GTTQTUEQOOWPKECVKQPUGTTQTUUGVVKPIGTTQTU
DCVVGT[GTTQTU
2TQITCOEJGEM 0Q'0&KPUVTWEVKQPRTQITCOGTTQTU
TGIWNCTN[EJGEMGFFWTKPIQRGTCVKQP
%QPPGEVGF %:2TQITCOOGT #HVGT8GTUKQP
VQQNU 2TQITCOOKPI %*241%3/241
%QPUQNG
555 2%2%#6
5;5/#%5WRRQTV5QHVYCTG#NNXGTUKQP
5[UFTKXG 8GTUKQPQTJKIJGT
%QPHKIWTCVQT
0QVG 6JG&/CTGC*4CTGC#4CTGCCPFEQWPVGTXCNWGUCTGDCEMGFWR+HVJG
DCEMWRDCVVGT[QTECRCEKVQTKUFKUEJCTIGFVJGEQPVGPVUQHVJGUGCTGCUYKNNDG
NQUVCPFVJGFCVCXCNWGUYKNNTGXGTVVQVJGFGHCWNVU
6JGEQPVGPVUQHVJGRTQITCOCTGCTGCFQPN[&/CTGC
&/VQ&/
CPF2.%5GVWR
&/VQ&/CTGUVQTGFKP(NCUJOGOQT[6JGEQP
VGPVUQHVJGUGCTGCUYKNNDGTGCFHTQO(NCUJOGOQT[VJGPGZVVKOGVJGRQYGT
KUVWTPGF10GXGPKHVJGDCEMWRDCVVGT[QTECRCEKVQTKUFKUEJCTIGF
9JGPFCVCJCUDGGPEJCPIGFKPCP[QHVJGUGCTGCUYTKVGVJGPGYXCNWGUVQ
(NCUJOGOQT[D[UYKVEJKPIVJG)48256VQ/10+614QT470OQFG
QTD[VWTPKPIVJGRQYGT1((CPFVJGP10CICKP
%JCPIGUOCFGYJKNGKP/10+614OQFGWUKPIHQTGZCORNGQPNKPGGFKVKPI
CTGYTKVVGPVQ(NCUJOGOQT[KPTGCNVKOG
19

+15RGEKHKECVKQPU
2-1-3-1 Input Specifications

+VGO +PRWVU 5RGEKHKECVKQP

+PRWVXQNVCIG #NN 8&% Ō
+PRWVKORGFCPEG VQ MΩ
VQ MΩ
MΩ
+PRWVEWTTGPV VQ O#V[RKECN
VQ O#V[RKECN
O#V[RKECN
10XQNVCIGEWTTGPV VQ 8&%OKPO#
VQ 8&%OKPO#
1((XQNVCIGEWTTGPV #NN 8&%OCZO#
10FGNC[ #NN VQOUOCZ&GHCWNVOU
5GGPQVG
1((FGNC[ #NN VQOUOCZ&GHCWNVOU
5GGPQVG
%KTEWKVEQPHKIWTCVKQP VQ
VQ

0QVG 6JGKPRWVVKOGEQPUVCPVECPDGUGVVQQTOUKPVJG
2.%5GVWR
20

*KIJURGGF%QWPVGT+PRWVU 6JGHQNNQYKPI7PKVKPRWVDKVUECPDGWUGFCUJKIJURGGFEQWPVGTKPRWVU6JG
OCZKOWOEQWPVHTGSWGPE[KUM*\KPFKHHGTGPVKCNRJCUGOQFGCPFM*\KP
VJGQVJGTOQFGU

+PRWV (WPEVKQP
&KHHGTGPVKCNRJCUG 2WNUGRNWUFKTGEVKQP 7RFQYPKPRWVOQFG +PETGOGPVOQFG
OQFG KPRWVOQFG
#RJCUGRWNUGKPRWV 2WNUGKPRWV +PETGOGPVRWNUGKPRWV +PETGOGPVRWNUGKPRWV
$RJCUGRWNUGKPRWV &KTGEVKQPKPRWV &GETGOGPVRWNUGKPRWV 0QTOCNKPRWV
<RJCUGRWNUGKPRWVQTJCTFYCTGTGUGVKPRWV

+0ECPDGWUGFCUCPQTOCNKPRWVYJGPKVKUPQVWUGFCUCJKIJURGGFEQWPVGTKPRWV

6JGOKPKOWORWNUGYKFVJUHQTKPRWVU
#RJCUGKPRWVCPF

$RJCUGKPRWVCTGCUHQNNQYU
6JGOKPKOWORWNUGYKFVJHQTKPRWV
<RJCUGKPRWVKUCUHQNNQYU
+PVGTTWRV+PRWVU 6JG)48256KUGSWKRRGFYKVJKPRWVUVJCVECPDGWUGFCUKPVGTTWRV
KPRWVU
KPVGTTWRVKPRWVOQFGQTEQWPVGTOQFGCPFSWKEMTGURQPUGKPRWVU6JG
OKPKOWORWNUGYKFVJHQTVJGUGKPRWVUKUµU
+PRWVUCPFECPDGWUGFCUKPVGTTWRVKPRWVU
21

2-1-3-2 Output Specifications

6TCPUKUVQT1WVRWVU
5QWTEKPI

+VGO 5RGEKHKECVKQP
/CZKOWOUYKVEJKPIECRCEKV[ VQ8&%#QWVRWV
/KPKOWOUYKVEJKPIECRCEKV[ O#
/CZKOWOKPTWUJEWTTGPV #HQTOU
.GCMCIGEWTTGPV O#
4GUKFWCNXQNVCIG 8OCZ
10TGURQPUGVKOG zUOCZ
1((TGURQPUGVKOG zUOCZHQTVQ8&%VQO#
OUOCZHQTVQ8&%VQO#
(WUG 1PGHWUGRGTQWVRWV
ECPPQVDGTGRNCEGFD[WUGT
%KTEWKVEQPHKIWTCVKQP

0QVG 9JGPWUKPIQWVRWVUQTCUCRWNUGQWVRWVEQPPGEVCFWOO[TG
UKUVQTCUTGSWKTGFVQDTKPIVJGNQCFEWTTGPVDGVYGGPCPF#+HVJGNQCF
EWTTGPVKUDGNQY#VJG10VQ1((TGURQPUGVKOGYKNNDGNQPIGTCPFJKIJ
URGGFRWNUGU
UQWTEGV[RGVTCPUKUVQTQWVRWVUYKNNPQVDGQWVRWV+HVJGNQCF
EWTTGPVKUCDQXG#VJGVTCPUKUVQTYKNNIGPGTCVGOQTGJGCVCPFEQORQPGPVU
OC[DGFCOCIGF

%CWVKQP &QPQVCRRN[XQNVCIGKPGZEGUUQHVJGOCZKOWOUYKVEJKPIECRCEKV[VQCP
QWVRWVVGTOKPCN+VOC[TGUWNVKPFCOCIGVQVJGRTQFWEVQTHKTG
22

2-1-3-3 Encoder input Specifications

+VGO +PRWVU 5RGEKHKECVKQP
5KIPCNNGXGN #NN '+#45#5VCPFCTFU
+PRWVKORGFCPEG #CPF$RJCUG Ω
<RJCUG Ω
4GURQPUGHTGSWGPE[ #CPF$RJCUG M*\OCZ
<RJCUG M*\OCZ
%KTEWKVEQPHKIWTCVKQP #CPF$RJCUG 330 Ω
A+
B+
Intrnal circuits
410 Ω 220 pF
A-
B-
330 Ω

<RJCUG 180 Ω
Z+
Intrnal circuits
560 Ω 680 pF
Z-
180 Ω

23

&KOGPUKQPU
ON
1
ON
1 2 3 4
0 1 0 1
9 9
2 3
2 3
7 8
7 8
4 4
5 6 5 6
ON
24
Unit Components 5GEVKQP

7PKV%QORQPGPVU
%277PKV%QORQPGPV0COGU
15. Low battery detection switch 14. Battery
ON
17. DeviceNet indicators

18. CompoBus/S indicators
1. DIP switch
ON
5. PLC status indicators
4. Encoder interface indicators
1 2 3 4 3. Output indicators
2. Input indicators
0 1 0 1
9 9
2 3
2 3
7 8
7 8
4 4
5 6 5 6
16. DeviceNet
node address
ON
8. DeviceNet port 12. Digital I/O and

13. FE connection 6. Communications port Encoder interface
9. RS-422/485 port
11. CompoBus/S port
10. Terminating Resistance switch
7. Communications switch
25

%277PKV%QORQPGPV&GUETKRVKQPU
&+2UYKVEJ
•45%CPF2GTKRJGTCN2QTV5GVVKPIU
2KP 'HHGEVKXG2QTV5GVVKPIU
ON
1(( 6JGRQTVUQRGTCVGCEEQTFKPIVQVJGUGVVKPIUKPVJG2.%5GVWR

FGHCWNV 45%RQTVUGVVKPIU&/VQ&/
1 2 3 4 2GTKRJGTCN45RQTVUGVVKPIU&/VQ&/
10 6JGRQTVUQRGTCVGYKVJVJGUVCPFCTFEQOOWPKECVKQPUUGVVKPIU
•Operating Mode at 5VCTVWR
Pin 2 determines the operating mode at startup only if there isn’t a Program-
ming Device connected to the peripheral port.
2TQITCOOKPI&GXKEG 5VCTVWROQFGYKVJ 5VCTVWROQFGYKVJ
EQPPGEVGF RKP1((
FGHCWNV RKP10
0QPG 470OQFG 241)4#/OQFG
2TQITCOOKPI%QPUQNG 1RGTCVKPIOQFGUGVQPVJG2TQITCOOKPI
%QPUQNGŏUOQFGUYKVEJ
1VJGTFGXKEG 241)4#/OQFG
+PRWVKPFKECVQTU
[GNNQY
IN0 OUT0
6JGKPRWVKPFKECVQTUCTGNKVYJGPVJGEQTTGURQPFKPIKPRWVVGTOKPCNKU106JG
IN1 OUT1 UVCVWUQHCPKPRWVKPFKECVQTYKNNTGHNGEVVJGUVCVWUQHVJGKPRWVGXGPYJGPVJCV
KPRWVKUDGKPIWUGFHQTCJKIJURGGFEQWPVGT
IN2 OUT2
0QVG C 9JGPKPVGTTWRVKPRWVUCTGWUGFKPKPVGTTWRVKPRWVOQFGVJGKPFKECVQT
IN3 OUT3 OC[PQVNKIJVGXGPYJGPVJGKPVGTTWRVEQPFKVKQPKUOGVKHVJGKPRWVKU
IN4
PQV10NQPIGPQWIJ
D +PRWVKPFKECVQTUYKNNTGHNGEVVJGUVCVWUQHVJGEQTTGURQPFKPIKPRWVU
IN5 GXGPYJGPVJG2.%KUUVQRRGFDWVVJGEQTTGURQPFKPIKPRWVDKVUYKNN
PQVDGTGHTGUJGF
1WVRWVKPFKECVQTU
[GNNQY
6JGQWVRWVKPFKECVQTUCTGNKVYJGPVJGEQTTGURQPFKPIQWVRWVVGTOKPCNKU10
6JGKPFKECVQTUCTGNKVFWTKPI+1TGHTGUJKPI6JGUVCVWUQHCPQWVRWVKPFKECVQT
YKNNCNUQTGHNGEVVJGUVCVWUQHVJGEQTTGURQPFKPIQWVRWVYJGPVJGQWVRWVKUDG
KPIWUGFCUCRWNUGQWVRWV
A
'PEQFGTKPVGTHCEGKPFKECVQTU
[GNNQY
B
6JGKPFKECVQTUCTGNKVYJGPVJGEQTTGURQPFKPIKPRWVVGTOKPCNKU10
Z
26

2.%UVCVWUKPFKECVQTU
6JGHQNNQYKPIKPFKECVQTUUJQYVJGQRGTCVKPIUVCVWUQHVJG2.%
+PFKECVQT 5VCVWU /GCPKPI
PWR 294 10 2QYGTKUDGKPIUWRRNKGFVQVJGWPKV
RUN

ITGGP 1(( 2QYGTKUPŏVDGKPIUWRRNKGFVQVJGWPKV
470 10 6JG2.%KUQRGTCVKPIKP470QT/10+614
ERR/ALM

ITGGP OQFG
COMM1 1(( 6JG2.%KUKP241)4#/OQFGQTCHCVCN
COMM2 GTTQTJCUQEEWTTGF
'44#./ 10 #HCVCNGTTQTJCUQEEWTTGF
2.%QRGTCVKQP

TGF UVQRU
(NCUJKPI #PQPHCVCNGTTQTJCUQEEWTTGF
2.%QRGTCVKQP
EQPVKPWGU
1(( +PFKECVGUPQTOCNQRGTCVKQP
%1// (NCUJKPI &CVCKUDGKPIVTCPUHGTTGFXKCVJGRGTKRJGTCNQT

[GNNQY 45RQTV
1(( &CVCKUPŏVDGKPIVTCPUHGTTGFXKCVJGRGTKRJGTCN
QT45RQTV
%1// (NCUJKPI &CVCKUDGKPIVTCPUHGTTGFXKCVJG45%RQTV

[GNNQY 1(( &CVCKUPŏVDGKPIVTCPUHGTTGFXKCEQOOWPKEC
VKQPURQTV
%QOOWPKECVKQPURQTV
%QPPGEVUVJG2.%VQC2TQITCOOKPI&GXKEG
KPENWFKPI2TQITCOOKPI%QP
UQNGUJQUVEQORWVGTQTUVCPFCTFGZVGTPCNFGXKEG7UGCRTQRGT%QPPGEVKPI
%CDNG
%2/%%0%59%0%59%0QT%59%0
0QVG C #%3/*241'2TQITCOOKPI%QPUQNGECPDGEQPPGEVGFFK
TGEVN[VQVJG2.%
D #%*241'2TQITCOOKPI%QPUQNGECPDGEQPPGEVGFFK
TGEVN[VQVJG2.%YKVJC%59%0%0%QPPGEVKPI%CDNG
E 7UGC%2/%%0QT%59%0%QPPGEVKPI%CDNGVQEQP
PGEVVQVJGEQOOWPKECVKQPURQTVCUCRGTKRJGTCNRQTV6JGEQOOWPK
ECVKQPURQTVECPDGWUGFUKOWNVCPGQWUN[CUDQVJCRGTKRJGTCNRQTV
CPF45%RQTVD[WUKPIVJG%2/%%0%QPPGEVKPI%CDNG
F 7UGC%2/%%0%59%0QT%59%0%QPPGEVKPI
%CDNGVQEQPPGEVVQVJGEQOOWPKECVKQPURQTVCUC45%RQTV
6JGEQOOWPKECVKQPURQTVECPDGWUGFUKOWNVCPGQWUN[CUDQVJCRG
TKRJGTCNRQTVCPF45%RQTVD[WUKPIVJG%2/%%0%QP
PGEVKPI%CDNG
0QVG 6JGRGTKRJGTCNRQTVCPF45RQTVECPPQVDGWUGFUKOWNVCPGQWUN[
9JGPWUKPIVJGRGTKRJGTCNRQTVFKUEQPPGEVCP[FGXKEGUEQPPGEVGFVQVJG45
RQTV
%QOOWPKECVKQPUUYKVEJ
5YKVEJVQUGNGEVRQTVV[RGQHEQPPGEVGFFGXKEG
2QUKVKQP %QOOWPKECVKQPRQTV
1((
WR
FGHCWNV 2TQITCOOKPI%QPUQNG
10
FQYP 45EQOOWPKECVKQP
27

&GXKEG0GVRQTV
&46XGTUKQPUQPN[
6GTOKPCN#TTCPIGOGPV
V- CAN-L Shield CAN-H V+

45RQTV
7UGFVQEQPPGEVVQJQUVEQORWVGTUQTUVCPFCTFGZVGTPCNFGXKEGU
6GTOKPCN#TTCPIGOGPV
Send Receive
data data
(output) (input)
6 SDB+ RDB+
5 SDA- RDA-

0QVG 6JGOCZKOWONKPGNGPIVJKUO
6JGRGTKRJGTCNRQTVCPF45RQTVECPPQVDGWUGFUKOWNVCPGQWUN[
9JGPWUKPIVJGRGTKRJGTCNRQTVFKUEQPPGEVCP[FGXKEGUEQPPGEVGFVQVJG45
RQTV
9JGPWUKPI45EQOOWPKECVKQPEQPPGEV4&#VQ5&#CPF4&$ VQ
5&$
6GTOKPCVKPI4GUKUVCPEGUYKVEJ
ON
2QUKVKQP 6GTOKPCVKQP
1((
TKIJV
FGHCWNV &KUCDNGF
10
NGHV 'PCDNGF
5GVVJKUUYKVEJVQ10QPN[HQTFQWDNGGPFGFEQPPGEVKQPVQC*QUV.KPMPGV
YQTM
%QORQ$WU5RQTV
6GTOKPCN#TTCPIGOGPV
BDH 4 2
BDL 3 1

7UGURGEKCNHNCVECDNGQT8%6(ECDNGHQTVJGVTCPUOKUUKQPNKPGUVJCVEQPPGEV
VJGPQFGUKPVJG%QORQ$WU5+1.KPM
5RGEKCNHNCVECDNGUCPF8%6(ECDNGU
ECPPQVDGEQODKPGFKPVJGUCOGU[UVGO
0COG /QFGNPWODGT 5RGEKHKECVKQPU
(NCVECDNG :$69 EQTGHNCVECDNGOO
8%6(ECDNG EQTG8%6(Z
28

&KIKVCNKPRWVUCPFQWVRWVUCPF'PEQFGTKPVGTHCEG
%QPPGEVUVJG%277PKVVQGZVGTPCNKPRWVCPFQWVRWVFGXKEGU
5QWTEKPIQWVRWVU
00001
Z- B- A- 01003 01001 COM(+) 00005 00003
(B)
00002 00000
Z+ B+ A+ 01002 01000 COM 00004
(Z) (A)

(WPEVKQPCN'CTVJYKTG
6QDGEQPPGEVGFVJGGCTVJEQPPGEVKQPKPUKFGVJG+PXGTVGT
$CVVGT[
.QYDCVVGT[FGVGEVKQPUYKVEJ
ON
6JKUUYKVEJGPCDNGUQTFKUCDNGUVJGFGVGEVKQPQHCNQYDCVVGT[GTTQT

2QUKVKQP .QYDCVVGT[FGVGEVKQP
1((
TKIJV
FGHCWNV 'TTQTFGVGEVKQPGPCDNGF
10
NGHV 'TTQTFGVGEVKQPFKUCDNGF
&GXKEG0GVPQFGPWODGT
&46XGTUKQPUQPN[
2NGCUGTGHGTVQVJG&GXKEG0GVUGEVKQP
5GVVKPIVJG0QFG0WODGT
&GXKEG0GVKPFKECVQTU
&46XGTUKQPUQPN[
2NGCUGTGHGTVQVJG&GXKEG0GVUGEVKQP
.'&+PFKECVQTU
SD %QORQ$WU5KPFKECVQTU
RD
+PFKECVQT 5VCVWU /GCPKPI
ERC
5& (NCUJKPI &CVCKUDGKPIVTCPUOKVVGFXKC%QORQ$WU5

[GNNQY 1(( &CVCKUPŏVDGKPIVTCPUOKVVGFXKC%QORQ$WU5
4& (NCUJKPI &CVCKUDGKPITGEGKXGFXKC%QORQ$WU5

[GNNQY 1(( &CVCKUPŏVDGKPITGEGKXGFXKC%QORQ$WU5
'4% (NCUJKPI #%QORQ$WU5EQOOWPKECVKQPUGTTQTQEEWTTGF

TGF 1(( #%QORQ$WU5EQOOWPKECVKQPUGTTQTJCUPŏV
QEEWTTGF
29

SECTION 3
Installation and Wiring

6JKUUGEVKQPRTQXKFGUKPHQTOCVKQPQPKPUVCNNKPICPFYKTKPIC)482567PKV$GUWTGVQHQNNQYVJGFKTGEVKQPUCPF
RTGECWVKQPUKPVJKUUGEVKQPYJGPKPUVCNNKPIVJG)48256CPFYKTKPI+1

3-1 Installation ............................................................................................................................................................32
3-2 Mounting Procedure .............................................................................................................................................33
3-3 Wiring...................................................................................................................................................................35
3-4 Connecting I/O Devices........................................................................................................................................35
3-5 Wiring Communication Cables.............................................................................................................................36
3-6 Programming Device Connections .......................................................................................................................36
3-7 Battery replacement ..............................................................................................................................................37

31
Installation 5GEVKQP

+PUVCNNCVKQP
&Q PQV VQWEJ VJG EQPFWEVKXG RCTVU UWEJ CU KPVGTPCN 2%$U QT VGTOKPCN DNQEMU
9#40+0)
YJKNGRQYGTKUDGKPIUWRRNKGF&QKPIUQOC[TGUWNVKPGNGEVTKECNUJQEM
6WTP10VJGRQYGTUWRRN[QHVJG+PXGTVGTQPN[CHVGTOQWPVKPIVJGHTQPVEQXGT
9#40+0)
VGTOKPCNEQXGTCPFQRVKQPCNKVGOU.GCXGVJGOOQWPVGFKPRNCEGYJKNGRQYGT
KUDGKPIUWRRNKGF0QVFQKPIUQOC[TGUWNVKPGNGEVTKECNUJQEMOCNHWPEVKQPQT
FCOCIGVQVJGRTQFWEV
9KTKPI OCKPVGPCPEG QT KPURGEVKQP OWUV DG RGTHQTOGF D[ CWVJQTK\GF
9#40+0)
RGTUQPPGN0QVFQKPIUQOC[TGUWNVKPGNGEVTKECNUJQEMQTHKTG
9KTKPI OCKPVGPCPEG QT KPURGEVKQP OWUV DG RGTHQTOGF CHVGT VWTPKPI 1(( VJG
9#40+0)
RQYGTUWRRN[QHVJG+PXGTVGTEQPHKTOKPIVJCVVJG%*#4)'KPFKECVQT
QTUVCVWU
KPFKECVQTUKU1((CPFCHVGTYCKVKPIHQTVJGVKOGURGEKHKGFQPVJG+PXGTVGTHTQPV
&QPQVFCOCIGRWNNQPCRRN[UVTGUUVQRNCEGJGCX[QDLGEVUQPQTRKPEJVJG
9#40+0)
ECDNGU &QKPI UQ OC[ TGUWNV KP GNGEVTKECN UJQEM QRGTCVKQP UVQRRCIG QT
DWTPKPI
&Q PQV CVVGORV VQ FKUCUUGODNG QT TGRCKT VJG 7PKV &QKPI GKVJGT QH VJGUG OC[
9#40+0)
TGUWNVKPGNGEVTKECNUJQEMKPLWT[QTFCOCIGVQVJGRTQFWEV
%CWVKQP &QPQVUVQTGKPUVCNNQTQRGTCVGVJGRTQFWEVKPVJGHQNNQYKPIRNCEGU&QKPIUQ
OC[TGUWNVKPGNGEVTKECNUJQEMHKTGQTFCOCIGVQVJGRTQFWEV
• .QECVKQPUUWDLGEVVQFKTGEVUWPNKIJV
• .QECVKQPUUWDLGEVVQVGORGTCVWTGUQTJWOKFKV[QWVUKFGVJGTCPIGURGEKHKGF
KPVJGURGEKHKECVKQPU
• .QECVKQPUUWDLGEVVQEQPFGPUCVKQPCUVJGTGUWNVQHUGXGTGEJCPIGUKP
VGORGTCVWTG
• .QECVKQPUUWDLGEVVQEQTTQUKXGQTHNCOOCDNGICUGU
• .QECVKQPUUWDLGEVVQGZRQUWTGVQEQODWUVKDNGU
• .QECVKQPUUWDLGEVVQFWUV
GURGEKCNN[KTQPFWUVQTUCNVU
• .QECVKQPUUWDLGEVVQGZRQUWTGVQYCVGTQKNQTEJGOKECNU
• .QECVKQPUUWDLGEVVQUJQEMQTXKDTCVKQP
%CWVKQP &QPQVCNNQYHQTGKIPQDLGEVUVQGPVGTKPUKFGVJGRTQFWEV&QKPIUQOC[TGUWNVKP
HKTGQTOCNHWPEVKQP
%CWVKQP &QPQVCRRN[CP[UVTQPIKORCEV&QKPIUQOC[TGUWNVKPFCOCIGVQVJGRTQFWEV
QTOCNHWPEVKQP
%CWVKQP $G UWTG VQ YKTG EQTTGEVN[ CPF UGEWTGN[ 0QV FQKPI UQ OC[ TGUWNV KP KPLWT[ QT
FCOCIGVQVJGRTQFWEV
%CWVKQP $G UWTG VQ HKTON[ VKIJVGP VJG UETGYU QPVJGVGTOKPCNDNQEM0QVFQKPIUQOC[
TGUWNVKPHKTGKPLWT[QTFCOCIGVQVJGRTQFWEV
%CWVKQP %CTGHWNN[ JCPFNG VJG RTQFWEV DGECWUG KV WUGU UGOKEQPFWEVQT GNGOGPVU
%CTGNGUUJCPFNKPIOC[TGUWNVKPOCNHWPEVKQP
%CWVKQP 6CMG CRRTQRTKCVG CPF UWHHKEKGPV EQWPVGTOGCUWTGU YJGP KPUVCNNKPI U[UVGOU KP
VJGHQNNQYKPINQECVKQPU0QVFQKPIUQOC[TGUWNVKPGSWKROGPVFCOCIG
• .QECVKQPUUWDLGEVVQUVCVKEGNGEVTKEKV[QTQVJGTHQTOUQHPQKUG
• .QECVKQPUUWDLGEVVQUVTQPIGNGEVTQOCIPGVKEHKGNFUCPFOCIPGVKEHKGNFU
• .QECVKQPUUWDLGEVVQRQUUKDNGGZRQUWTGVQTCFKQCEVKXKV[
• .QECVKQPUENQUGVQRQYGTUWRRNKGU
32
Mounting Procedure 5GEVKQP

/QWPVKPI2TQEGFWTG
%CWVKQP $GHQTGKPUVCNNKPIVJG2.%QRVKQPDQCTFCNYC[UVWTP1((VJGRQYGTVQVJG
+PXGTVGTCPFYCKVHQTVJG%*#4)'KPFKECVQTVQVWTP1((
6WTP1((VJGOCKPEKTEWKVRQYGTUWRRN[HQTVJG+PXGTVGTYCKVHQTCVNGCUVHKXG
OKPWVGUHTQOVJGVKOGVJG.'&KPFKECVQTQTVJG%*#4)'KPFKECVQTIQGUQWV
CPFTGOQXGVJGHTQPVEQXGTUQHVJG+PXGTVGTCNQPIYKVJVJG&KIKVCN1RGTCVQT
%JGEMVJGRTGUGPEGQHUVCPFQHHPWODGT
Stand-off 1
Stand-off 2
Stand-off 3

+HRTGUGPVIQVQUVGR
# 4GNGCUGVJGUETGYUQHVGTOKPCNDNQEMCPFTGOQXGVJGVGTOKPCNDNQEMD[
UNKFKPIKVVQYCTFVJGDQVVQOUKFGQHVJG+PXGTVGT
D.
C. B. C.

$ 4GNGCUGVJGUETGYUQHVJGEQPVTQNNGTDQCTF
% 4GNGCUGNQEMKPIVCDCDQXG%0
VQRUKFGQH+PXGTVGT
33
Mounting Procedure 5GEVKQP

& 6CMGQWVVJGEQPVTQNNGTDQCTF
' #VVCEJVJGUVCPFQHHHTQOVJGDQVVQOUKFGQHVJGEQPVTQNNGTDQCTF7UGVJG
CNTGCF[KPUVCNNGFUVCPFQHHCPFCUCTGHGTGPEG

( 2WVVJGEQPVTQNNGTDQCTFDCEMKPVQVJGECUGOCMKPIUWTGVJG2%$KU
NQEMGFD[VJGVCDCDQXG%0
UGG&
) 6KIJVGPVJGUETGYUQHVJGEQPVTQNNGTDQCTF
UGG%
* 5NKFG VJG VGTOKPCNDNQEM DCEM VQYCTF VJG EQPVTQNNGTDQCTF
CNKIP %0 QH
DQVJDQCTFU6KIJVGPVJGUETGYUQHVJGVGTOKPCNDNQEM
#VVCEJVJGHQNNQYKPIUVCPFQHHVQVJGDQVVQOUKFGQHVJG2.%QRVKQPDQCTF

6QRXKGY2.%QRVKQPDQCTFUJQYKPIVJGNQECVKQPYJGTGVQHKVVJGUVCPFQHHQP
VJGDQVVQOUKFG
ON
ON
1 2 3 4
0 1 0 1
9 9
2 3
2 3
7 8
7 8
4 4
5 6 5 6
ON

2WVVJG2.%QRVKQPDQCTFKPUKFGVJGKPXGTVGTOCMKPIUWTGVJGDQCTFKUNQEMGF
D[VJGVJTGGUVCPFQHHU
2WVVJGENKRDCEMQPVJGNGHVUKFGQHVJG+PXGTVGTYJKEJRTGXGPVUVJG2.%QRVKQP
DQCTFHTQOOQXKPIWR
34
Wiring 5GEVKQP

#VVCEJVJG('ECDNGQHVJG2.%QRVKQPDQCTFVQVJG('EQPPGEVKQPUETGYQP
VJGVGTOKPCNDQCTF
6.

9KTKPI
9KTKPIOWUVDGRGTHQTOGFQPN[CHVGTEQPHKTOKPIVJCVVJGRQYGTUWRRN[JCU
9#40+0)
DGGPVWTPGF1((0QVFQKPIUQOC[TGUWNVKPGNGEVTKECNUJQEM
9KTKPIOWUVDGRGTHQTOGFD[CWVJQTK\GFRGTUQPPGN0QVFQKPIUQOC[TGUWNVKP
9#40+0)
GNGEVTKECNUJQEMQTHKTG
%CWVKQP $GUWTGVQHKTON[VKIJVGPVJGUETGYUQPVJGVGTOKPCNDNQEM0QVFQKPIUQOC[
TGUWNVKPHKTGKPLWT[QTFCOCIGVQVJGRTQFWEV

%QPPGEVKPI+1&GXKEGU
9KTGKPRWVUCPFQWVRWVUVQVJG)482567PKVCUUJQYPKPVJGHQNNQYKPI
FKCITCOU

6JG2.%QWVRWVUOC[TGOCKP10QT1((FWGVQFGRQUKVUQPQTDWTPKPIQHVJG
9#40+0)
QWVRWVTGNC[QTFGUVTWEVKQPQHVJGQWVRWVVTCPUKUVQTU'ZVGTPCNUCHGV[OGCUWTGU
OWUVDGRTQXKFGFVQGPUWTGUCHGV[KPVJGU[UVGO0QVRTQXKFKPIRTQRGTUCHGV[
OGCUWTGUOC[TGUWNVKPUGTKQWUCEEKFGPVU

0QVG 9JGPGSWKROGPVOWUVEQPHQTOVQVJG'%&KTGEVKXGU
.QYXQNVCIG&KTGEVKXGU
WUGCRQYGTUWRRN[YKVJFQWDNGKPUWNCVKQPQTTGKPHQTEGFKPUWNCVKQP

%CWVKQP %JGEMVJCVYKTKPIJCUDGGPRGTHQTOGFEQTTGEVN[DGHQTGUWRRN[KPIRQYGT
5WRRN[KPIRQYGTYKVJKPEQTTGEVYKTKPIOC[TGUWNVKPFCOCIGVQKPVGTPCNEKTEWKVU

35
Wiring Communication Cables 5GEVKQP

+1%QPHKIWTCVKQP 6JGHQNNQYKPIFKCITCOUJQYUVJG+1EQPHKIWTCVKQP
5QWTEKPI6TCPUKUVQT1WVRWVU
00000
1
00001
2
00002
3
00003
24VDC 4
00004
5
00005
6
COM
7
COM(+)
8
24VDC 01000
Load 9
01001
Load 10
01002
Load 11
01003
Load 12

&QPQVGZEGGFVJGQWVRWVECRCEKV[QTVJGOCZKOWOEQOOQPEWTTGPVHQTVTCP
UKUVQTQWVRWVUUJQYPKPVJGHQNNQYKPIVCDNG
+VGO 5RGEKHKECVKQP
1WVRWV%CRCEKV[ O#CV8&%

'PEQFGTKPVGTHCEG 6JGHQNNQYKPIFKCITCOUJQYUJQYVQEQPPGEVCPGPEQFGTVQVJG'PEQFGT
KPVGTHCEG
Phase-A (+)
13
Phase-A (-)
14
Phase-B (+)
15
PG Phase-B (-)
16
Phase-Z (+)
17
Phase-Z (-)
18

9KTKPI%QOOWPKECVKQP%CDNGU
9JGPYKTKPIVJG45EQOOWPKECVKQPECDNGOCMGUWTGVQWUG
UJKGNFGFECDNGYKVJVYKUVGFYKTGU
2TQITCOOKPI&GXKEG%QPPGEVKQPU
(QTCEQORNGVGQXGTXKGYQH2TQITCOOKPI&GXKEGEQPPGEVKQPUUGGUGEVKQP
QH91RGTCVKQP/CPWCN%2/%5
0QVG 9JGPWUKPI%:2TQITCOOGTUGNGEV%2/5CU2.%&GXKEG6[RG
36
Battery replacement 5GEVKQP

$CVVGT[TGRNCEGOGPV
6JGDCEMWRDCVVGT[OC[GZRNQFGECVEJHKTGQTNGCMKHFTQRRGFDTQMGPCRCTV
9#40+0)
ETWUJGFUJQTVEKTEWKVGFTGEJCTIGFJGCVGFVQ°%QTJKIJGTQTDWTPGF

$CVVGT[V[RG 6[RG 5QPPGPUEJGKP.KVJKWO##
/QFGN 5.5

4GRNCEKPIDCVVGT[ +HRQYGTJCUPQVDGGPUWRRNKGFVQVJG2.%HQTUQOGVKOGVWTP10VJGRQYGT
UWRRN[HQTCVNGCUVOKPWVGUVQEJCTIGVJGDCEMWRECRCEKVQTDGHQTGTGRNCEKPI
VJGDCVVGT[
6WTP1((VJGRQYGTUWRRN[VQVJG2.%DGHQTGTGRNCEKPIVJGDCVVGT[6QRTQ
VGEVVJGEQPVGPVUQHOGOQT[VJKURTQEGFWTGOWUVDGEQORNGVGFYKVJKPOKP
WVGU$GUWTGVQFKURQUGQHVJGQNFDCVVGT[KPCEEQTFCPEGYKVJNQECNNCYUCPF
TGIWNCVKQPU
4GRNCEGVJGDCVVGT[YKVJKPHKXG[GCTUYJGPWUGFWPFGT°%9JGPVJGDCV
VGT[XQNVCIGFTQRUVJG'44#./KPFKECVQTYKNNHNCUJCPF54YKNNDG
VWTPGF10+PVJKUECUGTGRNCEGVJGDCVVGT[YKVJKPUGXGPFC[U7UGVJGRTQ
EGFWTGDGNQYYJGPTGRNCEKPIVJGDCVVGT[
6WTP1((VJGOCKPEKTEWKVRQYGTUWRRN[HQTVJG+PXGTVGTYCKVHQTCVNGCUVHKXG
OKPWVGUHTQOVJGVKOGVJG.'&KPFKECVQTQTVJG%*#4)'KPFKECVQTIQGUQWV
CPFTGOQXGVJGHTQPVEQXGTUQHVJG+PXGTVGTCNQPIYKVJVJG&KIKVCN1RGTCVQT
4GOQXGVJGDCVVGT[HTQOVJGDCVVGT[JQNFGT
+PUVCNNVJGPGYDCVVGT[$GUWTGVJGDCVVGT[KURQUKVKQPGFKPVJGEQTTGEVYC[
CEEQTFKPIVJGRKEVWTGKPVJGJQNFGT
37

SECTION 4
Communication, Counter and Pulse

6JKUUGEVKQPFGUETKDGUVJGEQOOWPKECVKQPUGVVKPIUCPFVJGWUGQHVJGEQWPVGTCPFRWNUGQWVRWVHWPEVKQPCNKV[QHVJG
)48256

4-1 PLC-setup Communication .................................................................................................................................. 39
4-1-1 RS-232C Port Communications Settings...................................................................................................... 39
4-1-2 Peripheral RS-422/485 Port Communications Settings ............................................................................... 40
4-2 High-speed Counters............................................................................................................................................ 42
4-3 Input Interrupts In Counter Mode ........................................................................................................................ 45
4-4 Pulse Output Functions ........................................................................................................................................ 48
4-4-1 Using Single-phase Pulse Fixed Duty Ratio................................................................................................. 49
4-4-2 Using Pulse Outputs With Variable Duty Ratio ........................................................................................... 52
4-4-3 Using Pulse Outputs With Trapezoidal Acceleration/Deceleration ............................................................. 53

38
PLC-setup Communication 5GEVKQP

2.%UGVWR%QOOWPKECVKQP
45%2QTV%QOOWPKECVKQPU5GVVKPIU
6JGHQNNQYKPIUGVVKPIUCTGGHHGEVKXGCHVGTVTCPUHGTVQVJG2.%
+HRKPQHVJG)482567PKVŏU&+2UYKVEJKU10EQOOWPKECVKQPU
VJTQWIJVJG)48256ŏU45%RQTVCTGIQXGTPGFD[VJGFGHCWNVUGV
VKPIU
CNNTGICTFNGUUQHVJGUGVVKPIUKP&/VJTQWIJ&/
9QTF
U $KV
U (WPEVKQP
&/ VQ 2QTVUGVVKPIU
5VCPFCTF
UVCTVDKVFCVCDKVUGXGPRCTKV[UVQRDKVUDRU*QUV.KPMWPKV
PWODGT
5GVVKPIUKP&/

#P[QVJGTUGVVKPIYKNNECWUGCPQPHCVCNGTTQTCPF#4YKNNVWTP10
VQ %65EQPVTQNUGVVKPI
&KUCDNG%65EQPVTQN'PCDNG%65EQPVTQN

VQ .KPMYQTFUHQTFCVCNKPM
.4VQ.4
#P[QVJGTUGVVKPIUCTGKPGHHGEVKXG
VQ %QOOWPKECVKQPUOQFG
*QUV.KPM0QRTQVQEQN2.%.KPM5NCXG2.%.KPM/CUVGT06.KPM

#P[QVJGTUGVVKPIECWUGUCPQPHCVCNGTTQTCPFVWTPU10#4
&/ VQ $CWFTCVG
DRUDRUDRUDRUDRU
VQ (TCOGHQTOCV
5VCTVDKVU &CVCDKVU 5VQRDKVU2CTKV[
DKV DKVU DKV 'XGP
DKV DKVU DKV 1FF
DKV DKVU DKV 0QPG
DKV DKVU DKVU 'XGP
DKV DKVU DKVU 1FF
DKV DKVU DKVU 0QPG
DKV DKVU DKV 'XGP
DKV DKVU DKV 1FF
DKV DKVU DKV 0QPG
DKV DKVU DKVU 'XGP
DKV DKVU DKVU 1FF
DKV DKVU DKVU 0QPG

#P[QVJGTUGVVKPIURGEKHKGUUVCPFCTFUGVVKPIU
UVCTVDKVFCVCDKVUGXGPRCTKV[UVQR
DKVUDRUECWUGUCPQPHCVCNGTTQTCPFVWTPU10#4
&/ VQ 6TCPUOKUUKQPFGNC[
VQ$%&UGVUCFGNC[QHVQOU

#P[QVJGTUGVVKPIURGEKHKGUCFGNC[QHOUECWUGUCPQPHCVCNGTTQTCPFVWTPU10
#4
&/ VQ 0QFGPWODGT
*QUV.KPM
VQ
$%&

#P[QVJGTUGVVKPIURGEKHKGUCPQFGPWODGTQHECWUGUCPQPHCVCNGTTQTCPFVWTPU
10#4
VQ 5VCTVEQFGUGNGEVKQPHQTPQRTQVQEQNEQOOWPKECVKQPU
&KUCDNGUUVCTVEQFG'PCDNGUUVCTVEQFGKP&/

#P[QVJGTUGVVKPIFKUCDNGUVJGUVCTVEQFGECWUGUCPQPHCVCNGTTQTCPFVWTPU10#4
VQ 'PFEQFGUGNGEVKQPHQTPQRTQVQEQNEQOOWPKECVKQPU
&KUCDNGUGPFEQFG'PCDNGUGPFEQFGKP&/5GVUGPFEQFGQH%4.(

#P[QVJGTUGVVKPIFKUCDNGUVJGGPFEQFGECWUGUCPQPHCVCNGTTQTCPFVWTPU10#4
39

9QTF
U $KV
U (WPEVKQP
&/ VQ 5VCTVEQFG
VQ((

6JKUUGVVKPIKUXCNKFQPN[YJGPDKVUVQQH&/CTGUGVVQ
VQ 9JGPDKVUVQQH&/UGVVQ
5GVUVJGPWODGTQHD[VGUVQTGEGKXG
D[VGUVQ((VQD[VGU
9JGPDKVUVQQH&/UGVVQ
5GVUVJGGPFEQFG
VQ((
2GTKRJGTCN452QTV%QOOWPKECVKQPU5GVVKPIU
6JGHQNNQYKPIUGVVKPIUCTGGHHGEVKXGCHVGTVTCPUHGTVQVJG2.%
+HVJG)482567PKVŏU%QOOWPKECVKQPU5YKVEJKU10EQOOWPKECVKQPU
VJTQWIJVJGRGTKRJGTCNRQTVCTGIQXGTPGFD[VJGFGHCWNVUGVVKPIU
CNNTGICTF
NGUUQHVJGUGVVKPIUKP&/VJTQWIJ&/
6JG)48256ŏU%QOOWPKECVKQPU5YKVEJUGVVKPIJCUPQGHHGEVQPEQO
OWPKECVKQPUYKVJC2TQITCOOKPI%QPUQNGEQPPGEVGFVQVJGRGTKRJGTCNRQTVQT
5WRRQTV5QHVYCTGUGVHQTRGTKRJGTCNDWUEQOOWPKECVKQPU6JG)48256
7PKVYKNNCWVQFGVGEVGKVJGT2TQITCOOKPI&GXKEGCPFCWVQOCVKECNN[GUVCDNKUJ
EQOOWPKECVKQPU
9QTF
U $KV
U (WPEVKQP
&/ VQ 2QTVUGVVKPIU
5VCPFCTF
UVCTVDKVFCVCDKVUGXGPRCTKV[UVQRDKVUDRU*QUV.KPMWPKV
PWODGT
5GVVKPIUKP&/

VQ 0QVWUGF
VQ %QOOWPKECVKQPUOQFG
*QUV.KPMQTRGTKRJGTCNDWU0QRTQVQEQN

#P[QVJGTUGVVKPIECWUGUCPQPHCVCNGTTQTCPFVWTPU10#4
&/ VQ $CWFTCVG
DRUDRUDRUDRUDRU
VQ (TCOGHQTOCV
5VCTVDKVU &CVCDKVU 5VQRDKVU2CTKV[
DKV DKVU DKV 'XGP
DKV DKVU DKV 1FF
DKV DKVU DKV 0QPG
DKV DKVU DKVU 'XGP
DKV DKVU DKVU 1FF
DKV DKVU DKVU 0QPG
DKV DKVU DKV 'XGP
DKV DKVU DKV 1FF
DKV DKVU DKV 0QPG
DKV DKVU DKVU 'XGP
DKV DKVU DKVU 1FF
DKV DKVU DKVU 0QPG

#P[QVJGTUGVVKPIURGEKHKGUUVCPFCTFUGVVKPIU
UVCTVDKVFCVCDKVUGXGPRCTKV[UVQR
DKVUDRUECWUGUCPQPHCVCNGTTQTCPFVWTPU10#4
&/ VQ 6TCPUOKUUKQPFGNC[
VQ$%&UGVUCFGNC[QHVQOU

#P[QVJGTUGVVKPIURGEKHKGUCFGNC[QHOUECWUGUCPQPHCVCNGTTQTCPFVWTPU10
#4
40

9QTF
U $KV
U (WPEVKQP
&/ VQ 0QFGPWODGT
*QUV.KPM
VQ
$%&

#P[QVJGTUGVVKPIURGEKHKGUCPQFGPWODGTQHECWUGUCPQPHCVCNGTTQTCPFVWTPU
10#4
VQ 5VCTVEQFGUGNGEVKQPHQTPQRTQVQEQNEQOOWPKECVKQPU
&KUCDNGUUVCTVEQFG'PCDNGUUVCTVEQFGKP&/

#P[QVJGTUGVVKPIFKUCDNGUVJGUVCTVEQFGECWUGUCPQPHCVCNGTTQTCPFVWTPU10#4
VQ 'PFEQFGUGNGEVKQPHQTPQRTQVQEQNEQOOWPKECVKQPU
&KUCDNGUGPFEQFG'PCDNGUGPFEQFGKP&/5GVUGPFEQFGQH%4.(

#P[QVJGTUGVVKPIFKUCDNGUVJGGPFEQFGECWUGUCPQPHCVCNGTTQTCPFVWTPU10#4
&/ VQ 5VCTVEQFG
VQ((

6JKUUGVVKPIKUXCNKFQPN[YJGPDKVUVQQH&/CTGUGVVQ
VQ 9JGPDKVUVQQH&/UGVVQ
5GVUVJGPWODGTQHD[VGUVQTGEGKXG
D[VGUVQ((VQD[VGU
9JGPDKVUVQQH&/UGVVQ
5GVUVJGGPFEQFG
VQ((

41
High-speed Counters 5GEVKQP

*KIJURGGF%QWPVGTU
)482567PKVUJCXGHQWTRQKPVUHQTJKIJURGGFEQWPVGTU1PGRQKPVHQT
CJKIJURGGFEQWPVGTYKVJCOCZKOWOTGURQPUGHTGSWGPE[QHM*\CPF
VJTGGRQKPVUHQTKPVGTTWRVKPRWVU
EQWPVGTOQFG
(QTOQTGFGVCKNURNGCUGTGHGTVQ2TQITCOOKPI/CPWCN9

High-speed
High-speed counter No interrupts
counters Target value com-
parison interrupts
1 point
Count check
interrupts
Range comparison
interrupts
Interrupt inputs
No interrupts
(counter mode)
2 points
Count-up
interrupts

*KIJURGGF 2%5GVWR
EQWPVGTHWPEVKQP
&/DKVUVQ
%QWPV %QWPVEJGEMKPVGTTWRV
+PRWVOQFG IGPGTCVGF
'PEQFGT
KPRWVU &KHHGTGPVKCNRJCUGKPRWV
2WNUG FKTGEVKQPKPRWV .CFFGTFKCITCORTQITCO
5RGEKHKGFUWDTQWVKPGGZGEWVGF
7RFQYPKPRWV
YJGPEQWPVEJGEMKPVGTTWRVUCTG
%6$.
4')+56'4%1/2#4+ WUGF
+PETGOGPVKPRWV 5106#$.'KPUVTWEVKQP
4GIKUVGTEQORCTKUQP 5$0

VCDNG
5VCTVEQORCTKUQP
2%5GVWR
&/DKVU /1&'%10641.
VQ +0+
KPUVTWEVKQP 4'6

%JCPIG28
5VCTVUVQR
EQORCTKUQP
'XGT[UECP 'CEJVKOG
*+)*52''&%1706'4 4CPIGEQORCTKUQP
%QWPVGT28 248
284'#&KPUVTWEVKQP TGUWNVU
54 54 4GCF28
#4VQ#4
4GCFEQORCTKUQPUVCVWU
4GCFTCPIGEQORCTKUQPTGUWNVU
42

2.%5GVWR 5GVVJG2.%5GVWRCTGCUTGNCVGFVQVJGJKIJURGGFEQWPVGTCUHQNNQYU

High-speed counter usage DM 6642, bits 08 to 15
Input mode DM 6642, bits 00 to 03
Reset method
DM 6642, bits 04 to 07
(Use/not use 00002 as ordinary input)

9QTF $KVU (WPEVKQP 5GVVKPI
&/ VQ *KIJURGGFEQWPVGTKPRWVOQFGUGVVKPI QT
&KHHGTGPVKCNRJCUGKPRWV M*\
2WNUG FKTGEVKQPKPRWV M*\
7RFQYPKPRWV M*\
+PETGOGPV M*\
VQ *KIJURGGFEQWPVGTTGUGVOGVJQFUGVVKPI QT
2JCUG<UKIPCN UQHVYCTGTGUGV
5QHVYCTGTGUGV
VQ *KIJURGGFEQWPVGTWUCIGUGVVKPI
&QPQVWUG
7UGCUJKIJURGGFEQWPVGT
7UGCURWNUGU[PEJTQPK\CVKQPEQPVTQN

*\VQ*\

*\VQM*\

*\VQM*\
6JGPGYUGVVKPIUHQTVJG5[UVGO5GVWRIQKPVQGHHGEVYJGPQRGTCVKQPDGIKPU

YJGP241)4#/OQFGKUEJCPIGFVQ/10+614QT470OQFGQTYJGP
VJG)48256ŏURQYGTKUVWTPGF10
43

.CFFGT&KCITCO 6JGHQNNQYKPIVCDNGUJQYUVJGKPUVTWEVKQPUTGNCVGFVQJKIJURGGFEQWPVGT
2TQITCOOKPI EQPVTQN
+PUVTWEVKQP %QPVTQN 1RGTCVKQP

"%6$.
4GIKUVGTVCTIGVXCNWG 4GIKUVGTUVCTIGVXCNWGEQORCTKUQP
EQORCTKUQPVCDNG VCDNG
4GIKUVGTTCPIG 4GIKUVGTUTCPIGEQORCTKUQPVCDNG
EQORCTKUQPVCDNG
4GIKUVGTVCTIGVXCNWG 4GIKUVGTUVCTIGVXCNWGEQORCTKUQP
EQORCTKUQPVCDNGCPF VCDNG
UVCTVEQORCTKUQP CPFUVCTVUEQORCTKUQP
4GIKUVGTTCPIG 4GIKUVGTUTCPIGEQORCTKUQPVCDNGCPF
EQORCTKUQPVCDNGCPF UVCTVUEQORCTKUQP
UVCTVEQORCTKUQP

"+0+
5VCTVEQORCTKUQP 5VCTVUEQORCTKUQPYKVJTGIKUVGTGF
EQORCTKUQPVCDNG
5VQREQORCTKUQP 5VQRUEQORCTKUQP
%JCPIG28 %JCPIGUVJGJKIJURGGFEQWPVGT28

"248
4GCF28 4GCFUVJGJKIJURGGFEQWPVGT28
4GCFUVCVWU 4GCFUVJGJKIJURGGFEQWPVGTUVCVWU
4GCFTCPIGEQORCTKUQP 4GCFUTCPIGEQORCTKUQPTGUWNV
TGUWNV

"+06
/CUMCNNKPVGTTWRVU 2TQJKDKVUCNNKPVGTTWRVUKPENWFKPI
KPVGTTWRVKPRWVUKPVGTXCNVKOGT
KPVGTTWRVUJKIJURGGFEQWPVGTUGVE
7POCUMCNNKPVGTTWRVU 2GTOKVUCNNKPVGTTWRVUKPENWFKPIKPVGTTWRV
KPRWVUKPVGTXCNVKOGTKPVGTTWRVU
JKIJURGGFEQWPVGTUGVE
6JGHQNNQYKPIVCDNGUJQYUVJGFCVCCTGCUTGNCVGFVQJKIJURGGFEQWPVGTEQP
VTQN
9QTF $KVU 0COG %QPVGPVU
VQ *KIJURGGFEQWPVGT28 4GCFUJKIJURGGFEQWPVGT
VQ 28
*KIJURGGFEQWPVGTTGUGV 9JGPVJKUDKVVWTPU10C
UQHVYCTGTGUGVKUVTKIIGTGF
HQTVJGJKIJURGGFEQWPVGT
#4 VQ *KIJURGGFEQWPVGTTCPIG 10%QPFKVKQPUCVKUHKGF
EQORCTKUQPTGUWNVU 1((%QPFKVKQPPQVUCVKUHKGF
*KIJURGGFEQWPVGT 10%QORCTKUQPKPRTQITGUU
EQORCTKUQP 1((%QORCTKUQPUVQRRGF
*KIJURGGFEQWPVGT28 101XGTHNQYWPFGTHNQY
QXGTHNQYWPFGTHNQY 1((0QTOCN
44
Input Interrupts In Counter Mode 5GEVKQP

+PRWV+PVGTTWRVU+P%QWPVGT/QFG
6JGHQWTDWKNVKPKPVGTTWRVKPRWVUKPVJG)482567PKVECPDGWUGFKP
EQWPVGTOQFGCUKPRWVUQHWRVQM*\6JGUGKPRWVUECPDGWUGFCUGKVJGTKP
ETGOGPVKPIEQWPVGTUQTFGETGOGPVKPIEQWPVGTUVTKIIGTKPICPKPVGTTWRV
KG
GZGEWVKPICPKPVGTTWRVUWDTQWVKPGYJGPVJGEQWPVOCVEJGUVJGUGVXCNWG

2TQEGFWTGHQT7UKPI+PVGTTWRV+PRWVUKP%QWPVGT/QFG

Set the interrupt number.
Select either incrementing or

decrementing count.
Wire the inputs. Input numbers: 00003 or 00004
PLC Setup (DM 6628) 1. Use as interrupt input (interrupt input

mode or counter mode)
Create a ladder diagram program. INI(61): Change counter PV

INT(89): Refresh SV*
(PRV(62): Read counter PV
SBN(92) and RET(93): For creating interrupt subroutines.*
*Used only for count-up interrupts.

45

%QWPVGT
M*\ +PVGTTWRVIGPGTCVGF
+PVGTTWRV +PVGTTWRVKPRWV
EQWPVGTOQFG
KPRWV
5RGEKHKGFUWDTQWVKPGGZGEWVGF

7UGFQPN[HQTEQWPVWRKPVGTTWRVU
.CFFGTFKCITCORTQITCO
5$0

+06
+06'44726
%10641.
KPUVTWEVKQP
%QWPVGT
M*\
4'6

%JCPIG58
KPETGOGPV
FGETGOGPV
%QWPVGT
M*\
%QWPVGT58
%QWPVGT 54
%QWPVGT 54
%QWPVGT
M*\
%QWPVGT 54
%QWPVGT 54
2%5GVWR
/1&'%10641.
&/ +0+

KPUVTWEVKQP
%JCPIG28
'XGT[UECP +OOGFKCVGN[
%QWPVGT58 248
*+)*52''&%1706'4
284'#&KPUVTWEVKQP
%QWPVGT 54
4GCFEQWPVGT28
%QWPVGT 54
%QWPVGT 54
%QWPVGT 54

0QVG +PRWVRQKPVECPPQVDGWUGFCUKPVGTTWRVKPRWV
+PRWVRQKPVFQGUPQVGZKUV

2.%5GVWR 6JGHQNNQYKPIVCDNGUJQYUVJGUGVVKPIUKPVJG2.%5GVWRCTGCTGNCVGFVQ
KPVGTTWRVKPRWVWUCIG
&/ VQ +PVGTTWRVUGVVKPIHQT 0QTOCNKPRWV
KPRWV +PVGTTWRVKPRWV
VQ +PVGTTWRVUGVVKPIHQT
KPVGTTWRVKPRWV
KPRWV OQFGQTEQWPVGT
OQFG
3WKEMTGURQPUG
KPRWV
VQ 0QVWUGF
6JGUGVVKPIYKNNIQKPVQGHHGEVYJGPVJGOQFGKUEJCPIGF
HTQO241)4#/VQ
/10+614470QTYJGPVJGRQYGTUWRRN[KUVWTPGF10VQVJG)48
256
46

.CFFGT&KCITCO 6JGHQNNQYKPIVCDNGUJQYUVJGKPUVTWEVKQPQRGTCVKQPUTGNCVGFVQKPVGTTWRVKPRWV
2TQITCOOKPI
EQWPVGTOQFGEQPVTQN

"+06
4GHTGUJKPETGOGPVKPI 4GHTGUJGUVJGEQWPVGTŏU58CPFUVCTVU
EQWPVGT58 VJGKPETGOGPVKPIEQWPV
4GHTGUJFGETGOGPVKPI 4GHTGUJGUVJGEQWPVGTŏU58CPFUVCTVU
EQWPVGT58 VJGFGETGOGPVKPIEQWPV
/CUMCNNKPVGTTWRVU 2TQJKDKVUCNNKPVGTTWRVUKPENWFKPIKPVGTTWRV
KPRWVUKPVGTXCNVKOGTKPVGTTWRVUJKIJ
URGGFEQWPVGTUGVE
7POCUMCNNKPVGTTWRVU 2GTOKVUCNNKPVGTTWRVUKPENWFKPIKPVGTTWRV
KPRWVUKPVGTXCNVKOGTKPVGTTWRVUJKIJ
URGGFEQWPVGTUGVE

"+0+
%JCPIG28 %JCPIGUVJGEQWPVGTŏU28

"248
4GCF28 4GCFUVJGEQWPVGTŏU28
6JGHWPEVKQPUTGNCVGFVQKPRWVKPVGTTWRVU
EQWPVGTOQFGCTGGZGEWVGFCEEQTF
KPIVQVJGFCVCCTGCUUJQYPKPVJGHQNNQYKPIVCDNG
VQ 58CTGCHQTKPRWVKPVGTTWRV
EQWPVGTOQFG 5VQTGUVJG
EQWPVGTOQFG EQWPVGTŏUUGV
XCNWG
58
EQWPVGTOQFG
EQWPVGTOQFG
EQWPVGTOQFG 5VQTGUVJG
EQWPVGTOQFG EQWPVGTŏU
RTGUGPVXCNWG
EQWPVGTOQFG

28
EQWPVGTOQFG

4GHTGUJ+PETGOGPVKPI%QWPVGT584GHTGUJ&GETGOGPVKPI%QWPVGT58
6JGUGHWPEVKQPUUVQTGVJGEQWPVGTŏUUGVXCNWGUKPFCVCCTGCUCPFTGHTGUJVJGO
D[OGCPUQH+06
+PVJKUYC[VJG[UVCTVVJGEQWPVQRGTCVKQPHQTKPVGTTWRV
KPRWVU
EQWPVGTOQFGCPFVJG[RGTOKVKPVGTTWRVU

5VQTKPI5GV8CNWGUKP&CVC#TGCU
6JGEQWPVGTŏUUGVXCNWGUCTGUVQTGFKPYQTFUCPF

54 58HQTKPVGTTWRVKPRWV
EQWPVOQFGVQ((((
EQWPVOQFGVQ((((
EQWPVOQFGVQ((((
EQWPVOQFGVQ((((

47
Pulse Output Functions 5GEVKQP

2WNUG1WVRWV(WPEVKQPU
6JG)48256JCUVYQRWNUGQWVRWVU$[OGCPUQHCUGNGEVKQPKPVJG
2.%5GVWRVJGUGQWVRWVUECPDGWUGFCUVYQUKPINGRJCUGQWVRWVUYKVJQWV
CEEGNGTCVKQPCPFFGEGNGTCVKQPVYQXCTKCDNGFWV[TCVKQRWNUGQWVRWVUQTRWNUG
QWVRWVUYKVJVTCRG\QKFCNCEEGNGTCVKQPFGEGNGTCVKQP
QPGRWNUG FKTGEVKQPQWV
RWVCPFQPGWRFQYPRWNUGQWVRWV6JGRWNUGQWVRWV28EQQTFKPCVGU[UVGO
ECPCNUQDGURGEKHKGFKPVJG2.%5GVWRCUGKVJGTTGNCVKXGQTCDUQNWVG
6JGTGCTGVYQRWNUGQWVRWVOQFGU+PFGRGPFGPVOQFGKPYJKEJQWVRWVUCTG
UVQRRGFCVCRTGUGVCOQWPVQHRWNUGUCPFEQPVKPWQWUOQFGKPYJKEJQWVRWVU
CTGUVQRRGFD[CPKPUVTWEVKQP
+VGO 5KPINGRJCUG 8CTKCDNGFWV[ 5KPINGRJCUGRWNUGQWVRWVUYKVJVTCRG\QKFCN
RWNUGQWVRWVU TCVKQRWNUG CEEGNGTCVKQPFGEGNGTCVKQP
YKVJQWV QWVRWVU 2WNUG FKTGEVKQP 7RFQYPRWNUG
CEEGNFGEGN QWVRWVU QWVRWVU
'ZGEWVKQPKPUVTWEVKQPU 27.5
CPF 29/
ŌŌ 27.5
CPF#%%
ŌŌ
52'&

1WVRWV 2WNUGQWVRWV 2WNUGQWVRWV 2WNUG 2WNUGQWVRWV 2WNUG %9
PWODGT
5GGPQVG
5GGPQVG QWVRWV QWVRWV RWNUG
QWVRWV
2WNUGQWVRWV 2WNUGQWVRWV &KTGEVKQP %%9

5GGPQVG
5GGPQVG QWVRWV RWNUG
QWVRWV
1WVRWVHTGSWGPE[TCPIG *\VQM*\ VQ*\ *\VQM*\ *\VQM*\
2KVEJ *\ *\ *\ *\
7RFQYPHTGSWGPE[RKVEJ *\
5GGPQVG *\
5GGPQVG
5VCTVURGGFRKVEJ *\ *\
1WVRWVOQFG %QPVKPWQWU %QPVKPWQWU %QPVKPWQWU+PFGRGPFGPV %QPVKPWQWU
+PFGRGPFGPV +PFGRGPFGPV
0WODGTQHRWNUGU VQ ±VQ ±VQ
&WV[TCVKQ
5GGPQVG VQ
%QPVTQN /QXGOGPV ;GU 0Q ;GU ;GU
OGVJQF URGEKHKECVKQP
#EEGNFGEGN 0Q 0Q ;GU ;GU
URGEKHKECVKQP
5VCTVURGGF 0Q 0Q ;GU ;GU
URGEKHKECVKQP
&WV[ 0Q ;GU 0Q 0Q
URGEKHKECVKQP
0QVG 9KVJUKPINGRJCUGRWNUGQWVRWVURWNUGQWVRWVUCPFECPGCEJDGQWVRWV
KPFGRGPFGPVN[
2WNUGQWVRWVUECPDGCEEGNGTCVGFQTFGEGNGTCVGFKPWPKVUQH*\GXGT[
OU
#EVWCNRWNUGUCTGCHHGEVGFD[VJGVTCPUKUVQTQWVRWVŏU10TGURQPUGVKOG
µU
OCZCPF1((TGURQPUGVKOG
µUOCZ

48

7UKPI5KPINGRJCUG2WNUG(KZGF&WV[4CVKQ
Select the pulse output number. Pulse output number 0 or 1
Wire the outputs. Output numbers: 01000 and 01001
PLC Setup (DM 6629) PV coordinatesystem for pulse output 0 and 1
Create a ladder diagram program. PULS(65): For setting the number of pulses.
SPED(64): For pulse output control without acceleration and deceleration.
INI(61): For stopping pulse outputs and changing the pulse output PV.
PRV(62): For reading the pulse output PV and status.
5KPINGRJCUG2WNUG1WVRWVU
27.5
5'6 52'&
52''& 2WNUGQWVRWV
27.5'5 176276 2WNUGQWVRWV
KPUVTWEVKQP KPUVTWEVKQP
5RGEKH[TGNCVKXGQT 1WVRWVOQFG%QPVKPWQWUQT
CDUQNWVGRWNUGU +PFGRGPFGPV
2WNUGQWVRWV58 6CTIGVHTGSWGPE[*\VQM*\

FKIKVU$%& 5VCTVRWNUGQWVRWVU
+0+
/1&' 'XGT[UECP 'XGT[UECP +OOGFKCVGN[
%10641.
KPUVTWEVKQP *+)*52''&%1706'4
2WNUGQWVRWVUVCVWU 2WNUGQWVRWV28 248

284'#&KPUVTWEVKQP
5VQRRWNUGQWVRWVU 54 54
%JCPIGRWNUGQWVRWV28
#4 #4 4GCFRWNUGQWVRWV28
54 54 4GCFRWNUGQWVRWV
UVCVWU
2%5GVWR
&/
DKVUVQ
49

2.%5GVWR /CMGVJGHQNNQYKPIUGVVKPIUKPVJG2.%5GVWR
&/ VQ 2WNUG28 4GNCVKXGEQQTFKPCVG 'KVJGTQT
EQQTFKPCVG U[UVGO
U[UVGO #DUQNWVGEQQTFKPCVG
VQ 2WNUG28 U[UVGO
EQQTFKPCVG
U[UVGO
&/ VQ *KIJ &QPQVWUG 'KVJGT
URGGF 7UGCUJKIJURGGF QT
EQWPVGT EQWPVGT
UGVVKPI 7UGCUU[PEJTQPK\GF
RWNUGEQPVTQN
VQ*\
7UGCUU[PEJTQPK\GF
RWNUGEQPVTQN
*\VQ
M*\
7UGCUU[PEJTQPK\GF
RWNUGEQPVTQN
*\VQ
M*\
+HCDUQNWVGRWNUGUCTGURGEKHKGFYKVJ27.5
DGUWTGVQUGVVJGCDUQNWVG
EQQTFKPCVGU[UVGO

5[PEJTQPK\GFRWNUGEQPVTQNECPPQVDGWUGFUKOWNVCPGQWUN[
6JGUGVVKPIUYKNNIQKPVQGHHGEVYJGPVJGOQFGKUEJCPIGF
HTQO241)4#/VQ
/10+614470QTYJGPVJGRQYGTUWRRN[KUVWTPGF10VQVJG2.%
.CFFGT&KCITCO 6JGHQNNQYKPIVCDNGUJQYUVJGKPUVTWEVKQPQRGTCVKQPUTGNCVGFVQRWNUGQWVRWVU
2TQITCOOKPI YKVJQWVCEEGNGTCVKQPCPFFGEGNGTCVKQP
HKZGFFWV[TCVKQ

"27.5
5GVPWODGTQHRWNUGU 5GVUVJGPWODGTQHRWNUGUVQDG
QWVRWVKPKPFGRGPFGPVOQFG

"52'&
5GVHTGSWGPE[CPFUVCTV 5GVUVJGHTGSWGPE[HQTQWVRWVUKPVJG
RWNUGQWVRWVU KPFGRGPFGPVOQFGQTEQPVKPWQWU
OQFGCPFUVCTVUVJGRWNUGQWVRWVU
%JCPIGHTGSWGPE[ %JCPIGUVJGHTGSWGPE[HQTQWVRWVUKP
VJGKPFGRGPFGPVOQFGQTEQPVKPWQWU
OQFG
5VQRRWNUGQWVRWVU 5VQRUVJGRWNUGQWVRWVU
D[EJCPIKPI
VJGURGGFVQCHTGSWGPE[QH*\

"+0+
%JCPIGRWNUGQWVRWV28 %JCPIGUVJGRWNUGQWVRWV28

"248
4GCFRWNUGQWVRWV28 4GCFUVJGRWNUGQWVRWV28
4GCFRWNUGQWVRWV 4GCFUVJGRWNUGQWVRWVUVCVWU
UVCVWU
50

6JGHQNNQYKPIVCDNGUJQYUVJGYQTFUCPFDKVUTGNCVGFVQRWNUGQWVRWVUYKVJQWV
CEEGNGTCVKQPCPFFGEGNGTCVKQP
HKZGFFWV[TCVKQ
VQ 2WNUGQWVRWV28TKIJVOQUV %CPPQVDGWUGFCU
FKIKVU YQTMDKVUGXGPYJGP
VQ 2WNUGQWVRWV28NGHVOQUVFKIKVU PQVWUGFCURWNUG
QWVRWVU
VQ 2WNUGQWVRWV28TKIJVOQUV
FKIKVU
VQ 2WNUGQWVRWV28NGHVOQUVFKIKVU
2WNUGQWVRWV28TGUGV %NGCTU28YJGP10
#4 2WNUGQWVRWV28QXGT 101EEWTTGF
HNQYWPFGTHNQY 1((0QTOCN
0WODGTQHRWNUGUUGVHQTRWNUG 105GV
D[27.5

QWVRWV 1((0QVUGV
2WNUGQWVRWVEQORNGVGFHQTRWNUG 10%QORNGVGF
D[
QWVRWV 52'&

1((0QVEQORNGVGF
2WNUGQWVRWVKPRTQITGUUHQTRWNUG 10+PRTQITGUU
D[
QWVRWV 52'&

1((5VQRRGF
#4 2WNUGQWVRWV28QXGT 101EEWTTGF
D[27.5

QWVRWV 1((0QVUGV
D[
QWVRWV 52'&

1((0QVEQORNGVGF
D[
QWVRWV 52'&

1((5VQRRGF
51

7UKPI2WNUG1WVRWVU9KVJ8CTKCDNG&WV[4CVKQ

Select the pulse output number. Pulse output number 0 or 1
Create a ladder diagram program. PWM(---): For setting the frequency and duty ratio.
INI(61): For stopping outputs.
PRV(62): For reading the pulse output status.
2WNUG1WVRWVU9KVJ8CTKCDNG&WV[4CVKQ

29/
27.5'9+6* 2WNUGQWVRWV
8#4+#$.'&76; 2WNUGQWVRWV
4#6+1KPUVTWEVKQP
6CTIGVHTGSWGPE[VQ*\
'KVJGTQT
ECPDGWUGF
&WV[TCVKQVQ
0QVG6JGFWV[TCVKQKUVJGTCVKQ
QH10VKOGVQRWNUGHTGSWGPE[
5VCTVRWNUGQWVRWVU
'XGT[UECP 'XGT[UECP +OOGFKCVGN[

+0+
/1&'%10641. *+)*52''&
KPUVTWEVKQP %1706'428
2WNUGQWVRWVUVCVWU 248
4'#&KPUVTWEVKQP
5VQRRWNUGQWVRWVU #4 #4

4GCFRWNUG
QWVRWVUVCVWU

&/ VQ *KIJURGGF &QPQVWUG 'KVJGT
EQWPVGT 7UGCUJKIJURGGFEQWPVGT QT
UGVVKPI 7UGCUU[PEJTQPK\GFRWNUG
EQPVTQN
VQ*\
7UGCUU[PEJTQPK\GFRWNUG
EQPVTQN
*\VQM*\
7UGCUU[PEJTQPK\GFRWNUG
EQPVTQN
*\VQM*\
HTQO241)4#/VQ
52

2TQITCOOKPI YKVJXCTKCDNGFWV[TCVKQ

"29/
ŌŌ 2WNUGQWVRWVYKVJ 5GVUVJGHTGSWGPE[CPFFWV[TCVKQCPF
XCTKCDNGFWV[TCVKQ UVCTVUVJGRWNUGQWVRWVU
%JCPIGFWV[TCVKQ %JCPIGUVJGFWV[TCVKQFWTKPIRWNUG
YJKNGRWNUGQWVRWVUYKVJXCTKCDNGFWV[
TCVKQCTGCNTGCF[KPRTQITGUU

"+0+

"248
4GCFRWNUGQWVRWVUVCVWU 4GCFUVJGRWNUGQWVRWVUVCVWU
FWTKPI
RWNUGQWVRWVU
6JGHQNNQYKPIVCDNGUJQYUVJGYQTFUCPFDKVUTGNCVGFVQRWNUGQWVRWVUYKVJ
XCTKCDNGFWV[TCVKQ
9QTF $KV 0COG %QPVGPVU
#4 2WNUGQWVRWVKPRTQITGUU 10+PRTQITGUU
D[52'&

HQTRWNUGQWVRWV #%%
ŌŌQT29/
ŌŌ
1((5VQRRGF
#4 2WNUGQWVRWVKPRTQITGUU 10+PRTQITGUU
D[52'&

HQTRWNUGQWVRWV #%%
ŌŌQT29/
ŌŌ
1((5VQRRGF

7UKPI2WNUG1WVRWVU9KVJ6TCRG\QKFCN#EEGNGTCVKQP&GEGNGTCVKQP
Select the direction and control method. Pulse + direction or up/down output
Select the pulse output number. Pulse output number 0
PLC Setup (DM6629) PV coordinate system for pulse output number 0
Create a ladder diagram program. PULS(65): For setting the number of output pulses.
ACC(---): For controlling pulse outputs with trapezoidal acceleration
and deceleration
INI(61): For stopping pulse outputs and changing the pulse output PV.
PRV(62): For reading the pulse output PV and status.
53

2WNUG1WVRWVU9KVJ6TCRG\QKFCN#EEGNGTCVKQPCPF&GEGNGTCVKQP
27.5
5'6 #%%

#%%'.'4#6+10
%10641. 2WNUG%9
27.5'5
KPUVTWEVKQP &KTGEVKQP%%9
KPUVTWEVKQP
5RGEKH[TGNCVKXGQTCD /QFGFGUKIPCVKQP
UQNWVGRWNUGU
0WODGTQHQWVRWVRWNUGU 5VCTVKPIHTGSWGPE[*\VQM*\
UGVXCNWG
FKIKVU$%& 6CTIGVHTGSWGPE[*\VQM*\
#EEGNGTCVKQPFGEGNGTCVKQPTCVG
OUKPETGCUGFGETGCUG
*\VQM*\
+0+
/1&'
%10641. 5VCTVRWNUGQWVRWVU
KPUVTWEVKQP
5VQRRWNUGQWVRWVU
'XGT[UECP 'XGT[UECP
+OOGFKCVGN[
%JCPIGRWNUGQWVRWV28 *+)*52''&
2WNUGQWVRWVUVCVWU 2WNUGQWVRWV28 248
%1706'428
4'#&KPUVTWEVKQP
54 54
2%5GVWR #4 4GCFRWNUGQWVRWV28
4GCFRWNUGQWVRWV
UVCVWU
&/DKVU
VQ
&/ VQ 2WNUG28 4GNCVKXGEQQTFKPCVG 'KVJGTQT
EQQTFKPCVG U[UVGO
U[UVGO #DUQNWVGEQQTFKPCVG
U[UVGO
&/ VQ *KIJ &QPQVWUG 'KVJGT
URGGF 7UGCUJKIJURGGF QT
EQWPVGT EQWPVGT
UGVVKPI 7UGCUU[PEJTQPK\GF
RWNUGEQPVTQN
VQ*\
7UGCUU[PEJTQPK\GF
RWNUGEQPVTQN
*\VQ
M*\
7UGCUU[PEJTQPK\GF
RWNUGEQPVTQN
*\VQ
M*\
+HCDUQNWVGRWNUGUCTGURGEKHKGFYKVJ27.5
DGUWTGVQUGVVJGCDUQNWVG
EQQTFKPCVGU[UVGO

HTQO241)4#/VQ
54

2TQITCOOKPI YKVJVTCRG\QKFCNCEEGNGTCVKQPCPFFGEGNGTCVKQP
HKZGFFWV[TCVKQ

"27.5
5GVPWODGTQHRWNUGU 5GVUVJGPWODGTQHRWNUGUVQDG
QWVRWVKPKPFGRGPFGPVOQFG

"#%%
ŌŌ 5GVHTGSWGPE[CPFUVCTV 5GVUVJGVCTIGVHTGSWGPE[UVCTVKPI
RWNUGQWVRWVU HTGSWGPE[CPFCEEGNGTC
VKQPFGEGNGTCVKQPTCVGHQTQWVRWVUKP
KPFGRGPFGPVOQFGQTEQPVKPWQWU
OQFGCPFUVCTVUVJGRWNUGQWVRWVU
%JCPIGHTGSWGPE[ %JCPIGUVJGHTGSWGPE[FWTKPIRWNUG
QWVRWVKPEQPVKPWQWUOQFGD[
CEEGNGTCVKPIQTFGEGNGTCVKPI
CEEQTFKPIVQVJGURGEKHKGF
CEEGNGTCVKQPFGEGNGTCVKQPTCVG
5VQRRWNUGQWVRWVU &GEGNGTCVGURWNUGQWVRWVUVQCUVQR
CEEQTFKPIVQVJGURGEKHKGF
CEEGNGTCVKQPFGEGNGTCVKQPTCVG

"+0+
5VQR
FGEGNGTCVGUVQR 5VQRUVJGRWNUGQWVRWVU
RWNUGQWVRWVU
%JCPIGRWNUGQWVRWV28 %JCPIGUVJGRWNUGQWVRWV28

"248
4GCFRWNUGQWVRWV28 4GCFUVJGRWNUGQWVRWV28
4GCFRWNUGQWVRWVUVCVWU 4GCFUVJGRWNUGQWVRWVUVCVWU

6JGHQNNQYKPIVCDNGUJQYUVJGYQTFUCPFDKVUTGNCVGFVQRWNUGQWVRWVUYKVJ
VTCRG\QKFCNCEEGNGTCVKQPCPFFGEGNGTCVKQP
HKZGFFWV[TCVKQ
VQ 2WNUGQWVRWV28TKIJVOQUV %CPPQVDGWUGFCU
FKIKVU YQTMDKVUGXGPYJGP
VQ 2WNUGQWVRWV28NGHVOQUVFKIKVU PQVWUGFCURWNUG
QWVRWVU
VQ 2WNUGQWVRWV28TKIJVOQUV
FKIKVU
VQ 2WNUGQWVRWV28NGHVOQUVFKIKVU
#4 2WNUGQWVRWVUVCVWUHQTRWNUGQWVRWV 10#EEGNGTCVKPIQT
FGEGNGTCVKPI
1((%QPUVCPVURGGF
2WNUGQWVRWV28QXGT 101EEWTTGF
QWVRWV 1((0QVUGV
QWVRWV 1((0QVEQORNGVGF
D[
QWVRWV 52'&
#%%
ŌŌQT
29/
ŌŌ
1((5VQRRGF
55

SECTION 5
Inverter Interface
6JKUUGEVKQPFGUETKDGUVJGKPVGTHCEGVQVJG+PXGTVGT

5-1 Inverter interface.................................................................................................................................................. 57
5-2 I/O Allocation IR ................................................................................................................................................. 57
5-3 I/O Allocation DM............................................................................................................................................... 60
5-3-1 Controlling Inverter I/O ............................................................................................................................... 61
5-4 Transfer command ............................................................................................................................................... 61
5-4-1 Parameter Reading....................................................................................................................................... 62
5-4-2 Parameter Writing........................................................................................................................................ 63
5-4-3 Transfer Timing Chart.................................................................................................................................. 64
5-4-4 Transfer Timing Chart in case of Errors...................................................................................................... 65
5-4-5 Transfer Timing Chart for Cancelling Processing ....................................................................................... 66
5-4-6 Transfer Ladder Program ............................................................................................................................ 66

56
Inverter interface 5GEVKQP

+PXGTVGTKPVGTHCEG
6JGEQOOWPKECVKQPDGVYGGPVJG2.%CPFVJG+PXGTVGTKURGTHQTOGFD[
• +PXGTVGTHWPEVKQPCNKV[OCRRGFKP+4
UGEVKQP
• +PXGTVGTHWPEVKQPCNKV[OCRRGFKP&/
UGEVKQP
• 6JTQWIJVJG6TCPUHGTEQOOCPF
UGEVKQP
+1#NNQECVKQP+4
6JGEQPVGPVUQHVJG+4CTGCKUTGHTGUJGFCPFWRFCVGFGCEJ2.%E[ENG$G
ECWUGVJG2.%E[ENGKUPQVU[PEJTQPKUGFYKVJVJG+PXGTVGTE[ENGCPFDQVJCTG
PQVVJGUCOGKPFWTCVKQPKVECPVCMGUGXGTCN2.%QT+PXGTVGTE[ENGUVQWRFCVG
QTTGHTGUJVJCVFCVC

9QTF
U $KV
U (WPEVKQP /'/1$75 4GCF
4GIKUVGT YTKVG
+4 4WP
10&WTKPITWP 4GCF
<GTQURGGF
10<GTQURGGF QPN[
4GXGTUGQRGTCVKQP
10&WTKPITGXGTUGQRGTCVKQP
'TTQTTGUGVUKIPCN
+4
104GUGVUKIPCNCEVKXG
5RGGFCITGG
10&WTKPIURGGFCITGG
+PXGTVGTTGCF[
10+PXGTVGTTGCF[
#NCTO
OKPQTHCWNV
10#NCTOQEEWTTKPI
(CWNV
10(CWNVQEEWTTKPI
12'GTTQT
1012'GTTQTQEEWTTKPI
/QOGPVCT[RQYGTKPVGTTWRVKQPTGEQXGT[
102QYGTTGUVQTGF
470EQOOCPFOQFG
10%QPVTQNNGFD[+PXGTVGTKPVGTHCEG
1((1VJGT
/WNVKHWPEVKQPQWVRWV
//UVCVWU
10%NQUGF
/WNVKHWPEVKQPQWVRWV
2QT//UVCVWU
10%NQUGF
/WNVKHWPEVKQPQWVRWV
2QT//UVCVWU
10%NQUGF
/QVQTUGNGEVKQP
10/QVQTUGNGEVGF
<GTQUGTXQEQORNGVKQP
10<GTQUGTXQEQORNGVKQP
+4 (WUGDNQYP
(7 4GCF
/CKPEKTEWKVWPFGTXQNVCIG
78 QPN[
%QPVTQNRQYGTUWRRN[GTTQT
78
+PTWUJRTGXGPVKQPEKTEWKVGTTQT
78
4GUGTXGF
)TQWPFHCWNV
)(
1XGTEWTTGPV
1%
1XGTXQNVCIG
18
+PXGTVGTJGCVUKPMQXGTJGCVRTGCNCTO
1*
+PXGTVGTJGCVUKPMQXGTJGCV
1*
/QVQTQXGTNQCF
1. #
+PXGTVGTQXGTNQCF
1. $
1XGTVQTSWGFGVGEVKQP
1. %
1XGTVQTSWGFGVGEVKQP
1. &
+PVGTPCNDTCMKPIVTCPUKUVQTHCWNV
44 '
+PXGTVGTOQWPVGFDTCMKPITGUKUVQTQXGTJGCV
4* (
57
I/O Allocation IR 5GEVKQP

9QTF
U $KV
4GIKUVGT YTKVG
+4 'ZVGTPCNHCWNV
'( 4GCF
'ZVGTPCNHCWNV
'( QPN[
'ZVGTPCNHCWNV
'(
'ZVGTPCNHCWNV
'(
'ZVGTPCNHCWNV
'(
4GUGTXGF
4GUGTXGF
1XGTURGGFFGVGEVGF
15
5RGGFFGXKCVKQPFGVGEVGF
&'8
2)FKUEQPPGEVGF
2)1
+PRWVRJCUGNQUU
2( #
1WVRWVQRGPRJCUG
.( $
/QVQTQXGTJGCVRTGCNCTO
26%CPCNQIKPRWV
1* %
&KIKVCNQRGTCVQTFKUEQPPGEVGF
124 &
''241/9TKVGHCWNV
'44 '
/QVQTQXGTJGCV
26%CPCNQIKPRWV
1* (
+4 VQ 4GUGTXGF 4GCF
%QPVTQNHCWNV
%( QPN[
<GTQ5GTXQHCWNV
58'
'ZVGTPCNHCWNVHTQOQRVKQPCNKPRWVECTF
'(
2+&HGGFDCEMNQUV
(D.
7PFGTVQTSWGFGVGEVKQP
7.
7PFGTVQTSWGFGVGEVKQP
7.
*KIJ5NKR$TCMKPIQXGTNQCF
1. #
VQ 4GUGTXGF
%QPVTQNDQCTFGTTQT
%2(
+4 +PRWVVGTOKPCN5
10%NQUGF $ 4GCF
+PRWVVGTOKPCN5
10%NQUGF $ QPN[
/WNVKHWPEVKQPKPRWVVGTOKPCN5
10%NQUGF $
10%NQUGF $
10%NQUGF $
10%NQUGF $
10%NQUGF $
VQ 4GUGTXGF
+4 0GV4GHUVCVWU
1((+PXGTVGTTGHGTGPEGGPCDNGF102.%GPCDNGF 4GCF

0QVG QPN[
0GV%VTNUVCVWU
1((+PXGTVGTEQPVTQNGPCDNGF102.%GPCDNGF

0QVG
VQ 4GUGTXGF
5VCNNRTGXGPVKQPQRGTCVKPIHNCI
VQ 4GUGTXGF
+4 +PXGTVGT4GCF[
GTTQTFGVGEVGFD[OWVWCNFKCIPQUKU
100QTOCN 4GCF
1(('TTQT QPN[
6TCPUHGT%QORNGVKQP
106TCPUHGTEQORNGVGF
6TCPUHGT'TTQT
10'TTQT1((0QTOCN
6TCPUHGT$WU[
10$WU[1((4GCF[HQTVTCPUHGT
VQ 4GUGTXGF
58

9QTF
U $KV
4GIKUVGT YTKVG
+4 (QTYCTF5VQR
10(QTYCTFQRGTCVKQP 4GCF
4GXGTUG5VQR
104GXGTUGQRGTCVKQP YTKVG
/WNVKHWPEVKQPKPRWVEQOOCPF
VGTOKPCN5
VGTOKPCN5
VGTOKPCN5
VGTOKPCN5
VGTOKPCN5 #
4GUGTXGF
'ZVGTPCNGTTQT
10(CWNV'(1
'TTQTTGUGVEQOOCPF
104GUGVEQOOCPF
VQ 4GUGTXGF
'TTQTNQIENGCT
$CUGDNQEMCEVKXG
10$CUGDNQEMCEVKXG
+4 /WNVKHWPEVKQPQWVRWV
//
101WVRWV10 4GCF
/WNVKHWPEVKQPQWVRWV
2QT//
101WVRWV10 YTKVG
/WNVKHWPEVKQPQWVRWV
2QT//
101WVRWV10
VQ 4GUGTXGF
'PCDNGUFKUCDNGUGTTQTEQPVCEV
/#/$/%UGVVKPIWUKPIDKV

10WUGDKV
'TTQTEQPVCEV
/#/$/%
101WVRWV10
VQ 4GUGTXGF
+4 0GV4GH
10+PXGTVGTTGHGTGPEGGPCDNGF1((2.%GPCDNGF 4GCF

0QVG YTKVG
0GV%VTN
10+PXGTVGTEQPVTQNGPCDNGF1((2.%GPCDNGF
0QVG
VQ 4GUGTXGF
+4 6TCPUHGT%QOOCPF
4GCF
105VCTVRTQEGUUKPI 4GCF
6TCPUHGT%QOOCPF
9TKVG
105VCTVRTQEGUUKPI YTKVG
VQ 4GUGTXGF
0QVG 0GV4GHKUVJGKPXGTUGQH0GV4GH
+4
0GV%VTNKUVJGKPXGTUGQH0GV%VTN
+4
9JGP0GV4GHKUVWTPGF1((VJG2.%KUFGHKPKPIVJG(TGSWGPE[4GHGTGPEG
9JGP0GV4GHKUVWTPGF10VJG+PXGTVGTKUFGHKPKPIVJG(TGSWGPE[4GHGTGPEG
#HVGTRQYGTQPVJGVJKUDKVKUVWTPGF1((
2.%TGHGTGPEG
9JGP0GV%VTNKUVWTPGF1((VJG2.%KUEQPVTQNNKPIVJG+PXGTVGT
9JGP0GV%VTNKUVWTPGF10QVJGTUQWTEGUCTGEQPVTQNNKPIVJG+PXGTVGT
#HVGTRQYGTQPVJGVJKUDKVKUVWTPGF1((
2.%EQPVTQNNKPI

%CWVKQP #VRQYGTWR+PXGTVGTUVCVWUHNCIUKPVJGHQNNQYKPIYQTFUVQIINGDGHQTGVJG[
TGHNGEVVJGCEVWCNUVCVWUQHVJG+PXGTVGT
• +4
• +4
9CKVCVNGCUV2.%E[ENGUDGHQTGWUKPIVJGUGHNCIU

59
I/O Allocation DM 5GEVKQP

+1#NNQECVKQP&/
6JGEQPVGPVUQHVJG&/CTGCKUTGHTGUJGFCPFWRFCVGFGCEJ2.%E[ENG$G
ECWUGVJG2.%E[ENGKUPQVU[PEJTQPKUGFYKVJVJG+PXGTVGTE[ENGCPFDQVJCTG
PQVVJGUCOGKPFWTCVKQPKVECPVCMGUGXGTCN2.%QT+PXGTVGTE[ENGUVQWRFCVG
QTTGHTGUJVJCVFCVC

9QTF
U (WPEVKQP 2CTCOGVGT 4GCF
YTKVG
&/ 5RGEKHKGUVJG+PXGTVGTQRGTCVKQPKPECUGCHCVCNGTTQTQEEWTUKPVJGRTQITCO 4GCF

.GHVOQUVFKIKVUCTGKPXCNKF YTKVG
9JGPNCUVFKIKVKUQVJGTVJCP&CVCVQ+PXGTVGTKUENGCTGFEQPVKPWQWUN[
9JGPNCUVFKIKVKU&CVCVQ+PXGTVGTKUHTQ\GP
&/ &GUVKPCVKQPCFFTGUUHQTUVQTKPIVTCPUHGTTGFFCVC
FKIKVU$%&.
0QVG 4GCF
YTKVG
&/ &GUVKPCVKQPCFFTGUUHQTUVQTKPIVTCPUHGTTGURQPUGFCVC
FKIKVU$%&- 4GCF

0QVG YTKVG
&/ 5RGGFHGGFDCEM
QPN[YJGPKP8GEVQTOQFG 7 4GCF
QPN[
&/ 6QTSWGTGHGTGPEG
7PKV 7 4GCF
QPN[
&/ 2)EQWPVGTXCNWG
7PKVRGTGFIG 4GCF
QPN[
&/ (TGSWGPE[TGHGTGPEGOQPKVQT
7PKV#EEQTFKPIVQQ 7 4GCF
QPN[
&/ 1WVRWVHTGSWGPE[OQPKVQT
7PKV#EEQTFKPIVQQ 7 4GCF
QPN[
&/ 1WVRWVEWTTGPVOQPKVQT
7PKV# 7 4GCF
QPN[
&/ /WNVKHWPEVKQPCPCNQIKPRWVVGTOKPCN
#OQPKVQT
7PKV 7 4GCF
QPN[
&/ /CKPEKTEWKV&%XQNVCIGOQPKVQT
7PKV8 7 4GCF
QPN[
&/ 4GUGTXGF 4GCF
QPN[
&/ #PCNQIHTGSWGPE[TGHGTGPEGVGTOKPCN
#OQPKVQT
7PKV 7 4GCF
QPN[
&/ 4GUGTXGF 4GCF
QPN[
&/ (TGSWGPE[TGHGTGPEG
7PKV#EEQTFKPIVQQQ 7 4GCF
YTKVG
&/ 6QTSWGTGHGTGPEGVQTSWGNKOKV 7 4GCF
YTKVG
&/ 6QTSWGEQORGPUCVKQP 4GCF
YTKVG
&/ #PCNQIQWVRWV
7PKVVQ&GE8VQ 8 4GCF
YTKVG
&/ #PCNQIQWVRWV
7PKVVQ&GE8VQ 8 4GCF
YTKVG
0QVG 6JGXCNWG
&/VQ&/KUUCORNGFYJGPVJG6TCPUHGT%QOOCPF
$KVKUVWTPGF10

60
Transfer command 5GEVKQP

%QPVTQNNKPI+PXGTVGT+1
+PRWVU $[FGHCWNVCNN+PXGTVGTKPRWVUECPDGOQPKVQTGFKP+4*QYGXGTVJG[OC[
JCXGHWPEVKQPCNKV[CVVCEJGFVQKV6JGHWPEVKQPECPDGEJCPIGFWUKPI
**
0QVG $[UGVVKPIVJGEQTTGURQPFKPIDKVKP+4CPKPRWVECPDGVWTPGFQP

1WVRWVU $[FGHCWNV+PXGTVGTQWVRWVUECPPQVDGEQPVTQNNGFD[VJG2.%
• 6QEQPVTQNVJG/WNVKHWPEVKQPQWVRWVU
$KVUKP+4VJGEQTTGURQPFKPI
QWVRWVUGVVKPI
**OWUVDGUGVVQ(
• 6QEQPVTQNVJG#PCNQIQWVRWVU
&/CPF&/VJGEQTTGURQPFKPI
QWVRWVUGVVKPI
*CPF*OWUVDGUGVVQő(Œ
6TCPUHGTEQOOCPF
2CTCOGVGTUYJKEJCTGCEEGUUKDNGVJTQWIJCEQTTGURQPFKPI/'/1$75TGIKU
VGTKPUKFGVJG(<'<.<+PXGTVGTECPDGCEEGUUGFD[WUKPIVJG6TCPUHGT
EQOOCPF2NGCUGEJGEMVJG+PXGTVGTOCPWCNUHQTOQTGFGVCKNU
6JG6TCPUHGTEQOOCPFKUEQPVTQNNGFD[
• 6YQEQOOCPFDKVUQPGHQTTGCFKPICPFQPGHQTYTKVKPI
• 6JTGGUVCVWUHNCIUDWU[EQORNGVKQPCPFGTTQTHNCI
• 6YQ&/CTGCŏUQPGHQTURGEKH[KPIVJGEQOOCPFQPGHQTURGEKH[KPIVJGTG
URQPUGNQECVKQP

#NNRCTCOGVGTUCEEGUUGFYKVJVJG6TCPUHGTEQOOCPFWUGVJGTGIKUVGTPWO
DGTUCPFHQTOCVUQHVJG/'/1$75KPVGTHCEGCUFGHKPGFD[VJG(<'<.<
+PXGTVGT

0QVG %JCPIGUVQRCTCOGVGTUOC[PQVVCMGGHHGEVKOOGFKCVGN[4GHGTVQVJG
(<'<.</CPWCNHQTFGVCKNU
9JGPYTKVKPIRCTCOGVGTUVQVJG+PXGTVGTVJGRCTCOGVGTUCTGVGORQTCTKN[
UVQTGFKPVJGRCTCOGVGTFCVCCTGCQHVJG+PXGTVGT6QGPCDNGVJGUGRCTCOGVGTU
KPVJGRCTCOGVGTFCVCCTGCVJG'06'4EQOOCPFOWUVDGWUGF
6JGTGCTGVYQV[RGUQH'06'4EQOOCPFU
• '06'4EQOOCPFVJCVGPCDNGURCTCOGVGTFCVCKP4#/QPN[
EJCPIGUYKNN
DGNQUVCHVGTRQYGTNQUU
• '06'4EQOOCPFVJCVYTKVGUFCVCKPVQVJG''241/
PQPXQNCVKNGOGOQT[
QHVJG+PXGTVGTCPFGPCDNGUVJGFCVCKP4#/CVVJGUCOGVKOG

6JG'06'4EQOOCPFKUGZGEWVGFD[YTKVKPIVQVJGTGIKUVGTPWODGTUURGEK
HKGFKPVJGHQNNQYKPIVCDNG
4GIKUVGT#FFTGUU (WPEVKQP
J 9TKVGRCTCOGVGTFCVCVQ''241/4#/KUTGHTGUJGF
J 2CTCOGVGTFCVCCTGPQVYTKVVGPVQ''241/DWV
TGHTGUJGFKP4#/QPN[
0QVG '06'4EQOOCPFFCVCECPQPN[DGYTKVVGP
61

2CTCOGVGT4GCFKPI
6QTGCFVJGEQPVGPVUQHCP(<'<.<RCTCOGVGTVJGEQTTGURQPFKPI+P
XGTVGTTGIKUVGTOWUVDGURGEKHKGFKPVJG&/CTGCURGEKHKGFD[.
&/
4GHGTVQVJG(<'<.<OCPWCNUHQTVJG+PXGTVGTTGIKUVGTFGHKPKVKQPU
#OCZKOWOPWODGTQHFCVCKVGOUECPDGVTCPUHGTTGFKPQPGQRGTCVKQP
9QTFU (WPEVKQP
. 0WODGTQHFCVCYQTFUKPENWFKPI.
DKPCT[
. 6TCPUHGTFGUVKPCVKQP+PXGTVGTTGIKUVGT
FKIKVUDKPCT[
. 0WODGTQHVTCPUHGTTGFFCVCKVGOU
FKIKVUDKPCT[

6JGTGURQPUGVQVJGTGCFEQOOCPFKUUVQTGFKPVJG&/CTGCURGEKHKGFD[-

&/
+PECUGQHCPQTOCNEQORNGVKQP
9QTFU (WPEVKQP
- 0WODGTQHFCVCYQTFUKPENWFKPI-
DKPCT[
- 6TCPUHGTFGUVKPCVKQP+PXGTVGTCFFTGUU
FKIKVUDKPCT[
- 0WODGTQHVTCPUHGTTGFFCVCKVGOU
FKIKVUDKPCT[
- 4GCFFCVC
FKIKVUDKPCT[
- 4GCFFCVC
FKIKVUDKPCT[
- ŗ
- ŗ
- ŗ
- ŗ
- ŗ
- ŗ

+PECUGQHCEQORNGVKQPYJKEJTGUWNVGFKPCPGTTQT
9QTFU (WPEVKQP
- 0WODGTQHFCVCYQTFUKPENWFKPI-

- 'TTQTEQFG
0QVG

0QVG (QTVJGGTTQTEQFGUUGGUGEVKQP

62

2CTCOGVGT9TKVKPI
6QYTKVGCP(<'<.<RCTCOGVGTVJGEQTTGURQPFKPI+PXGTVGTTGIKUVGTOWUV
DGURGEKHKGFKPVJG&/CTGCURGEKHKGFD[.
&/4GHGTVQVJG
(<'<.<OCPWCNUHQTVJG+PXGTVGTTGIKUVGTFGHKPKVKQPU
#OCZKOWOPWODGTQHFCVCKVGOUECPDGVTCPUHGTTGFKPQPGQRGTCVKQP
9QTFU (WPEVKQP
. 0WODGTQHFCVCYQTFUKPENWFKPI.
DKPCT[
. 6TCPUHGTFGUVKPCVKQP+PXGTVGTCFFTGUU
FKIKVUDKPCT[
. 0WODGTQHVTCPUHGTTGFFCVCKVGOU
FKIKVUDKPCT[
. 9TKVGFCVC
FKIKVUDKPCT[
. 9TKVGFCVC
FKIKVUDKPCT[
. ŗ
. ŗ
. ŗ
. ŗ
. ŗ
. ŗ

4GURQPUGFCVCKUUVQTGFKPVJG&/CTGCURGEKHKGFD[-
&/
+PECUGQHCPQTOCNEQORNGVKQP
9QTFU (WPEVKQP
- 0WODGTQHFCVCKVGOU

- 0QTOCNTGURQPUGEQFG

+PECUGQHCEQORNGVKQPYJKEJTGUWNVGFKPCPGTTQT
9QTFU (WPEVKQP
- 0WODGTQHFCVCKVGOU

- 'TTQTEQFG
0QVG

63

6TCPUHGT6KOKPI%JCTV
6JGFKCITCODGNQYUJQYUVJGVKOKPIQHVJG6TCPUHGTEQOOCPFYKVJCPQTOCN
EQORNGVKQP6JGVKOKPIKUVJGUCOGHQTTGCFKPICPFYTKVKPI

210.00 (R) or 210.01 (W)
(Transfer Command Bit)
206.03
(Transfer Busy Flag)
206.01
(Transfer Completion Flag)
206.02
(Transfer Error Flag)
DM(K)
(Transfer Response)
1. 2. 3.
1RGTCVKQP
9JGPVJG6TCPUHGT%QOOCPF$KVKUVWTPGF10VJG6TCPUHGT$WU[(NCIYKNN
VWTP10QPG2.%E[ENGNCVGTCPFVJGEQOOCPFURGEKHKGFKPVJG&/#TGC
.
YKNNDGRTQEGUUGF
9JGPVJG6TCPUHGT%QORNGVKQP(NCIKUVWTPGF10VJGTGURQPUGKURTGUGPVKP
VJG&/#TGC
-
9JGPVJG6TCPUHGT%QOOCPF$KVKUVWTPGF1((VJG6TCPUHGT$WU[(NCICPF
6TCPUHGT%QORNGVKQP(NCIYKNNVWTP1((QPG2.%E[ENGNCVGT
6KOKPI
6JGVKOGTGSWKTGFHQTVJG6TCPUHGTEQOOCPF
DGVYGGPCPFFGRGPFUQP
VJG2.%E[ENGVKOGCPFVJGURGGFQHVJG+PXGTVGTKPVGTHCEGCEEQTFKPIVJGVCDNG
DGNQY
/KPKOWO /CZKOWO
OUQT2.%E[ENG OU
+PUQOGQEECUKQPUVJGVKOGTGSWKTGFKUUGEQPF
64

6TCPUHGT6KOKPI%JCTVKPECUGQH'TTQTU
6JGFKCITCODGNQYUJQYUVJGVKOKPIQHVJG6TCPUHGTEQOOCPFYJKEJTGUWNVGF
KPCPGTTQT6JGVKOKPIKUVJGUCOGHQTTGCFKPICPFYTKVKPI

210.00 (R) or 210.01 (W)
206.03
206.01
206.02
DM(K)
(Transfer Response)
1. 2. 3.
1RGTCVKQP
VWTP10QPG2.%E[ENGNCVGTCPFVJGEQOOCPFURGEKHKGFKPVJG&/#TGC
.
YKNNDGRTQEGUUGF
9JGPVJG6TCPUHGT'TTQT(NCIKUVWTPGF10VJGGTTQTEQFGKURTGUGPVKPVJG
&/#TGC
-
6TCPUHGT'TTQT(NCIYKNNVWTP1((QPG2.%E[ENGNCVGT
0QVG +PECUGQHCPGTTQTVJG6TCPUHGT%QORNGVKQPHNCIKUPQVVWTPGF10
6KOKPI
6JGVKOKPIKUVJGUCOGCUKPVJGECUGQHPQTOCNEQORNGVKQP
65

6TCPUHGT6KOKPI%JCTVHQT%CPEGNNKPI2TQEGUUKPI
6JGFKCITCODGNQYUJQYUVJGVKOKPIQHVJG6TCPUHGTEQOOCPFKPECUGVJG
EQOOCPFKUECPEGNNGFDGHQTGEQORNGVKQP6JGVKOKPIKUVJGUCOGHQTTGCFKPI
CPFYTKVKPI

210.00 (R) or 210.01 (W)
206.03
206.01
206.02
DM(K)
(Transfer Response)
1. 2. 3. 4. 5.
1RGTCVKQP
VWTP10CPFVJGEQOOCPFURGEKHKGFKPVJG&/#TGC
.YKNNDGRTQEGUUGF
9JGPVJGEQOOCPFKUECPEGNNGFDGHQTGEQORNGVKQPVJG6TCPUHGT$WU[(NCI
YKNNVWTP1((CPFVJG6TCPUHGT'TTQT(NCIYKNNVWTP10
6JGGTTQTEQFG
KURTGUGPVKPVJG&/#TGC
-
9JGPVJGPGY6TCPUHGT%QOOCPF$KVKUVWTPGF10VJG6TCPUHGT$WU[(NCI
YKNNVWTP10CPFVJGEQOOCPFURGEKHKGFKPVJG&/#TGC
.YKNNDGRTQE
GUUGF6JG6TCPUHGT'TTQT(NCIYKNNVWTP1((
9JGPVJG6TCPUHGT%QORNGVKQP(NCIKUVWTPGF10VJGTGURQPUGKURTGUGPVKP
VJG&/#TGC
-
6TCPUHGT%QORNGVKQP(NCIYKNNVWTP1((

6TCPUHGT.CFFGT2TQITCO
6JGHQNNQYKPINCFFGTRTQITCOECPDGWUGFVQVTCPUHGTFCVCHTQOCPFVQVJG+P
XGTVGT
Trigger
DIFU R1
Transfer
R1 Busy Transfer
Transfer Transfer
R2 Completion Error R2

66

6TCPUHGT'TTQT%QFGU
'TTQT 0COG &WTKPITGCFKPI &WTKPIYTKVKPI
EQFG
+PXGTVGTTGURQPUG 6JGTGYCUPQTGURQPUGHTQOVJG 6JGTGYCUPQTGURQPUGHTQOVJG
GTTQT +PXGTVGT +PXGTVGT
%QOOCPFDKV1(( 6JGEQOOCPFDKVVWTPGF1(( 6JGEQOOCPFDKVVWTPGF1((FWTKPI
FWTKPIVTCPUHGT FWTKPIVTCPUHGTGZGEWVKQPCPF VTCPUHGTGZGEWVKQPCPFRTQEGUUKPI
RTQEGUUKPIYCUCDQTVGF
0QVG YCUCDQTVGF
0QVG
6TCPUHGTGZGEWVKQP 6JGVTCPUHGTYCUGZGEWVGFFWTKPI 6JGVTCPUHGTYCUGZGEWVGFFWTKPI
YJKNGDWU[ DWU[UVCVWU DWU[UVCVWU
/WNVKRNGUVCTVGTTQT 9TKVKPICPFTGCFKPIYGTGDQVJ 4GCFKPICPFYTKVKPIYGTGDQVJ
CEVKXCVGFCVVJGUCOGVKOG CEVKXCVGFCVVJGUCOGVKOG
%4%EJGEMGTTQT 6JG%4%HQTVJGTGCFFCVCFKFPQV 6JG%4%HQTVJGTGURQPUGHTQOVJG
CITGG +PXGTVGTFKFPQVCITGG
#FFTGUUGTTQT #PWPWUGFCFFTGUUYCUUGV #PWPWUGFCFFTGUUYCUUGV
&CVCPWODGTGTTQT #PCVVGORVYCUOCFGVQTGCF #PCVVGORVYCUOCFGVQYTKVGOQTG
OQTGVJCPTGIKUVGTUCVVJGUCOG VJCPTGIKUVGTUCVVJGUCOGVKOG
VKOG
&CVCUGVVKPIGTTQT 6JGYTKVGFCVCKUPQVYKVJKPVJG
RGTOKUUKDNGTCPIG
9TKVGGTTQT #PCVVGORVYCUOCFGFWTKPI
QRGTCVKQPVQYTKVGCEQPUVCPVVJCV
ECPPQVDGEJCPIGFFWTKPIQRGTCVKQP
#PCVVGORVYCUOCFGVQQXGTYTKVG
TGCFQPN[FCVC
9TKVGGTTQT #PCVVGORVYCUOCFGVQYTKVGC

FWTKPI78 EQPUVCPVFWTKPI78
9TKVGGTTQT #PCVVGORVYCUOCFGVQYTKVG

FWTKPIRTQEGUUKPI EQPUVCPVUYJGPCYTKVGQRGTCVKQPYCU
CNTGCF[KPRTQITGUUHQTVJGEQPUVCPVU
0QVG 6JGUKVWCVKQPKUVJGUCOGYJGPVJG2.%OQFGKUEJCPIGFFWTKPICFCVCVTCPU
HGTGZEGRVHQTECUGUYJGTGVJGUVCVWUQHQWVRWVDKVUKUTGVCKPGFYJGPVJG
OQFGKUEJCPIGF
0QVG 9JGPCPGTTQTQEEWTUKVKUPQVRQUUKDNGVQFGVGTOKPGGZCEVN[WRVQYJCVRQKPV
VJGFCVCYCURTQRGTN[TGEGKXGFUQVJGFCVCVTCPUHGTOWUVDGTGUVCTVGFHTQO
VJGDGIKPPKPI
0QVG 9JGPVJGCFFTGUU-
TGUGTXGFKP&/KUPQVXCNKFKVKUPQVRQUUKDNGVQYTKVG
VJGGTTQTEQFGU*GPEGQPN[VJGGTTQTDKVKUUGV
67

1RGTCVKQPUYKVJ%QOOCPF$KV%QODKPCVKQPU
6JGVCDNGDGNQYUJQYUVJGDGJCXKQWTQHVJGU[UVGOYJGPCEQOOCPFDKVQH
QPGV[RG
TGCFQTYTKVGKUUGVDGHQTGENGCTKPIVJGRTGXKQWUEQOOCPFDKVQHVJG
QVJGTV[RG

5VCVWU
6TCPUHGT 6TCPUHGT 6TCPUHGT 6TCPUHGT
%QOOCPF $WU[ %QORNGVKQP 'TTQT
$KV
6TCPUHGT $WU[GTTQT $WU[GTTQT $WU[GTTQT 'TTQTKU
%QOOCPF QEEWTU QEEWTU QEEWTU ENGCTGFCPF
$KV 6TCPUHGT 6TCPUHGT %QOOCPFKU EQOOCPFKU
QRGTCVKQPKU QRGTCVKQPKU PQVGZGEWVGF GZGEWVGF
CDQTVGF CDQTVGF

#HVGTVJGEQORNGVKQPQHCEQOOCPFVJGEQOOCPFDKVOWUVDGENGCTGFHKTUVDG
HQTGKUUWKPIVJGPGZVEQOOCPF0QVENGCTKPIVJGEQOOCPFDKVJCUVJGHQNNQY
KPIEQPUGSWGPEGU
• 5GPFKPICYTKVGVTCPUHGTEQOOCPFKOOGFKCVGN[CHVGTCTGCFVTCPUHGTEQO
OCPFKURTQEGUUGF
• 5GPFKPICTGCFVTCPUHGTEQOOCPFKOOGFKCVGN[CHVGTCYTKVGVTCPUHGTEQO
OCPFKUPQVRTQEGUUGF
68

SECTION 6
Exchanging Data with CompoBus/S Slaves
6JKUUGEVKQPGZRNCKPUJQYVQGZEJCPIGFCVCYKVJ%QORQ$WU55NCXGUYJGPWUKPIVJG)48256CUC%QORQ$WU5
/CUVGT
4GCFVJKUUGEVKQPYJGPWUKPI%QORQ$WU5+1NKPMEQOOWPKECVKQPU

6-1 Initial Settings.......................................................................................................................................................70
6-1-1 Setting the Maximum Number of Nodes.............................................................................................................70
6-1-2 Setting the CompoBus/S Communications Mode ...............................................................................................70
6-2 Remote I/O Communications................................................................................................................................71
6-2-1 Slaves..................................................................................................................................................................71
6-2-2 I/O Allocation .....................................................................................................................................................72
6-3 Communications Status ........................................................................................................................................73
69
Initial Settings 5GEVKQP

+PKVKCN5GVVKPIU
5GVVKPIVJG/CZKOWO0WODGTQH0QFGU
6JGOCZKOWOPWODGTQH5NCXGUVJCVECPDGEQPPGEVGFVJTQWIJ%QORQ$WU5
ECPDGUGVVQQT5NCXGU

7UGC2TQITCOOKPI&GXKEGVQUGVVJGOCZKOWOPWODGTQH5NCXGUKP
&/QHVJG2.%5GVWRCUUJQYPKPVJGHQNNQYKPIVCDNG
9QTF $KV
U (WPEVKQP 5GVVKPIU &GHCWNV
&/ VQ 5GVUVJGOCZPWODGTQH%QORQ
*GZ5NCXGU QT
$WU55NCXGUVQQT
*GZ5NCXGU
5NCXGU
0QVG #NYC[UVWTPVJGRQYGT1((CPF10CICKPCHVGTEJCPIKPIVJKUUGVVKPI
6JGEQOOWPKECVKQPUTGURQPUGVKOGKUCHHGEVGFD[VJGOCZPWODGTQH5NCXGU
UGVVKPICUUJQYPDGNQY
%QOOWPKECVKQPUOQFG /CZPWODGTQH5NCXGU %QOOWPKECVKQPU
TGURQPUGVKOG
*KIJURGGFOQFG OU
OU
.QPIFKUVCPEGOQFG OU
OU

5GVVKPIVJG%QORQ$WU5%QOOWPKECVKQPU/QFG
6JG%QORQ$WU5EQOOWPKECVKQPUOQFGECPDGUGVVQJKIJURGGFOQFGQT
NQPIFKUVCPEGOQFG
%QOOWPKECVKQPUOQFG /CZEQOOWPKECVKQPU %QOOWPKECVKQPUURGGF
FKUVCPEG
VTWPMNKPGNGPIVJ
*KIJURGGFOQFG O MDRU
.QPIFKUVCPEGOQFG O MDRU

7UGC2TQITCOOKPI&GXKEGVQUGVVJGOCZKOWOPWODGTQH5NCXGUKP
&/QHVJG2.%5GVWRCUUJQYPKPVJGHQNNQYKPIVCDNG
70
Remote I/O Communications 5GEVKQP

9QTF $KV
U (WPEVKQP 5GVVKPIU &GHCWNV
&/ VQ 5GVUVJG%QORQ$WU5
*GZ*KIJURGGFOQFG QT
EQOOWPKECVKQPUOQFG
*GZ.QPIFKUVCPEGOQFG
5NCXGU
Note Always turn the power OFF CPF ON again after changing this setting.
4GOQVG+1%QOOWPKECVKQPU
5NCXGU
6JGHQNNQYKPIVCDNGNKUVUVJGEQOOQPN[WUGF5NCXGU4GHGTVQVJG%QORQ$WU5
1RGTCVKQP/CPWCNHQTOQTGFGVCKNU6JG546UGTKGU5NCXGUUWRRQTVJKIJ
URGGFEQOOWPKECVKQPUOQFGQPN[6JG546UGTKGU5NCXGUUWRRQTVDQVJ
JKIJURGGFCPFNQPIFKUVCPEGEQOOWPKECVKQPUOQFGU
0COG SRT2-series SRT1-series
+16GTOKPCNU 546+& 546+&

6TCPUKUVQT 546+& 546+&
546+& 546+&
546+& 546+&
546+& 546+&
546+& 546+&
546+&6 0QVCXCKNCDNG
546+&6 0QVCXCKNCDNG
5461& 5461&
5461& 5461&
5461& 5461&
5461& 5461&
5461& 5461&
5461& 5461&
5461&6 0QVCXCKNCDNG
5461&6 0QVCXCKNCDNG
546/&6 0QVCXCKNCDNG
546/&6 0QVCXCKNCDNG
%QPPGEVQT6GTOKPCNU 5468+&5 0QVCXCKNCDNG

6TCPUKUVQT 5468+&5
5468+&/.
5468+&/.
546+&/.
546+&/.
54681&5
54681&5
54681&/.
54681&/.
5461&/.
5461&/.
546/&/.
546/&/.
1WVRWV6GTOKPCNU 54641% 54641%

4GNC[QWVRWVU 54641% 54641%
1WVRWV6GTOKPCNU 54641( 54641(

2QYGT/15('6 54641( 54641(
QWVRWVU
+1/QFWNGU 0QVCXCKNCDNG 546+&2
5461&2
71
I/O Allocation 5GEVKQP

0COG SRT2-series SRT1-series

#PCNQI6GTOKPCNU 546#& 0QVCXCKNCDNG
546&#
5GPUQT#ORNKHKGT 0QVCXCKNCDNG 5466+&5
6GTOKPCNU 546:+&5
5GPUQT6GTOKPCNU 0QVCXCKNCDNG 546+&5
5461&5
5460&5
$KVEJCKP6GTOKPCN 0QVCXCKNCDNG 546$6
'PXKTQPOGPV 546+&%. 0QVCXCKNCDNG
4GUKUVKXG6GTOKPCNU 546+&%.
546+&
546+&%.
5461&%.
5461&%.
5461&%.
5461&%.
+1#NNQECVKQP
+PVJG)48256%QORQ$WU5KPRWVYQTFU+4VQ+4CPF%QO
RQ$WU5QWVRWVYQTFU+4VQ+4CTGCNNQECVGFHQTVJG%QORQ$WU5
6GTOKPCNŏU+16JG%QORQ$WU56GTOKPCNŏU+1
+0VQ+0CPF176VQ
176CTGCNNQECVGFCUKPFKECVGFKPVJGHQNNQYKPIVCDNG
+0VQ+0CTGVJGPQFGCFFTGUUGUHQTVJG+PRWV6GTOKPCNUCPF176VQ
176CTGVJGPQFGCFFTGUUGUHQTVJG1WVRWV6GTOKPCNU
9QTF 4GNC[PWODGTU
$KV

+PRWV +4 +0 +0
+4 +0 +0
+4 +0 +0
+4 +0 +0
+4 +0 +0
+4 +0 +0
+4 +0 +0
+4 +0 +0
1WVRWV +4 176 176
+4 176 176
+4 176 176
+4 176 176
+4 176 176
+4 176 176
+4 176 176
+4 176 176
0QVG 9JGPVJGOCZKOWOPWODGTQH%QORQ$WU5PQFGUKUUGVVQ+0VQ+0
CPF176VQ176ECPDGWUGFCUYQTMDKVU
%QORQ$WU56GTOKPCNUYKVJNGUUVJCPRQKPVUCTGCNNQECVGFDKVCFFTGUUGU
HTQOGKVJGTQTHKNNKPIWRHTQOVJGNQYGUVCXCKNCDNGYQTF
%QORQ$WU56GTOKPCNUYKVJRQKPVUECPDGUGVHQTQPN[GXGPPWODGTCF
FTGUUGU
72
Communications Status 5GEVKQP

%QOOWPKECVKQPU5VCVWU
6JGUVCVWUQHEQOOWPKECVKQPUYKVJ%QORQ$WU56GTOKPCNUKUKPFKECVGFYKVJ
VJGUVCVWUHNCIUKP#4VJTQWIJ#4$KVUVQEQPVCKPVJG#EVKXG5NCXG
(NCIUCPFDKVUVQEQPVCKPVJG5NCXG%QOOWPKECVKQPU'TTQT(NCIU
9QTF 7RRGTOQUVDKVU5NCXG%QOOWPKECVKQPU'TTQT(NCIU .QYGT$KVU#EVKXG5NCXG(NCIU

#4 176 176 176 176 176 176 176 176 176 176 176 176 176 176 176 176
#4 +0 +0 +0 +0 +0 +0 +0 +0 +0 +0 +0 +0 +0 +0 +0 +0
#4 176176176176176176 176 176 176176176176176176 176 176
#4 +0 +0 +0 +0 +0 +0 +0 +0 +0 +0 +0 +0 +0 +0 +0 +0
0QVG +0VQ+0CTGVJGKPRWVVGTOKPCNUCPF176VQ176CTGVJGQWVRWVVGTOK
PCNU
9JGPVJGOCZKOWOPWODGTQH%QORQ$WU5WPKVUKUUGVVQ+0VQ+0
CPF176VQ176ECPPQVDGWUGF
'CEJ#EVKXG5NCXG(NCIKUVWTPGF10YJGPVJGEQTTGURQPFKPI5NCXGKURCTVKEK
RCVKPIKPEQOOWPKECVKQPU9JGPVJGRQYGTVQVJG%277PKVKUVWTPGF1((
CPF10CICKPCNNQHVJG#EVKXG5NCXG(NCIUCTGVWTPGF1((
'CEJ5NCXG%QOOWPKECVKQPU'TTQT(NCIKUVWTPGF10YJGPC5NCXGVJCVYCU
RCTVKEKRCVKPIKPVJGPGVYQTMKUUGRCTCVGFHTQOVJGPGVYQTM6JGDKVKUVWTPGF
1((YJGPVJG5NCXGTGGPVGTUVJGPGVYQTM
#PGTTQTKUPQVIGPGTCVGFCVVJG)48256KHVJGTGCTGFWRNKECVGFPQFG
CFFTGUUUGVVKPIUHQT5NCXGUQTKHVJGTGKUCEQOOWPKECVKQPUGTTQTUWEJCU
EQOOWPKECVKQPUHCKNWTGQTCFKUEQPPGEVKQP6JGTGHQTGWUGVJGCDQXGUVCVWU
HNCIUKPVJGNCFFGTRTQITCOVQEQPHKTOYJGVJGTQTPQVPQFGCFFTGUUGUCTGUGV
EQTTGEVN[CPFYJGVJGTQTPQV5NCXGUCTGQRGTCVKPIEQTTGEVN[
73
Communications Status 5GEVKQP

'ZCORNG

If the addresses for Slave 1 and Slave
00000 (Slave 1 input)
3 are the same, the Master will not be
20000
able to read input from Slave 3.
+HCEQOOWPKECVKQPUGTTQTKUIGPGTCVGF
00100 (Slave 2 input)
20100
VJGUVCVWUQH+4YKNNDGVJGUCOG
CUDGHQTGVJGGTTQTCPFUQVJGEJCPIG
KPVJGUVCVWUQHVJGCEVWCNKPRWVYKNNPQV
DGFGVGEVGF

AR0500 AR0506
(IN0's Active Flag) (IN0's Error Flag)
02800 (Slave 1 communications normal)
00000 02800
20000
AR0502 AR0510
(IN2's Active Flag) (IN2's Error Flag)
02900 (Slave 2 communications normal)
00100 02900
20100
74

SECTION 7
Exchanging Data with a DeviceNet Master
6JKUUGEVKQPGZRNCKPUJQYVQGZEJCPIGFCVCYKVJC&GXKEG0GV/CUVGT4GHGTVQVJKUUGEVKQPYJGPWUKPITGOQVG+1
EQOOWPKECVKQPUQTGZRNKEKVOGUUCIGEQOOWPKECVKQPUHTQOC&GXKEG0GV/CUVGT

7-1 Initial Settings.......................................................................................................................................................76
7-1-1 Setting the Node Number....................................................................................................................................76
7-1-2 Setting the Communications Speed.....................................................................................................................76
7-1-3 Attaching Status Information ..............................................................................................................................76
7-2 Remote I/O Communications................................................................................................................................76
7-3 Explicit Message Communications.......................................................................................................................79
7-3-1 DeviceNet Explicit Message Functions ..............................................................................................................79
7-3-2 Command and Response Formats .......................................................................................................................81
7-4 Status Information ................................................................................................................................................88
7-4-1 LED Indicators....................................................................................................................................................88
7-4-2 AR Area Flags indicating DeviceNet Status .......................................................................................................89
7-4-3 3G3RV-P10ST Status Output to DeviceNet .......................................................................................................89
75
Initial Settings 5GEVKQP

+PKVKCN5GVVKPIU
5GVVKPIVJG0QFG0WODGT
5GVVJG&GXKEG0GVPQFGPWODGTYKVJVJGTQVCT[UYKVEJGUQPVJG2%$6JGCN
NQYGFUGVVKPITCPIGKUVQPQFGPWODGTUGVVKPIUVQCTGPQVCN
NQYGF6JGTQVCT[UYKVEJUGVVKPIUCTGTGCFYJGPVJG7PKVŏURQYGTKUVWTPGF
10

0 1 0 1
9 9
7 8
7 8
2 3
2 3
4 4
5 6 5 6

5GVVKPIVJG%QOOWPKECVKQPU5RGGF
5GVVJG&GXKEG0GVEQOOWPKECVKQPUURGGFYKVJ&+2UYKVEJQPVJGHTQPVQH
VJG7PKV6JG&+2UYKVEJUGVVKPIUCTGTGCFYJGPVJG7PKVŏURQYGTKUVWTPGF
10
ON
1 2 3 4

&+2UYKVEJUGVVKPIU &GXKEG0GV /CZKOWOVQVCN
2+0 2+0 EQOOWPKECVKQPUURGGF EQOOWPKECVKQPU
FKUVCPEG
1(( 1(( MDRU OOCZ
10 1(( MDRU OOCZ
1(( 10 MDRU OOCZ
10 10 0QVWUGF
#VVCEJKPI5VCVWU+PHQTOCVKQP
+VKURQUUKDNGVQGPCDNGCPFFKUCDNGVJGCVVCEJOGPVQHVJG)48256
UVCVWUKPHQTOCVKQPKPVTCPUOKUUKQPUHTQOVJG)48256VQVJG/CUVGT
7PKV
6JGUVCVWUCVVCEJOGPVKUUGVKP&/QHVJG2.%5GVWRCUUJQYPKPVJG
HQNNQYKPIVCDNG6JGKPKVKCNUGVVKPIKU
CVVCEJUVCVWUKPHQTOCVKQPEJCPIGVJKU
UGVVKPIVQVQFKUCDNGCVVCEJOGPVQHUVCVWUKPHQTOCVKQP4GHGTVQ5VCVWU+P
HQTOCVKQPHQTFGVCKNUQPVJGUVCVWUKPHQTOCVKQP

9QTF Bits Function &GHCWNV
&/ VQ 5GVUYJGVJGT)48256UVCVWUKU
VTCPUOKVVGFVQVJG&GXKEG0GV/CUVGT
#VVCEJ

*GZ#VVCEJUVCVWUCJGCFQHFCVC UVCVWU

*GZ&QPQVCVVCEJUVCVWUCJGCFQHFCVC
4GOQVG+1%QOOWPKECVKQPU
#NNQECVGVJG&GXKEG0GVTGCFCPFYTKVGCTGCUVQURGEKH[YJCVRCTVQHVJG2.%ŏU
FCVCCTGCYKNNDGWUGFVQTGCFCPFYTKVGFCVCHTQOVJG&GXKEG0GV/CUVGT7PKV
76

5RGEKH[VJG2.%FCVCCTGCUVCTVKPIYQTFCFFTGUUCPFPWODGTQHD[VGU7RVQ
D[VGUECPDGCNNQECVGFHQT&GXKEG0GVTGOQVG+1
#NNQECVKPI4GCF9TKVG 5YKVEJVJG)48256VQ241)4#/OQFGCPFWUGC2TQITCOOKPI
&GXKEG
#TGCUYKVJVJG2.%5GVWR UWEJCUC2TQITCOOKPI%QPUQNGQT5WRRQTV5QHVYCTGVQOCMGVJGHQNNQYKPI
UGVVKPIUKP&/VQ&/QHVJG2.%5GVWR6JGUGVVKPIUKPVJGUG
YQTFUCTGTGCFQPN[YJGPVJG)48256KUVWTPGF10UQVJG2.%ŏU
RQYGTOWUVDGVWTPGF1((CPFVJGP10CICKPVQOCMGEJCPIGUGHHGEVKXG
9QTF $KV
U (WPEVKQP &GHCWNV
&/ VQ &GXKEG0GV4GCF9TKVGCTGCUGVVKPI
*GZ

*GZ4GCF
+0+4VQ+49TKVG
176+4VQ+4

*GZ7UGUGVVKPIUKP&/VQ&/
VQ 6TCPUOKUUKQPQH)48256UVCVWUVQVJG&GXKEG0GV/CUVGT
*GZ

*GZ#VVCEJUVCVWUKPHQTOCVKQPCJGCFQHFCVC

*GZ&QPQVCVVCEJUVCVWUKPHQTOCVKQPCJGCFQHFCVC
VQ 0QVWUGF
*GZ
&/ VQ &GXKEG0GV+1.KPM9TKVG &CVCCTGC
*GZ

176CTGCUGVVKPIU
*GZ+1CTGC
+4VQ+4

/CUVGTÆ)48256
*GZ+1CTGC
+4VQ+4

*GZ&/CTGC
&/VQ&/

*GZ.4CTGC
.4VQ.4

*GZ*4CTGC
*4VQ*4

*GZ6KOGTEQWPVGTCTGC
6%VQ6%
VQ 0WODGTQHD[VGU
UGGPQVG
*GZ
VQ
*GZ
GSWKXCNGPVVQVQFGEKOCN
&/ VQ 5VCTVKPIYQTFCFFTGUU
VQ((
*GZ
GSWKXCNGPVVQVQ
*GZ
FGEKOCN
&/ VQ &GXKEG0GV+1.KPM4GCF &CVCCTGC
*GZ

+0CTGCUGVVKPIU
*GZ+1CTGC
+4VQ+4

)48256Æ/CUVGT
*GZ+1CTGC
+4VQ+4

*GZ&/CTGC
&/VQ&/

*GZ.4CTGC
.4VQ.4

*GZ*4CTGC
*4VQ*4

*GZ#4CTGC
#4VQ#4

*GZ6KOGTEQWPVGTCTGC
6%VQ6%
VQ 0WODGTQHD[VGU
UGGPQVG
*GZ
VQ
*GZ
GSWKXCNGPVVQVQFGEKOCN
&/ VQ 5VCTVKPIYQTFCFFTGUU
VQ((
*GZ
GSWKXCNGPVVQVQ
*GZ
FGEKOCN
0QVG #U[UVGOHCKNWTGGTTQT
2.%5GVWRUGVVKPIGTTQTYKNNQEEWTKHVJGPWODGTQH
D[VGUKUUGVVQ
*GZHQTDQVJVJGYTKVGCPFTGCFCTGCU
&CVCYTKVVGPVJTQWIJ&GXKEG0GVKUXCNKFGXGPKHVJG2.%KUKP241)4#/
OQFGUQQWVRWVUOC[IQ10YJGPVJG2.%KUKP241)4#/OQFGKHQWVRWV
DKVUCTGCNNQECVGFVQVJG&GXKEG0GV+1.KPM9TKVGCTGC6QRTGXGPVQWVRWVU
HTQOIQKPI10YJKNGVJG2.%KUKP241)4#/OQFGFQPQVCNNQECVGQWVRWV
DKVUFKTGEVN[VQVJG&GXKEG0GV+1.KPM9TKVGCTGC
+HYQTFUKPCP[CTGCUQVJGTVJCPVJG+4CTGC
+4VQ+4QT.4CTGC
.4
VQ.4CTGCNNQECVGFVQVJG+1.KPM4GCFCTGCVJGFCVCOC[PQVDG
ENGCTGFGXGPYJGPVJGRQYGTKUKPVGTTWRVGFRQUUKDN[ECWUKPIFCVCHTQOKO
OGFKCVGN[DGHQTGRQYGTKPVGTTWRVKQPVQDGTGCFD[VJGOCUVGT+HVJKUETGCVGUC
RQVGPVKCNRTQDNGOWUGVJGHQNNQYKPIOGCUWTGUVQGNKOKPCVGVJGRTQDNGO
• 9JGPUVCTVKPIKP470QT/10+614OQFGEQPHKIWTGVJGNCFFGTRTQITCO
UQVJCVVJG4GCFCTGCKUTGYTKVVGPYKVJCRRTQRTKCVGFCVC
• 9JGPUVCTVKPIKP241)4#/OQFGKVYKNNPQVDGRQUUKDNGVQVCMGFKTGEV
OGCUWTGUCVVJGUNCXG/QPKVQTVJGUVCVWUCVVJGOCUVGTCPFFQPQVTGCF
VJGFCVCYJGPVJGQRGTCVKPIOQFGKU241)4#/OQFG
77

9JGPCHCVCNGTTQTQEEWTUCVCUNCXGVJGOCUVGTOC[TGCFFCVCHTQOKOOGFK
CVGN[DGHQTGVJGGTTQT+PVJKUECUGCNUQOQPKVQTVJGUVCVWUCVVJGOCUVGTCPF
FQPQVTGCFVJGFCVC
#NNQECVKPI4GCF9TKVG #P1/410&GXKEG0GV%QPHKIWTCVQT
XGTUKQPQTJKIJGTECPDGWUGFVQ
#TGCUYKVJVJG&GXKEG0GV URGEKH[VJG&GXKEG0GV4GCFCPF9TKVGCTGCU%QPVCEV[QWT1/410
%QPHKIWTCVQT TGRTGUGPVCVKXGKH[QWCTGWUKPIC%QPHKIWTCVQTXGTUKQPGCTNKGTVJCP
6JG
XGTUKQPECPDGFKURNC[GFKPVJG%QPHKIWTCVQTŏU*GNROGPW

(KTUVXGTKH[KHVJG7PKVKUCXCKNCDNGKPVJG%QPHKIWTCVQT
KPVJG%QOOWPKECVKQPU
#FCRVGTUGEVKQP+HKVKUPQVKVJCUVQDGKPUVCNNGFHKTUV
6QFQVJKUVJGHQNNQYKPIHKNGUCTGTGSWKTGF
• )48256&46''&5 &GXKEG0GV'NGEVTQPKEFCVC5JGGV
• )48256&46'+%1 +EQPHKNGYKVJCTGRTGUGPVCVKQPQHVJG+P
XGTVGT
• )48256&46'+0( 'ZRCPUKQP/QFWNGUGVHKNGPGEGUUCT[VQ
CFFVJG7PKVVQVJG%QPHKIWTCVQT
+PUVCNNKPIGZRCPUKQP
OQFWNG 6QKPUVCNNVJGGZRCPUKQPOQFWNGWUGVJGHQNNQYKPIRTQEGFWTG
5GNGEV1RVKQPCPF+PUVCNN2NWIKP/QFWNG
#YKPFQYVQURGEKH[VJGPCOGQHVJGGZRCPUKQPOQFWNGUGVHKNGYKNNDG
FKURNC[GF
+PRWVVJGHKNGPCOG
)48256&46'+0(CPFENKEMVJG1RGP$WVVQP
6JG'ZRCPUKQP/QFWNGYKNNDGCFFGFVQVJG%QPHKIWTCVQT

%JCPIKPI&GXKEG0GV
2CTCOGVGTU 6QEJCPIG&GXKEG0GVRCTCOGVGTUQHVJGWPKVFQVJGHQNNQYKPI
%QPPGEVVJG&GXKEG0GV%QPHKIWTCVQTVQVJG&GXKEG0GVPGVYQTMCPFUYKVEJVQ
QPNKPGQRGTCVKQP
6WTP10VJG+PXGTVGTCPFRWVVJG2.%KP241)4#/OQFG
%NKEMVJG7RNQCF$WVVQP
&QWDNGENKEMVJG)48256VQDGUGVQPVJG&GXKEG0GV%QPHKIWTCVQTŏUFG
XKEGNKUV
6JG&GXKEG0GV2CTCOGVGTU9KPFQYYKNNDGFKURNC[GFVQGFKVVJGTGCFCPF
YTKVGCTGCRCTCOGVGTU&QWDNGENKEMVJGTGCFYTKVGCTGCRCTCOGVGTUVQDG
EJCPIGF

78
Explicit Message Communications 5GEVKQP

%JCPIGVJGRCTCOGVGTUCUUJQYPKPVJGHQNNQYKPIGZCORNG
C&QWDNGENKEMVJGRCTCOGVGTVQDGEJCPIGF

D'PVGTVJGFGUKTGFXCNWGCPFRTGUUVJG'PVGT-G[
9JGPCNNRCTCOGVGTUCTGUGVCUTGSWKTGFENKEMVJG&QYPNQCF$WVVQP
#HVGTVJGFQYPNQCFJCUDGGPEQORNGVGFENKEMVJG1-$WVVQPVQTGVWTPVQVJG
NKUVFKURNC[
'ZRNKEKV/GUUCIG%QOOWPKECVKQPU
&GXKEG0GV'ZRNKEKV/GUUCIG(WPEVKQPU
'ZRNKEKVOGUUCIGEQOOWPKECVKQPUWUGCEQOOCPFTGURQPUGRTQVQEQN6JG
)48256TGVWTPUTGURQPUGUVQEQOOCPFUUGPVHTQOVJG/CUVGTCNNQY
KPI)48256FCVCCTGCUVQDGTGCFQTYTKVVGPHTQOVJG/CUVGT

Command message
DeviceNet
Master
Response message

79
DeviceNet Explicit Message Functions 5GEVKQP

'ZRNKEKV/GUUCIG.KUV
'ZRNKEKVOGUUCIG Function 2CIG
4'#&$;6'&#6# 4GCFUVJGURGEKHKGFPQFGŏUFCVCKPD[VGWPKVU
HTQOVJG&GXKEG0GV/CUVGT9JGPYQTFFCVC
KUDGKPITGCFVJGNGHVOQUVD[VGKUTGCFDGHQTG
VJGTKIJVOQUVD[VG7RVQD[VGUECPDG
TGCFCVQPGVKOG
94+6'$;6'&#6# 9TKVGUFCVCHTQOVJG&GXKEG0GV/CUVGTVQVJG
URGEKHKGFPQFGŏUFCVCCTGCKPD[VGWPKVU
9JGPYQTFFCVCKUDGKPIYTKVVGPVJGNGHVOQUV
D[VGKUYTKVVGPDGHQTGVJGTKIJVOQUVD[VG7R
VQD[VGUECPDGYTKVVGPCVQPGVKOG
4'#&914&&#6# 4GCFUVJGURGEKHKGFPQFGŏUFCVCKPYQTF
WPKVU
VYQD[VGWPKVUHTQOVJG&GXKEG0GV
/CUVGT9JGPYQTFFCVCKUDGKPITGCFVJG
NGHVOQUVD[VGKUTGCFDGHQTGVJGTKIJVOQUV
D[VG7RVQYQTFUECPDGTGCFCVQPG
VKOG
94+6'914&&#6# 9TKVGUFCVCHTQOVJG&GXKEG0GV/CUVGTVQVJG
URGEKHKGFPQFGŏUFCVCCTGCKPYQTFWPKVU

VYQD[VGWPKVU9JGPYQTFFCVCKUDGKPI
YTKVVGPVJGNGHVOQUVD[VGKUYTKVVGPDGHQTGVJG
TKIJVOQUVD[VG7RVQYQTFUECPDG
YTKVVGPCVQPGVKOG
'44144'52105' 6JG)48256TGVWTPUCPGTTQT
TGURQPUGYJGPVJGTGKUCPGTTQTKPVJG
GZRNKEKVOGUUCIGEQOOCPFUGPVHTQOVJG
&GXKEG0GV/CUVGT
0QVG 9JGPUGPFKPIGZRNKEKVOGUUCIGEQOOCPFUVJGTCPIGQHFCVCURGEKHKGFD[
VJGFCVCCTGCUVCTVKPICFFTGUUCPFPWODGTQHD[VGUOWUVPQVGZEGGFVJG
TCPIGQHVJG)48256FCVCCTGC
7UGVJG4'#&$;6'&#6#CPF94+6'$;6'&#6#EQOOCPFUYJGPUGPF
KPIGZRNKEKVOGUUCIGEQOOCPFUHTQOCP1/410&GXKEG0GV/CUVGT7UGVJG
4'#&914&&#6#CPF94+6'914&&#6#EQOOCPFUYJGPUGPFKPIGZ
RNKEKVOGUUCIGEQOOCPFUHTQOCPQVJGTEQORCP[ŏU&GXKEG0GV/CUVGT
6JGPWODGTQHD[VGUQEEWRKGFD[VJGő%NCUU+&ŒCPFő+PUVCPEG+&ŒRCTCOGVGTU
XCTKGUHTQO/CUVGTVQ/CUVGT6JGUGRCTCOGVGTUCTGURGEKHKGFKPD[VGU

FKIKVUKPEQOOCPFUUGPVHTQO1/410&GXKEG0GV/CUVGTU
%8UGTKGU2.%ŏU
WUGVJG%/0&KPUVTWEVKQPCPF%*:*)*'2.%UWUGVJG+194KPUVTWE
VKQP
80
Command and Response Formats 5GEVKQP

%QOOCPFCPF4GURQPUG(QTOCVU
4'#&$;6'&#6# 4GCFUVJGURGEKHKGFPQFGŏUFCVCKPD[VGWPKVUHTQOVJG&GXKEG0GV/CUVGT
9JGPYQTFFCVCKUDGKPITGCFVJGNGHVOQUVD[VGKUTGCFDGHQTGVJGTKIJVOQUV
D[VG7RVQD[VGUECPDGTGCFCVQPGVKOG
%QOOCPF(QTOCV
1C 2F
Class ID Address L Number of bytes

Service code Address H
Instance ID
Destination node number

4GURQPUG(QTOCV
9C
Leftmost Leftmost byte

byte
Service code Righmost byte Righmost byte
Source node number
Number of bytes received
Read data
(200 bytes max.)
2CTCOGVGTU
&GUVKPCVKQPPQFGPWODGT
EQOOCPF
5RGEKH[VJGPQFGPWODGTQHVJG)48256EQPVCKPKPIVJGFGUKTGFFCVCKP
D[VG
FKIKVJGZCFGEKOCN
5GTXKEGEQFG
EQOOCPFTGURQPUG
5RGEKH[%
*GZKPVJGEQOOCPF
6JGNGHVOQUVDKVQHVJGUGTXKEGEQFGKUVWTPGF10KPVJGTGURQPUGUQ%
*GZ
KUTGVWTPGF
%NCUU+&
EQOOCPF
#NYC[U(
*GZ
+PUVCPEG+&
EQOOCPF
5RGEKH[VJGFCVCCTGCEQPVCKPKPIVJGFGUKTGFFCVCKPD[VG
FKIKVJGZCFGEK
OCN7UGQPGQHVJGEQFGUNKUVGFKPVJGHQNNQYKPIVCDNG
%QFG Area name #FFTGUUTCPIG

*GZ +4#TGC +4VQ+4

*GZ +4CTGC +4VQ+4

*GZ &/CTGC &/VQ&/

*GZ .4CTGC .4VQ.4

*GZ *4CTGC *4VQ*4

*GZ #4CTGC #4VQ#4
TGCFCTGCQPN[

*GZ 6KOGT%QWPVGTCTGC 6%VQ6%
#FFTGUU.CPF#FFTGUU*
EQOOCPF
5RGEKH[VJGUVCTVKPIYQTFCFFTGUUQHVJGTGCFFCVCKPJGZCFGEKOCNCUHQNNQYU
#FFTGUU.6JGTKIJVOQUVVYQFKIKVUQHVJGFKIKVUVCTVKPICFFTGUU
#FFTGUU*6JGNGHVOQUVVYQFKIKVUQHVJGFKIKVUVCTVKPICFFTGUU
0WODGTQHD[VGU
EQOOCPF
5RGEKH[VJGPWODGTQHD[VGUQHFCVCVQTGCFKPD[VG
FKIKVJGZCFGEKOCN
6JGCNNQYGFTCPIGKUVQ%
*GZYJKEJKUGSWKXCNGPVVQVQFGEKOCN
81

0WODGTQHD[VGUTGEGKXGF
TGURQPUG
+PFKECVGUVJGPWODGTQHD[VGUQHFCVC
KPJGZCFGEKOCNHTQOVJGőUQWTEGPQFG
PWODGTŒQP
5QWTEGPQFGPWODGT
TGURQPUG
+PFKECVGUVJGPQFGPWODGT
KPJGZCFGEKOCNQHVJG)48256VJCVTG
VWTPGFVJGTGURQPUG
4GCFFCVC
TGURQPUG
%QPVCKPUVJGFGUKTGFFCVCTGCFHTQOVJGURGEKHKGFFCVCCTGC9QTFFCVCKUTG
VWTPGFYKVJVJGNGHVOQUVD[VG
DKVUVQRTGEGFKPIVJGTKIJVOQUVD[VG
DKVU
VQ+HCPQFFPWODGTYCUURGEKHKGFKPVJGEQOOCPFŏUőPWODGTQHD[VGUŒRC
TCOGVGTVJGNCUVD[VGQHTGCFFCVCYKNNEQPVCKPVJGNGHVOQUVD[VGQHCYQTF
2TGECWVKQPU
6JGTCPIGQHFCVCURGEKHKGFD[VJGFCVCCTGC
KPUVCPEG+&UVCTVKPICFFTGUU

#FFTGUU.CPF#FFTGUU*CPFPWODGTQHD[VGURCTCOGVGTUOWUVPQVGZ
EGGFVJGTCPIGQHVJG)48256FCVCCTGC
94+6'$;6'&#6# 9TKVGUFCVCHTQOVJG&GXKEG0GV/CUVGTVQVJGURGEKHKGFPQFGŏUFCVCCTGCKP
D[VGWPKVU9JGPYQTFFCVCKUDGKPIYTKVVGPVJGNGHVOQUVD[VGKUYTKVVGPDGHQTG
VJGTKIJVOQUVD[VG7RVQD[VGUECPDGYTKVVGPCVQPGVKOG
%QOOCPF(QTOCV
1E 2F

Class ID Address L
byte
Service code Instance ID Address H Righmost byte Righmost byte
Write data
(200 bytes max.)
4GURQPUG(QTOCV
9E
Service code
Source node number

2CTCOGVGTU
EQOOCPF
5RGEKH[VJGPQFGPWODGTQHVJG)48256YJGTGVJGFCVCYKNNDGYTKVVGP
5RGEKH[VJGPQFGPWODGTKPD[VG
FKIKVJGZCFGEKOCN
5GTXKEGEQFG
EQOOCPFTGURQPUG
5RGEKH['
*GZKPVJGEQOOCPF
6JGNGHVOQUVDKVQHVJGUGTXKEGEQFGKUVWTPGF10KPVJGTGURQPUGUQ'
*GZ
KUTGVWTPGF
%NCUU+&
EQOOCPF
#NYC[U(
*GZ
82

+PUVCPEG+&
EQOOCPF
5RGEKH[VJGFCVCCTGCYJGTGFCVCYKNNDGYTKVVGP5RGEKH[QPGQHVJGEQFGU
NKUVGFKPVJGHQNNQYKPIVCDNGKPD[VG
FKIKVJGZCFGEKOCN

*GZ +4#TGC +4VQ+4

*GZ +4CTGC +4VQ+4

*GZ &/CTGC &/VQ&/

*GZ .4CTGC .4VQ.4

*GZ *4CTGC *4VQ*4

#FFTGUU.CPF#FFTGUU*
EQOOCPF
5RGEKH[VJGUVCTVKPIYQTFCFFTGUUYJGTGFCVCYKNNDGYTKVVGP5RGEKH[VJGCF
FTGUUKPJGZCFGEKOCNCUHQNNQYU
9TKVGFCVC
EQOOCPF
%QPVCKPUVJGFCVCVJCVYKNNDGYTKVVGPKPVJGURGEKHKGFFCVCCTGC+PRWVYQTF
FCVCYKVJVJGNGHVOQUVD[VG
DKVUVQ
+HVJGEQOOCPFEQPVCKPUCPQFFPWODGTQHD[VGUQHYTKVGFCVCVJGNCUV
D[VGYKNNDGYTKVVGPVQVJGNGHVOQUVD[VGQHVJGNCUVYQTF
TGURQPUG
PWODGTŒQP
5QWTEGPQFGPWODGT
TGURQPUG
VWTPGFVJGTGURQPUG
2TGECWVKQPU

#FFTGUU.CPF#FFTGUU*CPFYTKVGFCVCRCTCOGVGTUOWUVPQVGZEGGFVJG
83

4'#&914&&#6# 4GCFUVJGURGEKHKGFPQFGŏUFCVCKPYQTFWPKVU
VYQD[VGWPKVUHTQOVJG
&GXKEG0GV/CUVGT9JGPYQTFFCVCKUDGKPITGCFVJGNGHVOQUVD[VGKUTGCF
DGHQTGVJGTKIJVOQUVD[VG7RVQYQTFUECPDGTGCFCVQPGVKOG
%QOOCPF(QTOCV
1D 2F
Class ID Address L Number of words

Service code Address H
Instance ID

4GURQPUG(QTOCV
9D

byte
Service code Righmost byte Righmost byte
Source node number
Read data
(200 bytes max.)
2CTCOGVGTU
EQOOCPF
5RGEKH[VJGPQFGPWODGTQHVJG)48256EQPVCKPKPIVJGFGUKTGFFCVCKP
D[VG
FKIKVJGZCFGEKOCN
5GTXKEGEQFG
EQOOCPFTGURQPUG
5RGEKH[&
*GZKPVJGEQOOCPF
6JGNGHVOQUVDKVQHVJGUGTXKEGEQFGKUVWTPGF10KPVJGTGURQPUGUQ&
*GZ
KUTGVWTPGF
%NCUU+&
EQOOCPF
#NYC[U(
*GZ
+PUVCPEG+&
EQOOCPF
5RGEKH[VJGFCVCCTGCEQPVCKPKPIVJGFGUKTGFFCVCKPD[VG
FKIKVJGZCFGEK
OCN7UGQPGQHVJGEQFGUNKUVGFKPVJGHQNNQYKPIVCDNG

*GZ +4#TGC +4VQ+4

*GZ +4CTGC +4VQ+4

*GZ &/CTGC &/VQ&/

*GZ .4CTGC .4VQ.4

*GZ *4CTGC *4VQ*4

*GZ #4CTGC #4VQ#4
TGCFCTGCQPN[

#FFTGUU.CPF#FFTGUU*
EQOOCPF
5RGEKH[VJGUVCTVKPIYQTFCFFTGUUQHVJGTGCFFCVCKPJGZCFGEKOCNCUHQNNQYU
0WODGTQHYQTFU
EQOOCPF
5RGEKH[VJGPWODGTQHYQTFUQHFCVCVQTGCFKPD[VG
FKIKVJGZCFGEKOCN
6JGCNNQYGFTCPIGKUVQ
*GZYJKEJKUGSWKXCNGPVVQVQFGEKOCN
84

TGURQPUG+PFKECVGUVJGPWODGTQHD[VGUQHFCVC

KPJGZCFGEKOCNHTQOVJGőUQWTEGPQFGPWODGTŒ
5QWTEGPQFGPWODGT
TGURQPUG
VWTPGFVJGTGURQPUG
4GCFFCVC
TGURQPUG
%QPVCKPUVJGFGUKTGFFCVCTGCFHTQOVJGURGEKHKGFFCVCCTGC9QTFFCVCKUTG
VWTPGFYKVJVJGNGHVOQUVD[VG
DKVU
VQ
2TGECWVKQPU

#FFTGUU.CPF#FFTGUU*CPFPWODGTQHYQTFURCTCOGVGTUOWUVPQVGZ
EGGFVJGTCPIGQHVJG)48256FCVCCTGC
94+6'914&&#6# 9TKVGUFCVCHTQOVJG&GXKEG0GV/CUVGTVQVJGURGEKHKGFPQFGŏUFCVCCTGCKP
YQTFWPKVU
VYQD[VGWPKVU9JGPYQTFFCVCKUDGKPIYTKVVGPVJGNGHVOQUVD[VG
KUYTKVVGPDGHQTGVJGTKIJVOQUVD[VG7RVQYQTFUECPDGYTKVVGPCVQPG
VKOG
%QOOCPF(QTOCV
1F 2F

Class ID Address L
byte
Service code Instance ID Address H Righmost byte Righmost byte
Write data
(200 bytes max.)

4GURQPUG(QTOCV
9F
Service code
Source node number

2CTCOGVGTU
EQOOCPF
5RGEKH[VJGPQFGPWODGTQHVJG)48256YJGTGVJGFCVCYKNNDGYTKVVGP
5RGEKH[VJGPQFGPWODGTKPD[VG
FKIKVJGZCFGEKOCN
5GTXKEGEQFG
EQOOCPFTGURQPUG
5RGEKH[(
*GZKPVJGEQOOCPF
6JGNGHVOQUVDKVQHVJGUGTXKEGEQFGKUVWTPGF10KPVJGTGURQPUGUQ(
*GZ
KUTGVWTPGF
%NCUU+&
EQOOCPF
#NYC[U(
*GZ
85

+PUVCPEG+&
EQOOCPF
5RGEKH[VJGFCVCCTGCYJGTGFCVCYKNNDGYTKVVGP5RGEKH[QPGQHVJGEQFGU
NKUVGFKPVJGHQNNQYKPIVCDNGKPD[VG
FKIKVJGZCFGEKOCN

*GZ +4#TGC +4VQ+4

*GZ +4CTGC +4VQ+4

*GZ &/CTGC &/VQ&/

*GZ .4CTGC .4VQ.4

*GZ *4CTGC *4VQ*4

#FFTGUU.CPF#FFTGUU*
EQOOCPF
5RGEKH[VJGUVCTVKPIYQTFCFFTGUUYJGTGFCVCYKNNDGYTKVVGP5RGEKH[VJGCF
FTGUUKPJGZCFGEKOCNCUHQNNQYU
9TKVGFCVC
EQOOCPF
%QPVCKPUVJGFCVCVJCVYKNNDGYTKVVGPKPVJGURGEKHKGFFCVCCTGC+PRWVYQTF
FCVCYKVJVJGNGHVOQUVD[VG
DKVUVQ

TGURQPUG
PWODGTŒQP
5QWTEGPQFGPWODGT
TGURQPUG
VWTPGFVJGTGURQPUG
2TGECWVKQPU

#FFTGUU.CPF#FFTGUU*CPFYTKVGFCVCRCTCOGVGTUOWUVPQVGZEGGFVJG
'44144'52105' 6JG)48256TGVWTPUCPGTTQTTGURQPUGYJGPVJGTGKUCPGTTQTKPVJG
GZRNKEKVOGUUCIGEQOOCPFUGPVHTQOVJG&GXKEG0GV/CUVGT
4GURQPUG(QTOCV
FF
Additional error code

(Always FF)
General error code
Source node number

2CTCOGVGTU
TGURQPUG
PWODGTŒ
5QWTEGPQFGPWODGT
TGURQPUG
VWTPGFVJGTGURQPUG
86

)GPGTCNGTTQTEQFG
TGURQPUG
+PFKECVGUVJGPCVWTGQHVJGGTTQTYKVJQPGQHVJGD[VG
FKIKVJGZCFGEKOCN
GTTQTEQFGUNKUVGFKPVJGHQNNQYKPIVCDNG
%QFG 'TTQTPCOG /GCPKPI

*GZ 5GTXKEGPQVUWRRQTVGF 6JGUGTXKEGEQFGYCUKPXCNKF

*GZ 6QQOWEJFCVC 6JGTGYCUVQQOWEJFCVC
(QT
GZCORNGVJGCOQWPVQHYTKVGFCVC
GZEGGFGFVJGFCVCCTGCDQWPFCT[

*GZ 0QVGPQWIJFCVC 6JGTGYCUVQQNKVVNGFCVC
(QTGZCORNG
CPQFFPWODGTQHD[VGUQHYTKVGFCVC
YGTGWUGFKPC94+6'914&&#6#
EQOOCPF

*GZ +PXCNKFRCTCOGVGT 6JGUVCTVKPIYQTFCFFTGUUYCUKPXCNKF

*GZ 4GRN[FCVCVQQNCTIG 6JGFCVCCTGCDQWPFCT[YCUGZEGGFGF
KPC&#6#4'#&EQOOCPF

*GZ 1DLGEVFQGUPQVGZKUV 6JGENCUU+&QTKPUVCPEG+&YCUKPXCNKF
#FFKVKQPCNGTTQTEQFG
TGURQPUG
#NYC[U((
*GZ
87
Status Information 5GEVKQP

5VCVWU+PHQTOCVKQP
6JGUVCVWUQH&GXKEG0GVEQOOWPKECVKQPUKUKPFKECVGFD[VJG)48256
2.%ŏU.'&KPFKECVQTUCPF#4CTGCHNCIU+PCFFKVKQPVJG2.%5GVWRECPDG
UGVUQVJCVVJG)482562.%ŏUQRGTCVKPIUVCVWUKPHQTOCVKQPKUCVVCEJGF
VQTGOQVG+1VTCPUOKUUKQPUHTQOVJG)48256VQVJG/CUVGT7PKV
.'&+PFKECVQTU
6JGUVCVWUQH&GXKEG0GVEQOOWPKECVKQPUKUKPFKECVGFQPVJG)48256
2.%ŏU.'&KPFKECVQTU
MS LED
NS LED
ON
1 2 3 4

+PFKECVQT %QNQWT 5VCVWU (WPEVKQP /GCPKPI
/5 )TGGP 10 0QTOCNUVCVWU 0QTOCNUVCVWU
(NCUJKPI +PEQORNGVGUGVVKPIUUVCVWU 4GCFKPIUYKVEJUGVVKPIU
4GF 10 (CVCNGTTQT *CTFYCTGGTTQT
YCVEJFQIVKOGTGTTQT
(NCUJKPI 0QPHCVCNGTTQT 'TTQTUWEJCUKPEQTTGEVUYKVEJUGVVKPIU
1(( 2QYGTKUPQVDGKPIUWRRNKGF Ŗ2QYGTKUPQVDGKPIUWRRNKGF
Ŗ9CKVKPIHQTKPKVKCNKUCVKQPVQUVCTV
Ŗ4GUGVKPRTQITGUU
05 )TGGP 10 1PNKPG%QOOWPKECVKQPUGUVCDNKUJGF 0QTOCNPGVYQTMUVCVWUYJGP
EQOOWPKECVKQPUJCXGDGGPGUVCDNKUJGF
(NCUJKPI 1PNKPG%QOOWPKECVKQPUPQVGUVCDNKUJGF 0QTOCNPGVYQTMUVCVWUYJGP
EQOOWPKECVKQPUJCXGPŏVDGGP
GUVCDNKUJGF
4GF 10 (CVCNEQOOWPKECVKQPUGTTQT %QOOWPKECVKQPUGTTQT
6JG7PKV
FGVGEVGFCPGTTQTKPFKECVKPIVJCVPGVYQTM
EQOOWPKECVKQPUCTGFKUCDNGF
Ŗ0QFGPWODGTFWRNKECVKQP
Ŗ$WUQHHGTTQTFGVGEVGF
(NCUJKPI 0QPHCVCNEQOOWPKECVKQPUGTTQT %QOOWPKECVKQPUVKOGQWV
1(( 1HHNKPG2QYGTUWRRN[1(( 9CKVKPIHQTEQORNGVKQPQHVJGPQFG
PWODGTFWRNKECVKQPEJGEMKPVJG/CUVGT
Ŗ+PEQTTGEVUYKVEJUGVVKPIU
Ŗ2QYGTUWRRN[1((
88
AR Area Flags indicating DeviceNet Status 5GEVKQP

#4#TGC(NCIUKPFKECVKPI&GXKEG0GV5VCVWU
6JGHQNNQYKPIUVCVWUKPHQTOCVKQPKUQWVRWVVQHNCIUKPVJG#4CTGC
9QTF $KV
U (WPEVKQP
#4 &GXKEG0GVUYKVEJUGVVKPIUGTTQT
10YJGPCUGVVKPIUGTTQTQEEWTTGF1((YJGPPQTOCN
0QFGPWODGTFWRNKECVKQPQT$WUQHHGTTQT
10YJGPCPGTTQTQEEWTTGF1((YJGPPQTOCN
&GXKEG0GVPGVYQTMRQYGTUWRRN[GTTQT
&GXKEG0GVEQOOWPKECVKQPUGTTQT
VQ 0QVWUGF
&GXKEG0GVUVCVWUGTTQT
'ZRNKEKV%QPPGEVKQP(NCI 106JGEQPPGEVKQPJCUDGGPGUVCDNKUJGF
2QNNKPI%QPPGEVKQP(NCI 1((6JGEQPPGEVKQPJCUPQVDGGPGUVCDNKUJGF
$KV5VTQDG%QPPGEVKQP(NCI
VQ 0QVWUGF
+1.KPMKPRTQITGUU
10YJGPVJG+1.KPMKUQRGTCVKPIQVJGTYKUG1((
)482565VCVWU1WVRWVVQ&GXKEG0GV
6JGQRGTCVKPIUVCVWUQHVJG)48256KUVTCPUOKVVGFVQVJG/CUVGT7PKVKP
VYQYQTFU6JGUVCVWUKPHQTOCVKQPKUCWVQOCVKECNN[CVVCEJGFCUVJGHKTUVVYQ
YQTFUTGEGKXGFCVVJG/CUVGT
6JGUGVVKPIKP&/DKVUVQQHVJG2.%5GVWRFGVGTOKPGUYJGVJGTQT
PQVVJGUVCVWUKPHQTOCVKQPYKNNDGVTCPUOKVVGF
9QTF Bits Function &GHCWNV
&/ VQ 5GVUYJGVJGT)48256UVCVWUKU
VTCPUOKVVGFVQVJG&GXKEG0GV/CUVGT
#VVCEJ

*GZ#VVCEJUVCVWUCJGCFQHFCVC UVCVWU

*GZ&QPQVCVVCEJUVCVWUCJGCFQHFCVC

#UGVVKPIUGTTQTYKNNQEEWTHQTCP[QVJGTUGVVKPI
89
3G3RV-P10ST Status Output to DeviceNet 5GEVKQP

6TCPUOKVVGF5VCVWU+PHQTOCVKQP
9QTF $KV
U %QPVGPVU
.GCFKPIYQTF VQ 6JGGTTQTEQFG
FKIKVUVJCVKUQWVRWVVQ#4DKVUVQKUQWVRWV
CPF )48256QRGTCVKPIOQFG
$KV
241)4#/OQFG
/10+614OQFG
470OQFG

0QVWUGF
7/CTGCYTKVGRTQVGEVKQP
/KTTQTUVJGUVCVWUQH2.%5GVWRUGVVKPIKP&/DKVUVQ

1((7/YTKVCDNG
107/YTKVGRTQVGEVGF
CPF 0QVWUGF
10YJGPCPQPHCVCNGTTQTJCUQEEWTTGF
10YJGPCHCVCNGTTQTJCUQEEWTTGF
.GCFKPIYQTF VQ 0QVWUGF
10YJGPCDCVVGT[GTTQTJCUQEEWTTGF

'HHGEVKXGQPN[YJGPFGVGEVKQPQHDCVVGT[GTTQTUKUGPCDNGFYKVJVJG2.%5GVWRUGVVKPIKP
&/DKVUVQUGVVQ
10YJGPCE[ENGVKOGQXGTTWPGTTQTJCUQEEWTTGF
0QVWUGF
10YJGP(#.
YCUGZGEWVGFQTC2.%5GVWRUGVVKPIUGTTQTJCUQEEWTTGF

6JG(#.PWODGTKUVTCPUOKVVGFKPDKVUVQQHVJGNGCFKPIYQTF
10YJGPCOGOQT[GTTQTJCUQEEWTTGF
10YJGPVJGTGKUPŏVCP'0&
KPUVTWEVKQPKPVJGRTQITCO
0QVWUGF
10YJGPCP+17PKVQXGTGTTQT
VQQOCP[7PKVUJCUDGGPFGVGEVGF
CPF 0QVWUGF
10YJGPCP+1DWUGTTQTJCUQEEWTTGF
10YJGP(#.5
YCUGZGEWVGF

6JG(#.PWODGTKUVTCPUOKVVGFKPDKVUVQQHVJGNGCFKPIYQTF
0QVG +HYQTFUKPCP[CTGCUQVJGTVJCPVJG+4CTGC
+4VQ+4QT.4CTGC

.4VQ.4CTGCNNQECVGFVQVJG+1.KPM4GCFCTGCVJGFCVCOC[PQVDG
ENGCTGFGXGPYJGPVJGRQYGTKUKPVGTTWRVGFRQUUKDN[ECWUKPIFCVCHTQOKO
OGFKCVGN[DGHQTGRQYGTKPVGTTWRVKQPVQDGTGCFD[VJGOCUVGT+HVJKUETGCVGUC
RQVGPVKCNRTQDNGOWUGVJGHQNNQYKPIOGCUWTGUVQGNKOKPCVGVJGRTQDNGO
• 9JGPUVCTVKPIKP470QT/10+614OQFGEQPHKIWTGVJGNCFFGTRTQITCO
UQVJCVVJG4GCFCTGCKUTGYTKVVGPYKVJCRRTQRTKCVGFCVC
• 9JGPUVCTVKPIKP241)4#/OQFGKVYKNNPQVDGRQUUKDNGVQVCMGFKTGEV
OGCUWTGUCVVJGUNCXG/QPKVQTVJGUVCVWUCVVJGOCUVGTCPFFQPQVTGCF
VJGFCVCYJGPVJGQRGTCVKPIOQFGKU241)4#/OQFG
9JGPCHCVCNGTTQTQEEWTUCVCUNCXGVJGOCUVGTOC[TGCFFCVCHTQOKOOGFK
CVGN[DGHQTGVJGGTTQT+PVJKUECUGCNUQOQPKVQTVJGUVCVWUCVVJGOCUVGTCPF
FQPQVTGCFVJGFCVC

90

SECTION 8
Encoder interface
6JKUUGEVKQPGZRNCKPUJQYVQWUGVJG'PEQFGTKPVGTHCEGHWPEVKQPCNKV[

8-1 Features and Functions .........................................................................................................................................92
8-2 Counter Present value ...........................................................................................................................................93
8-2-1 Upper count limit ................................................................................................................................................93
8-2-2 Counter clear, Counter enable, Over- and Underflow.........................................................................................94
8-3 Input Signal Types................................................................................................................................................95
8-3-1 Phase Differential ...............................................................................................................................................95
8-3-2 Up & Down.........................................................................................................................................................96
8-3-3 Pulse & Direction................................................................................................................................................97
8-4 Capturing ..............................................................................................................................................................98
8-4-1 Capture mask range...........................................................................................................................................100
8-5 Comparison.........................................................................................................................................................102
8-6 Counter clear ......................................................................................................................................................103
8-7 Interrupts.............................................................................................................................................................105
8-8 Memory Allocation.............................................................................................................................................107
8-8-1 I/O Allocation IR ..............................................................................................................................................107
8-8-2 I/O-Allocation DM ...........................................................................................................................................109
91
Features and Functions 5GEVKQP

(GCVWTGUCPF(WPEVKQPU
%QWPVGT6[RG 6JG)48256KUGSWKRRGFYKVJCP'PEQFGTKPVGTHCEGCDNGVQEQWPVQXGT
COCZKOWODKPCT[TCPIGQHDKVU#EEGRVKPIKPRWVRWNUGHTGSWGPEKGUQHWRVQ
M*\CNNQYURTGEKUGEQPVTQNQHHCUVOQVKQPU
+PRWV5KIPCN6[RG &GRGPFKPIQPVJGV[RGQHKPRWVUKIPCNVJCV[QWTCRRNKECVKQPTGSWKTGUCEJQKEG
ECPDGOCFGQWVQHVJTGGKPRWVUKIPCNV[RGU
• 2JCUG&KHHGTGPVKCN+PRWVU
OWNVKRNKECVKQPD[GKVJGTQT
TGHGTVQ
ő2JCUG&KHHGTGPVKCNŒ
• 7R&QYP2WNUG+PRWVU
TGHGTVQő7R&QYP
• 2WNUG&KTGEVKQP+PRWVU
TGHGTVQő2WNUG&KTGEVKQP
%CRVWTKPI 6YQUVCPFCTFFKIKVCNKPRWVU
CPFQTVJG2JCUG<KPRWVECPDG
CUUKIPGFVQVJG%QWPVGTHQTECRVWTGHWPEVKQPCNKV[
TGHGTVQ%CRVWTKPIŒ
%QORCTKUQP 6JGEWTTGPV%QWPVGTXCNWGECPDGEQORCTGFVQCEQORCTKUQPXCNWGTGUWNVKPI
KPVJGUGVVKPIQHCHNCIQTCPKPVGTTWRV
TGHGTVQő%QORCTKUQPŒ
%NGCTKPI%QWPVGT 6JGHQNNQYKPIUQWTEGUECPVTKIIGTCENGCTQHVJG%QWPVGT
TGHGTVQő%QWPVGT
ENGCTŒ
• 5QHVYCTGDKVKPVJG2.%
• 2JCUG<KPRWV
+PVGTTWRV 6JGEQWPVGTUWRRQTVUUQWTEGU
HNCIUVQIGPGTCVGCPKPVGTTWRVVQVJGNCFFGT
RTQITCO
UGGő+PVGTTWRVUŒ

92
Counter Present value 5GEVKQP

%QWPVGT2TGUGPVXCNWG
6JG%QWPVGTJCUVJGHWNNEQWPVKPITCPIG
DKVUCXCKNCDNGVQEQWPVWRQT
FQYPYCTFUDGVYGGPVJG.QYGT%QWPV.KOKV
CPFVJG7RRGT%QWPV.KOKV

QT

Lower Count Limit Upper Count Limit
0 0 4,294,967,295
(=00000000H ) (=FFFFFFFFH )
Up Counting
Counter Value
Down Counting
Underflow Overflow

&/
&/
%QWPVGT2TGUGPV8CNWG
4CPIGDGVYGGP*CPF((((((((*

7RRGTEQWPVNKOKV
%QPHKIWTKPI7RRGT%QWPV 6JG7RRGT%QWPV.KOKVECPDGEQPHKIWTGFDGVYGGPCPF
.KOKV
((((((((*$[FGHCWNVVJG7RRGT%QWPV.KOKVKUGSWCNVQ
6JG%QWPVGTCWVQOCVKECNN[TQNNUQXGTVQKHVJG%QWPVGT8CNWGGZEGGFUVJG
7RRGT%QWPV8CNWGCPFEQPVKPWGUEQWPVKPI+HVJG%QWPVGT8CNWGIQGUDGNQY
VJG%QWPVGTTQNNUQXGTVQVJG7RRGT%QWPV8CNWGCPFEQPVKPWGUEQWPVKPI

&/
&/
7RRGT%QWPV.KOKV
5GV7RRGT%QWPV.KOKVHQT%KTEWNCT%QWPVGTUDGVYGGP*CPF((((((((*
2GTFGHCWNV
*VJG7RRGT%QWPV.KOKVKUGSWCNVQ((((((((*

93
Counter clear, Counter enable, Over- and Underflow 5GEVKQP

%QWPVGTENGCT%QWPVGTGPCDNG1XGTCPF7PFGTHNQY

4GRQTVKPI1XGTHNQYCPF +HVJG%QWPVGT8CNWGIQGUCDQXGVJG7RRGT%QWPV.KOKVQTDGNQYCP
7PFGTHNQY 1XGTHNQYCPF7PFGTHNQYYKNNDGIGPGTCVGFTGURGEVKXGN[6JGUGCTGTGRQTVGF
KP+4

+4
%QWPVGT1XGTHNQY
0Q1XGTHNQY
1XGTHNQY
%QWPVGT7PFGTHNQY
0Q7PFGTHNQY
7PFGTHNQY

6JG%QWPVGTECPDGENGCTGFD[WUKPIVJG%QWPVGTENGCTDKV6JG1XGTCPF
7PFGTHNQYHNCIUECPDGENGCTGFD[WUKPIVJG1XGTCPF7PFGTHNQYTGUGVDKVU
6JG%QWPVGTECPDGGPCDNGCPFFKUCDNGFYKVJVJG%QWPVGT&KUCDNGDKV

+4
%QWPVGTENGCT
4KUKPIGFIG%QWPVGTKUENGCTGF
%QWPVGTFKUCDNG
%QWPVGTKUGPCDNGF
%QWPVGTKUFKUCDNGF
1XGTHNQYTGUGV
4KUKPIGFIG1XGTHNQYHNCIKU
ENGCTGF
7PFGTHNQYTGUGV
4KUKPIGFIG7PFGTHNQYHNCIKU
ENGCTGF

%CWVKQP 6JG%QWPVGTENGCTCPF1XGTCPF7PFGTHNQYTGUGVHWPEVKQPUCTGGZGEWVGF
YJGPCTKUKPIGFIGKUIGPGTCVGF
Æ-GGRVJGUGDKVUJKIJFWTKPI2.%
E[ENGQPN[
+VKURTQJKDKVGFVQWUGVJG%QWPVGTENGCTCPF1XGTCPF7PFGTHNQYTGUGV
HWPEVKQPUYJKNGVJG2JCUG<EQWPVGTENGCTHWPEVKQPKUGPCDNGF
+4

94
Input Signal Types 5GEVKQP

+PRWV5KIPCN6[RGU
6JGV[RGQHKPRWVTGSWKTGFHQTVJGCRRNKECVKQPKUUGNGEVGFD[OGCPUQHVYQDKVU
KP+4

+4
5KIPCNV[RG
: 2JCUG&KHHGTGPVKCN
7R&QYP
2WNUG&KTGEVKQP

2JCUG&KHHGTGPVKCN
2JCUG&KHHGTGPVKCN5KIPCNUCTGEQPPGEVGFVQVJGKPRWVU#$CPF<QHVJG'P
EQFGTKPVGTHCEG6JGEQWPVFKTGEVKQPKUFGVGTOKPGFD[VJGRJCUGCPINGDG
VYGGPKPRWV#CPFKPRWV$+HUKIPCN#NGCFUVQ$VJGEQWPVGTKPETGOGPVU+H
UKIPCN$NGCFUVQ#VJGEQWPVGTFGETGOGPVU
Encoder interface
Input A
A
Incremental encoder Input B

B
Input Z
Z
(Reset input)

(QTYCTFTQVCVKQP
%9 4GXGTUGTQVCVKQP
%%9
2JCUG
#
2JCUG
$

/WNVKRNKECVKQP

/WNVKRNKECVKQP

/WNVKRNKECVKQP

/WNVKRNKECVKQPZ $[FGHCWNVVJG%QWPVGTKUEQPHKIWTGFHQT/WNVKRNKECVKQPD[+HVJG%QWPVGTKU
WREQWPVKPI
UKIPCN#NGCFUVQUKIPCN$RWNUGUCTGVCMGPKPVQCEEQWPVD[VJG
%QWPVGTQPVJGTKUKPIGFIGUQHUKIPCN#+HVJG%QWPVGTKUFQYPEQWPVKPI
RWNUGUCTGVCMGPKPVQCEEQWPVQPVJGHCNNKPIGFIGUQHKPRWV#
/WNVKRNKECVKQPZ 6QKPETGCUGVJGTGUQNWVKQPQHVJGKPETGOGPVCNGPEQFGTVJG%QWPVGTECPDG
EQPHKIWTGFHQTOWNVKRNKECVKQPD[+HVJG%QWPVGTKUWREQWPVKPI
UKIPCN#NGCFU
VQUKIPCN$RWNUGUCTGVCMGPKPVQCEEQWPVD[VJG%QWPVGTQPVJGTKUKPICPF
HCNNKPIGFIGUQHUKIPCN#+HVJG%QWPVGTKUFQYPEQWPVKPIRWNUGUCTGCNUQ
VCMGPKPVQCEEQWPVQPVJGTKUKPICPFHCNNKPIGFIGUQHUKIPCN#
/WNVKRNKECVKQPZ 6QHWTVJGTKPETGCUGVJGTGUQNWVKQPQHVJGKPETGOGPVCNGPEQFGTOWNVKRNKECVKQPD[
UJQWNFDGUGNGEVGF+HVJG%QWPVGTKUWREQWPVKPI
UKIPCN#NGCFUVQUKIPCN$
95
Up & Down 5GEVKQP

RWNUGUCTGVCMGPKPVQCEEQWPVD[VJG%QWPVGTQPVJGTKUKPICPFHCNNKPIGFIGU
QHUKIPCN#CPFUKIPCN$+HVJGEQWPVGTKUFQYPEQWPVKPIRWNUGUCTGCNUQVCMGP
KPVQCEEQWPVQPVJGTKUKPICPFHCNNKPIGFIGUQHUKIPCN#CPF$

+4
/WNVKRNKECVKQP
Z
Z
Z
&QPQVWUG
0QVG 6JGUGVVKPIUCDQXGCTGGPCDNGFYJGP2JCUG&KHHGTGPVKCNOQFGKUUGNGEVGF+P
VJGQVJGTOQFGUVJGUGUGVVKPIUCTGKIPQTGF

7R&QYP
9KVJVJKU5KIPCN6[RGVJG%QWPVGTKPETGOGPVUQPVJGTKUKPIGFIGQHRWNUGUCR
RNKGFVQKPRWV#CPFFGETGOGPVUQPVJGTKUKPIGFIGQHRWNUGUCRRNKGFVQKPRWV
$
Encoder interface
Incremental encoder
or other pulse Input A
generator Increment pulse
Input B
Incremental encoder
or other pulse Input Z
generator Decrement pulse

+PETGOGPV
RWNUG

&GETGOGPV
RWNUG

96
Pulse & Direction 5GEVKQP

2WNUG&KTGEVKQP
+PVJKUEQPHKIWTCVKQPEQWPVRWNUGUCTGCRRNKGFVQKPRWV#6JGFKTGEVKQPQH
EQWPVKPIKUEQPVTQNNGFD[VJGNGXGNQHVJGUKIPCNCRRNKGFVQKPRWV$+HKPRWV$KU
JKIJVJG%QWPVGTKPETGOGPVUQPVJGTKUKPIGFIGUQHKPRWV#+HKPRWV$KUNQY
VJG%QWPVGTFGETGOGPVUQPVJGTKUKPIGFIGUQHKPRWV#
Encoder interface
Incremental encoder
or other pulse Input A
generator Count pulse
Input B
Sensor or
Input Z
switch Direction
control

%QWPVRWNUG
&KTGEVKQPEQPVTQN
*KIJ+PETGOGPV
.QY&GETGOGPV

97
Capturing 5GEVKQP

%CRVWTKPI
#PKPRWVEQPHKIWTGFVQJCXGECRVWTGHWPEVKQPCNKV[YKNNECRVWTGVJGEWTTGPV
%QWPVGT8CNWGKPVQQPGQHVJGVYQ%CRVWTG4GIKUVGTUQPCTKUKPIGFIGQHVJG
KPRWVUKIPCN'XGT[VKOGC%QWPVGT8CNWGKUECRVWTGFVJGEQPVGPVUQHVJG%CR
VWTG4GIKUVGTCTGQXGTYTKVVGPYKVJVJGPGY%CRVWTGF8CNWGCPFVJGQNF%CR
VWTGF8CNWGKUNQUV
6JGHQNNQYKPIKPRWVUECPDGWUGFVQVTKIIGTVJGECRVWTKPIHWPEVKQP
• 2JCUG<KPRWV
• +PRWV
• +PRWV
%QPHKIWTKPIKUFQPGKP+4

+4
%CRVWTG4GIKUVGTKPRWV
0QKPRWV
2JCUG<KPRWV
: 4GUGTXGF
+PRWV
+PRWV
: 4GUGTXGF
%CRVWTG4GIKUVGTKPRWV
0QKPRWV
2JCUG<KPRWV
: 4GUGTXGF
+PRWV
+PRWV
: 4GUGTXGF

6YQDKVUKP+4YKNNDGUGVKH%CRVWTKPIJCUQEEWTTGF

+4
%CRVWTG4GIKUVGTHNCI
%QWPVGTXCNWGKUECRVWTGFKP
4GIKUVGT
%CRVWTG4GIKUVGTHNCI
%QWPVGTXCNWGKUECRVWTGFKP
4GIKUVGT
0QVG 6JG%CRVWTG4GIKUVGTHNCIUCTGENGCTGFCWVQOCVKECNN[VJGHNCIUCTGCEVKXGFWT
KPIQPGUECPQPN[

6JGECRVWTGF%QWPVGTXCNWGKUUVQTGFKPQPGQHVJG%CRVWTGTGIKUVGTU

&/
&/
%CRVWTG4GIKUVGT
&/
&/
%CRVWTG4GIKUVGT
4CPIGDGVYGGP*CPF((((((((*

98
Capturing 5GEVKQP

4GURQPUGVKOG 6JGHQNNQYKPITGURQPUGVKOGUCTGFGHKPGFHQTECRVWTKPI
• +PRWVTGURQPUGVKOGFGNC[DGVYGGPVJGKPRWVCEVKXCVGFWPVKNVJGRQUKVKQPKU
ECRVWTGF
• %CRVWTGFRQUKVKQPVTCPUHGTVKOGFGNC[DGVYGGPVJGKPRWVCEVKXCVGFWPVKN
VJGECRVWTGFRQUKVKQPKUCXCKNCDNGKPVJGRTQITCO
4GURQPUGVKOG +PRWV 8CNWG
+PRWV 2JCUG< µU

µU

%CRVWTGFRQUKVKQP 2JCUG<
/KPKOWO OU

/CZKOWO 2.%E[ENG OU

99
Capture mask range 5GEVKQP

%CRVWTGOCUMTCPIG
6JGECRVWTGUKIPCNHQT%CRVWTGTGIKUVGTECPDGOCUMGFKPVYQTCPIGU#
/CUMTCPIGEQWPVGTYKNNEQWPVVJGPWODGTQHRWNUGUCHVGTKVJCUDGGPENGCTGF
6JKUKUKPFGRGPFGPVQHVJGFKTGEVKQP(KTUVVJGECRVWTGKPRWVKUOCUMGFWPVKNVJG
/CUMTCPIGEQWPVGTKUGSWCNVQVJGTGIKUVGTURGEKH[KPIVJGUVCTVQHVJGWPOCUM
RGTKQF
7POCUMEQWPVTGIKUVGT6JGECRVWTGKPRWVKUVJGPWPOCUMGFWPVKNVJG
/CUMTCPIGEQWPVGTKUGSWCNVQVJGTGIKUVGTURGEKH[KPIVJGUVCTVQHVJGOCUM
KPIRGTKQF
/CUMEQWPVTGIKUVGT
+HVJG%QWPVGTXCNWGKUECRVWTGFFWTKPIVJGWPOCUMRGTKQFVJGECRVWTGKPRWVKU
OCUMGFCICKPWPVKNVJG/CUMTCPIGEQWPVGTEQWPVUCICKPVJGPWODGTQH
RWNUGUURGEKHKGFKPVJG7POCUMEQWPVTGIKUVGT
+HVJG%QWPVGTXCNWGKUPQVECRVWTGFFWTKPIVJGWPOCUMRGTKQF
PQECRVWTG
UKIPCNVJGECRVWTGKPRWVKUOCUMGFWPVKNVJG/CUMTCPIGEQWPVGTEQWPVUVJG
PWODGTQHRWNUGUURGEKHKGFKPVJG/CUMEQWPVTGIKUVGT
6JGHQNNQYKPIGZCORNGUJQYUVJGDGJCXKQWTFGUETKDGFCDQXG
319 320 418 419 420 452 453 454 455 554 555 589 590
Mask range counter

clear
Capture 1
Capture Register 2
unmask-start flag
Capture Register 2
mask-start flag
Unmask Unmask
Capture 2
Unmask count 100 100 100

(Example 100)
135 135
Mask count 135
(Example 135)
1. 2. 3. 4. 5. 6. 7. 8. 9.

/CUMTCPIGEQWPVGTKUENGCTGF
%CRVWTGKPTGIKUVGTKIPQTGFFWGVQOCUMKPI
%CRVWTGKPTGIKUVGT

OCUMKPIQPN[HQTTGIKUVGT
/CUMKPIGPFGFCHVGTEQWPVU
7POCUMEQWPVTGIKUVGT
%CRVWTG4GIKUVGTWPOCUMUVCTVHNCIKUUGV
%CRVWTGKPTGIKUVGT

$GECWUGVJGEQWPVGTXCNWGJCUDGGPECRVWTGFVJGWPOCUMGFRGTKQFWPVKNVJG
/CUMEQWPVRGTKQFKUECPEGNGF
%CRVWTG4GIKUVGTWPOCUMUVCTVHNCIKUENGCTGF
'PFQHPQTOCNWPOCUMRGTKQFTGCEJGF
%CRVWTGKPTGIKUVGTKIPQTGFFWGVQOCUMKPI
/CUMKPIGPFGFCHVGTEQWPVU
7POCUMEQWPVTGIKUVGT
%CRVWTG4GIKUVGTWPOCUMUVCTVHNCIKUUGV
'PFQHWPOCUMRGTKQFTGCEJGF
%CRVWTG4GIKUVGTOCUMUVCTVHNCIKUUGV
0GYOCUMKPIUGSWGPEGKUUVCTVGF
100
Capture mask range 5GEVKQP

6YQRCTCOGVGTUURGEKH[VJGOCUMKPITCPIGQHVJGECRVWTGKPRWVQH%CRVWTG
TGIKUVGT
• 7POCUMEQWPVPWODGTQHEQWPVUCHVGTYJKEJVJGECRVWTGUKIPCNKUWP
OCUMGF
• /CUMEQWPVPWODGTQHEQWPVUCHVGTYJKEJVJGECRVWTGUKIPCNKUOCUMGF

&/
&/
7POCUMEQWPV
&/
&/
/CUMEQWPV

0QVG 6JG/CUMTCPIGRCTCOGVGTUOWUVDGUGVCEEQTFKPIVJGHQNNQYKPIEQPFKVKQPU
ŭ7POCUMEQWPV/CUMEQWPV
+HVJG7POCUMEQWPVTGIKUVGTKUUGVVQVJGECRVWTGKPRWVYKNNPGXGTDG
OCUMGF+PVJKUECUGVJGDGJCXKQWTQH%CRVWTGTGIKUVGTUCPFKUVJGUCOG

6JG/CUMTCPIGEQWPVGTECPDGENGCTGFYKVJVJG/CUMTCPIGEQWPVGTENGCT
DKV

+4
/CUMTCPIGEQWPVGTENGCT
4KUKPIGFIG%QWPVGTHQTOCUM
TCPIGKUENGCTGF

%CWVKQP 6JG/CUMTCPIGEQWPVGTENGCTHWPEVKQPKUGZGEWVGFYJGPCTKUKPIGFIGKU
IGPGTCVGF
Æ-GGRVJKUDKVJKIJFWTKPI2.%E[ENGQPN[
+VKURTQJKDKVGFVQWUGVJG/CUMTCPIEQWPVGTENGCTHWPEVKQPYJKNGVJG2JCUG<
EQWPVGTENGCTHWPEVKQPKUGPCDNGF
+4

6JGHQNNQYKPIDKVUURGEKH[VJGUVCVWUQHVJGOCUMKPI

+4
%CRVWTG4GIKUVGT
WPOCUMUVCTVHNCI
%CRVWTG4GIKUVGT
WPOCUMGF
%CRVWTG4GIKUVGT
OCUMUVCTVHNCI
%CRVWTG4GIKUVGTWPOCUM
EQWPVGPFGF

0QVG 6JG7POCUMCPF/CUMUVCTVHNCIUCTGCEVKXGFWTKPI2.%E[ENGQPN[

101
Comparison 5GEVKQP

%QORCTKUQP
6JGEQORCTKUQPHWPEVKQPGPCDNGUVJGEWTTGPVEQWPVGTXCNWGVQDGEQORCTGF
YKVJCRTGUGVXCNWG9JGPDQVJXCNWGUCTGVJGUCOGVJG%QORCTKUQPEQKPEK
FGPEGHNCIKUUGV6JGHNCIKUENGCTGFYKVJVJG%QORCTKUQPEQKPEKFGPEGENGCT
DKV

319 320 418 419 420 452 453 454 455 554 555 589 590
Comparison
coincidence flag
Comparison = 420
Comparison
coincidence clear
1. 2.

%QWPVGTXCNWGKUGSWCNVQVJG%QORCTKUQPXCNWG
6JG%QORCTKUQPEQKPEKFGPEGHNCIKUUGV
6JG%QORCTKUQPEQKPEKFGPEGENGCTDKVKUUGVTGUWNVKPIKPVJG%QORCTKUQPEQ
KPEKFGPEGHNCIVQDGTGUGV

&/
&/
%QORCTKUQPEQKPEKFGPEG
FCVC

+4
%QORCTKUQPEQKPEKFGPEGHNCI
QEEWTTGF

+4
%QORCTKUQPEQKPEKFGPEGENGCT
4KUKPIGFIG%QORCTKUQP
EQKPEKFGPEGHNCIKUENGCTGF

%CWVKQP 6JG%QORCTKUQPEQKPEKFGPEGENGCTHWPEVKQPKUGZGEWVGFYJGPCTKUKPIGFIGKU
IGPGTCVGF
Æ-GGRVJKUDKVJKIJFWTKPI2.%E[ENGQPN[
+VKURTQJKDKVGFVQWUGVJG%QORCTKUQPEQKPEKFGPEGENGCTHWPEVKQPYJKNGVJG
2JCUG<EQWPVGTENGCTHWPEVKQPKUGPCDNGF
+4
102
Counter clear 5GEVKQP

%QWPVGTENGCT
6JGHQNNQYKPIUQWTEGUECPENGCTVJG%QWPVGT8CNWGVQ\GTQ
• %QWPVGTENGCTDKV
• 2JCUG<KPRWV

Reset sources:
Counter clear
Phase-Z OR
AND
Reset Enable sources:
Phase-Z counter clear enable

0QVG 9JGPVJGEQWPVGTJCUDGGPENGCTGFYKVJVJG2JCUG<KPRWVVJGHWPEVKQPKU
FKUCDNGF6QGPCDNGVJGHWPEVKQPCICKPVJGGPCDNGDKVOWUVDGENGCTGFCPFUGV
CICKP
%CWVKQP 9JKNGVJG2JCUG<EQWPVGTENGCTHWPEVKQPKUGPCDNGFEJCPIGUVQVJGQVJGTDKVU
KP+4CTGRTQJKDKVGF

6JGHQNNQYKPIGZCORNGUJQYUVJGDGJCXKQWTQHJG2JCUG<ENGCTGPCDNGHWPE
VKQP

319 320 418 0 1 500 501 502 503 554 555 556 557 558
Phase-Z counter
clear enable
Phase-Z counter
clear flag
Phase-Z
1. 2. 3. 4. 5.

6JG2JCUG<KPRWVEQWPVGTENGCTHWPEVKQPKUGPCDNGF
6JG2JCUG<KPRWVENGCTUVJGEQWPVGT
6JG2JCUG<KPRWVEQWPVGTENGCTHWPEVKQPKUFKUCDNGF
6JG2JCUG<KPRWVFQGUPQVENGCTVJGEQWPVGTEQWPVGTENGCTHNCIKUUGV
6JG2JCUG<KPRWVEQWPVGTENGCTHWPEVKQPKUGPCDNGFCICKP
6JG2JCUG<KPRWVFQGUPQVENGCTVJGEQWPVGTEQWPVGTENGCTGPCDNGKUPQVUGV

103
Counter clear 5GEVKQP

6JGEQWPVGTENGCTHWPEVKQPUCTGFGHKPGFD[VYQDKVUKP+4

+4
%QWPVGTENGCT
4KUKPIGFIG%QWPVGTKU
ENGCTGF
2JCUG<EQWPVGTENGCTGPCDNG
2JCUG<+PRWVEQWPVGTENGCT
FKUCDNGF
2JCUG<+PRWVEQWPVGTENGCT
GPCDNGF

%CWVKQP 9JKNGVJG2JCUG<EQWPVGTENGCTHWPEVKQPKUGPCDNGFEJCPIGUVQVJGQVJGTDKVU
KP+4CTGRTQJKDKVGF

6JG2JCUG<EQWPVGTENGCTHNCIUKIPCNUYJGPVJGHWPEVKQPJCUDGGPGZGEWVGF

+4
2JCUG<KPRWVEQWPVGTENGCT
HNCI
2JCUG<KPRWVEQWPVGTENGCT
KUGZGEWVGF
0QVG 6JGHNCIKUTGUGVYJGPVJG2JCUG<KPRWVEQWPVGTENGCTHWPEVKQPKUGPCDNGF
CICKP
104
Interrupts 5GEVKQP

+PVGTTWRVU
6JGHQNNQYKPIUQWTEGUECPDGUGNGEVGFVQIGPGTCVGCPKPVGTTWRV
• %CRVWTGTGIKUVGTGXGPV
• %CRVWTGTGIKUVGTGXGPV
• %CRVWTGTGIKUVGTWPOCUMCPFOCUMGXGPVU
• 7PFGT1XGTHNQYHNCI
• %QORCTKUQP
9JGVJGTVJGGXGPVUNKUVGFCDQXGIGPGTCVGCPKPVGTTWRVECPDGEQPHKIWTGFYKVJ
GPCDNGDKVUKP+49JGPGXGTCDKVKPVJKUYQTFKUENGCTGF
VJGGXGPVYKNN
PQVTGUWNVKPCPKPVGTTWRV9JGPGXGTCDKVKPVJKUYQTFKUUGV
VJGGXGPVYKNN
TGUWNVKPCPKPVGTTWRV

+4
%CRVWTGKPVGTTWRVGPCDNG
&KUCDNGF
'PCDNGF
%CRVWTGKPVGTTWRVGPCDNG
&KUCDNGF
'PCDNGF
%CRVWTGKPRWVWPOCUMUVCTV
KPVGTTWRVGPCDNG
&KUCDNGF
'PCDNGF
%CRVWTGKPRWVOCUMUVCTV
KPVGTTWRVGPCDNG
&KUCDNGF
'PCDNGF
7PFGTHNQYQXGTHNQYHNCI10
KPVGTTWRVGPCDNG
&KUCDNGF
'PCDNGF
KPVGTTWRVGPCDNG
&KUCDNGF
'PCDNGF

0QVG 9JGPOQTGVJCPQPGGXGPVECPIGPGTCVGCPKPVGTTWRVVJGGZCEVGXGPVECPPQV
DGFGVGTOKPGFKPVJGKPVGTTWRVRTQITCOVJGUVCVWUQHVJGEQTTGURQPFKPIHNCIU
CTGPQVWRFCVGF[GV
0QVG 6JGECWUGQHCPKPVGTTWRVOWUVDGENGCTGFDGHQTGCP[PGZVGXGPVECPIGPGTCVG
CPKPVGTTWRV6JGHQNNQYKPIGXGPVUECPDGENGCTGFD[WUKPIVJGCRRTQRTKCVGTG
UGVDKVU
• 1XGTHNQY
+4
• 7PFGTHNQY
+4
• %QORCTKUQP
+4
5RGEKCNECUGCTGVJG7POCUMCPF/CUMUVCTVKPVGTTWRVUDGECWUGVJG7P
OCUMUVCTVKPVGTTWRVECPQPN[DGENGCTGFD[TGUGVVKPIVJGOCUMKPIOGEJCPKUO
VJG/CUMUVCTVKPVGTTWRVYKNNPQVDGIGPGTCVGFCHVGTVJG7POCUMUVCTVKPVGTTWRV
JCUDGGPIGPGTCVGF%QPUGSWGPEGKUVJCVGPCDNKPIDQVJKPVGTTWRVU
7POCUM
CPF/CUMUVCTVKUPQVCNNQYGF

105
Interrupts 5GEVKQP

0QVG 6QWUGVJGKPVGTTWRVHWPEVKQPQHVJG%QWPVGTGPCDNGVJGKPVGTTWRVHWPEVKQPQH
GZVGTPCNKPRWVQHVJG2.%&QPQVEQPPGEVUKIPCNUVQKPRWV

&/
(WPEVKQPUGNGEVKQPHQT
KPRWV

*GZ7UGFCUCPKPVGTTWRV
KPRWV

4GURQPUGVKOG 6JGKPVGTTWRVTGURQPUGVKOGKUFGHKPGFCUVJGVKOGTGSWKTGFHTQOVJG
QEEWTTGPEGQHVJGKPVGTTWRVWPVKNRTQITCOGZGEWVKQP
+VGO 8CNWG
+PVGTTWRVTGURQPUGVKOG OU
'ZCORNG 6JGHQNNQYKPIRTQITCOGPCDNGUCUWDTQWVKPGVQDGGZGEWVGFYJGPCECRVWTGQH
VJG%QWPVGT8CNWGKP%CRVWTGTGIKUVGTQEEWTU
First cycle
253.15
INT(89) Permits interrupt for interrupt
000 input 0 (input 00003)
000
#000E
MOV(21) Enable capture 1 interrupt

#0101 Select Phase-Zinput as capture-
48 register 1 signal
SBN(92)
000
Interrupt Subroutine will be executed when

program counter value is captured in register 1
RET(93)
END(01)

106
Memory Allocation 5GEVKQP

/GOQT[#NNQECVKQP
+1#NNQECVKQP+4
9QTF
U $KV
U (WPEVKQP 4GCF
YTKVG
+4 %CRVWTG4GIKUVGTHNCI 4GCF
%QWPVGTXCNWGKUECRVWTGFKP4GIKUVGT QPN[
0QVGVJGHNCIKUCEVKXGFWTKPI2.%E[ENGQPN[
%CRVWTG4GIKUVGTHNCI
%QWPVGTXCNWGKUECRVWTGFKP4GIKUVGT
0QVGVJGHNCIKUCEVKXGFWTKPI2.%E[ENGQPN[
%CRVWTG4GIKUVGTWPOCUMUVCTVHNCI
%CRVWTG4GIKUVGTWPOCUMGF
%CRVWTG4GIKUVGTOCUMUVCTVHNCI
%CRVWTG4GIKUVGTWPOCUMEQWPVGPFGF
%QWPVGT1XGTHNQY
%QWPVGTQXGTHNQY
%QWPVGT7PFGTHNQY
%QWPVGTWPFGTHNQY
%QORCTKUQPEQKPEKFGPEGHNCI
%QORCTKUQPEQKPEKFGPEGQEEWTTGF
2JCUG<KPRWVEQWPVGTENGCTHNCI
2JCUG<KPRWVEQWPVGTENGCTKUGZGEWVGF
VQ 0QVWUGF
+4 %CRVWTGKPVGTTWRVGPCDNG +PVGTTWRVFKUCDNGF 4GCF
%CRVWTGKPVGTTWRVGPCDNG +PVGTTWRVGPCDNGF YTKVG
%CRVWTGKPRWVWPOCUMUVCTVKPVGTTWRVGPCDNG
%CRVWTGKPRWVOCUMUVCTVKPVGTTWRVGPCDNG
7PFGTHNQYQXGTHNQYHNCI10KPVGTTWRVGPCDNG
%QORCTKUQPEQKPEKFGPEGKPVGTTWRVGPCDNG
VQ 2JCUGFKHHGTGPVKCNOWNVKRNKECVKQP
/WNVKRNKECVKQP
Z
Z
Z
4GUGTXGF

VQ %CRVWTGTGIKUVGTKPRWVUGNGEVKQP
%CRVWTGKPRWV
0QKPRWV
2JCUG<KPRWV
: 4GUGTXGF
+PRWV
+PRWV
: 4GUGTXGF
0QVG:&QPŏVECTG
107

9QTF
U $KV
U (WPEVKQP 4GCF
YTKVG
+4 VQ %CRVWTGTGIKUVGTKPRWVUGNGEVKQP 4GCF
EQPVKPWGF %CRVWTGKPRWV YTKVG
0QKPRWV
2JCUG<KPRWV
: 4GUGTXGF
+PRWV
+PRWV
: 4GUGTXGF
0QVG:&QPŏVECTG
VQ 'PEQFGTKPVGTHCEGUKIPCNV[RG
5KIPCNV[RG
: 2JCUG&KHHGTGPVKCN
7R&QYP
2WNUG&KTGEVKQP
0QVG:&QPŏVECTG
+4 %QWPVGTENGCT
4KUKPIGFIG%QWPVGTKUENGCTGF
/CUMTCPIGEQWPVGTENGCT
4KUKPIGFIG%QWPVGTHQTOCUMTCPIGKUENGCTGF
2JCUG<EQWPVGTENGCTGPCDNG
2JCUG<KPRWVEQWPVGTENGCTFKUCDNGF
2JCUG<KPRWVEQWPVGTENGCTGPCDNGF
0QVGVJKUHWPEVKQPDQVJTGSWKTGUCTKUKPIGFIGCPFVJGDKVVQDGUGVVQDGGPCDNGF
%QWPVGT&KUCDNG
%QWPVGTKUGPCDNGF
%QWPVGTKUFKUCDNGF
1XGTHNQY4GUGV
4KUKPIGFIG1XGTHNQYKUENGCTGF
7PFGTHNQY4GUGV
4KUKPIGFIG7PFGTHNQYKUENGCTGF
%QORCTKUQPEQKPEKFGPEGENGCT
4KUKPIGFIG%QORCTKUQPEQKPEKFGPEGHNCIKUENGCTGF
VQ 4GUGTXGF

108
I/O-Allocation DM 5GEVKQP

+1#NNQECVKQP&/
9QTF
U (WPEVKQP 4GCF
YTKVG
&/ %QWPVGTXCNWG
.5$DKVU 4GCF
&/
/5$DKVU QPN[
&/ %CRVWTGTGIKUVGT
.5$DKVU
&/
/5$DKVU
&/ %CRVWTGTGIKUVGT
.5$DKVU
&/
/5$DKVU
&/ %QORCTKUQPFCVC
.5$DKVU 4GCF
&/
/5$DKVU YTKVG
&/ (WNNEQWPVTGIKUVGT
.5$DKVU
&/
/5$DKVU
&/ 7POCUMEQWPV
.5$DKVU
&/
/5$DKVU
&/ /CUMEQWPV
.5$DKVU
&/
/5$DKVU
109

Appendix A
Instructions
6JG)48256UWRRQTVUDCUKECPFURGEKCNKPUVTWEVKQPU

.CFFGT&KCITCO+PUVTWEVKQPU &CVC/QXGOGPV+PUVTWEVKQPU
0COG /PGOQPKE 8CTKCVKQPU 0COG /PGOQPKE 8CTKCVKQPU
.1#& .& /18' /18
"
.1#&016 .&016 /18'016 /80
"
#0& #0& $.1%-64#05('4 :('4
"
#0&016 #0&016 $.1%-5'6 $5'6
"
14 14 &#6#':%*#0)' :%*)
"
14016 14016 5+0).'914&&+564+$76' &+56
"
#0&.1#& #0&.& &#6#%1..'%6 %1..
"
14.1#& 14.& /18'$+6 /18$
"
/18'&+)+6 /18&
"
$KV%QPVTQN+PUVTWEVKQPU
0COG /PGOQPKE 8CTKCVKQPU 5JKHV+PUVTWEVKQPU
176276 176 0COG /PGOQPKE 8CTKCVKQPU
176276016 176016 5*+(64')+56'4 5(6

5'6 5'6 914&5*+(6 95(6
"
4'5'6 45'6 #4+6*/'6+%5*+(6.'(6 #5.
"
-''2 -''2
#4+6*/'6+%5*+(64+)*6 #54
"
&+(('4'06+#6'72 &+(7
416#6'.'(6 41.
"
&+(('4'06+#6'&190 &+(&
416#6'4+)*6 414
"
10'&+)+65*+(6.'(6 5.&
"
5GSWGPEG%QPVTQN+PUVTWEVKQPU
10'&+)+65*+(64+)*6 54&
"
0COG /PGOQPKE 8CTKCVKQPU
4'8'45+$.'5*+(6 5(64
"
0112'4#6+10 012
4')+56'4
'0& '0&
#5;0%*4101755*+(6 #5(6
"
+06'4.1%- +.
4')+56'4
+06'4.1%-%.'#4 +.%

+PETGOGPV&GETGOGPV+PUVTWEVKQPU
,7/2 ,/2

,7/2'0& ,/'

+0%4'/'06 +0%
"
6KOGTCPF%QWPVGT+PUVTWEVKQPU &'%4'/'06 &'%
"
%CNEWNCVKQP+PUVTWEVKQPU
6+/'4 6+/
%1706'4 %06
$%&#&& #&&
"
4'8'45+$.'%1706'4 %064

$%&57$64#%6 57$
"
*+)*52''&6+/'4 6+/*

$%&/7.6+2.; /7.
"
10'/56+/'4 6/**
ŌŌ
$%&&+8+&' &+8
"
.10)6+/'4 6+/.
ŌŌ
$+0#4;#&& #&$
"
%QORCTKUQP+PUVTWEVKQPU $+0#4;57$64#%6 5$$
"
0COG /PGOQPKE 8CTKCVKQPU $+0#4;/7.6+2.; /.$
"
%1/2#4' %/2
$+0#4;&+8+&' &8$
"
6#$.'%1/2#4' 6%/2
" &17$.'$%&#&& #&&.
"
&17$.'%1/2#4' %/2.
&17$.'$%&57$64#%6 57$.
"
$.1%-%1/2#4' $%/2
" &17$.'$%&/7.6+2.; /7..
"
#4'#4#0)'%1/2#4' <%2
ŌŌ &17$.'$%&&+8+&' &+8.
"
&17$.'#4'#4#0)' <%2.
ŌŌ 0QVG'ZRCPUKQPKPUVTWEVKQPUYKVJFGHCWNVHWPEVKQP
%1/2#4' EQFGU
110
Instructions #RRGPFKZ#

%QPXGTUKQP+PUVTWEVKQPU 2WNUG%QPVTQN+PUVTWEVKQPU
$%&61$+0#4; $+0
" /1&'%10641. +0+
"
$+0#4;61$%& $%&
" *+)*52''&%1706'4 248
"
&17$.'$%&61&17$.' $+0.
" 284'#&
$+0#4; 4')+56'4%1/2#4+510 %6$.
"
&17$.'$+0#4;61 $%&.

" 6#$.'
&17$.'$%&
2WNUG1WVRWV%QPVTQN+PUVTWEVKQPU
&#6#&'%1&'4 /.2:
"
&#6#'0%1&'4 &/2:
"
52''&176276 52'&
"
#5%++%108'46 #5%
"
5'627.5'5 27.5
"
#5%++61*':#&'%+/#. *':
ŌŌ "
27.5'98#4+#$.' 29/
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0COG /PGOQPKE 8CTKCVKQPU 56'256#46 50:6

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"
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"
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+PVGTTWRV%QPVTQN+PUVTWEVKQPU

+06'44726%10641. 56+/
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111

Appendix B
Example programs
$ $CUKE470VGORNCVGRTQITCO
6JG2.%QRVKQPDQCTFHQT(
'CPF.+PXGTVGTURTQXKFGUCXGT[UKORNGKPVGTHCEGCPFFKTGEVYC[QH
EQPVTQNNKPIVJG470CPFURGGFTGHGTGPEGQHVJGKPXGTVGT
(QT.VJGUGNGEVGFUGSWGPEKPIOQFGHQTVJKUUCORNGVQYQTMJCUVQDG(EQORCVKDNG
&+HPQVURGEKCN
470UGSWGPEGTWNGUCTGCRRNKGF
YKVJ&QTVJGKPXGTVGTCNYC[UYCKVUHQTDQVJ470UKIPCNCPFC
FKIKVCNUKIPCNUGNGEVKPIURGGFTGHGTGPEG0QOKPCN.GXGNNKPIGVE6JKUECPDGUKOWNCVGFCNUQD[CEVKXCVKPIVJG
EQTTGURQPFKPIKPRWVVQIGVJGT
2CTCOGVGT 6[RG &GUETKRVKQP &GHCWNV
8CNWG
&/ 914&49 (A(TGSA4GHA5GV5RGGFTGHGTGPEGKPFGEKOCNXCNWG
&GEKOCN 7PKVUCEEQTFKPIVQP$[FGHCWNV*\
P
$+649 (A(9470A5)GPGTCVGU(QTYCTF4WP%QOOCPF

$+649 (A48470A5)GPGTCVGU4GXGTUG4WP%QOOCPF

$+649 (A0GV4GHA5GV4GHGTGPEGHTQO2.%DQCTF
&/
$+649 (A0GV%VTNA5GV4WPUKIPCNUHTQO2.%DQCTF
CPF
$ .CFFGT
[Program Name : MainProgram]
This SAMPLE generates basic RUN and Speed refere
nce to the inverter
[Section Name : MainProgram]

OYMC 2004
253.13 MOV
000000
(000000) (21)
P_On DM100 Preset Frequency Reference
Always FreqRef
DM2036 Setpoint : Frequency Reference (Unit depends on O1-03)
F7_Freq
000001
0.03 207.00 Bit : Terminal S1 activation. Forward RUN in 2wire
(000002)
P_DI3 F7_FWR
DI3 Bit :
000002
0.04 207.01 Bit : Terminal S2 activation. Reverse RUN in 2wire
(000004)
P_DI4 F7_RVRU
DI4 Bit :
000003 END
(01)
(000006)
000004 END Section always needed

$ /PGOQPKEU
LD P_On
MOV(21) FreqRefPreset F7_Freq_Ref_Set
LD P_DI3
OUT F7_FWRUN_S1
LD P_DI4
OUT F7_RVRUN_S2
END(01)
112
Example Programs #RRGPFKZ$
$ $CUKE4GCF2CTCOGVGTVGORNCVGRTQITCO
6JKU5#/2.'KUTGCFKPI&%$WU8QNVCIGQH(
'QT.
JXCNWG6JKUOQPKVQTKUCNTGCF[OCRRGFKPVJG
2.%CU&/DWVVJKUUCORNGUGTXGUVQUJQYJQYVQTGCF/'/1$75TGIKUVGTU
+VYTKVGUKP&/CU$%&%QORCTGVJGXCNWGYKVJ&/ŗ#NVJQWIJVJGUGNGEVKQPQHVJGVTCPUHGT\QPGUKU
HTGGHQTVJGWUGTKVKUTGEQOOGPFGFVQHQNNQYVJGTGEQOOGPFCVKQPU
&/CPF&/
9KVJ.&VQJCXGVJGUCOG470DGJCXKQWTCU(
2CTCOGVGT 6[RG &GUETKRVKQP 4GEQO
OGPFGF
$+6
49 6TCPUHGT
4GCF
10$GIKP4GCFKPIVWTPU1((YJGPVTCPUHGTKU
EQORNGVGF
$+6
49 6TCPUHGT
9TKVG
10$GIKPYTKVKPIVWTPU1((YJGPVTCPUHGTKUEQORNGVGF
$+6
49 +PXGTVGT4GCF[
GTTQTFGVGEVGFD[OWVWCNFKCIPQUKU
100QTOCN1((
'TTQT
$+6
49 6TCPUHGTEQORNGVKQPDKV
106TCPUHGTEQORNGVGFVWTPU1((YJGP
64#05('4EQOOCPFVWTPU1((
$+6
49 6TCPUHGTGTTQT
10'TTQT1((0QTOCN
$+6
49 6TCPUHGTDWU[
10$WU[1((4GCF[HQTVTCPUHGT
&/ 914&
49 &GUVKPCVKQPCFFTGUUHQTUVQTKPIVTCPUHGTTGFFCVC
FKIKVU$%&.
$%& 9GTGEQOOGPFWUKPI&/
&/ 914&
49 &GUVKPCVKQPCFFTGUUHQTUVQTKPIVTCPUHGTTGURQPUGFCVC
FKIKVU$%&-
$%& 9GTGEQOOGPFWUKPI&/
113
$ .CFFGT
This SAMPLE is reading DC Bus Voltage of F7Z (me
mobus 31h) value. This is available as directly mapped
register. But this is to show how to read memobus reg
isters

OYMC 2004
000000 253.13 BCD

(24)
(000000)
P_On DM1973
Always
DM100 DC Bus voltage monitor
F7_DCB
000001 Data structure for reading non-mapped parameter on i
(000002) nverter. In this case 31h (MEMOBUS) is DC Bus monit
or in F7
253.13 MOV
(21)
P_On &3
Always
DM1950 L area decided to be the standard for explicit transfer data Command operations
P_L_Are
MOV
(21)
#031
DM1951
MOV
(21)
&1
DM1952
MOV
(21)
#1950
DM2023 L area. Destination address for storing transferred data frames (4 digit BCD)
P_F7_W
MOV
(21)
#1970
DM2024 K area. Destination address for storing transfer response data. (4 digit BCD)
P_F7_R
000002 Transfer function Starts here
(000008)
255.00 DIFU
(13)
P_0_1s 1.00
0.1
_ _ _
1.00 206.03 210.00 Bit : Transfer command (Read) Keep ON during transfer (until not busy)
000003
(000010)
P_Transfe P_F7Rea _ _ _
Flag : Bit :
210.00 206.01 206.02
P_F7Rea P_Transfe P_Transfe

Bit : Flag : Flag :
114

206.02 FAL
000004
(06)
(000017)
P_Transfe 01
Flag :
0.05 FAL
000005
(000019) (06)
P_DI5 00
DI5
000006 RUN control signals

(000021)
P_DI3 F7_FWR
DI3 Bit :
000007
(000023)
P_DI4 F7_RVRU
DI4 Bit :
000008 END Section ... Always needed

(000025)
END
(01)

$ /PGOQPKEU
LD P_On
BCD(24) DM1973 F7_DCBusV_Monitor
' Data structure for reading non-mapped parameter on inverter. In this case 31h (MEMOBUS) is
DC Bus monitor in F7
LD P_On
MOV(21) &3 P_L_Area
MOV(21) #031 DM1951
MOV(21) &1 DM1952
MOV(21) #1950 P_F7_Write_Area
MOV(21) #1970 P_F7_Read_Area
' Transfer function Starts here
LD P_0_1s
DIFU(13) 1.00
LD 1.00
ANDNOT P_Transfer_Busy
LD P_F7Read
ANDNOT P_Transfer_Complete
ANDNOT P_Transfer_Error
ORLD
OUT P_F7Read
LD P_Transfer_Error
FAL(06) 01
LD P_DI5
FAL(06) 00
' RUN control signals
LD P_DI3
OUT F7_FWRUN_S1
LD P_DI4
OUT F7_RVRUN_S2
' END Section ... Always needed
END(01)
$ $CUKE9TKVG2CTCOGVGTVGORNCVGRTQITCO
6JG2.%QRVKQPDQCTFHQT(
'CPF.CUYGNNKPXGTVGTURTQXKFGUOCP[FKTGEVN[OCRRGFRCTCOGVGTU$WVKH
UQOGPQPOCRRGFRCTCOGVGTKUPGGFGFVQDGOQFKHKGFVJGPVJGVTCPUHGTHWPEVKQPCNKV[KUTGSWKTGF6JGUCOG
TWNGUNKMGQRGTCVQTVGTOKPCNCEVKQPCTGCRRNKGF5QOGRCTCOGVGTUCTGPQVRQUUKDNGVQEJCPIG&WTKPI4WPGVE
6JKU5#/2.'KUEJCPIKPITCOR
%Ō/'/1$75TGIKUVGTJ%JXCNWGUF[PCOKECNN[CVVJG
UCOGVKOGNKMGURGGFHTQOCUGSWGPEKPIRTQITCOWUKPICVKOGFUVCVGOCEJKPGUGSWGPEGT#NUQUJQYUVJGWUG
QHVJG2.%QWVRWVU#UVJGVYQTGIKUVGTUCTGEQPUGEWVKXGVJGYTKVKPIKUFQPGKPCUKPINGUJQVEQOOCPF
9KVJ.&VQJCXGVJGUCOG470DGJCXKQWTCU(
115

$ .CFFGT
This SAMPLE is changing Accel & Decel ramps in F7 (
C1-01 - 200h & C1-02 - 201h) values dinamically at the
same time like speed reference from a sequencing pr
ogram using a timed state machine sequencer. Also s
hows the use of the four outputs

Main program
000000 253.15 MOV

(21)
(000000)
P_First_C #1
First
28 Sequencer bit register
Sequenc
0.05
P_DI5
DI5
000001 Here starts the sequencer. Basically changing bits in c

(000003) ycle and activating Digital outputs in each State.
28.00 TIM
SeqState 000 Timer of state 0

State 0
#50
_ _ _
10.00 DO0
P_DO0
DO0
000002 28.01 TIM

(000006)
State 1
#20
_ _ _
10.01 DO1
P_DO1
DO1
000003 28.02 TIM

(000009)
State 2
#60
_ _ _
10.02 DO2
P_DO2
DO2
000004 28.03 TIM

(000012)
State 3
#40
_ _ _
116

10.03 DO3
P_DO3
DO3
TIM000 @ROL
000005
(000015) (27)
TimerStat 28 Sequencer bit register
Timer of Sequenc
TIM001
TimerStat
Timer of
TIM002
TimerStat
Timer of
TIM003
TimerStat
Timer of
28.00 28.01 28.02 28.03 MOV

000006
(21)
(000020)
SeqState SeqState SeqState SeqState #1
State 0 State 1 State 2 State 3
28 Sequencer bit register
Sequenc
000007 Here we use the machine state to apply different spee
(000025) ds and ramp times
28.00 MOV
(21)
SeqState &3000
State 0
F7_Freq
MOV
(21)
&50
DM100 Acceleration ramp F7

F7_Acce
MOV
(21)
&50
DM101 Deceleration Ramp F7

F7_Dece
28.01 MOV
000008
(21)
(000029)
SeqState &500
State 1
F7_Freq
MOV
(21)
&10

F7_Acce
MOV
(21)
&10

F7_Dece
117

000009 28.02 MOV
(21)
(000033)
SeqState &4000
State 2
F7_Freq
MOV
(21)
&150

F7_Acce
MOV
(21)
&150

F7_Dece
000010 28.03 MOV
(21)
(000037)
SeqState &500
State 3
F7_Freq
MOV
(21)
&5

F7_Acce
MOV
(21)
&5

F7_Dece
000011 Data structure for writing non-mapped parameter on in
(000041) verter. In this case 113h (MEMOBUS) is Accel Ramp,
we write in two consecutive.. 114h as well (decel). Sou
rce is DM1950. Response in DM1970
253.13 MOV
(21)
P_On &5
Always
DM1950 L area decided to be the standard for explicit transfer data Command operations
P_L_Are
MOV
(21)
#0200
DM1951
MOV
(21)
&2
DM1952
MOV
(21)

F7_Acce
DM1953
MOV
(21)

F7_Dece
DM1954
118

MOV
(21)
#1950
DM2023 L area. Destination address for storing transferred data frames (4 digit BCD)
P_F7_W
MOV
(21)
#1970
DM2024 K area. Destination address for storing transfer response data. (4 digit BCD)
P_F7_R
000012 Transfer function Starts here
(000049)
255.00 DIFU
(13)
P_0_1s 1.00 Write command bit

0.1 WriteCo
_ _ _
1.00 206.03 210.01 Bit : Transfer command (Write) Keep ON during transfer (until not busy)
000013
(000051)
WriteCom P_Transfe P_F7Writ _ _
Write Flag : Bit :
210.01 206.01 206.02
P_F7Writ P_Transfe P_Transfe

Bit : Flag : Flag :
000014 206.02 FAL

(06)
(000058)
P_Transfe 01
Flag :
000015 0.05 FAL

(06)
(000060)
P_DI5 00
DI5
000016 RUN control signals

(000062)
P_DI3 F7_FWR
DI3 Bit :

000017
(000064)
P_DI4 F7_RVRU
DI4 Bit :
000018 END Section ... Always needed

(000066)
END
(01)
119

$ /PGOQPKEU
LD P_First_Cycle
OR P_DI5
MOV(21) #1 SequencerReg
' Here starts the sequencer. Basically changing bits in cycle and activating Digital outputs
in each State.
LD SeqState0
TIM 000 #50
OUT P_DO0
LD SeqState1
TIM 001 #20
OUT P_DO1
LD SeqState2
TIM 002 #60
OUT P_DO2
LD SeqState3
TIM 003 #40
OUT P_DO3
LD TimerState0
OR TimerState1
OR TimerState2
OR TimerState3
@ROL(27) SequencerReg
LDNOT SeqState0
ANDNOT SeqState1
ANDNOT SeqState2
ANDNOT SeqState3
MOV(21) #1 SequencerReg
' Here we use the machine state to apply different speeds and ramp times
LD SeqState0
MOV(21) &3000 F7_Freq_Ref_Set
MOV(21) &50 F7_Accel_Ramp
MOV(21) &50 F7_Decel_Ramp
LD SeqState1
LD SeqState2
LD SeqState3
' Data structure for writing non-mapped parameter on inverter. In this case 113h (MEMOBUS) is
Accel Ramp, we write in two consecutive.. 114h as well (decel). Source is DM1950. Response in
DM1970
LD P_On
MOV(21) &5 P_L_Area
MOV(21) #0200 DM1951
MOV(21) &2 DM1952
MOV(21) F7_Accel_Ramp DM1953
MOV(21) F7_Decel_Ramp DM1954
MOV(21) #1950 P_F7_Write_Area
MOV(21) #1970 P_F7_Read_Area
' Transfer function Starts here
LD P_0_1s
DIFU(13) WriteCommand
LD WriteCommand
ANDNOT P_Transfer_Busy
LD P_F7Write
ANDNOT P_Transfer_Complete
ANDNOT P_Transfer_Error
ORLD
OUT P_F7Write
LD P_Transfer_Error
FAL(06) 01
LD P_DI5
FAL(06) 00
' RUN control signals
LD P_DI3
OUT F7_FWRUN_S1
LD P_DI4
OUT F7_RVRUN_S2
' END Section ... Always needed
END(01)
120
$ (2.%5#/2.'$CUKE2QUKVKQPKPIVGORNCVGRTQITCO
WUKPI2.%*KIJ5RGGF+PRWVUHQT.QY(TGS'PEQFGT
6JG2.%QRVKQPDQCTFHQT(<KPXGTVGTURTQXKFGUVJGPGGFGFJCTFYCTGVQRGTHQTOCDCUKERQUKVKQPEQPVTQN
UQHVYCTG9GECPTGCFCPGPEQFGTYKVJ#CPF$RJCUGUKIPCNUFKIKVCNKPRWVUCPFJCXGEQORNGVGEQPVTQNQPVJG
KPXGTVGTURGGFCPF4WPEQOOCPFU9GJCXGCFFKVKQPCN+1CPFHWNN[RTQITCOOCDNG2.%6JCVŏUCNNPGGFGFHQT
CRQUKVKQPEQPVTQNNGTCRRNKECVKQP

9KVJ(<YGJCXGVJTGGQRVKQPUVQRGTHQTORQUKVKQPKPI
• #8#+.#$.'5#/2.'6JGGZCORNGRTQXKFGFDGNQYWUGUVJGUVCPFCTF2.%*KIJURGGFKPRWVUHQTNQY
HTGSGPEQFGTEQWPVKPI
KPRWVU2.%RGTHQTOUVJGRQUKVKQPEQPVTQNNQQR8FEGPEQFGTECPDGWUGF
WRVQ-*\6JKUGPEQFGTKUV[RKECNN[GZVGTPCNVQVJGOQVQTRNCEGFKPUQOGRQUKVKQPKPVJGOCEJKPG6JKU
RTQITCOECPYQTMKP1RGPNQQRQT%NQUGFNQQRRTQXKFKPIDGUVRGTHQTOCPEGYKVJCP[NQCFKPENQUGFNQQR
+PQRGPNQQRJKIJKPGTVKCNQCFUCTGFKHHKEWNVVQJCPFNGYKVJJKIJF[PCOKEU

• 70&'4&'8'.12/'066JGPGY-*\'PEQFGT+PRWVU5CORNGRTQITCOHQTRQUKVKQPKPICTGWPFGT
FGXGNQROGPV2.%RGTHQTOUVJGRQUKVKQPEQPVTQNNQQR66.NKPGFTKXGTGPEQFGTECPDGWUGFWRVQ-*\
+PUQOGECUGUVJGUCOGGPEQFGTWUGFHQTENQUGFNQQRXGEVQTEQPVTQNECPDGWUGFHQTVJGRQUKVKQPKPI
NQQR6JKUKUVJGCFXCPVCIGQHWUKPIVJKUJKIJURGGFEQWPVGTKPRWV6JGFKUCFXCPVCIGKUVJCVVJGPWO
DGTUVQDGJCPFNGFCTGDKIIGT
CUEQWPVKPIKUVKOGUHCUVGTCPFOQTGVJCPVYQ2.%TGIKUVGTUCTG
PGGFGFVQUVQTGRQUKVKQPCPFTGIKUVGTECNEWNCVKQPUCTGTGSWKTGF

• 70&'4&'8'.12/'062QUKVKQPKPIFKTGEVN[EQPVTQNNGFD[VJGKPXGTVGTGPEQFGTKPRWVKUCNUQWPFGT
FGXGNQROGPVVJKUKPXGTVGTGPEQFGTKPRWVECPPQVDGJCPFNGFFKTGEVN[D[VJG2.%FWGVQJCTFYCTGNKOKVC
VKQPU5RGEKCNHKTOYCTGHQTVJG(< KUTGSWKTGFVQRGTHQTORQUKVKQPKPIYKVJKPVJGKPXGTVGTDWVYKVJVJG
CFXCPVCIGVJCVVJG2.%FQGUPŏVPGGFVQRGTHQTOVJGEQPVTQNNQQRUHTGGKPIWRVJG2.%HTQOVJKUVCUMCPF
RTQXKFKPICOQTGRQYGTHWNRQUKVKQPKPIEQPVTQNNQQRU[PEJTQPK\GFYKVJVJGKPXGTVGTE[ENG6JG2.%YKNN
EQQTFKPCVGVJGRQUKVKQPUGVRQKPVUCPFOCEJKPGUGSWGPEGKPVJKUECUG

+PVJGRTQXKFGFUCORNGVJGEQPVTQNNQQRKURGTHQTOGFD[VJGNCFFGTRTQITCO6JGUGNGEVGFEQPVTQNNQQR
RGTHQTOUCXGT[UKORNG2EQPVTQNNGTQPVJGRQUKVKQPGTTQTDGVYGGPFGOCPFGFCPFTGCNRQUKVKQPU6JGPKVNKOKVU
CPFCRRNKGUCHTGSWGPE[TGHGTGPEGRTQRQTVKQPCNVQKV9KVJVJKUUGVWRYKVJQWVRTQHKNGIGPGTCVQT
CEEGNGTCVKQP
FGEGNGTCVKQPIGPGTCVGFD[RQUKVKQPTGHGTGPEGECNEWNCVKQPUYGJCXGCEQORCEVRQUKVKQPEQPVTQNNGTUQHVYCTG
VJCVYKNNUQNXGCNQVQHUKORNGRQKPVVQRQKPVCRRNKECVKQPU
$ /'6*1&
• 9GCRRN[FKTGEVN[VJGRQUKVKQPFKHHGTGPEGCUURGGFTGHGTGPEGYGJCXGRTQITCOOGFUQOGCEEGNGTC
VKQPQPVJGKPXGTVGT
UQKVYKNNTCORWRCVVJCVFGHKPGFTCVG6JGKPXGTVGTJCU\GTQFGEGNGTCVKQPUQYJGP
VJGRQUKVKQPKUTGCEJKPIVJGRQKPVCWVQOCVKECNN[VJGURGGFKUTGFWEGFITCFWCNN[IGPGTCVKPIUQOGPQP
NKPGCTTCORDWVUVQRRKPIKPVJGEQTTGEVRQUKVKQP
• #UVJG2.%ECPPQVJCPFNGDKIPGICVKXGPWODGTUYGJCXGVQCRRN[CPQHHUGVRQUKVKQPCPFYQTMCTQWPF
CPKPVGTOGFKCVGRQKPVUECNKPIHQTVJGWUGT
$ ('#674'5
• 'CU[VQWUG
• %QPVKPWQWUNQQR
• 5ECNGFUGVRQKPVD[00HCEVQT
• +P2QUKVKQPYKPFQYU6JGUGEQPFQPGECPDGFGHKPGFDKIIGTHQTHCUVGTUGSWGPEGEQPVTQN
• 8CTKCDNG2)CKP
• 2QUKVKQPA4GUGVCXCKNCDNG
• *QOG
QTKIKPUGCTEJUGSWGPEGYKVJHCUVHQTYCTFCPFUNQYDCEMYCTFUUGGM&GHKPCDNGURGGFU
• *QOG
QTKIKPVKOGQWVEQPVTQN
121

$ .+/+6#6+105
• +P1RGP.QQREQPVTQNOGVJQFQH(<YKVJQPN[2V[RGQHEQPVTQNNGTKPGTVKCNNQCFUOKIJVPQVDGYGNN
JCPFNGFD[VJGUQHVYCTGNGCFKPIVQQUEKNNCVKQP.QYGTKPI2ICKPECPJGNRDWVVJKUNQYGTUF[PCOKEUCU
YGNN+VKURTGHGTTGFUQOGMKPFQHHTKEVKQPCNNQCF/QUVCRRNKECVKQPUVJCVWUGCJKIJIGCTTCVKQIGCTOQVQT
YKNNDGOQUVN[EQPVTQNNGF6QEQPVTQNKPGTVKCNNQCFUCOQTGUQRJKUVKECVGFEQPVTQNNQQRUJQWNFDGRTQ
ITCOOGF7UKPICHTGGOQVQTECPNGCFVQKPUVCDKNKV[%NQUGF.QQREQPVTQNOGVJQFKUTGEQOOGPFGFHQT
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DCEMCPFVJGRQUKVKQPKPICVVJGUCOGV[RGFWGVQHTGSWGPE[NKOKVQH-*\KPVJGEQWPVGTKPRWVUQHVJG
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$ .CFFGT/PGOQPKEU
7UGTARCTCOGVGTA+PKV
000000 [Program Name : User_Parameter_Init]
(000000) Sample for positioning control
[Section Name : User_Parameter_Init]

OYMC 2004
This section initializes positioner parameters to some d

efault values. Scaling is in pulses directly 1/1
253.15 MOV
(21)
P_First_C #0
First
DM17 Narrow position window for positioner High word
In_Positi
MOV
(21)
#2
DM16 Narrow position window for positioner

In_Positi
MOV
(21)
#0
DM19 Wider position window for sequence High word

In_Positi
MOV
(21)
#20
DM18 Wider Position window for sequence

In_Positi
MOV
(21)
#1
DM12 SP&PV Scale Numerator

SP_PV_
MOV
(21)
#0
DM13 SP&PV Scale Numerator high word

SP_PV_
MOV
(21)
#1
DM14 SP&PV Scale Denominator

SP_PV_
MOV
(21)
#0
DM15 SP&PV Scale Denominator high word

SP_PV_
MOV
(21)
#20
DM24 P_GAIN of positioner

P_Gain_i
MOV
(21)
#2000
DM22 Max_Frequency
Max_Fre

126

MOV
(21)
#0
DM23 Max_Frequency High

Max_Fre
MOV
(21)
#0
DM26 Max_Pos_Error
Max_Po
MOV
(21)
#1
DM27 Max_Pos_Error High

Max_Po
MOV
(21)
#360
DM28 PV Scale for rotary

PV_Rota
MOV
(21)
#0
DM29 PV Scale for rotary wrap high

PV_Rota
MOV
(21)
#0
DM20 Position to move after home

Home_In f
MOV
(21)
&50
DM30 Speed reference for the fast homing aproach. Search for
Home_F
MOV
(21)
&20
DM31 Speed reference for the second home phase. Slow release of
Home_S
MOV
(21)
#150
DM32 Max time allowed for homing process. If exceeded then Home_Error is
Home_P process

127

' This section initializes positioner parameters to some default values. Scaling is in pulses
directly 1/1
LD P_First_Cycle
MOV(21) #0 In_Position1_Window_H
MOV(21) #2 In_Position1_Window
MOV(21) #0 In_Position2_Window_H
MOV(21) #20 In_Position2_Window
MOV(21) #1 SP_PV_Scale_N1
MOV(21) #0 SP_PV_Scale_N1_H
MOV(21) #1 SP_PV_Scaled_N2
MOV(21) #0 SP_PV_Scaled_N2_H
MOV(21) #20 P_Gain_in_Tenth
MOV(21) #2000 Max_Frequency
MOV(21) #0 Max_Frequency_H
MOV(21) #0 Max_Pos_Error
MOV(21) #1 Max_Pos_Error_H
MOV(21) #360 PV_Rotary_Scale
MOV(21) #0 PV_Rotary_Scale_H
MOV(21) #0 Home_Initial_Pos
MOV(21) &50 Home_Fast_Speed
MOV(21) &20 Home_Seek_Speed
MOV(21) #150 Home_Process_MaxTime

7UGTA#RRNKECVKQP
000000 [Program Name : User_Application]
[Section Name : User_Application]

OYMC 2004
This simple application waits for some inputs to genera

te Home (IN3) and then IN4 controls between 2 positio
ns
0.03 3.00 SET
P_DI3 Home_O 2.02 Request Home when 1. Goes to zero once finished
DI3 Home has Home_R
_ _ _ _ _ _ _ _ _ _ _ _
000001 3.00 DIFU

(13)
(000024)
Home_O 6.00 Home_OK rising edge
Home has P_Home
_ _ _ _
000002 6.00 SET

(000026)
P_Home 2.00 0=speed 1=position
Home_O Control_
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
000003 0.04 3.00 @MOV

(21)
(000028)
P_DI4 Home_O #360
DI4 Home has
DM10 SP_Scaled
SP_Scal
0.04 3.00 @MOV
000004 (21)
(000031)
P_DI4 Home_O #2880
DI4 Home has
DM10 SP_Scaled
SP_Scal

' This simple application waits for some inputs to generate Home (IN3) and then IN4 controls
between 2 positions
LD P_DI3
ANDNOT Home_OK
SET Home_Request
LD Home_OK
DIFU(13) P_HomeOK_Edge
LD P_HomeOK_Edge
SET Control_Mode
LD P_DI4
AND Home_OK
@MOV(21) #360 SP_Scaled
LDNOT P_DI4
AND Home_OK
@MOV(21) #2880 SP_Scaled
128

2QUA.QQR
000000 [Program Name : Pos_Loop]
[Section Name : Pos_Loop]

OYMC 2004
POSITION LOOP SECTION
2.00 DIFU
(13)
Control_M 4.00 Change from speed to position transition one scan

0=speed Speed2P
_ _ _ _
000001 2.00 DIFD

(14)
(000037)
Control_M 4.01 Change from position to speed transition 1 scan
0=speed Pos2Spe
_ _ _ _
000002 2.02 DIFU

(13)
(000039)
Home_Re 4.02 Transition for Home Request
Request Home_R
_ _ _
000003 POSITION : In positioning... or Homing ... ramp param

(000041) eters n21 and n22 are used. In speed n19 and n20
2.00 207.04 Bit : Terminal S5 activation (select with H1-03)
Control_M F7_S5
0=speed Bit :
2.02
Home_Re
Request

129

000004 POSITION : RESET positioner. Maximum positive cou
(000044) nter value. Startup value is 8388607.
253.15 252.00 High Speed Counter Reset
P_First_C P_Count_
First High
4.00 MOV
(21)
Speed2P #838
Change
DM55 HighSpeedCounter_MAX_VALUE High Word
HSC_Ma
2.01
Position_
Position
MOV
(21)
#8607
DM54 HighSpeedCounter_MAX_VALUE
HSC_Ma
XFER
(70)
#2
HSC_Ma
DM56 HighSpeedCounter position offset High word
HSC_Po
MOV
(21)
#0
DM10 SP_Scaled
SP_Scal
MOV
(21)
#0
DM11 SP_Scaled H
SP_Scal
MOV
(21)
#0
DM40 PV_Final
PV_Scal
MOV
(21)
#0
DM41 PV_Final M
PV_Scal
RSET
3.00 Home has been completed

Home_O
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
_ _ _
RSET
3.01 Home Timed Out without completion

Home_E
_ _ _ _ _ _

_ _ _
130

RSET
2.01 Position Reset when set to 1

Position
_ _ _ _
000006 SPEED : RESET RUN and speed command on chang

(000058) e to speed control
4.01 MOV
(21)
Pos2Spee &100
Change
F7_Freq
RSET
4.03 Fwd Run generated by positioner

Pos_Run
_ _
RSET
4.04 Rev Run generated by positioner

Pos_Run
_ _ _
RSET
2.03 Fwd Run to be used in speed mode

Speed_
_ _ _
RSET
2.04 Rev Run to be used in speed mode

Speed_
_ _ _
131

000007 POSITION : Making the present position all positive. R
(000064) ange is 0-2*8388607.
253.13 249.15 CLC

(41)
P_On
Always
ADDL
(54)
HSC_Ma
248 High Speed Counter Present Value Low Word
P_Count
DM52 Present Value
PV
249.15 ANDW
(34)
249 High Speed Counter Present Value High Word
P_Count
#FFF
DM51 Present Calue Calc high word intermediate step

PV_Calc
MOV
(21)
248 High Speed Counter Present Value Low Word
P_Count
DM50 Present Value Calculation intermediate step
PV_Calc
CLC
(41)
SUBL
(55)
HSC_Ma
DM50 Present Value Calculation intermediate step
PV_Calc
DM52 Present Value
PV

132

000008 POSITION : Scaling Setpoint and reading
(000075)
253.13 CLC
(41)
P_On
Always
MULL
(56)
DM10 SP_Scaled
SP_Scal
SP_PV_
DM66 SP_Scaled_Final
SP_Scal
CLC
(41)
DIVL
(57)
SP_Scal
SP_PV_
SP_Scal
CLC
(41)
ADDL
(54)
SP_Scal
HSC_Ma
HSC_Po
CLC
(41)
SUBL
(55)
DM52 Present Value
PV
HSC_Ma
DM64 PV_Scaled_First
PV_Scal
CLC
(41)
DIV
(33)
SP_PV_
#2
DM70 SP_PV_Scale_N2_Half
SP_PV_
MOV
(21)
#0
DM71 SP_PV_Scale_N2_Half H
SP_PV_
CLC
(41)
133

ADDL
(54)
PV_Scal
DM70 SP_PV_Scale_N2_Half
SP_PV_
PV_Scal
CLC
(41)
MULL
(56)
PV_Scal
SP_PV_
DM40 PV_Final
PV_Scal
CLC
(41)
DIVL
(57)
DM40 PV_Final
PV_Scal
SP_PV_
DM40 PV_Final
PV_Scal
CLC
(41)
DIVL
(57)
DM40 PV_Final
PV_Scal
DM28 PV Scale for rotary wrap
PV_Rota
DM44 PV Whole Turns
PV_Rota
000009 POSITION :Finding the error and the direction.
(000095)
2.00 SUBL
(55)
Control_M DM52 Present Value

0=speed PV
HSC_Po
DM58 Positioning error
POS_Err
255.04 SUBL
(55)
P_CY DM56 HighSpeedCounter position offset High word

Carry HSC_Po
DM52 Present Value
PV
POS_Err
4.06 Calculation error has been generated
Negative_ _ _
_
_
_ _ _ _
Calculatio

134

000010 POSITION : Defining a acceptable positioning window.
(000100)
2.00 CMPL
(60)
Control_M DM58 Positioning error

0=speed POS_Err
DM16 Narrow position window for positioner
In_Positi
255.07 3.02 Demand position and present value are inside defined window DM500. Used by
positioner for RUN
P_LT In_Positio _ _ _
Less Demand
CMPL
(60)

POS_Err
DM18 Wider Position window for sequence
In_Positi
255.07 3.03 Second window can be bigger DM502. Used for quick sequence control
P_LT In_Positio
Less Second
000011 POSITION : Performing a P-controller.

(000109)
2.00 CMPL
(60)
Control_M DM58 Positioning error

0=speed POS_Err
DM26 Max_Pos_Error
Max_Po
255.05 XFER
(70)
P_GT #2
Greater
DM26 Max_Pos_Error
Max_Po
POS_Err
CLC
(41)
MULL
(56)

POS_Err
DM24 P_GAIN of positioner
P_Gain_i
DM60 P_Gain Output from positioner
P_Gain_
SRD
(75)

P_Gain_
DM63 P_Gain Output from positioner high word
P_Gain_

135

000012 POSITION : Controlling Position . Gives out minimum
(000118) 0.1%. Generates Position RUNs
2.00 3.02 4.06 4.03 Fwd Run generated by positioner
Control_M In_Positio Negative_ Pos_Run _ _
0=speed Demand Calculatio Fwd Run
4.06 4.04 Rev Run generated by positioner
Negative_ Pos_Run _ _ _
Calculatio Rev Run
CMPL
(60)

P_Gain_
DM22 Max_Frequency
Max_Fre
255.05 BIN
(23)
P_GT DM60 P_Gain Output from positioner

Greater P_Gain_
F7_Freq
255.05 BIN
(23)
P_GT DM22 Max_Frequency

Greater Max_Fre
F7_Freq
CMP
(20)

F7_Freq
&10
255.07 MOV
(21)
P_LT &0
Less
F7_Freq
000013 SPEED : Zero speed demand
(000137)
2.00 CMP
(20)
Control_M DM2036 Setpoint : Frequency Reference (Unit depends on O1-03)

0=speed F7_Freq
#0
255.05 4.05 Zero Speed demanded
P_GT Zero_Spe
Greater Zero
000014 FINAL RUN COMMANDS

(000141)
4.03 2.00 207.00 Bit : Terminal S1 activation. Forward RUN in 2wire
Pos_Run Control_M F7_FWR

Fwd Run 0=speed Bit :
2.03 2.00
Speed_R Control_M
Fwd Run 0=speed
136

000015
4.04 2.00 207.01 Bit : Terminal S2 activation. Reverse RUN in 2wire
(000147)
Pos_Run Control_M F7_RVRU
Rev Run 0=speed Bit :
2.04 2.00
Speed_R Control_M
Rev Run 0=speed

' POSITION LOOP SECTION
LD Control_Mode
DIFU(13) Speed2Pos
LD Control_Mode
DIFD(14) Pos2Speed
LD Home_Request
DIFU(13) Home_Req_Change
' POSITION : In positioning... or Homing ... ramp parameters n21 and n22 are used. In speed
n19 and n20
LD Control_Mode
OR Home_Request
OUT F7_S5
' POSITION : RESET positioner. Maximum positive counter value. Startup value is 8388607.
LD P_First_Cycle
OR Speed2Pos
OR Position_Reset
OUT P_Count_Reset
MOV(21) #838 HSC_Max_Value_H
MOV(21) #8607 HSC_Max_Value
XFER(70) #2 HSC_Max_Value HSC_Pos_Offset
MOV(21) #0 SP_Scaled
MOV(21) #0 SP_Scaled_H
MOV(21) #0 PV_Scaled_Final
MOV(21) #0 PV_Scale_Final_M
RSET Home_OK
RSET Home_Error
RSET Position_Reset
' SPEED : RESET RUN and speed command on change to speed control
LD Pos2Speed
RSET Pos_Run_Fwd
RSET Pos_Run_Rev
RSET Speed_Run_Fwd
RSET Speed_Run_Rev
' POSITION : Making the present position all positive. Range is 0-2*8388607.
LD P_On
OUT TR0
ANDNOT 249.15
CLC(41)
ADDL(54) HSC_Max_Value P_Count_PV_Lo PV
LD TR0
AND 249.15
ANDW(34) P_Count_PV_Hi #FFF PV_Calc_H
MOV(21) P_Count_PV_Lo PV_Calc
CLC(41)
SUBL(55) HSC_Max_Value PV_Calc PV
' POSITION : Scaling Setpoint and reading
LD P_On
CLC(41)
MULL(56) SP_Scaled SP_PV_Scale_N1 SP_Scaled_Final
CLC(41)
DIVL(57) SP_Scaled_Final SP_PV_Scaled_N2 SP_Scaled_Final
CLC(41)
ADDL(54) SP_Scaled_Final HSC_Max_Value HSC_Pos_Offset
CLC(41)
SUBL(55) PV HSC_Max_Value PV_Scaled_First
CLC(41)
DIV(33) SP_PV_Scaled_N2 #2 SP_PV_Scale_N2
MOV(21) #0 SP_PV_Scale_N2_H
CLC(41)
ADDL(54) PV_Scaled_First SP_PV_Scale_N2 PV_Scaled_First
CLC(41)
MULL(56) PV_Scaled_First SP_PV_Scaled_N2 PV_Scaled_Final
CLC(41)
DIVL(57) PV_Scaled_Final SP_PV_Scale_N1 PV_Scaled_Final
CLC(41)
DIVL(57) PV_Scaled_Final PV_Rotary_Scale PV_Rotary_Turns
' POSITION :Finding the error and the direction.
LD Control_Mode
137

SUBL(55) PV HSC_Pos_Offset POS_Error
AND P_CY
SUBL(55) HSC_Pos_Offset PV POS_Error
OUT Negative_Error
' POSITION : Defining a acceptable positioning window.
LD Control_Mode
OUT TR0
CMPL(60) POS_Error In_Position1_Window
AND P_LT
OUT In_Position1
LD TR0
CMPL(60) POS_Error In_Position2_Window
AND P_LT
OUT In_Position2
' POSITION : Performing a P-controller.
LD Control_Mode
OUT TR0
CMPL(60) POS_Error Max_Pos_Error
AND P_GT
XFER(70) #2 Max_Pos_Error POS_Error
LD TR0
CLC(41)
MULL(56) POS_Error P_Gain_in_Tenth P_Gain_Out
SRD(75) P_Gain_Out P_Gain_Out_H
' POSITION : Controlling Position . Gives out minimum 0.1%. Generates Position RUNs
LD Control_Mode
ANDNOT In_Position1
OUT TR0
AND Negative_Error
OUT Pos_Run_Fwd
LD TR0
ANDNOT Negative_Error
OUT Pos_Run_Rev
LD TR0
CMPL(60) P_Gain_Out Max_Frequency
ANDNOT P_GT
BIN(23) P_Gain_Out F7_Freq_Ref_Set
LD TR0
AND P_GT
BIN(23) Max_Frequency F7_Freq_Ref_Set
LD TR0
CMP(20) F7_Freq_Ref_Set &10
AND P_LT
' SPEED : Zero speed demand
LDNOT Control_Mode
CMP(20) F7_Freq_Ref_Set #0
ANDNOT P_GT
OUT Zero_Speed_Demand
' FINAL RUN COMMANDS
LD Pos_Run_Fwd
AND Control_Mode
LD Speed_Run_Fwd
ANDNOT Control_Mode
ORLD
OUT F7_FWRUN_S1
LD Pos_Run_Rev
AND Control_Mode
LD Speed_Run_Rev
ANDNOT Control_Mode
ORLD
OUT F7_RVRUN_S2
138

2QUA*QOG5GSWGPEG
000000 [Program Name : Pos_HomeSequence]
[Section Name : Pos_HomeSequence]

OYMC 2004
HOME SEQUENCE SECTION : Inputs 0 & 1 = A & B

encoder .. Input 2 = Home/Origin sensor
4.02 MOV
(21)
Home_Re &1
Transition
5 HomeSEQ
HomeSe
RSET
3.01 Home Timed Out without completion

Home_E
_ _ _ _ _ _ _ _
RSET
3.00 Home has been completed

Home_O
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
RSET

Speed_
_ _ _ _
RSET

Speed_
_ _ _ _
RSET
2.00 0=speed 1=position

Control_
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
000001 Max time for homing. If bigger, error is generated

(000161)
2.02 TIM
Home_Re 000 Max Timer for Homing

Request
DM32 Max time allowed for homing process. If exceeded then Home_Error is active and
Home_P process cancelled.
_ _ _ _
000002 Forward seek

(000163)
5.00 MOV
(21)
HomeSeq DM30 Speed reference for the fast homing aproach. Search for sensor
HomeSE Home_F
F7_Freq
SET

Speed_
_ _ _ _
0.02 MOV
(21)
P_DI2 &2
DI2 (Z)
5 HomeSEQ
HomeSe
139

000003 Home sensor found. Reverse seek for edge
(000168)
5.01 MOV
(21)
HomeSeq DM31 Speed reference for the second home phase. Slow release of sensor
HomeSE Home_S
F7_Freq
RSET

Speed_
_ _ _ _
SET

Speed_
_ _ _ _
0.02 MOV
(21)
P_DI2 &4
DI2 (Z)
5 HomeSEQ
HomeSe
000004 Stop Homing
(000174)
5.02 MOV
(21)
HomeSeq &0
HomeSE
F7_Freq
MOV
(21)
&8
5 HomeSEQ
HomeSe
000005 If timer is over and HOME not finished, then error
(000177)
TIM000 3.00 SET
Home_Ma Home_O 3.01 Home Timed Out without completion

Max Home has Home_E
_ _ _ _ _ _ _ _
MOV
(21)
#0
5 HomeSEQ
HomeSe
000006 Do initial offset positioning
(000181)
5.03 SET
HomeSeq 2.00 0=speed 1=position

HomeSE Control_
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
MOV
(21)
&16
5 HomeSEQ
HomeSe
140

000007 5.04 MOV
(21)
(000184)
HomeSeq DM20 Position to move after home finished.
Home Home_In
DM10 SP_Scaled
SP_Scal
TIM001 MOV
(21)
Position_ &32
Home
5 HomeSEQ
HomeSe
TIM
001 Home Positioning Delay
#10
_ _ _ _
000008 Home and offset finished

(000191)
5.05 RSET
HomeSeq 2.00 0=speed 1=position

HomeSE Control_
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
3.01
Home_Err
Home
RSET

Speed_
_ _ _ _
RSET

Speed_
_ _ _ _
3.01 SET
Home_Err 3.00 Home has been completed

Home Home_O
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
RSET
2.02 Request Home when 1. Goes to zero once finished

Home_R
_ _ _ _ _ _ _ _ _ _ _ _
MOV
(21)
&00
5 HomeSEQ
HomeSe

141

' HOME SEQUENCE SECTION : Inputs 0 & 1 = A & B encoder .. Input 2 = Home/Origin sensor
LD Home_Req_Change
MOV(21) &1 HomeSequence
RSET Home_Error
RSET Home_OK
RSET Speed_Run_Fwd
RSET Speed_Run_Rev
RSET Control_Mode
' Max time for homing. If bigger, error is generated
LD Home_Request
TIM 000 Home_Process_MaxTime
' Forward seek
LD HomeSeq1
MOV(21) Home_Fast_Speed F7_Freq_Ref_Set
SET Speed_Run_Fwd
AND P_DI2
' Home sensor found. Reverse seek for edge
LD HomeSeq2
MOV(21) Home_Seek_Speed F7_Freq_Ref_Set
RSET Speed_Run_Fwd
SET Speed_Run_Rev
ANDNOT P_DI2
' Stop Homing
LD HomeSeq3
' If timer is over and HOME not finished, then error
LD Home_Max_Time
ANDNOT Home_OK
SET Home_Error
MOV(21) #0 HomeSequence
' Do initial offset positioning
LD HomeSeq4
SET Control_Mode
LD HomeSeq5
OUT TR0
MOV(21) Home_Initial_Pos SP_Scaled
AND Position_Delay
LD TR0
TIM 001 #10
' Home and offset finished
LD HomeSeq6
OR Home_Error
OUT TR0
RSET Control_Mode
RSET Speed_Run_Fwd
RSET Speed_Run_Rev
ANDNOT Home_Error
SET Home_OK
LD TR0
RSET Home_Request
142

Revision History

#OCPWCNTGXKUKQPEQFGCRRGCTUCUCUWHHKZVQVJGECVCNQIPWODGTQPVJGHTQPVEQXGTQHVJGOCPWCN
Cat. No. I03E-EN-01
Revision code

6JGHQNNQYKPIVCDNGQWVNKPGUVJGEJCPIGUOCFGVQVJGOCPWCNFWTKPIGCEJTGXKUKQP2CIGPWODGTUTGHGTVQVJG
RTGXKQWUXGTUKQP

4GXKUKQPEQFG &CVG 4GXKUGFEQPVGPV
#RTKN &TCHVXGTUKQP

143

4GIKQPCN*GCFSWCTVGTU
1/410'7412'$8
9GICNCCP
0.,&*QQHFFQTR
6JG0GVJGTNCPFU
6GN

(CZ

PNSPO
#WVJQTKUGF&KUVTKDWVQT
%CV0Q+''0 0QVG5RGEKHKECVKQPUUWDLGEVVQEJCPIGYKVJQWVPQVKEG 2TKPVGFKPVJG0GVJGTNCPFU

3G3RV-P10ST Option Board User's Manual

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DeviceNet DeviceNet Inverter CompoBus/S CompoBus/S

y Check for battery error.

y Execute the program.

y Read input data from input bits.

DeviceNet y Exchange I/O data with the DeviceNet Master.

RS-232C port y Perform RS-232C port communications processing.

Peripheral port y Perform peripheral port communications processing.

+VGO %2/%5 )48256

+VGO %2/%5 )48256

+VGO %2/%5 )48256

2-1-3-1 Input Specifications

2-1-3-2 Output Specifications

2-1-3-3 Encoder input Specifications

17. DeviceNet indicators

8. DeviceNet port 12. Digital I/O and

V- CAN-L Shield CAN-H V+

High-speed counter usage DM 6642, bits 08 to 15

Input mode DM 6642, bits 00 to 03

Set the interrupt number.

Select either incrementing or

Wire the inputs. Input numbers: 00003 or 00004

PLC Setup (DM 6628) 1. Use as interrupt input (interrupt input

Create a ladder diagram program. INI(61): Change counter PV

*Used only for count-up interrupts.

Wire the outputs. Output numbers: 01000 and 01001

PLC Setup (DM 6629) PV coordinatesystem for pulse output 0 and 1

Select the pulse output number. Pulse output number 0 or 1

Wire the outputs. Output numbers: 01000 and 01001

'XGT[UECP 'XGT[UECP +OOGFKCVGN[

5VQRRWNUGQWVRWVU #4 #4

Select the pulse output number. Pulse output number 0

Wire the outputs. Output numbers: 01000 and 01001

PLC Setup (DM6629) PV coordinate system for pulse output number 0

0COG SRT2-series SRT1-series

Class ID Address L Number of bytes

Leftmost Leftmost byte

Leftmost Leftmost byte

Class ID Address L Number of words

Leftmost Leftmost byte

Leftmost Leftmost byte

Additional error code

Incremental encoder Input B

Mask range counter

Unmask count 100 100 100

Phase-Z counter clear enable

MOV(21) Enable capture 1 interrupt

Interrupt Subroutine will be executed when

[Section Name : MainProgram]

000004 END Section always needed

[Section Name : MainProgram]

000000 253.13 BCD

210.00 206.01 206.02

P_F7Rea P_Transfe P_Transfe

000006 RUN control signals

0.03 207.00 Bit : Terminal S1 activation. Forward RUN in 2wire

000008 END Section ... Always needed

[Section Name : MainProgram]

000000 253.15 MOV

000001 Here starts the sequencer. Basically changing bits in c

SeqState 000 Timer of state 0

000002 28.01 TIM

000003 28.02 TIM

000004 28.03 TIM

+VGO %2/%5 )48256

+VGO %2/%5 )48256

+VGO %2/%5 )48256

5VQRRWNUGQWVRWVU #4 #4