v_kv_pro_ch06_index

Chapter 6Interrupts, High-speed Counters,Positioning Control

This chapter describes ramp-up/down control of stepping motors and servo motors.

6.1 Interrupt Instructions .............................................................. 3-2686.1.1 Description of Interrupts ......................................................................... 3-2686.1.2 Interrupt Instructions .............................................................................. 3-271

6.2 Direct Clock Pulse ................................................................... 3-2766.2.1 Output of Direct Clock Pulse .................................................................. 3-276

6.3 Positioning Control ................................................................. 3-2966.3.1 Positioning Control (Ramp-up/down Control) ......................................... 3-296

KV-300, KV-10/80 Series Only

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6.1 Interrupt Instructions

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Chapter 6 Interrupts, High-speed Counters, Positioning Control


6.1.1 Description of InterruptsInput processing for routine program and interrupt routine

Routine program flow is shown by the thick arrow on the left of Fig.1. In this case,input signals can be received only during input processing.

Although input time constant can be made shorter by using HSP or by turning ONspecial utility relay 2813, input signals can be received only if they are longer thanthe duration of one scan time.

When an interrupt initiation input turns ON, the currently running program is sus-pended to immediately execute the interrupt routine.

During execution of interrupt routine, input signals shorter than one scan time can bereceived by the PLC.

Note: To execute INT (interrupt initiation instruction), execute EI first to enableinterrupt, then use HSP (time constant: 25 µs) or turn ON special utility relay 2813(time constant: 10 µs) to reduce the input time constant.

Types of interrupt

Interrupt by CTC can be generated when the CTC preset value and CTH currentvalue are equal.

A signal received through any of inputs 0000 to 0003 can generate an interrupt.

Input processing

Output processing

Routine program execution

Interrupt routineexecution

(00000 to 00005)

(00500 to 00503)

Sca

n tim

e

Generation of in

terrupt

Returns to suspended program

at the point of suspension.

Processing of direct inputs

Processing of direct outputs

2008 EI

2813 SET or

2002

HSP0000

EI

2002

Fig. 1

High speed counter comparators CTC0, CTC1, CTC2, CTC3

Input relays 0000, 0001, 0002, 0003

(rising/falling edge selectable)

→

▲▲


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Interrupt priorityIf two or more interrupts are generated at different timings, interrupt routines areexecuted in the order that interrupts are generated.If two or more interrupts are generated simultaneously, interrupt routines areexecuted according to the priority shown below.CTC0 > CTC1 > CTC2 > CTC3 > 0000 > 0001 > 0002 > 0003

* Note that the above priority differs from that for other KV PLCs (KV-10/16/24/40/80).The priority is: 0000 > 0001 > 0002 > 0003 > CTC2 > CTC3 > CTC0 > CTC1.

Note 1: During execution of one interrupt routine, execution of other interrupt rou-tines is inhibited. (One interrupt routine can be executed inside another interruptroutine by inserting EI.)

Note 2: If other interrupts are generated during execution of one interrupt routine,the routines of these interrupts are executed after completion of the first interruptroutine in the order that they are generated. Note that generation of up to 8 levels ofinterrupt nesting or up to 8 individual interrupts can be stored during execution ofinterrupt routine. However, generation of an interrupt is ignored if generation of thesame interrupt has already been stored.

Interrupt routine

• Execute EI to enable interrupt.• Be sure to insert INT between END and ENDH.• Be sure to shorten the input time constant by using HSP or by turning ON special

utility relay 2813.

Instructions that cannot be used in the INT-RETI block

TMR, TMH, TMS, DIFU, DIFD, W-ON, W-OFF, W-UE, W-DE, STG, JMP, ENDS,HKEY, ITVL, @xxxx (instruction), C, UDC, SFT

2008 EI

2813 SET

END

INTXXXXX

RETI

ENDH


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Direct output

Direct output is enabled only through output relays 0500, 0501, 0502, and 0503.This function allows ON/OFF status of any of output relays 0500, 0501, 0502, and0503 to be output during execution of interrupt routine.This function allows immediate ON/OFF status output without delay caused by scantime.

Note: Be sure to turn ON special utility relay 2813 to shorten the input time constant.

Direct input

Direct input is enabled only through input relays 0000 to 0005.This function allows ON/OFF status of any of input relays 0000 to 0005 to be inputduring execution of interrupt routine.

Note 1: Be sure to turn ON special utility relay 2813 to shorten the input timeconstant.

Note 2: Input status read using direct input function is valid only in the interruptroutine. Be sure to insert an internal utility relay after the direct input relay.

2008

EI

2813 SET

END

INT0000

0500

( SET )

RETI

INT0001

ENDH

0500( SET )

2002

2002

2008 2813 SET

END

RETI

ENDH

05001000

INT 0000

10000005


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6.1.2 Interrupt Instructions

DI: Interrupt Disabled Disables execution of interrupt.

EI: Interrupt Enabled Enables execution of interrupt.

Key operations

Operand

Example

Coding

Description

When 1000 is ON, execution of interrupt is enabled. When 1000 is OFF, executionof interrupt is disabled. Interrupts are enabled between EI instruction and DI instruc-tion.Therefore, once EI is executed, interrupt is enabled until it is disabled by DI.

With the KV, any interrupt is disabled when the operation is started.DI instruction disables execution of interrupt. Use this instruction to temporarilydisable interrupt.EI instruction enables the execution of interrupt. Use this instruction to releaseinterrupt disabled by DI instruction.During execution of an interrupt, any other interrupt is disabled.To execute anotherinterrupt during execution of the previous interrupt, include EI instruction in this firstinterrupt. Interrupts can be nested up to 8 levels by executing EI in each interruptroutine.

Note 1: Generation of up to 8 levels of interrupt nesting or up to 8 individual inter-rupts can be stored while interrupt is disabled. These interrupts are executed after EIhas been executed.

Note 2: Generation of INT CTC is erased from the storage when RES CTC isexecuted.

: DIAND8FNC RES

0

: EISET1FNC ORL

3

ORL3

AND8 ENT

R-SRCH

RES0FNC

SET1FNC

ENTR-SRCH

1000EI

1000DI

Line No. Instruction Operand

0000 LD 1000

0001 EI

: :

0021 LDB 1000

0022 DI

: :

DI / EI


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INT: Interrupt

RETI: Return Interrupt

Key Operations

Operand

0000 to 0003CTC0 to CTC3

Example 1

Input pulse width shorter than one scan time (eg. one-shot circuit)

Program (a) can be used when input 0000 remains ON longer than the input time constant (8to 12 ms).Program (b) is used when input 0000 remains ON shorter than one scan time.

Routine program coding

: nnnnINT

FNC RES0

ANL2

:RETI

ORL3FNC LDB

4

ENTR-SRCH

RES0

LDB4

ENTR-SRCH

Operand ENTR-SRCH

ENTR-SRCHFNC

FNC

ANL2

ORL3

0000(a)

0000

(Input remains ON for 1 ms or more.)

2008

EI2813SET

0500 0500

#00020 T000

T000

0500 0500

#00020 T000

T000

1000

END

INT0000

RETI

ENDH

10002002

(Input remains ON for 10 µs or more.)

(b)

0000

Input for routine program

Input forinterruptroutine

Executes interrupt between INT and RETIinstructions at rising edge of input specifiedby operand. When 0003 is specified byoperand, the rising or falling edge can beselected for execution of interrupts.

Represents termination of interrupts.


0000 LD 0000

0001 OR 0500

0002 TMR 000 #00020

0003 ANB T000

0004 OUT 0500

INT / RETI


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Interrupt routine coding

Example 2

Features of INT0003

Upon generation of interrupt by INT0003, the CTH1 current value is automaticallytransferred to TM30.Interrupt generated by any of INT0000 to INT0002 is executed at the rising edge ofthe input signal. Interrupt generated by INT0003 can be executed either at the risingor falling edge of the input signal.

In the example program below, pulse width of input 0003 is measured.

Coding

0003Pulse width

ONOFF

2206(OFF) 2206(ON) 2008

1 EI$0000LDA

2200STA

DM0000STA

2002

2206

2206

TM30LDA

TM02STA

TM30LDA

TM02SUB

DM0000STA

CTH12200

END

INT0003

KEEPSET2206

RES

RETI

ENDH

2

3

4

(a)

(b)

Relay No. ON OFF

2206 Executes interrupts at falling edge of Executes interrupts at rising edge ofinput pulse to 0003. input pulse to 0003.

INT / RETI

Line No. Instruction Operand Line No. Instruction Operand0000 LD 2008 0008 OUT 05000001 EI 0009 END0002 CON 0010 INT 00000003 SET 2813 0011 LD 20020004 LD 1000 0012 OUT 10000005 OR 0500 0013 RETI0006 TMR 000 #00020 0014 ENDH0007 ANB T000

Line No. Instruction Operand Line No. Instruction Operand0000 LD 2008 0014 CON0001 EI 0015 STA TM020002 CON 0016 CON0003 LDA $0000 0017 LD 22060004 CON 0018 LDA TM300005 STA 2200 0019 CON0006 CON 0020 SUB TM020007 STA DM0000 0021 CON0008 LD 2002 0022 STA DM00000009 CTH 1 2200 0023 CON0010 END 0024 KEEP 22060011 INT 0003 0025 RETI0012 LDB 2206 0026 ENDH0013 LDA TM30


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INT / RETI

2008

1 EI2203

2002

2002

CTH10005

END

INTCTC2

RETI

2

4

0000

5

3

CTH1 #05000CTC2 SET

2813

0501

0501

SET RES

SET

RES

ENDH

■ Initial setting• When the operation is started, EI instruction enables interrupts.

• Special utility relays No. 2200 through 2215 are turned OFF. Turning OFF 2203disables CTC2 from resetting the CTH1 current value to 0.

• Turning OFF 2206 allows interrupt to be generated at the rising edge of INT0003.

• The value of DM0000 is reset to "0".

• Turning ON special utility relay 2813 changes the input time constant to 10 µs.

• 1.0-µs internal clock pulses are counted using CTH1.

• INT instruction with 0003 as the operand allows interrupts to be executed.

• When interrupt is generated for the first time, 2206 is OFF. Therefore, program inrung (a) is executed. Then, KEEP turns 2206 ON.

• When interrupt is generated for the second time, 2206 is ON. Therefore, programin rung (b) is executed to calculate the following:

(TM30 at 2nd execution) - (TM30 at 1st execution) = pulse width (unit: 1.0 µs)

The result is stored in DM0000.

Example 3

Interrupt by CTC

Pulses input to 0005 are counted. 0501 is turned ON when the number of pulsesreaches 5,000.

Coding

Line No. Instruction Operand Line No. Instruction Operand0000 LD 2008 0010 LD 20020001 EI 0011 CTH 1 00050002 CON 0012 LD 00000003 SET 2203 0013 RES 05010004 CON 0014 END0005 RES CTH1 0015 INT CTC20006 CON 0016 LD 20020007 CTC 2 #05000 0017 SET 05010008 CON 0018 RETI0009 SET 2813 0019 ENDH


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INT / RETI

■ Initial setting• When the operation is started, EI instruction enables interrupts.

• Turning ON special utility relay 2203 allows CTC2 to reset the CTH1 currentvalue to 0.

• The CTH1 current value is reset to 0.

• The CTC2 preset value is set to 5000.

• Turning ON special utility relay 2813 changes the input time constant to 10 µs.

• Pulses input to 0005 are counted using CTH1.

• When input 0000 turns ON, output 0501 is reset.

• INT CTC2 is used to execute the interrupt. (Interrupt routine is executed whenthe CTH1 current value and CTC2 preset value are equal.)

• Immediate output to 0501 is performed.

Note 1: When the interrupt is executed, the contact of CTC2 is automatically reset.

Note 2: The operand used for INT instruction is not allowed for use with other INTinstructions.

6.2 High-speed Counters

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Internal clocks2200(1.0 µs)2201(10.0 µs)2202(100.0 µs)External pulse0005/00070500

Internal clocks2100(1.0 µs)2101(10.0 µs)2102(100.0 µs)External pulse0004/0006

Special utility relay(2103 to 2115)

Special utility relay(2203 to 2215)

INT CTC0INT CTC1

INT CTC2INT CTC3

TM30

Phase A 0004Phase B (0006)

0009 (RESET)

0500

0501

0008 (RESET)

Phase A 0005Phase B (0007)

Control circuit

Control circuit

16-bit high-speed counterCTH0

16-bit high- speed counterCTH1

High-speed counter comparatorCTC0, CTC1

High-speed counter comparatorCTC2, CTC3

6.2 Direct Clock Pulse

6.2.1 Output of Direct Clock PulseOutline of High-Speed Counters

Basic Architecture

The KV-300 CPU has two 16-bit (CTH0, CTH1) double-phase counter, eachequipped with two high-speed counter comparators (CTC0, 1, 2, 3). These counterscan be used as a stepping motor controller or are used to measure pulse width.

Block diagram of high-speed counters

■ Lists of special utility relays for high-speed counters

Utility relays for high-speed counter CTH0

2100 Internal clock (1.0 µs) for CTH0



2103 When comparator CTC0 is ON, automatically clears CTH0.1: Yes 0: No

2104 Direct output to 0500 Direct output level to 0500 through comparator1: Disable 0: Enable CTC1 (any one of these is ON)

2105 Turns OFF output to 0500.1: Yes 0: No

2106 Turns ON output to 0500.1: Yes 0: No

2107 Reverses output (toggle) to 0500.1: Yes 0: No




2111 Reverses output to 0500 (toggle).1: Yes 0: No


2113 Uses CTH0 in magnification mode.1: Yes 0: No

2114 Selection of magnification mode for CTH01: x 4 0: x 2

2115 Enables external reset for CTH0.1: Yes 0: No


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Utility relays for high-speed counter CTH1





2204 Direct output to 0501 through comparator CTC21: Enable 0: Disable

2205 Direct output level to 0501 through comparator CTC21: ON 0: OFF

2206 Selection of INT3 edge0: UP edge 1: DOWN edge

2207 Reverse output (toggle) level1: ON 0: OFF




2211 Reverses output (toggle) to 0501.1: Yes 0: No


2213 Uses CTH1 in magnification mode.1: Yes 0: No

2214 Selection of magnification mode for CTH11: x 4 0: x 2

2215 Enables external reset for CTH1.1: Yes 0: No

For KV-10/80 users

1. KV-10/80 has one 8-bit (CTH0) and one 16-bit (CTH1) single phase counter.

2. Internal clocks are as follows:

3. Special utility relays of 2112, 2113, 2114, 2115, 2212, 2213, 2214, and 2215are not available.

2100 0.8 µs 2200 0.4 µs

2101 6.4 µs 2201 0.8 µs

2102 102.4 µs 2202 3.2 µs


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■ High-speed counter and counter comparatorsHigh-speed counter (CTH1)CTH1 is a 16-bit hardware counter that counts from 0 to 65535.

• You can specify the operands listed in the table below as the count input.• You can specify one operand from the table below.• Operand cannot be modified externally during execution of the program.• When the external pulse (0004, 0005) is selected, CTH1 is used as a High-speed

counter with a response frequency of 30 kHz.*• When one of the internal clocks (2100 to 2102, 2200 to 2202) is selected, CTH1

is used as a High-speed timer.• When the external pulse 0500 is selected as input to CTH1, CTH1 can count

direct clock pulses generated by CTH0.

* KV-10/80: 10 kHz

■ High-speed counter comparator (CTC)

High-speed counter comparators (CTC) is used only for High-speed counters (CTH).When the current value of CTH reaches the preset value of one of the comparators(CTC), the comparator turns ON.At the contact of High-speed counter comparator (CTC), the level of output (0500,0501) can be changed (directly output) through hardware or an interrupt can begenerated. To change the level of output 0500 and 0501, set the desired value (ON/OFF) to special utility relays 2103 to 2112, 2203 to 2205, and 2207 to 2212.

The High-speed counters correspond to the High-speed counter comparators asshown in the table below.

Internal Clocks for CTH0 and CTH1

• Each High-speed counter (CTH) has its own internal clock.• The desired clock can be selected by specifying the relay No. as operand for

CTH instruction.• You cannot change the internal clock or external pulse during execution of the

program.• Each clock has the following period:

High-speed counter CTH0 CTH1

Operand 2100 22002101 22012102 22020004 0005

0500

Countable range 0 to 65535

High-speed High-speed Range of Output Interruptcounter counter setting value

comparator

CTH0 CTC0 0 TO 65535 0500 INT CTC0

CTC1 INT CTC1

CTH1 CTC2 0501 INT CTC2

CTC3 INT CTC3

High-speed counter CTH0 CTH1 Period

Relay No. 2100 2200 1.0 µs

2101 2201 10.0 µs

2102 2202 100.0 µs


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• You cannot change operands of the high-speed counters (CTH) duringexecution of the program. The input time constant of the high-speedcounters is usually set to 25 ms. (The HSP instruction is not required.)

• High-speed pulses can be counted at up to 30 kHz through external inputs(0004 to 0007) by turning ON special utility relay 2813. (Internal pulses canbe counted at up to 50 kHz by turning ON 2813.)*

* KV-10/80 : 10 kHz

Outline of Pulse OutputThe KV PLC can output clock pulses through 0500 and/or 0501 without any delayscaused by scan time. (Through CPU only)Direct clock pulses, used with the high-speed counters, are applicable for varioustypes of production control such as for controlling target positions at desired speed.To perform ramp-up/down control, see "Controlling stepping motors" in Chapter 5.A setting of the clock pulse cycle (frequency) can be changed by the program withinthe allowable range as shown in the table below.

Outline of pulse output

Direct clock pulses are output through 0500 and/or 0501 according to the settings onthe special utility relays when the number of internal clock pulses counted by thehigh-speed counter reaches the preset value of the comparator.

Output example

ON/OFF of output relay 0500/0501 depends on the setting of the special utilityrelay. ➮ Refer to page 3-281.

For KV-10/80 users

CAUTION

Output Internal clock Range of pulse cycle (frequency)

0500 2100 20 µs (50 kHz) to 65.5 ms (15 Hz)

2101 20 µs (50 kHz) to 655.3 ms (1.5 Hz)

2102 200 µs (5 kHz) to 6553.5 ms (0.1 Hz)

0501 2200 20 µs (50 kHz) to 65.5 ms (15 Hz)

2201 20 µs (50 kHz) to 655.3 ms (1.5 Hz)

2202 200 µs (5 kHz) to 6553.5 ms (0.1 Hz)

CTH current value (count value)

CTC preset value

ON

OFF

05000501

CAUTION

Model Output Range of pulse cycle

KV-10, 16, 24, 40 500 500 ms to 52.2 ms(2 kHz to 19 Hz)

501 666 ms to 419.4 ms(1.5 kHz to 2.4 Hz)

KV-80 500 50 ms to 52.2 ms(20 kHz to 19 Hz)

501 666 ms to 419.4 ms(1.5 kHz to 2.4 Hz)


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Pulse period and width

Period and width of the pulse is determined by the period of the internal clock (CTH)used and the preset value of the comparator (CTC).When two counter comparators are used, only the pulse width can be changed whilea constant period is maintained.The following examples illustrate how pulse width and period can be selected:

■ ON/OFF ratio of 1:1Pulse width (ms) = CTC0 preset value x internal clock (ms)Pulse period (ms) = CTC0 preset value x 2 x internal clock (ms)

• ON/OFF ratio of pulse is 1:1.• Change CTC0 preset value to change the pulse width and period.

■ Variable pulse width

ON/OFF status is set by special utility relays.Pulse width (ms) = CTC1 preset value x internal clock (ms)Pulse period (ms) = CTC0 preset value x internal clock (ms)

• Change CTC1 preset value to change the pulse width.• Change CTC0 preset value to change the pulse period.

The pulse width determined as above is used to pulses generated from theKV-300 CPU.Pulses are output through the output circuit. The pulse width varies depend-ing on the response delay from the output circuit and influence of the con-nected load. Before setting the pulse width, you should measure the actualwaveform using an oscilloscope. (Use pulses with variable pulse width.)

• To obtain the pulse cycle from frequency, use the following expression:Pulse cycle (µs) = 1000 ÷ Frequency (kHz)

ON

OFFPulse width

Pulse period

ON/OFF status is set special utility relays

ON

OFF

Pulse period

ON/ OFF status is set by special utility relays

Pulse width

CAUTION


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CTH0 value

ONOFF

CTC0

CTH0 value

ONOFF

CTC0CTC1

Special utility relay settings and output statuses

■ 16-bit high-speed counter (CTH0) and special utility relays (2103 to 2112)By setting the special utility relays 2104 to 2112 at startup or changing these relaysduring generation of clock pulse, you can select ON/OFF of output relay 0500 aslisted below.These special utility relays also allow you to set the pulse cycle and pulse widthand enable or disable the direct output.

• Special utility relay must be ON when clock pulse is generated.

• Only one of relays 2104 to 2107 and one of relays 2108 to 2111 can beturned ON. When two or more of the relays among each group are ON,priority is given to the relay with the smallest No.

• Turning OFF special utility relays 2104 and 2108 enable direct output.Because these relays are factory-set to ON, be sure to set them to OFF.

• ON/OFF status of special utility relays 2104 to 2112 is set using SET andRES instructions or STA instruction.

• Be sure to turn the special utility relay 2103 or 2112 ON to change thepulse width. Turn ON 2103 or 2112 to change the pulse cycle.

• Turn OFF 2105 to start clock pulse output. Turn ON 2105 to stop pulseoutput.

• When special utility relays 2104 and 2108 are turned ON while the directclock pulses are being output, the status of the output relay 0500 is outputand the pulses will be stopped.

■ Timing diagram of 0500 with special utility relay settings

• ON-OFF ratio of 1:1 • Variable pulse widthSettings of special utility relays Settings of special utility relays

CAUTION

2103 ON 2112 OFF

2104 OFF 2108 OFF

2105 OFF 2109 OFF

2106 OFF 2110 OFF

2107 ON 2111 OFF

2103 ON 2112 OFF

2104 OFF 2108 OFF

2105 OFF 2109 ON

2106 ON 2110 OFF

2107 OFF 2111 OFF

Pulse status at CTH0 (current value) = CTC (preset value)

Comparator No. Relay No. Pulse status at ON.

CTC0 2103 Automatically clears current value of CTH0.

2104 Disables output to 0500.

2105 Outputs OFF to 0500

2106 Outputs ON to 0500.

2107 Inverts output to 0500.







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■ 16-bit high-speed counter (CTH1) and special utility relays (2203 to 2205,2208 to 2212)

By setting the special utility relays 2204 to 2205 and 2208 to 2212 at startup orchanging these relays during generation of clock pulse, you can select ON/OFF ofoutput relay 0501 as listed below.These special utility relays also allow you to set the pulse cycle

• Special utility relay must be ON when clock pulse is generated.

• Only one of relays 2208 to 2211 can be turned ON. When two or more of therelays among each group are ON, priority is given to the relay with thesmallest No.

• Turning ON special utility relay 2204 and turning OFF special utility relay2208 enable direct output.

• ON/OFF status of special utility relays 2204 to 2212 is set using SET andRES instructions or STA instruction.

• Be sure to turn the special utility relay 2203 or 2212 ON to change the pulsewidth.

• Turn ON 2203 or 2212 to change the pulse cycle.Turn OFF 2205 to start clock pulse output. Turn ON 2205 to stop pulseoutput.

• When special utility relays 2204 and 2208 are turned ON while the directclock pulses are being output, the status of the output relay 0501 which isused in the program is output and the pulses will be stopped.

Timing diagram of 0501 with special utility relay settings

• Variable pulse width • ON-OFF ratio of 1:1Settings of special utility relays Settings of special utility relays

CTH1 value

ONOFF

CTC2

CTH1 value

ONOFF

CTC2CTC3

CAUTION

2203 ON 2212 OFF

2204 ON 2208 OFF

2205 OFF 2209 OFF

2206 OFF 2210 OFF

2207 ON 2211 OFF

2203 ON 2212 OFF

2204 ON 2208 OFF

2205 ON 2209 ON

2206 OFF 2210 OFF

2207 OFF 2211 OFF

Pulse status at CTH1 (current value) = CTC (preset value)

Comparator No. Relay No. Pulse status at ON.











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Calculating the pulse cycle and comparator setting value

The KV-300 CPU supports clock pulse output at maximum frequency of 50 kHz.Obtain the pulse cycle for clock pulse output and comparator setting value from thefollowing expressions:• Pulse cycle

Pulse cycle (µs) = 1000 ÷ Frequency (kHz)• For pulse with 1:1 ON/OFF ratio (using one comparator)

CTC setting value = Pulse cycle (µs) ÷ Internal clock (µs) ÷ 2

• For pulse with variable pulse width (using two comparators)CTC setting value for pulse width = Pulse width (µs) ÷ Internal clock (µs)CTC setting value for pulse cycle = Pulse cycle (µs) ÷ Internal clock (µs)

Range of CTC setting based on internal clock

• When setting 2100 or 2200 for the operand of High-speed counter CTH, set10 or greater value to CTC. Otherwise, clock pulse is not correctly output.

• The pulse width varies depending on the influence of the connected load.Before setting the pulse width, you should measure the actual waveformusing an oscilloscope.

• When generating clock pulse using CTC0 and CTC1, or CTC2 and CTC3,do not set the same value to CTC0 and CTC1, or CTC2 and CTC3. If settingthe same value, clock pulse is output at the double clock cycle.

➮ * Refer to page 3-276.

ON

OFFPulse width

Pulse cycle

ON

OFFPulse width

Pulse cycle

CAUTION

Special utility relay (Internal clock) Cycle * CTC setting range

2100 2200 1.0 µs 10 to 65535

2101 2201 10.0 µs 1 to 65535

2102 2202 100.0 µs 1 to 65535


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Examples of Pulse OutputThe following sample explains how to program the pulse output.

Example of clock pulse with 1:1 ON/OFF ratio

■ When outputting clock pulse with cycle 1 ms (1 kHz) from 0500

This program example shows how to output clock pulse with 1:1 ON/OFF ratio from0500, through High-speed counter CTH0 and High-speed counter comparatorCTC0.

Setting special utility relaysSpecial utility relays 2103 to 2112 are set as shown on the right table.The program can be simplified using reverse output (toggle) for pulse with 1:1 ON/OFF ratio.

Values set to the internal clock and CTC0

After the internal clock is determined, the CTC0 setting value is calculated from thefollowing expression.

CTC0 setting value = Pulse cycle (µs) ÷ Internal clock (µs) ÷ 2Assign 1 ms to pulse cycle and 10 µs (2101: special utility relay) to internal clockand calculate the CTC0 setting value.The calculated result is "50".CTC0 values calculated based on other internal clocks are listed below for yourreference.

Programming example

• The status of output 0500 is set by turning ON one of the relays 2104 to 2107 atthe beginning of the program. In Example, output of direct clock pulses to 0500 isenabled, and the status of output 0500 is inverted each time CTH0 = CTC0.

• Turns ON special utility relay 2103 and specifies to clear CTH0 using CTC0. Theprogram repeats clearing the CTH0 current value with the value set to CTC0.

• Resetting the current value of CTH0 at the beginning of the program allows directclock pulses of specified width to be output starting from the 1st pulse.

• Input relay which enables CTH0 remains ON during clock pulse output.


Special utility relay Internal clock* CTC0 value

2100 1.0 µs 500

2101 10.0 µs 50

2102 100.0 µs 5

2008

SET

2103 2104 2105 2106 2107

2002

0001

0002

0003

CTH0

2101

RES RES RES SET RES

CTH0

CTC0#00050

CTH0 value

ONOFF

CTC0

Relay No. Setting Relay No. Setting

2103 ON 2112 OFF

2104 OFF 2108 OFF

2105 OFF 2109 OFF

2106 OFF 2110 OFF

2107 ON 2111 OFF


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0000 2105

0000

SET

2105

RES

0000

21050000

SET

RES

KEEP

KEEP InstructionsSET/RES Instructions

Coding


0000 LD 2008

0001 SET 2103

0002 CON

0003 RES 2104

0004 CON

0005 RES 2105

0006 CON

0007 RES 2106

0008 CON

0009 SET 2107

0010 CON

0011 RES CTH0

0012 LD 2002

0013 CTH 0 2101

0014 CTC 0 #00050

When start/stop of clock pulse is controlled by the input relay which enables/disables the high-speed counter, response relay of up to 1 scan is generatedat start. Also, the same response relay is generated at stop, which may stopclock pulse output while the output relay is still ON.

This controls clock pulse so that it always starts and stops when 2105 turns OFF.Turn ON/OFF special utility relay 2105 as required to enable or disable output ofdirect clock pulses using one of the external clocks. Use SET and RES instructionstogether or only KEEP instruction to turn ON/OFF this relay.The diagram below can be added to the sample diagram so that direct clock pulsesare output through 0500 only when 0000 is ON.

CAUTION

■ When outputting clock pulse with cycle 1 ms (1 kHz) from 0501

This program example shows how to output clock pulse with 1:1 ON/OFF ratio from0501, through high-speed counter CTH1 and high-speed counter comparator CTC2.

Setting special utility relays

Special utility relays 2203 to 2212 are set as shown on the right table.The program can be simplified using reverse output (toggle) for pulse with 1:1 ON/OFF ratio.


2203 ON 2212 OFF

2204 OFF 2208 OFF

2205 OFF 2209 OFF

2206 OFF 2210 OFF

2207 ON 2211 OFF


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Values set to the internal clock and CTC2After the internal clock is determined, the CTC2 setting value is calculated from thefollowing expression.

CTC2 setting value = Pulse cycle (µs) ÷ Internal clock (µs) ÷ 2Assign 1 ms to pulse cycle and 10 µs (2201: special utility relay) to internal clockand calculate the CTC2 setting value.The calculated result is "50".CTC2 values calculated based on other internal clocks are listed below for yourreference.


Programming example

• The status of output 0501 is set by turning ON one of the relays 2204 to 2207 atthe beginning of the program. In Example, output of direct clock pulses to 0501 isenabled, and the status of output 0501 is inverted each time CTH1 = CTC2.


• Resetting the current value of CTH1 at the beginning of the program allows directclock pulses of specified width to be output starting from the 1st pulse.


Coding

Special utility relay Internal clock* CTC0 value

2200 1.0 µs 500

2201 10.0 µs 50

2202 100.0 µs 5

2008

SET

2203 2204 2205 2207

2002

0001

0002

0003

CTH1

2201

SET RES SET RES

CTH1

CTC2#00050

CTH1 value

ONOFF

CTC2


0000 LD 2008

0001 SET 2203

0002 CON

0003 SET 2204

0004 CON

0005 RES 2205

0006 CON

0007 SET 2207

0008 CON

0009 RES CTH1

0010 LD 2002

0011 CTH 1 2201

0012 CTC 2 #00050


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0000 2204

0000

SET

2204

RES

0000

22040000

SET

RES

KEEP




CAUTION

Example of clock pulse with variable ON/OFF ratio

■ When outputting clock pulse with cycle 500 µs (2 kHz) and pulse width200 µs from 0500

This program example shows how to output clock pulse varies ON/OFF ratio from0500, through high-speed counter CTH0 and high-speed counter comparatorCTC0 and CTC1.

Setting special utility relaysSpecial utility relays 2103 to 2112 are set as shown in the table below.

Values set to the internal clock, CTC0 and CTC1

After the internal clock is determined, the CTC0 and CTC1 setting value is calcu-lated from the following expression.CTC1 setting value = Pulse width (µs) ÷ Internal clock (µs)CTC0 setting value = Pulse cycle (µs) ÷ Internal clock (µs)Assign 200 µs to pulse width, 500 µs to pulse cycle and 10 µs (2101: special utilityrelay) to internal clock and calculate the CTC0 and CTC1 setting value.The calculated results of CTC1 and CTC0 are "20" and "50", respectively.Values calculated based on other internal clocks are listed below for your reference.

Special utility relay Internal clock* CTC0 value CTC1 value

2100 1.0 µs 500 200

2101 10.0 µs 50 20

2102 100.0 µs 5 2



2103 ON 2112 OFF

2104 OFF 2108 OFF

2105 OFF 2109 ON

2106 ON 2110 OFF

2107 OFF 2111 OFF


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By overwriting the setting value of high-speed counter comparator CTC0 using theLDA and STA instructions, you can change the clock pulse cycle (frequency).➮ Refer to "Example of pulse output "on page 3-293.

CAUTION

Programming example

2008

SET2103 2104 2105 2106

2002

0001

0002

0003 2101

RES RES SET RES

CTH0

CTC0#00050

0004

0005

RES2108 2109 2110 2111 CTH0

SET RES RES RES

2107

CTC1#00020

CTH0 value

ONOFF

CTC0CTC1

• The status of output 0500 is set by turning ON one of the relays 2104 to 2107and 2108 to 2111 at the beginning of the program. In Example, output of directclock pulses to 0500 is enabled, and the status of output 0500 is turned ON atCTC0 and is turned OFF at CTC1.



Coding

Line No. Instruction Operand Line No. Instruction Operand0000 LD 2008 0013 CON0001 MPS 0014 SET 21090002 SET 2103 0015 CON0003 CON 0016 RES 21100004 RES 2104 0017 CON0005 CON 0018 RES 21110006 RES 2105 0019 CON0007 CON 0020 RES CTH00008 SET 2106 0021 LD 20020009 CON 0022 CTH 0 21010010 RES 2107 0023 CTC 0 #000500011 MPP 0024 CTC 1 #000200012 RES 2108

0000 2105

0000

SET

2105

RES

0000

21050000

SET

RES

KEEP



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■ When outputting clock pulse with cycle 500 µs (2 kHz) and pulse width 200µs from 0501

This program example shows how to output clock pulse with variable ON/OFF ratiofrom 0501, through High-speed counter CTH1 and High-speed counter comparatorCTC2 and CTC3.

Setting special utility relays

Special utility relays 2203 to 2212 are set as shown on the right table.


2203 ON 2212 OFF

2204 ON 2208 OFF

2205 ON 2209 ON

2206 OFF 2210 OFF

2207 OFF 2211 OFF

Values set to the internal clock and CTC2 and CTC3After the internal clock is determined, the CTC2 and CTC3 setting value is calcu-lated from the following expression.CTC3 setting value = Pulse width (µs) ÷ Internal clock (µs)CTC2 setting value = Pulse cycle (µs) ÷ Internal clock (µs)Assign 200 µs to pulse width, 500 µs to pulse cycle and 10 µs (2201: special utilityrelay) to internal clock and calculate the CTC2 and CTC3 setting value.The calculated results of CTC3 and CTC2 are "20" and "50", respectively.Values calculated based on other internal clocks are listed below for your refer-ence.


2100 1.0 µs 500 200

2101 10.0 µs 50 20

2102 100.0 µs 5 2

➮ *Refer to page 3-276.

Programming example

2008

SET2203 2204 2205

2002

0001

0002

0003 2201

SET SET RES

CTH1

CTC2#00050

0004

0005

RES2208 2209 2210 2211 CTH1

SET RES RES RES

2207

CTC3#00020

CTH1 value

ONOFF

CTC2CTC3

• The status of output 0501 is set by turning ON one of the relays 2204 to 2207and 2208 to 2211 at the beginning of the program. In Example, output of directclock pulses to 0501 is enabled, and the status of output 0501 is turned ON atCTC2 and is turned OFF at CTC3.

• Turns ON special utility relay 2203 and specifies to clear CTH1 using CTC2.The program repeats clearing the CTH1 current value with the value set toCTC2.



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0000 2204

0000

SET

2204

RES

0000

22040000

SET

RES

KEEP



2103 ON 2112 OFF

2104 OFF 2108 OFF

2105 OFF 2109 ON

2106 ON 2110 OFF

2107 OFF 2111 OFF


2100 1.0 µs 500 200

2101 10.0 µs 50 20

2102 100.0 µs 5 2


This controls the clock pulse so that it always starts and stops when 2205 turnsOFF.

Turn ON/OFF special utility relay 2205 as required to enable or disable output ofdirect clock pulses using one of the external clocks. Use SET and RES instructionstogether or only KEEP instruction to turn ON/OFF this relay.The diagram below can be added to the sample diagram so that direct clock pulsesare output through 0501 only when 0000 is ON.

By overwriting the setting value of high-speed counter comparator CTC2 using theLDA and STA instructions, you can change the clock pulse cycle (frequency).

Example of stopping clock pulse after reaching the specified output pulse count

The following example stops clock pulse having the pulse width of 200 µs which isoutput from 0500 at cycle of 500 µs (2 kHz) after reaching the pulse count value of10000.

■ Setting special utility relay, internal clock, and CTC

Settings of the special utility relays, internal clock, CTC0, and CTC1 are listedbelow.

CAUTION

Coding

Line No. Instruction Operand Line No. Instruction Operand0000 LD 2008 0012 SET 22090001 MPS 0013 CON0002 SET 2203 0014 RES 22100003 CON 0015 CON0004 SET 2204 0016 RES 22110005 CON 0017 CON0006 SET 2205 0018 RES CTH10007 CON 0019 LD 20020008 RES 2207 0020 CTH 1 22010009 MPP 0021 CTC 2 #000500010 RES 2208 0022 CTC 3 #000200011 CON

➮ *Refer to page 3-276.


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Programming example

2008

SET2103 2104 2105 2106

2002

0001

0002

0003

2101

RES SET SET RES

CTH0

CTC0#00050

0004

0005

RES2108 2109 2110 2111 CTH0

SET RES RES RES

2107

CTC1#00020

END

INTCTC2

2002SET2105

RET1

ENDH

SET2203 2813

SET

2105RES

CTH1RES

EI

0000 1000DIFU

1000

0006

00072002

0500CTH1

CTC2#10000

0008

0009

0010

0011

0012

0013

0014

• Sets pulse output to 0500 using special utility relays 2104 to 2107 and 2108 to2111.The example on the left sets special utility relays to enable direct output to 0500(2104: OFF), and turn 0500 output ON at CTC0 (2106: ON) and OFF at CTC1(2109: ON).

• Turns ON special utility relay 2103 to clear CTH0 using CTC0. This allows outputwith correct clock pulse width starting from the 1st pulse.

• Enables interrupt using the EI instruction.Stops clock pulse using interrupt program (INT CTC2) when the current value ofHigh-speed counter CTH1 reaches the setting value of high-speed countercomparator CTC2 (when 10000 pulses are output).

• Turns ON special utility relay 2203 to clear CTH1 using CTC2. This allowsprogram to operate repeatedly at the specified pulse count (10000 pulses).

• Always turns ON 2813 when counting pulses using high-speed counter CTH1.


• Input relay which enables CTH1 remains ON during clock pulse counting.

• Specifies internal clock (2101) for clock input of high-speed counter CTH0.Specifies 0500 for clock input of high-speed counter CTH1. Then, CTH0 is usedfor clock pulse output and CTH1 is used for clock pulse counting.

• Sets the clock pulse count using the setting value of high-speed counter com-parator CTC2.

• Turns ON input relay 0000 to start clock pulse output.To restart clock pulse output after once stopped, turns ON input relay 0000again.


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2008

SET2103 2104 2105 2106

RES SET SET RES

RES2108 2109 2110 2111 CTH0

SET RES RES RES

2107

SET2203 2813

SETCTH1RES

EI

2008 2203 2813RES SET SET RES

CTH1EI LDA STA

$0268 $2100 CTH0

0 0 0 0 0 0 1 0 0 1 1 0 1 0 0 0Internal register

[0] [2] [6] [8]

15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00

0 0 0 0 0 0 1 0 0 1 1 0 1 0 0 0Special utility relays 21**

Coding

Line No. Instruction Operand Line No. Instruction Operand

0000 LD 2008 0024 SET 2203

0001 EI 0025 CON

0002 CON 0026 SET 2813

0003 MPS 0027 CON

0004 SET 2103 0028 RES CTH1

0005 CON 0029 LD 0000

0006 RES 2104 0030 DIFU 1000

0007 CON 0031 CON

0008 SET 2105 0032 AND 1000

0009 CON 0033 RES 2105

0010 SET 2106 0034 LD 2002

0011 CON 0035 CTH 0 2101

0012 RES 2107 0036 CTC 0 #00050

0013 MRD 0037 CTC 1 #00020

0014 RES 2108 0038 LD 2002

0015 CON 0039 CTH 1 0500

0016 SET 2109 0040 CTC 2 #10000

0017 CON 0041 END

0018 RES 2110 0042 INT CTC2

0019 CON 0043 LD 2002

0020 RES 2111 0044 SET 2105

0021 CON 0045 RETI

0022 RES CTH0 0046 ENDH

0023 MPP

Special utility relays 2103 to 2111 can be set to turn ON or OFF using LDA and STAinstructions as well as SET and RES instructions. Example below illustrates howone program can be made shorter using LDA and STA instructions.

• LDA $0268

When LDA $0268 is executed, the following data is input to the internal register.

Internal registerWhen STA 2100 is executed, the data in the internal register is assigned to 16special utility relays starting from 2100 to 2115.

Thus, 2103, 2105, 2106, and 2109 are ON.


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COM00000001

0500050105020503

1112

789

10COM 20

24 VDC–

+KV-300

FG

Twisted pair cable

CW (pulse)

CCW (rotating direction)

Stepping motor driver

Stepping motor

Star

t

Rev

erse

24 VDC

– +

0

fH(DM0000)

fL(DM0001)

Frequency (Hz)

Acceleration rate

(DM0002)

10 msAcceleration change time

Positioning pulse total count (DM0003)

Acceleration time Constant rate time

Deceleration timeTime (ms)

CAUTION

Example of pulse output (Ramp-up/down control)

The following example performs ramp-up/down control as shown below by setting 4parameters (DM0000 to DM0003).

Connection exampleThe following chart shows an operation example when the KV-300 CPU is con-nected to the stepping motor driver. See the stepping motor driver instructionmanual for details.Set the pulse input mode of the stepping motor driver to "1 pulse input mode".

Setting parameters

DM0000: fH [Hz] (Run frequency) ➞ 153 Hz to 50000 Hz fH must be greater thanfL.DM0001: fH [Hz] (Start frequency)DM0002: Acceleration rate [Hz/10 ms] ➞ (fH-fL) ÷ (Acceleration time ÷ 10 ms)DM0003: Positioning pulse count ➞ 65534 pulses max.

• Although smoother trapezoidal control can be obtained by setting a smalleracceleration rate, the acceleration time is extended.

• Be sure to turn OFF input relay 0007 (phase B input).

Operation

This program sets the parameters as below:DM0000 = 8000 [Hz], DM0001 = 700 [Hz], DM0002 = 400 [Hz/10 ms], DM0003 =4000 pulsesThe program performs trapezoidal control as shown above when start switch 0000 ispressed, and stops control when pulse count reaches 4000.The program restarts operation by re-pressing the start switch. It performs reverseoperation while reverse switch 0001 is ON.


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2002

INITIAL SETUP FOR HIGH-SPEED COUNTER/COMPARATOR

#00010CTC1

#65535CTC0

CTH02100

#65535CTC2

#65535CTC3

CTH10500

2008 #08000DW

DM0000

#00700DW

DM0001

#00400DW

DM0002

#04000DW

DM0003

(SET ) (SET )2813 2105

STARTS POSITIONING

0003 0000 1001 DIFU

1001

$0268LDA

2100STA

01 CALL (SET ) (RES )

1200 CTH1(RES )

CTH0(RES )EI2105

0001( )0502

EMERGENCY STOP

0003(SET)2105

END

CTC0,CTC2,DM0011, CALCULATION SUBROUTINE

SBN02

2002 #01000LDA

#10000MUL

DM0012DIV

#00005ADD

#00010DIV

CTC0STA

DM0010STA

#00010LDA

#10000MUL

DM0010DIV

#00005ADD

#00010DIV

DM0011ADD

CTC2STA

DM0011STA

INITIALIZING SUBROUTINE

RET

SBN01

DM0003LDA

CTC3STA

#00002DIV

DM0004STA

DM0001LDA

DM0012STA

#00000DW

DM0011

2002 02 CALL

RAMP UP/DOWN CHECK ROUTINE

SBN03

RET

DM0012LDA

#00100DIV

DM0011ADD

DM0004CMP

2002

0001

0002

0003

0004

0005

0006

0007

0008

0009

0010

0011

0012

0013

0014

0015

0016

0017

0018

0019

0020

0021

0022

0023

0024

Generates clock pulse through high-speed counter CTH0.

Counts clock pulese through high-speed counter CTH1.• CTC0: Pulse cycle

CTC1: Pulse width• CTC2: Frequency change point

CTC3: Positioning pulse totalcount

Sets parameters (DM0000 toDM0003).

Reverse output

Emergency stopSets CTC0.Setting value of CTC0 = 1 ÷ DM0012 x 103 x 103 ÷ 6.4

Sets CTC2.• DM0010: Pulse cycle T (µs) x 10• DM0011: Accumulated pulse count• DM0012: Current frequency f [Hz]• 1200: Acceleration flag

Programming exmaple


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RET

0025

INTERRUPT ROUTINE FOR SPEED-UP/SLOW-DOWN

INTCTC2

SPEED-UP

DM0012LDA

DM0002ADD

DM0012STA

DM0000CMP

1200 2011 03 CALL

2011 02 CALL

2011( )1201

2011 DM0003LDA

DM0011SUB

CTC2STA

DM0011STA

1201(RES )1200

SPEED-UP

DM0012LDA

DM0002SUB

DM0012STA

DM0001CMP

1200 2011 02 CALL

2011 02 CALL

#65535LDA

CTC2STA

RETI

RETI

ENDH

INTERRUPT FOR PULSE STOP

INTCTC3

2002(SET )2105

0026

0027

0028

0029

0030

0031

0032

0033

0034

0035

0036

0037

0038

0039

0040

0041

Adds the acceleration rate to thecurrent frequency to changefrequency whenever CTC2 turnsON while acceleration flag 1200 isON. When the current frequencyreaches fH, stops acceleration andsets the deceleration pulse count.

Subtracts the acceleration rate fromthe current frequency to changefrequency whenever CTC2 turnsON while acceleration flag 1200 isOFF. When the current frequencyreaches fL, stops deceleration andinitializes the settings.

When pulse count of clock pulsesequals the setting value of CTC3,stops clock pulse output.

6.3 Positioning Control

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6.3.1 Positioning Control (Ramp-up/down Control)Outline of positioning control

The KV-300 CPU outputs clock pulses, independent of scan time, directly throughoutput relay 0500 or 0501. When the clock pulse frequency, output pulse count, andacceleration/deceleration time are set to the data memory addresses in advance,the KV-300 CPU automatically performs ramp-up/down control. Output frequencycan be set within the range of 153 Hz to 50000 Hz.

With this function, ramp-up/down control over stepper motors and AC servo motors(pulse input type) becomes possible.The following section describes setting and application of positioning controlparameters.

Acceleration time Deceleration time Time (ms)

Frequency (Hz)

Operation

StartOutput pulse count

Stepping motor/servo motor

Motor driver

Clock pulse

Rotation direction

Lo : CWHi : CCW

KV-300

05000501

05020503


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Run

Start

Acceleration/ deceleration time

∆t

Setting and application of parametersThis section describes how to set and apply parameters for positioning control.

Setting parameters

Set the parameters to the assigned data memory addresses. To operate thepositioning control function, the special utility relays must be set. ➮ Refer to page 3-299.

The following table shows the parameters and assigned DM Nos.

Note: Refer to the following expression to determine the output pulse count.

Output pulse count < (65535 x pulse change cycle [ms]) ÷ (1000 x run frequency[Hz])

■ Pulse change cycle (∆t)

The pulse change cycle is the cycle in which the output clock pulse frequency ischanged for acceleration or deceleration. The pulse change cycle is obtained fromone of the following expressions, whichever produces the smaller solution. However,when the start pulse is less than 500 Hz, the pulse change cycle becomes 14 ms ormore.

Pulse change cycle (∆t) [ms] = (acceleration time [ms] + 199) ÷ 200 x 4orPulse change cycle (∆t) [ms] = 1000 ÷ (run frequency [Hz] ÷ 1000)

DMNo. Parameter Allowable setting range

DM9407 Set value error code Code 11 to 17 or FFFF (-1)is entered when error occurs

X-axis DM9408 0500 Start frequency (Hz) 153 to 50000

(0500) DM9409 0500 Run frequency (Hz) 153 to 50000

DM9410 0500 Acceleration/deceleration 0 to 4096time (ms)

DM9411 0500 Output pulse count 0 to 65535(high-order 16 bits)

DM9412 0500 Output pulse count 0 to 65535(low-order 16 bits)

Y-axis DM9413 0501 Start frequency (Hz) 153 to 50000

(0501) DM9414 0501 Run frequency (Hz) 153 to 50000

DM9415 0501 Acceleration/deceleration 0 to 4096time (ms)

DM9416 0501 Output pulse count 0 to 65535(high-order 16 bits)

DM9417 0501 Output pulse count 0 to 65535(low-order 16 bits)


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■ Set value error code

Automatically writes an error code (11 to 17) into DM9407 when a parameter settingerror is found at startup.

■ Corrective action for error code 16Error code 16 is issued when the output pulse count during acceleration/decelera-tion time exceeds other values calculated from the preset parameters.To recover from the error, the following corrective actions are available.• Change the run frequency and/ or the acceleration/ deceleration time according

to the following expression.

Corrective action for error code FFFF (-1)• Reduce run frequency and start frequency.• Reduce accelleration/ deccelleration time.

■ Start frequency (Hz)

Sets a start frequency (speed) to start the motor rotation smoothly during positioningcontrol.

The KV-300 CPU outputs clock pulses at the specified frequency.

■ Run frequency (Hz)

Sets the motor frequency (speed) during positioning control. The KV-300 CPUoutputs clock pulses at the specified frequency.

Note: When the start frequency equals the run frequency, the system operates asshown in the following chart.

Here, the acceleration/deceleration time is ignored. The output count should be lessthan 65535.

0

Preset frequency

Code Error description Corrective action

11 Start frequency is below allowable Adjust start frequency to within allow-range. able range (153 to 50000).

12 Run frequency is below allowable Adjust run frequency to within allow-range. able range (153 to 50000).

13 Run/start frequency exceeds allow- Adjust run/start frequency to withinable range. allowable range (153 to 50000).

14 Start frequency is greater than run Reduce start frequency to less thanfrequency. run frequency.

15 Acceleration/deceleration time Adjust acceleration/deceleration timeexceeds allowable range. to within allowable range (0 to 4096).

16 Too many pulses are output during Change the parameters.acceleration/deceleration time.

17 Too few pulses are output during Set 2 or more as value for outputacceleration/deceleration time. pulse count.

FFFF Other calculation error Change the parameters.

65535Run frequency

x Pulse change cycle x 655351000


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■ Acceleration/deceleration time (ms)

Sets the time required when the start frequency accelerates to the run frequency atstartup. In the same manner, sets the deceleration time required at stop. The KV-300 CPU controls the clock pulse frequency from the start frequency to the runfrequency within the specified time. The pulse change cycle within the accelerationtime is obtained from one of the following expressions, whichever produces thesmaller solution. However, the pulse change cycle when the start pulse is less than500 Hz becomes 14 ms or more.

Pulse change cycle (∆t) ms = (acceleration time ms + 199) ÷ 200 x 4orPulse change cycle (∆t) ms = 1000 ÷ (run frequency Hz ÷ 1000)

■ Output pulse count

Sets the positioning control rotation angle (moving distance) with the pulse count.The KV-300 CPU outputs as many clock pulses as specified. If the output pulsecount is greater than 65535, set the pulse count separately for high-order 16 bitsand low-order 16 bits based on the following expressions.

(Output pulse count) ÷ 65536 = A (solution) … B (remainder)

A = Output pulse count (high-order 16 bits)B = Output pulse count (low-order 16 bits)

Note: When the specified output pulse count is insufficient and does not reach thetarget value, the KV-300 CPU performs triangular control.

The current pulse output value cannot be checked.

Procedure

When the positioning control function is used, the KV-300 CPU controls start, stop,and emergency stop by turning ON/OFF the utility relays. The table below shows theoperations and assigned utility relays.

0

Run frequency

Start frequency

Relay No. R/W Function Description

0500 0501

2308 2311 W STOP Decelerates at rising (UP) edge and stops.

2309 2312 R RUN Turns ON during pulse output.W RESET Immediately stops when turning ON during

interrupt program.

2310 2313 W START Starts at rising (UP) edge.


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DM9409

DM9408

0

DM9411DM9412

DM9410DM9410

2310(START)

2309(RUN)

2308(STOP)

COM000000010002

0500050105020503

1112

12

789

10COM 20

24 VDC–

+KV-300

+–+–

FG

24 VDC

– +

Twisted pair cableCW (pulse)

CCW (rotation direction)

Stepping motor driver

Stepping motor

Em

erge

ncy

stop

Sto

pS

tart

■ Operation chart (when 0500 is used)

Note 1: When special utility relay 2310 (2313) is turned ON at start of clock pulse,2309 (2312) turns ON and the clock pulse is output, assuming parameter settingsare correct.

Note 2: If a parameter setting for the X-axis or Y-axis is incorrect, 2309 (2312) doesnot turn ON and an error code is written into DM9407. Check the error code andadjust the parameter setting.

Note 3: By resetting 2309 (2312) within the interrupt program, you can stop theclock pulse immediately. You must reset 2309 within the interrupt program; other-wise, the clock pulse is not stopped.

Note 4: Because the clock pulse is output under software control, the pulse width isextended by 10 µs to 20 µs in the pulse change cycle. Test the clock pulse output onthe KV-300 system before using it in practical applications.

Examples of stepping motor control■ Connection example

The following reference example shows how to connect the KV-300 CPU to astepping motor driver. Refer to the stepping motor driver instruction manual fordetails.Set the pulse input mode for the stepping motor driver to "Pulse input mode 1".

DM9408: Start frequency (Hz)DM9409: Run frequency (Hz)DM9410: Acceleration time (ms)DM9411: Output pulse count

(high-order 16 bits)DM9412: Output pulse count

(low-order 16 bits)

When 2310 turns ON, clock pulse is output.(rising [UP] edge is detected.)2309 is ON during clock pulse output. Whenpulse output is stopped, 2309 turns OFF.When turning ON 2308, clock pulsedecelerates and stops (rising [UP] edge isdetected.)


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16


15000 17500

80002000

3000

15000

Ramp-up/down control

When start switch 0002 is turned ON, 0500 outputs 100000 pulses under thefollowing conditions: start frequency 1 kHz, run frequency 5 kHz, and acceleration/deceleration time 3 s.Turn ON 0001 to decelerate and stop pulse output. When 0000 is turned ON, pulseoutput is immediately stopped.

Application example of stepping motor control

Assume a program that can be controlled both automatically and manually.In automatic mode, the system runs as shown in the chart below after 0000 is turnedON.

In manual mode, the system goes forward while 0008 is ON and rearward while0009 is ON. It returns to the origin when 0007 turns ON.A pulse is output from 0500. Reverse the rotation direction by turning ON/OFF 0502.The system is equipped with an origin sensor (0002), forward end limit (0006), andrearward end limit (0004).

0002DW DW DW DW DW

2008EI

#01000 #05000 #03000 #00001 #34464 2310

0001 2308

END

INT0000

2002RES2309

RET1

ENDH

DM9408 DM9409 DM9410 DM9411 DM9412

0001

0002

0003

0004

0005

0006

0007

0008

Enables interrupt when starting operation.This is required to allow emergency stopoperation.

Sets parameters and simultaneouslystarts pulse.Decelerates and stops pulse.

Executes emergency stop sequence withinterrupt progaram.


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6


0001

0002

0003

0004

0005

0006

0007

0008

0009

0010

0011

0012

0013

0014

0015

0016

0017

0018

0019

0020

0021

0022

0023

STEPPING MOTOR CONTROL PROGRAM (ORIGIN, FORWARD, REVERSE LIMITS)

SPECIFICATION

PULUSE OUT==500 FOR/REV=502 ORIGIN=0002 FOR/END=0006 FOR/END=0004

MANUAL SW: FORWARD=0008 REVERSE=0009 ORIGIN SW=0007

AUTO OPERATION START=0000

ENABLES INTERRUPT & RESETS ORIGIN POSITIONING FRAG

MANUAL SWITCHES: FORWARD=0008 REVERSE=0009

LIMIT SWITCHES

FORWARD IN ADVANCE

STOP FORWARDING

POSITIONING ORIGIN WHILE REVERSING SLOWLY

* * * * * * * * * * * * * * * * * * * * * * * * * * ORIGIN * * * * * * * * * * * * * * * * * * * * * * * * * * * *

2008 1200(RES) < EI >

0008 0009 2309 00060502(SET) DIFU

1100

0009 0008 2309 00040502(RES) DIFU

1101

1100

1101

< DW > < DW > < DW > < DW > < DW >1103DIFU

#00600

DM9408

#04000

DM9409

#00100

DM9410

#00001

DM9411

#00000

DM9412

0008 0009 1105DIFU

0007 1205DIFU

1205< DW > < DW > < DW > < DW > < DW >

1300DIFU

#00300

DM9408

#03000

DM9409

#00250

DM9410

#00000

DM9411

#03500

DM9412

0502(SET)

1200(SET)

1203< DW > < DW > < DW > < DW > < DW >

1301DIFU

#00500

DM9408

#05000

DM9409

#00000

DM9410

#00001

DM9411

#00000

DM9412

0502(RES)

1200(RES)

1203DIFU

1200 1201 12022309ON

2309OFF

1201 1202

Program example

Sets start frequency, run frequency,and acceleration/deceleration time.Start frequency: 600 HzRun frequency: 4 kHzAcceleration/deceleration time:100 msOutput pulse count: 65536

To return to the origin, first goesforward and then rearward. Stopswhen origin limit (0002) turns ON.

For forward operation, the followingparameters are set:Start frequency: 300 Hz,Run frequency: 3 kHz,Acceleration/decekeratuib time: 250 ms,Output pulse count: 3500.

For rearward operation, the followingparameters are set:Start frequency: 50 HzRun frequency: 500 HzAcceleration/deceleration time: 0 msOutput pulse count: 65536


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0025

0026

0027

0028

0029

0030

0031

0032

0033

0034

0035

0036

0037

0038

0039

0040

0041

0042

0043

0044

0045

0046

0047

SLOW DOWN & STOP (MANUAL/AUTO)

MOVES TO NEXT STAGE AFTER MOTOR STOPS

STARTS MOTOR

* * * * * * * * * * * * * * * * * * * * * * * * AUTO OPERATION CH0 * * * * * * * * * * * * * * * * * * * *

2008 1400(SET)

2308 1401(RES)

T003

1502

2309

1407

< DW > < DW > < DW > < DW > < DW >#00300

DM9408

#15000

DM9409

#00250

DM9410

#00000

DM9411

#17500

DM9412

0502(RES)

1505DIFU

1501< DW > < DW > < DW > < DW > < DW >#00300

DM9408

#02000

DM9409

#00250

DM9410

#00000

DM9411

#02500

DM9412

0502(SET)

1504DIFU

1500< DW > < DW > < DW > < DW > < DW >#00300

DM9408

#08000

DM9409

#00150

DM9410

#00000

DM9411

#15000

DM9412

0502(SET)

1503DIFU

AUTO OPERATION PARAMETER SET

1400JMP

1502DIFU

1403STG

1406(RES)

#00005T003

1407

T002 2309

1406

1403JMP

1501DIFU

1402STG

1405(RES)

#00005T002

1406

T001 2309

1405

1402JMP

1500DIFU

1401STG

1407(RES)

#00010T001

1405

0000 1401JMP

1400STG

1300 0006 2310( )

1301 0004

1103

1506 2308

0006 0009 2308( )

0004 0008

1105

DIFU1408 1402

(RES)1403(RES)

1408

STAGE INSTRUCTION START

AUTO START (OPERATES DURING 0000 IS TURNED ON)

1400(SET)

0024 STARTS MOTOR

0048

0049

0050

0051

0052

0053

0054

INTERRUPT FOR EMERGENCY STOP (POSITIONING ORIGIN)

1503 1506( )

1504

1505

2309( RES )

1200 0008

END

0055

0056ENDH

RETI

0009 0000

INT0002

Instructs motor start and acceleration/deceleration stop.

Creates each of the operation programswith the STG instruction and makes theprograms ready in the specified order.

Sets the parameters for automatic mode.(1) Start frequency: 300 HzRun frequency: 8 kHzAcceleration/deceleration time: 150 msOutput pulse count: 15000(2) Start frequency: 300 HzRun frequency: 2 kHzAcceleration/deceleration time: 250 msOutput pulse count: 2500(3) Start frequency: 300 HzRun frequency: 15 kHzAcceleration/deceleration time: 250 msOutput pulse count: 17500

Stops pulse at the origin with the interruptprogram.


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Chapter 7Serial Communication

The KV Series can be connected to an external device with an RS-232C interfaceto establish communication.This chapter describes communications specifications, how to connect the KVSeries to external devices, and how to perform communication.

7.1 Communications Specifications ............................................ 3-3067.1.1 Communications Specification ............................................................... 3-3067.1.2 Connection with the KV Unit .................................................................. 3-3067.1.3 Connecting the KV-300 CPU to a Personal Computer .......................... 3-307

7.2 Serial Communication ............................................................. 3-3087.2.1 Command Transmission Procedure ....................................................... 3-3087.2.2 Format of Commands/Responses ......................................................... 3-3097.2.3 Communication Command/Response List ............................................. 3-3107.2.4 Setting Communication Commands and Responses to Commands ..... 3-3117.2.5 Other Response Codes .......................................................................... 3-3157.2.6 Error Code List ....................................................................................... 3-3167.2.7 Example Program .................................................................................. 3-317

7.3 Loading Text Data .................................................................... 3-3187.3.1 Receiving Text Data ............................................................................... 3-3187.3.2 Transmitting Text Data ........................................................................... 3-3197.3.3 Sample Program .................................................................................... 3-320

7.4 ASCII Code List ........................................................................ 3-321

7.1 Communications Specifications

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7

Chapter 7 Serial Communication

7.1 Communications SpecificationsThis section describes the specifications for the RS-232C interface and the connec-tion between the KV and external devices.

7.1.1 Communications SpecificationThe communications specification of the KV is summarized in the table. Set thecommunications parameters of the personal computer by referring to the table.

Communications parameters

Note 1: Be sure to specify the same communication parameters for the KV and anyexternal devices to be connected. Communication will fail if different parameters areused.Note 2: Refer to the instruction manual supplied with each device when settingcommunications parameters on the device.

7.1.2 Connection with the KV UnitUse the special connection cable (Straight cable: OP-26487, Reverse cable: OP-96607) and a 25-pin D-sub connector (OP-26485) to connect the KV to the RS-232Cconnector of the external device.

Note: The KV-10xx and KV-10/80 Series include only communication port A.

Wiring diagram

The following is the wiring diagram for the RS-232C cable. Be sure to use thespecial connection cable to connect the KV with each device.

Duplex Full

Synchronization Start/stop

Data format ASCII

Baud rate 9,600 bps

Data length 8 bits

Parity check Even

Stop bit length 1 bit

Delimiter CR

External device with RS-232C connector

Communication port ACommunication port B

25-pin D-subconnector

(OP-26485)

Pin assignment forthe KV

KV

Connectioncable

(Reverse:OP-96607)

Device desig-nated as modem

25-pin D-subconnector

(OP-26485)

KV

Connectioncable

(Straight:OP-26487)

Device designatedas terminal

SD 3RD 5SG 4

23

45620

7

SDRD

RSCSDRER

SG

SD 3RD 5SG 4

23

45620

7

SDRD

RSCSDRER

SG

2 31 4 5 6

KV

7.1 Communications Specifications

3-307

17


7.1.3 Connecting the KV-300 CPU to a Personal ComputerConnect the KV-300 CPU to the RS-232C port of the personal computer with thesupplied connecting cable (OP-226486/OP-26487).

Recommended pin assignments for the RS-232C communication cable are shownbelow. When connecting the KV-300 CPU, use only the connecting cable supplied.

Standard cable (OP-26486 + OP-26487)

KV-300

Connecting cableStandard cable:OP-26486

9-pin D-SUB femaleconnector: OP-26487 Personal computer with an

RS-232C port

KV-30035

4

23456

207

SDRD

SG

SDRDRSCSDRERSG

35

4

23456

207

SDRD

SG

SDRDRSCSDRERSG5432

Pin assignments forthe KV-300 CPU

DCE KV-300 DTE

35

4

2345678

SDRD

SG

ModularConnector

9-pin D-sub connector

7.2 Serial Communication

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7


7.2 Serial CommunicationWhen the KV is connected to a personal computer, the current value or preset valueof timers/counters or contents of data memories in the KV can be loaded to andmodified on the computer.

7.2.1 Command Transmission ProcedureCommands are transmitted from a personal computer to the KV base unit as follows:

■ Transmitting a break signalA break signal is used to initialize the communication buffer and baud rate setting ofthe KV. It is necessary to transmit a break signal of 100 ms or longer to the KVbefore starting communication. Another break signal is unnecessary once thecommunication is established.A break signal must have the waveform shown below.

Note 1: For the first serial communication with a personal computer after the KV-P3E(01) handheld programmer is connected to the KV, or after the "KV IncrediWare(DOS)" or "LADDER BUILDER for KV" programming support software is evoked, besure to transmit a break signal. A break signal is unnecessary at other times.Note 2: If you cannot transmit a break signal, turn OFF the KV once to initialize thecommunication program. After that, restart communication between the KV and thepersonal computer.Note 3: Be sure to stop the communication for 10 ms or longer after transmitting abreak signal.

10 ms or longer

Transmits a command

Transmits communicationsstart command (CR)

Initialize the communication buffer andbaud rate setting of the KV.

Start communications with the KV.

Transmit a command which instructs theKV to perform the required operation.

Transmits communicationsend command (CQ)

End communications with the KV.

▲

▲

▲

▲

Receive and check the response to thetransmitted command.

Transmits a break signal

Receiving a response

▲

▲

100 ms or longer+V

-VSD


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17


■ Command/response format

"Command" and "response" in communications between the KV and a personalcomputer are defined as follows:

Command: Message transmitted from personal computer to KV

Response: Answer to the command (message from KV to personal computer)

When a personal computer transmits a command to the KV Series basic unit, the KVsends back a response to the personal computer.When creating a program to control the KV using a personal computer, create it sothat the response is checked before the next command is transmitted.

7.2.2 Format of Commands/ResponsesThe formats of commands and responses are as follows:

Command format

Use the following format to transmit commands from the personal computer to theKV. [CR] is a delimiter. The KV ignores [LF] and recognizes the next character after[LF] as the next command.

Response format

The KV sends back a response to the received command in the following format.When creating a program using a personal computer, create it so that the personalcomputer can process the response in this format.

Command

Response

Or

CR

CR LFCommand

CR LF


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7.2.3 Communication Command/Response ListThe following list shows the commands and responses used in serial communica-tion. "_" in the list represents a space.

noitcnuF dnammoC esnopseR noitpircseD

.noitacinummocstratS RC CC

.noitacinummocsdnE QC FC

.edomsegnahC nM KO edomMARGORP:0=nedomNUR:1

.rorresraelC RE KO

.rorreCLPskcehC E? dd )rorreoN:00(edocrorrE=dd

.edomCLPtnerrucskcehC M? f edomMARGORP:0=fedomNUR:1

retnuoC nnnC_DR

ddddd,ddddd,f↑↑

)eulavteserP()eulavtnerruC(

NOtcatnoC:1,FFOtcatnoC:0=f)lamicedni(53556ot00000=dddddd

.oNretnuoC=nnn/n

deeps-hgiHHTCretnuoc nHTC_DR

deeps-hgiHretnuoc

CTCrotarapmocnCTC_DR

sdaeR remiT nnnT_DRddddd,ddddd,f

↑↑)eulavteserP()eulavtnerruC(

NOtcatnoC:1FFOtcatnoC:0=f)lamicedni(53556ot00000=dddddd

.oNremiT=nnn

remmirtlatigiD TA_DR00000_00000_ddddd_ddddd

↑↑)1remmirT()0remmirT(

)lamicedni(53556ot00000=dddddd.1dna0remmirtfoseulavteserpsdaeR

tcatnocyaleR nnnnn_DR f NOtcatnoC:1,FFOtcatnoC:0=f

yromemataD nnnnMD_DRddddd )lamicedni(53556ot00000=dddddd

.oNMD=nnnnatadyraropmeTyromem nnMT_DR

tnerrucretnuoCeulav ddddd_nnnC_RW

KO retnuoc/remiT=nnn/n)lamicedni(53556ot00000=dddddd.oN

tnerrucremiTeulav ddddd_nnnT_RW

tnerrucHTCeulav ddddd_nHTC_RW

setirW teserpretnuoCeulav .2 ddddd_nnnC_SW

KO retnuoc/remiT=nnn/n)lamicedni(53556ot00000=dddddd.oN

teserpremiTeulav .2 ddddd_nnnT_SW

teserpCTCeulav .2 ddddd_nCTC_SW

yromemataD ddddd_nnnnMD_RWKO )lamicedni(53556ot00000=dddddd

.oNMD=nnnn,nnatadyraropmeTyromem ddddd_nnMT_RW

yaleR nnnnn_TS

KO .oNyaleR=nnnn.oNretnuoc/remiT=nnnNOsecroF tcatnocretnuoC nnnC_TS

tcatnocremiT nnnT_TS

yaleR nnnnn_SR

KO.oNyaleR=nnnn

.oNretnuoc/remiT=nnn.oNCTC=n

tcatnocretnuoC nnnC_SR

FFOsecroF tcatnocremiT nnnT_SR

deeps-hgiHretnuoc

CTCrotarapmoctcatnoc

nCTC_SR

Note 1: Temporary data memories TM28, TM30, and TM31 are read-only. Values cannot be written intothese memories. However, these memories can be used when special functions are not used.

Note 2: Visual KV Series: When the preset values of timers and counters are changed using "WS", theladder program in EEPROM is updated the next time the KV is turned on.

KV-300, 10/80 Series: The "WS" command changes the content of the program stored in thePLC’s EEPROM.

➮ Contact Keyence if you need to change it frequently.


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17


7.2.4 Setting Communication Commands and Responses toCommands

This section describes the command settings and responses when a command isproperly processed."_" represents a space.Refer to "7.2.5 Other Response Codes" (p. 3-315) for responses under abnormalconditions.

■ Communications start command

Transmit a communications start command to start communication with the KV.Other commands can be transmitted after the proper response is sent back from theKV.

Note: Other commands cannot be used unless a [CR] (communications start)command is transmitted first.

Starts communications between the KV and a personal computer.

Command: CRResponse: CC

■ Communications end command

Ends communications between the KV and a personal computer.

Command: CQResponse: CF

■ Mode change commandSelects the mode between PROGRAM and RUN.

Command: Mn [n=0; PROGRAM mode, n=1; RUN mode]Response: OK

■ Error clear command

Clears error messages on KV.

Command: ERResponse: OK

■ Checking KV PLC error

Checks errors or faults in the KV. The description of the error is indicated with theerror code.➮ "7.2.6 Error Code List" (p. 3-316).

Command: ?EResponse: dd

Error code (2- or 3-digit number)

■ Checking current modeThe KV responds with 0 or 1 indicating a current mode.

Command: ?MResponse: f

0: PROGRAM mode 1: RUN mode


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7


■ Reading counter

Reads the contact ON/OFF status, or the current and preset values of the specifiedcounter/up-down counter.

Command: RD_CnnnCounter No.

Response: f,ddddd,ddddd[Preset value of the counter (00000 to 65535: indecimal)][Current value of the counter (00000 to 65535: indecimal)]0: Contact is OFF., 1: Contact is ON.

■ Reading high-speed counter CTH

Reads the contact ON/OFF status, or the current and preset values of the specifiedhigh-speed counter CTH.

Command: RD_CTHnHigh-speed counter No. (0 or 1)

Response: f,ddddd,dddddPreset value of CTH (00000 to 65535: in decimal)Current value of CTH (00000 to 65535: in decimal)0: Contact is OFF., 1: Contact is ON.

■ Reading high-speed counter comparator CTC

Reads the contact ON/OFF status, or the current and preset values of the specifiedhigh-speed counter comparator CTC.

Command: RD_CTCnHigh-speed counter comparator No.

Response: f,ddddd,dddddPreset value of CTC (00000 to 65535: in decimal)Current value of CTC (00000 to 65535: in decimal)0: Contact is OFF., 1: Contact is ON.

■ Reading timerReads the contact ON/OFF status, or the current and preset values of the specifiedtimer.

Command: RD_TnnnTimer No.

Response: f,ddddd,dddddPreset value of timer (00000 to 65535: in decimal)Current value of timer (00000 to 65535: in decimal)0: Contact is OFF., 1: Contact is ON.

■ Reading digital trimmer

Reads the preset values of the digital trimmers.

Command: RD_ATResponse: ddddd_ddddd_00000_00000

Value of trimmer 1 (00000 to 65535: in decimal)Value of trimmer 0 (00000 to 65535: in decimal)

■ Reading relay contactReads the contact ON/OFF status of the specified relay.

Command: RD_nnnnRelay No.

Response: f0: Contact is OFF., 1: Contact is ON.


3-313

17


■ Reading DM

Reads the contents of the specified data memory.

Command: RD_DMnnnnData memory No.

Response: dddddData in the specified data memory. (00000 to65535: in decimal)

■ Reading TM

Reads the contents of the specified temporary data memory.

Command: RD_TMnnTemporary data memory No. (00 to 31)

Response: dddddData in the specified temporary data memory.(00000 to 65535: in decimal)

■ Writing current value of counter

Changes the current value of the specified counter or up-down counter.

Command: WR_Cnn_dddddNew current value (00000 to 65535: in decimal)Counter No.

Response: OK

■ Writing current value of timerChanges the current value of the specified timer.

Command: WR_Tnnn_dddddNew current value (00000 to 65535: in decimal)Timer No.

Response: OK

■ Writing current value of high-speed counter CTH

Changes the current value of the specified high-speed counter CTH.

Command: WR_CTHn_dddddNew current value (00000 to 65535: in decimal)High-speed counter No.

Response: OK

■ Writing preset value of counterChanges the preset value of the specified counter or up-down counter.

Command: WS_Cnnn_dddddNew preset value (00000 to 65535: in decimal)Counter No.

Response: OK

Note: Executing this command changes the program in the KV. The program in EEPROM isautomatically updated the next time the KV is turned ON.

■ Writing preset value of timer

Changes the preset value of the specified timer.

Command: WS_Tnnn_dddddNew preset value (00000 to 65535: in decimal)Timer No.

Response: OK

Note: Visual KV Series: Executing this command changes the program in the KV. Theprogram in EEPROM is automatically updated the next time the KVis turned ON.

KV-300, 10/80 Series: The "WS" command changes the content of the programstored in the PLC’s EEPROM.

➮ Contact Keyence if you need to change it frequently.


3-314

7


■ Writing preset value of high-speed counter comparator CTC

Changes the preset value of the specified high-speed counter comparator CTC.

Command: WS_CTCn_dddddNew preset value (00000 to 65535: in decimal)High-speed counter comparator No.

Response: OK

■ Writing into DM

Writes data into the specified data memory.

Command: WR_DMnnnn_dddddNew current value (00000 to 65535: in decimal)Data memory No.

Response: OK

■ Writing into TM

Writes data into the specified temporary data memory. TM30 and TM31 are read-only memories, so values cannot be written to them.

Command: WR_TMnn_dddddNew current value (00000 to 65535: in decimal)Temporary data memory No. (00 to 29)

Response: OK

■ Forcing relay ON

Forces the contact of the specified relay to ON.

Command: ST_nnnnnRelay No.

Response: OK

■ Forcing counter contact ON

Forces the contact of the specified counter to ON.

Command: ST_CnnnCounter No.

Response: OK

■ Forcing timer contact ON

Forces the contact of the specified timer to ON.

Command: ST_TnnnTimer No.

Response: OK

■ Forcing relay OFF

Forces the contact of the specified relay to OFF.

Command: RS_nnnnnRelay No.

Response: OK

■ Forcing counter contact OFF

Forces the contact of the specified counter to OFF.

Command: RS_CnnnCounter No.

Response: OK

■ Forcing timer contact OFF

Forces the contact of the specified timer to OFF.

Command: RS_TnnnTimer No.

Response: OK


3-315

17


■ Forcing CTC contact OFF

Forces the contact of the specified high-speed counter comparator to OFF.

Command: RS_CTCnHigh-speed counter comparator No.

Response: OK

Note 1: Input relays cannot be forced ON/OFF. (Except when special utility relay2301 is ON.)Note 2: "_" in commands and responses represents a space.

7.2.5 Other Response CodesIf the command from a computer is an unspecified one, or an error occurs in the KV,the KV sends back an appropriate response code for the status.

Base uniterror

Responsecode

Description Cause Remedy

• Undefined relay, counter,timer, DM, CTH, or CTCnumber was specified.

• Counter, timer, CTH, orCTC number, unused in aprogram was specified.

• Specify a number that isdefined in the KV beingused.

• Check a program, andspecify a number used inthe program.

• Undefined command wastransmitted.

• Incorrect command wasspecified.

• Command other than "CR"was transmitted before thecommunications path wasestablished.

• Check a command.

• Transmit "CR" to startcommunications, and thentransmit a command.

E0

E1

E2

E3

E4

E5

Relay No.error

Commanderror

Programunregistered

Base unitfault

Write-protected

When the KV has no programstored, "M1" was transmittedor reading of timer/countercontent was attempted.

• Register a program into theKV.

• Check a program andspecify the number used inthe program.

Hardware error was detectedin a KV base unit.

Turn off the power for the KV,and then turn it on again. Ifthe cause of the error is notremoved, the KV may befaulty. Contact your nearestKEYENCE office.

Attempt was made to changethe preset value of a counter,timer, or CTC in a write-protected program.

Write-enable the program,and change the preset value.

"M1" was transmitted beforecleaning an error messagefrom the KV.

Clear the error message fromthe KV, and remove the causeof the error.


3-316

7


Subroutines are nested to four levelsor more.

FOR/NEXT instructions are nested toeight levels or more.

Five levels or more of interruptsoccurred simultaneously.

MPS/MPP instructions are nested toeight levels or more.

Content in RAM was erased. All datain data memory and current values ofcounters in the KV were cleared.

Scan time exceeds 300 ms.

Attempt was made to operate a KVbase unit which has no programsstored.

Hardware error was detected in a KVbase unit.

Error code Description Cause Remedy

00 No error

10 CALL nest error

11 FOR nest error

12 INT nest error

13 MPS nest error

20 Memory error

30 Scan timer error

40 NO PROGRAM

50 SND/RTN failure

51 Division by zero

52 Address error

53 Invalid instruction

54 Watchdog timer error

7.2.6 Error Code ListWhen a "Checking KV PLC error" command (?E) is transmitted, the KV sends backthe error code. The following list shows the description, cause, and remedy for eacherror code.

These errors may occur when aprogram is executed.

Check the program while payingparticular attention to usage ofsubroutines and the INT instruction,and restore the program accordingly.

Turn the KV off once and turn it on.Register data from the beginning.

Check the program again.• Be sure that there is no excessive

repetition using the FOR/NEXT loop.• Be sure that an interrupt is not

executed at a higher rate.

Write a program into KV.

Turn off the power for the KV, andthen turn it on again. If the cause ofthe error is not removed, the KV maybe faulty. Contact your nearestKEYENCE office.


3-317

17


7.2.7 Example ProgramTypical program for communications between the KV and a personal computer (ForIBM PC-AT & compatible computers using BASIC)

‘‘Language Microsoft BASIC Version 7.0‘‘ *****I/OAddress (RS-232C Port-1)*****‘Port-1&H3F*‘Port-2&H2F*‘PortCtrl%=&H3FB’COM1Port1Modem%=&H3FC’MODEMCtrlPortBpsLow%=&H3F8’BitrateLowPortBpsHigh%=&H3F9’BitrateHigh‘*****ControlCode*****Port1CtrlCode1%=&H5B’Break&8bitEven1StopbitPort1CtrlCode2%=&H1B’8bitEven1Stopbit‘*****InitializesRS-232C*****OPEN"COM1:9600,N,8,1"FORRANDOMAS#1'‘*****RS-232CPortInit*****OUTPortCtrl %,Port1CtrlCode1%’Start transmitting a break signalSLEEP1’wait 1 sec.OUTPortCtrl%,Port1CtrlCode2%’Ends transmitting a break signal‘‘-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-‘’’’’’’’’’’’*****DebugPrint*****‘’’’’’’’’’’status=INP(&H3FE):PRINT"ModemStatus1";status‘’’’’’’’’’’status=INP(&H3FD):PRINT"LineStatus1";status‘’’’’’’’’’’’‘’’’’’’’’’’’*****SelfInit.*****‘’’’’’’’’’’linectrl=INP(PortCtrl%)’ReadLine-Control-Register‘’’’’’’’’’’linectrl=linectrlOR&H80'‘’’’’’’’’’’OUTPortCtrl%,linectrl’DLAB=ON‘’’’’’’’’’’‘’’’’’’’’’’OUTPortBpsLow%,12’SetBitRate(9600BPS)‘’’’’’’’’’’OUTPortBpsHigh%,0'‘’’’’’’’’’’‘’’’’’’’’’’linectrl=linectrlAND&H7F’DLAB=OFF‘’’’’’’’’’’OUTPortCtrl%,linectrl‘’’’’’’’’’’’‘’’’’’’’’’’’*****CtrlLine*****‘’’’’’’’’’’OUTPort1Modem%,&HB’RTS,DTRON !!‘’’’’’’’’’’’‘’’’’’’’’’’’*****DebugPrint*****‘’’’’’’’’’’status=INP(&H3FE):PRINT"ModemStatus2";status‘’’’’’’’’’’status=INP(&H3FD):PRINT"LineStatus2";status‘-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-‘*********************************************************‘*****Transmitting a command/receiving a response*****‘*********************************************************a$=""WHILEa $>"END"PRINT"Command>>":INPUTa$PRINT#1,a $b$=""LINEINPUT#1,b$PRINT"RsP[";b$;"]"PRINTWENDPRINT"GoodBy!!"CLOSE#1

END

Note: No parity check is specified due to thelimitations of the version of BASIC being used.

• Change value in "SLEEP" timer according to your personal computer’s clockfrequency so that value I exceeds 100 ms.

• Set the baud rate of your personal computer to 9600 bits/s.• Enter END to terminate programming.

Note 1: MS-DOS executable files (KVCOM.EXE) and BASIC source code files(KVCOM.BAS) are included in the KV Incrediware (DOS) Software (KV-H4E,version 2.00 or higher).

Note 2: Type in "KVCOM" and press ENTER to call the MS-DOS command line.

7.3 Loading Text Data

3-318

7


7.3 Loading Text DataThe KV can be connected to equipment having an RS-232C port to load consecutivetext data (less than 100 bytes) as a batch into its data memories.Loaded data can be modified and incorporated into a program.

7.3.1 Receiving Text DataThe KV can write up to 100 bytes of text data sandwiched between STX and ETX,into internal data memories (DM1000 to DM1099 with communication port A,DM1200 to DM1299 with communication port B), one byte per data memory inASCII code.

Communications data format

Note that each text data must include STX (02H) in the 1st byte followed by the text(100 bytes max.) and end with ETX (03H) in the last byte as shown below.

Internal data memory

The KV writes received text data into its data memories (DM1000 to DM1099 withcommunication port A, DM1200 to 1299 with communication port B), one byte perdata memory in ASCII code.

The KV writes "00" into the high-order 8 bits and text data in ASCII code into thelow-order 8 bits of the data memory.

Note: The KV-10xx includes only communication port A.

Special utility relay operationThree special utility relays assigned for each channel turn on for one scan toindicate that text data has been received or that data reception has failed.

STX

1st byte Last byte

Text data (less than 100 bytes) ETX

Low-order 8 bits (ASCII code)

Received data

Byte count of data

Data 1 Data 2 Data 3 Data 99

1st DM(Byte count of data)Data memory 2nd DM 3rd DM 4th DM 100th DM

Bits indata memory

High-order 8 bits (00)

ataDyromem

WENVK

ATROP 0001MD 1001MD 2001MD 8901MDot3001MD 9901MD

BTROP 0021MD 1021MD 2021MD 8921MDot3021MD 9921MD

003-VK08/01-VK 0029MD 1029MD 2029MD 8929MDot3029MD 9929MD

.oNataD tnuocetyB 1ataD 2ataD 89ataDot3ataD 99ataD

STX

0

15 00

0 0 0 0 0 0 0 0 0 1 1 0 0 0 1

ETX


3-319

17


Note 1: Be sure to transmit a break signal for the first serial communication with apersonal computer after the KV-P3E(01) handheld programmer is connected to theKV, or after the "KV IncrediWare (DOS)" or "LADDER BUILDER for KV" program-ming support software is evoked.A break signal initializes the communication setting for the KV. If you cannot transmita break signal, turn the KV OFF once to initialize the communication setting. The KVwill not receive text data unless its communication setting has been initialized.

Note 2: If [ETX] exists at some point in the text data, the KV writes the data before[ETX] into the data memory. The data after [ETX] is not written.

Note 3: If KV receives text data while special utility relay 2804 (2809)*1 is ON, thereceived data is not written into the data memory. In this case, special utility relay2802 (2807)*2 turns ON for one scan.

Note 4: When parity errors or other errors occur during text data reception, thereceived data is not written into the data memory. In this case, special utility relays2802 (2807) and 2803 (2808)*3 turn ON for one scan.

Note 5: The KV-10xx includes only communication port A.

*1: 2804 with KV-300/10/80 *2: 2805 with KV-300/10/80 *3: 2806 with KV-300/10/80

7.3.2 Transmitting Text DataThe KV transmits text data written into its data memories (DM1100 to DM1199 forcommunication port A, DM1300 to DM1399 for communication port B), one byte perdata memory in ASCII code.

Transmission data format and internal data memoriesWhen transmitting data from the KV, write the data into the data memory in thefollowing format.

The KV writes "00" into the high-order 8 bits and text data in ASCII code into thelow-order 8 bits of the data memory.

Note: The KV-10xx includes only communication port A.

Data 99

Data memory bits

High-order 8 bits (00) Low-order 8 bits (ASCII code)

Data memory 1st DM(Byte count of data) 2nd DM 3rd DM 4th DM 100th DM

Transmitted data Data 1 Data 2 Data 3

.oNyaleR)ATROP(

.oNyaleR)BTROP(

.oNyaleR)08/01/003-VK( noitpircseD

1082 6082 4082 atadtxetnehwnacsenorofNOsnruT.deviecerneebsah

2082 7082 5082atadtxetnehwnacsenorofNOsnruT

,NOsi1082elihwdeviecerneebsah.NOsi3082nehwro

3082 8082 6082 atadtxetnehwnacsenorofNOsnruT.deliafsahnoitpecer

ataDyromem

ATROP 0011MD 1011MD 2011MD 8911MDot3011MD 9911MD

BTROP 0031MD 1031MD 2031MD 8931MDot3031MD 9931MD

/003-VK08/01 0039MD 1039MD 2039MD 8939MDot3039MD 9939MD

.oNataD tnuocetyB 1ataD 2ataD 89ataDot3ataD 99ataD

0

15 00

0 0 0 0 0 0 0 0 0 1 1 0 0 0 1


3-320

7


T000

T0012803

0500

2801

2800

0000

2008

1001

2800

0500

DM1007LDA

DM1006LDA

DM1005LDA

DM1004LDA

DM1003LDA

DM1002LDA

DM1001LDA

DM1000LDA

1001DIFU

#00010T000

#00030T001

0001

0002

0003

0004

0005

0006

0007

0008

0009

0010

0011

0012

0013

2804SET

END

ENDH

#00009DW

DM1100

$0002DW

DM1101

$004BDW

DM1102

$0045DW

DM1103

$0059DW

DM1104

$004EDW

DM1106

$0043DW

DM1107

$0045DW

DM1108

$0003DW

DM1109

$0045DW

DM1105STX K E Y E

N C E ETX

Turns ON output relay 0500for 3 seconds whenreception error occurs.

Sends break signal (1 sec.).

One scan ON

Break signal

Transmits text data ("STX KEYENCE ETX").

Transmissionstart relay No. of

transmitteddata

Trans-missionrelayReceives text data.

Reception relay No. ofreceived data.

Receiveddata

Reception error

When power is turned ON,transmits a break signal forone second during the firstscan.

Transmits text data wheninput relay 0000 turns ON.

Receives text data.Received

dataReceived

dataReceived

dataReceived

dataReceived

dataReceived data

Special utility relay operation

Two special utility relays are assigned for each channel for data transmission. Textdata or a break signal is transmitted when the respective relay is turned ON/OFF.

Note 1: Be sure to transmit a break signal for the first serial communication with apersonal computer after the KV-P3E(01) handheld programmer is connected to theKV, or after the "KV IncrediWare (DOS)" or "LADDER BUILDER for KV" program-ming support software is evoked.A break signal initializes the communication setting for the KV. If you cannot transmita break signal, turn the KV OFF once to initialize the communication setting.The KV will not transmit/receive text data unless its communication setting has beeninitialized.

Note 2: Turn ON special utility relay 2804 (2809) (SET 2804 [2809])*1 to transmit textdata. Special utility relay 2804 (2809)*1 remains ON during text data transmission,and automatically turns OFF when the transmission completes.To forcefully stop the text data transmission, turn OFF special utility relay 2804(2809) (RES 2804 [2809])*1.

Note 3: A break signal is transmitted while special utility relay 2808*2 is turned ON.Use the SET-RES instruction pair or OUT-OUB instruction pair to control a breaksignal. The communication program of the destination KV is initialized after a breaksignal has been transmitted.

*1: 2807 with KV-300/10/80 *2: 2803 with KV-300/10/80

7.3.3 Sample ProgramThe following is the sample program to transmit/receive text data using communica-tion port A on the KV basic unit.

Data to be transmitted: KEYENCETransmission header: STXTransmission delimiter: ETXLength of received data: Fixed to 7 bytes

.oNyaleR)AtroP(

.oNyaleR)BtroP(

.oNyaleR)08/01/003-VK( noitpircseD

4082 9082 7082 .atadtxetgnittimsnartspots/stratSpotS:FFO,tratS:NO

0082 5082 3082 .langiskaerbgnittimsnartspots/stratSpotS:FFO,tratS:NO

7.4 ASCII Code List

3-321

17


0

0

1

2

3

4

5

6

7

8

9

A

B

C

D

E

F

1 2 3 4 5 6 7 8 9

High-order 4 bits

Low

-ord

er 4

bits

7.4 ASCII Code ListThe following are the ASCII code characters used for data transmission.

Characters in the shaded area can be used for data transmission with the KV.[STX], [ETX], [LF], and [CR] are used as data delimiters.Only use characters in the shaded area because the other characters are used forcontrol purposes.

7.4 ASCII Code List

3-322

7


Chapter 8Programming Examples

This chapter describes the typical programming examples for KV-300, KV-10/80Series. These programs can be used for Visual KV Series. However, pay attentionto the I/O addressing compatibility before use.

8.1 List ....................................................................................................... 3-324

8.2 Details ................................................................................................. 3-3268.2.1 Reference Program Examples ............................................................... 3-326

8.1 List

3-324

8

Chapter 8 Programming Examples

8.1 List

Instruction Program title ReferencePage

TMR, TMH, TMS [Timers] One-shot circuit 3-326

Off-delay circuit 3-326

On-delay circuit 3-327

Flicker circuit 3-327

C [Counter] Accumulator timer 3-327

Large capacity counter 3-328

Multi-level Up/Down counter 3-328

Counter multi-level setting 3-328

DIFU, DIFD One-shot circuit 3-329

KEEP Detection of packs on conveyor 3-329

SFT Alternating circuit 3-330

Repeat shift circuit 3-331

Asynchronous shift register 3-331

Resetting internal utility relays 3-332

HSP High-speed fetching of input data 3-332

MC-MCR Emergency stop circuit 3-333

W-UE Input sequence check 3-334

Fork lift truck IN/OUT judgement 3-334

STG-JMP Enabling double coil 3-335

Conditional branching 3-335

STP-STE Process progression 3-336

ITVL Pulse interval measurement 3-336

Fetching data from KV-AN6 3-337

CTH [High-speed counter] High-speed counter multi-level setting 3-338

High-speed counter current value clear 3-339

Input of phase differential signal 3-339

SBN [Sub-routine] DM shift 3-340

FOR-NEXT Transfer of a block of DM data 3-341

HKEY Fetching 16-key input 3-342

TMIN [Analog timer] Changing timer setting value 3-343

Changing setting values of multiple timers 3-343

LDA/STA First-in first-out (FIFO) 3-343

Changing the counter setting value 3-345

Changing the timer setting value 3-345

CMP Comparing values with no specific range 3-345

Setting the upper/lower limit 3-345

Changing the CMP setting value 3-346

Multi-level comparator 3-346

ADD Adding BCD and BIN(binary) values 3-347

Total count 3-348

SUB Comparison of absolute values 3-348

MUL Multiplying the counter current value by DM value 3-349

DIV Total count average 3-349

ANDA BCD (1-digit) input 3-350

Fetches input data separately 3-350

ORA Output of 2-digit BCD data 3-351

Separate input of 2-digit BCD 3-351

8.1 List

3-325

18


Instruction Program title ReferencePage

EORA Judgement of matcing data 3-352

SRA/SLA Separate input of BCD 3-352

RRA/RLA Error input count 3-353

INC/DEC Total count 3-353

Up/Down count 3-354

MPX Display of 7-segment LED 3-355

DMX Output of error input No. in BCD 3-356

TBCD Output of 4-digit BCD data 3-356

Output of 8-digit BCD data 3-356

TBIN Output of 4-digit BCD data 3-357

8.2 Details

3-326

8


8.2 Details

8.2.1 Reference Program Examples

Basic Instructions

Applications of TMR, TMH, and TMS Instructions ➮ Refer to p. 3-67 to p. 3-71.

■ One-shot circuit

When input relay 0000 turns ON, output relay 0500 turns ON and remains ON for aspecified time.

Timing diagram

Ladder diagram Coding

■ Off-delay circuit

When input relay 0000 turns ON, output relay 0500 turns ON. 0500 turns OFF in aspecified time after 0000 turns OFF.

Timing diagram


0500

0000

2s 2s

0000 #00020

T000

T000 005000500

2-s timer

0500

0000

2s

0000

#00020

T000

0500

000000500

2-s timer

T000

Line No. Instruction Operand0000 LD 00000001 OR 05000002 TMR 000#000200003 ANB T0000004 OUT 0500

Line No. Instruction Operand0000 LD 00000001 OR 05000002 ANB T0000003 OUT 05000004 ANB 00000005 TMR 000 #00020

8.2 Details

3-327

18


■ On-delay circuit

Output relay 0500 turns ON in a specified time after input relay 0000 turns ON.When input relay 0000 turns OFF, output relay 0500 also turns OFF.

Timing diagram


■ Flicker circuit

Output relay 0500 turns ON and OFF repeatedly while input relay 0000 is ON.

Timing diagram


■ Accumulator timer (Remains ON in case of power failure)

Counts special utility relay 2006 (1-s clock pulse) for 3600 s at C001 and inputs thecount value to C002. Accumulates the count for 10000 hours and retains the currentcount value even when power failure occurs or power is OFF.Input relay 0000Reset relay 0001(Resolution is 1 s at 2006.)


0500

0000

2s 1s

0000 #00020

T000

0500T000

2-s timer

0500

0000

2s

1s 1s

2s

0000 #00020T000

T000

2-s timer

0500

#00010T001

T001

1-s timer

Line No. Instruction Operand0000 LD 00000001 TMR 000 #000200002 LD T0000003 OUT 0500


0000 LD 0000

0001 ANB T001

0002 TMR 000 #00020

0003 LD T000

0004 TMR 001 #00010

0005 OUT 0500

0000 #03600C001

C001

3600-s counterC001

1-s pulse

0001 #10000C002

10000-s counter

1000

1000

2006


0000 LD 0000

0001 ANB C001

0002 C 001 #03600 2006

0003 LD C001

0004 OUT 1000

0005 LDB 0001

0006 C 002 #10000 1000

8.2 Details

3-328

8


0001 #09999C000

2002 0500#0099900000 to00999

LDAC000

CMP

0501

0512

2011

#01999CMP

2011 0500

#02999CMP

2011 0500 0501

0000

01000 to 01999

02000 to 02999

0004Low-order4 digits

High-order4 digits

STATBCDLDAC000 8500

STATBCDLDAC001 8600

■ Large capacity counter

Accumulates 1 count to C001 for every 10000 counts by C000. This example cancount up to 655350000.Count input relay 0000Reset relay 0001


■ Multi-level UP/DOWN counter

UP/DOWN counter which allows the count setting value up to 99,990,000.• UP input relay: 0001• DOWN input relay: 0002• Reset input relay: 0003

The example below outputs the high-order 4 digits of 8-digit BCD to UDC001 andthe low-order 4 digits of 8-digit BCD to UDC000.


■ Counter multi-level setting

Outputs in 3 different levels according to the counter current value.• 00000 to 00999 —> 0500 turns ON.• 01000 to 01999 —> 0501 turns ON.• 02000 to 02999 —> 0502 turns ON.

Ladder diagram

#10000C000

C000

0001 C000

0001 #65535C001

1000

1000

0000


0000 LDB 0001

0001 ANB C000

0002 C 000 #10000 0000

0003 LD C000

0004 OUT 1000

0005 LDB 0001

0006 C 001 #65535 1000


0000 LD 00010001 LD 00020002 LD 00030003 UDC 000 #099990004 LD C0000005 AND 00010006 LD C0000007 AND 00020008 LD 00030009 UDC 001 #09999

0001

#09999UP

UDC000

0002

0003

C000

C000

0003

0002

0001

DW

RES

#09999UP

UDC001

DW

RES

BCD: Low-order 4 digits

BCD:High-order 4 digits

8.2 Details

3-329

18


Coding

Application of DIFU, DIFD Instructions

■ One-shot circuit using differentiate instructionWhen input relay 0000 turns ON/OFF, output relay 0500 and 0501 turns ON one-shot (1 second).

Timing diagram


➮ Refer to p. 3-78.

Application of KEEP instruction

■ Detection of chewing gum packs

Detects chewing gum packs over the carton using the proximity switch ES Series(0001 to 0003). If the switch detects that one or more packs of chewing gum aremissing, output relay 0500 turns ON for 1 s.The timing clock is generated from the visible beam photoelectric switch PZ2 (0000).

Line No. Instruction Operand Line No. Instruction Operand0000 LDB 0001 0012 CON0001 C 000 #09999 0000 0013 ANB 20110002 LD 2002 0014 ANB 05000003 LDA C000 0015 OUT 05010004 CON 0016 MPP0005 MPS 0017 CMP #029990006 CMP #00999 0018 CON0007 CON 0019 ANB 20110008 ANB 2011 0020 ANB 05000009 OUT 0500 0021 ANB 05010010 MRD 0022 OUT 05020011 CMP #01999

1000

0000

1S

1001

0500

0501 1S

1001 0501

0501 #00010T002

T002

0000 1000DIFU

1001DIFD

1000 0500

0500 #00010T001

T001

Line No. Instruction Operand0000 LD 00000001 DIFU 10000002 DIFD 10010003 LD 10000004 OR 05000005 ANB T0010006 OUT 05000007 TMR 001 #000100008 LD 10010009 OR 05010010 ANB T0020011 OUT 05010012 TMR 002 #00010

Gum

Reflector (R-2)

Proximity Switch ES Series

ON OFF ON

PZ2-61

Chewing

gum pack

Chewing

gum pack

Gum

Gum

Gum

Gum

Gum

Gum

Gum

ES Series

8.2 Details

3-330

8


Timing diagram

Ladder diagram

Executes SET when all input relays 0000 to 0003 are ON.Detects presence/absence of chewing gum packs at DOWN edge of 0000.Outputs 1-s one-shot pulse from output relay 0500 when 1000 is OFF.

Coding


Applications of SFT instruction

■ Alternating circuit

Every time input relay No. 0000 turns ON, 0500 turns alternately ON and OFF.

Timing diagram



0000

1s

0001

0002

0003

0500

0000

1000SETKEEP

1001RES

0000 1001DIFD

1001 0500

0500 #00010T001

T001

0001 0002 0003

1000

Excecutes SET when all input relays 0000 to 0003 are ON.

Detects presence/absence of chewing gum packs at DOWN edge of 0000.

Outputs 1-s one-shot pulse from output relay 0500 when 1000 is OFF.

0000

0500

1000

1000D

SFT

0000

2003

1000

CLK

RES

0500

1000

Line No. Instruction Operand Line No. Instruction Operand0000 LD 0000 0007 DIFD 10010001 AND 0001 0008 LD 10010002 AND 0002 0009 ANB 10000003 AND 0003 0010 OR 05000004 LD 1001 0011 ANB T0010005 KEEP 1000 0012 OUT 05000006 LD 0000 0013 TMR 001 #00010


0000 LDB 1000

0001 LD 0000

0002 LD 2003

0003 SFT 1000 1000

0004 LD 1000

0005 OUT 0500

8.2 Details

3-331

18


■ Repeat shift circuit

Turns ON every output for a second sequentially. Sets 1000 to 2008 (ON for 1stscan only at startup) and shifts outputs from 7500 to 7504 every second at T001.When 1005 turns ON, 1000 is set and the same sequence as above repeats.


■ Synchronous shift registerTurns ON input relay 0002 to reset the shift register (1000 to 1010) when the datainput to 0000 does not synchronize with the clock input to 0001.

Timing diagram


2008

T001

2003

T001

2003

1000D

SFT

1000

1001

1002

CLK

RES

7502

1005

1003 7503

#00010T001

7500

7501

1004 7504

1005 1000

SET1000

SET

0000

0001

1000

1001

1002 ...

Line No. Instruction Operand0000 LD 20080001 SET 10000002 LDB T0010003 T001 #000100004 LD 20030005 LD T0010006 LD 20030007 SFT 1000 10050008 LD 10000009 OUT 75000010 LD 1001

0011 OUT 7501

0012 LD 1002

0013 OUT 7502

0014 LD 1003

0015 OUT 7503

0016 LD 1004

0017 OUT 7504

0018 LD 1005

0019 SET 1000

0000

1100

2003

0001

0002

1000D

SFT

CLK

RES1010

1100DIFU

SET1000


0000 LD 0000

0001 DIFU 1100

0002 LD 1100

0003 SET 100

0004 LD 2003

0005 LD 0001

0006 LD 0002

0007 SFT 1000 1010

8.2 Details

3-332

8


2008Turn ON for 1st scan only at startup.

2813SET

EI

0500 #00010T000

T000RES

0000

2002SET

0500

0500

Interrupt enabled

Input time constant 10µs

Turns ON timer for 1s when 0500 is ON.

Resets 0500 when T000 turns ON.

Sets interrupt input at 0000.

Sets 0500 when 0000 turns ON.

END

INT

RETI

ENDH

Initial settings

■ Resetting internal utility relays

When input relay No. 0000 turns ON, all internal utility relays No. 1000 through 1915turn OFF.SFT instruction can be substituted for RES instruction. This application can be usedto reset many relays at one time.


Applications of HSP instruction

■ High-speed fetching of input dataWhen the input signal at 0000 has pulses of 5-ms interval and input relay 0001 isON, fetches data from input relay 0000 at high speed and outputs 1-s one-shotpulse from output relay 0500.

Timing diagram


* To input a signal having pulse interval shorter than the scan time, use the inter-rupt instruction. ➮ Refer to p. 3-192.

■ When using the interrupt instruction

Ladder diagram

2003

2003

0000

1000D

SFT

CLK

RES1915

0001

0000

0500 1s

0001

0000

0500

#00010T000

1-s timer

0500 T000

Outputs 1-s one-shot pulse from output relay0500.

0000HSP

Line No. Instruction Operand0000 LD 2003

0001 LD 2003

0002 LD 0000

0003 SFT 1000 1915

Line No. Instruction Operand0000 LD 00010001 HSP 00000002 LD 00000003 OR 05000004 TMR 000 #000100005 ANB T0000006 OUT 0500

8.2 Details

3-333

18


Coding


Application of MC-MCR instruction

■ Emergency stop circuit

When input relay 0000 is ON, 0500 turns ON for 1 s, then 0501 turns ON for 2 s,and then 0502 turns ON for 3 s, repeatedly.Once input relay 0000 turns OFF, 0500 turns ON when 0001 is ON, 0501 turns ONwhen 0002 is ON, and 0502 turns ON when 0003 is ON.

Timing diagram Coding

Ladder diagram

Line No. Instruction Operand Line No. Instruction Operand0000 LD 2008 0007 END0001 EI 0008 INT 00000002 SET 2813 0009 LD 20020003 LD 0500 0010 SET 05000004 T000 #00010 0011 RETI0005 LD T000 0012 ENDH0006 RES 0500

0000

0001

0002

0500

0501

0502

0003

0001

0002

0003

0004

0005

0006

0007

0008

0009

0010

0011

0012

0013

0015

0014

0016

0017

0018

0019

0020

0000

0000

1000

SET RES RES1100 1101 1102

DIFU1002 1002

STG1100 1200 #00010 T000

JMP1101

T000

MC

STG1101 1201 #00020 T001

JMP1102

T001

STG1102 1202 #00030 T002

JMP1100

T002

MCR

MC1001

0001

0002

0003

MCR

1203

1204

1205

1200

1203

0500

1201

1204

1202

1205

0501

0502

END

ENDH

1000 1001

Line No. Instruction Operand0000 LD 00000001 OUT 10000002 CON0003 OUB 10010004 LD 00000005 DIFU 10020006 CON0007 AND 10020008 SET 11000009 CON0010 RES 11010011 CON0012 RES 11020013 LD 10000014 MC0015 STG 11000016 OUT 12000017 CON0018 TMR 000 #000100019 CON0020 AND T0000021 JMP 11010022 STG 11010023 OUT 12010024 CON0025 TMR 001 #000200026 CON0027 AND T0010028 JMP 11020029 STG 11020030 OUT 12020031 CON0032 TMR 002 #000300033 CON0034 AND T0020035 JMP 11000036 MCR0037 LD 10010038 MC0039 LD 00010040 OUT 12030041 LD 00020042 OUT 12040043 LD 00030044 OUT 12050045 MCR0046 LD 12000047 OR 12030048 OUT 05000049 LD 12010050 OR 12040051 OUT 05010052 LD 12020053 OR 12050054 OUT 05020055 END0056 ENDH

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0000

0001

0500

0501

0000

0001

0002

0003

0500

0000

1000 0002

1001 0003

0001

1002 0500

1000

1001

1002

Application Instructions

Application of W-UE instruction

■ Input sequence check

Output relay 0500 turns ON when input relay 0000 is ON and input 0001, 0002, and0003 turn ON in this sequence.Output relay 0500 turns OFF when input relay 0000 is OFF.

Timing diagram


■ Fork lift truck IN/OUT judgement

Checks the input sequence. Output relay 0500 turns ON when input relay 0000 turnsON and then 0001 turns ON. Output relay 0501 turns ON when input relay 0001turns ON and then 0000 turns ON.

Timing diagram



0000 LD 0000

0001 W-UE 0001 1000

0002 LD 1000

0003 W-UE 0002 1001

0004 LD 1001

0005 W-UE 0003 1002

0006 LD 1002

0007 OUT 0500

0000 0001

1000

1000 0500

0001 0000

1001

1001 0501

Leave warehouse

Enter warehouse


0000 LD 0000

0001 W-UE 0001 1000

0002 CON

0003 AND 1000

0004 OUT 0500

0005 LD 0001

0006 W-UE 0000 1001

0007 CON

0008 AND 1001

0009 OUT 0501

8.2 Details

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18


Application of STG-JMP instruction

■ Enabling double coil

When start SW 0000 is pressed, output relay 0500 turns ON for 1 s, then outputrelays 0500 and 0501 turn ON for 2 s, and then output relays 0500, 0501, and 0502turn ON for 3 s. The above sequence repeats.

Ladder diagram

Coding

The double coil operates normally through different STG instructions. Ifdifferent STG instructions turn ON simultaneously, the latter programmedinstruction has the priority.

■ Conditional branching

When input relay 0000 (start SW) turns ON, output relay 0500 turns ON. Then, asprogrammed for conditional branching, output 0501 turns ON for 1 s when 0001turns ON or 0502 turns ON for 2 s when 0002 turns ON. After either one of theprocesses is completed, the program returns to the conditional branching andrepeats the same steps.

Ladder diagram

0000

1001JMP

SET10001100

DIFU1100

1000STG

T000#00010T000

1002JMP

1001STG

T001#00020T001

1000JMP

1002STG

T002#00030T002

0500

0501

050205010500

0500

Turns ON 1000 when input relay 0000 turns ON.

Output relay 0500 turns ON for 1 s.

Output relays 0500 and 0501 turn ON for 2 s.

Output relays 0500, 0501 and 0502 turn ON for 3 s.

Line No. Instruction Operand Line No. Instruction Operand0000 LD 0000 0016 CON0001 DIFU 1100 0017 TMR 001 #000200002 CON 0018 CON0003 AND 1100 0019 AND T0010004 SET 1000 0020 JMP 10020005 STG 1000 0021 STG 10020006 OUT 0500 0022 OUT 05000007 CON 0023 CON0008 TMR 000 #00010 0024 OUT 05010009 CON 0025 CON0010 AND T000 0026 OUT 05020011 JMP 1001 0027 CON0012 STG 1001 0028 TMR 002 #000300013 OUT 0500 0029 CON0014 CON 0030 AND T0020015 OUT 0501 0031 JMP 1000

CAUTION

0000

1001JMP

SET10001100

DIFU1100

1000STG

0001

1002JMP

0002

1000JMP

1001STG

T000#00010T000

0500

0501

1000JMP

1002STG

T001#00020T001

0502

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8


Application of STP-STE instruction

■ Process progressionWhen input relay 0000 turns ON, output relay 0500 automatically turns ON for 2 s,and then 0501 turns ON for 3 s.


* The double coil operates normallyacross different STP instructions.


Application of ITVL instruction

■ Pulse interval measurement

Measures the pulse interval of input relay 0000 and writes the measured data intoDM0100 (in units of 10 ms).• Mode No. ➞ 1 (DM0000)• MAX. setting value ➞ 51 (DM0001)• MIN. setting value ➞ 49 (DM0002)• Average number of measurements ➞ 10 (DM0003)

Coding

Line No. Instruction Operand Line No. Instruction Operand0000 LD 0000 0014 OUT 05010001 DIFU 1100 0015 CON0002 CON 0016 TMR 000 #000100003 AND 1100 0017 CON0004 SET 1000 0018 AND T0000005 STG 1000 0019 JMP 10000006 OUT 0500 0020 STG 10020007 MPS 0021 OUT 05020008 AND 0001 0022 CON0009 JMP 1001 0023 TMR 001 #000200010 MPP 0024 CON0011 AND 0002 0025 AND T0010012 JMP 1002 0026 JMP 10000013 STG 1001

0001

0002

0003

0004

0005

0006

0007

0008

0009

0010

0011

0012

0013

0014

0000

SET1001

DIFU1000 1000

STE

T001 0501

END

ENDH

SET1002T000

1001

STE

STP

T000

1001T000

#00020

0500

RES1001T000

STP1002

RES1002T001

1002T001

#00030


0000 LD 00000001 DIFU 10000002 CON0003 AND 10000004 SET 10010005 STP 10010006 LD T0000007 RES 10010008 LDB T0000009 OUT 05000010 LD 10010011 TMR 000 #000200012 LD T0000013 SET 10020014 STE0015 STP 10020016 LD T0010017 RES 10020018 LDB T0010019 OUT 05010020 LD 10020021 TMR 001 #000300022 STE0023 END0024 ENDH

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18


ONOFF 500ms

Measure the pulse interval

Reset input relay 0002Output relay 0500 turns ONwhen the pulse interval is not within the range from 490 to 510 mm.

Ladder diagram

Coding

2008

0000

0001

0002

DM0000PLS

ITVL

PAUSE

RES1000

1000 0500

STADM0000

SET

LDA#00001

2008STA

DM0001LDA

#00051

2008STA

DM0002LDA

#00049

2008STA

DM0003LDA

#00010

1002RES0500

STADM0100

1001

LDADM0007

Sets mode 1 in DM0000.

Sets MAX. setting value (510 ms) in DM0001.

Sets MIN. setting value (490 ms) in DM0002.

Sets the average number of measurements (10) inDM0003.

Measures the pulse interval when input relay 0000turns ON.

Pauses measurement when input relay 0001 turnsON.

Resets measurement when input relay 0002 turnsON.

Writes the average measurement value intoDM0100 and resets 0500 after every time ameasurement is completed.

Turns On output relay 0500 when the pulseinterval is not within the range from 490 to 510mm.

Line No. Instruction Operand Line No. Instruction Operand0000 LD 2008 0015 STA DM00030001 LDA #00001 0016 LD 00000002 CON 0017 LD 00010003 STA DM0000 0018 LD 00020004 LD 2008 0019 ITVL DM0000 10000005 LDA #00051 0020 LD 10020006 CON 0021 LDA DM00070007 STA DM0001 0022 CON0008 LD 2008 0023 STA DM01000009 LDA #00049 0024 CON0010 CON 0025 RES 05000011 STA DM0002 0026 LD 10000012 LD 2008 0027 OR 10010013 LDA #00010 0028 SET 05000014 CON

■ Fetching data from the KV-AN6 (For KV-300 PLC only)

Fetches data from Ch 1 of the KV-AN6. Writes this data value into DM0100.• Mode No. ➞ 9000 (DM0000) from Ch 1 of KV-AN6• MAX. setting value ➞ 2000 (DM0001)• MIN. setting value ➞ 00900 (DM0002)• Average number of measurements ➞ 10 (DM0003)Reset input relay 0002

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8


2008

2003

0001

0002

DM0000PLS

ITVL

PAUSE

RES1000

STADM0000

LDA#09000

2008STA

DM0001LDA

#02000

2008STA

DM0002LDA

#00900

2008STA

DM0003LDA

#00010

1003STA

DM0100LDA

DM0007

2008STA

DM0002LDA

#03000

0001

2002CMP

DM0000LDA

CTH1

STADM0001

LDA#02000

STADM0000

LDA#01000

SET2813

CTH100005

2009 0500

CMPDM0001 2009 0501

CMPDM0002 2009 0502



Applications of High-speed counter

■ High-speed counter multi-level setting

Sets the high speed counter comparator value of the input relay 0005 as below:• #0100 ➞ DM0000• #0200 ➞ DM0001• #0300 ➞ DM0002

When a comparator value is greater than the setting value:• DM0000 ➞ 0500 turns ON.• DM0001 ➞ 0501 turns ON.• DM0002 ➞ 0502 turns ON.


Line No. Instruction Operand0000 LD 20080001 LDA #090000002 CON0003 STA DM00000004 LD 20080005 LDA #020000006 CON0007 STA DM00010008 LD 20080009 LDA #009000010 CON0011 STA DM00020012 LD 20080013 LDA #000100014 CON0015 STA DM00030016 LD 20030017 LD 00010018 LD 00020019 ITVL DM0000 10000020 LD 10030021 LDA DM00070022 CON0023 STA DM0100

Line No. Instruction Operand0000 LD 20080001 SET 28130002 CON0003 LDA #010000004 CON0005 STA DM00000006 CON0007 LDA #020000008 CON0009 STA DM00010010 CON0011 LDA #030000012 CON0013 STA DM00020014 LDB 00010015 CTH1 00050016 LD 20020017 LDA CTH10018 MPS0019 CMP DM00000020 ANB 20090021 OUT 05000022 MRD0023 CMP DM00010024 ANB 20090025 OUT 05010026 MPP0027 CMP DM00020028 ANB 20090029 OUT 0502

8.2 Details

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18


2008

2002 CTH10005

RESCTH1

SET2203

SET2813

#60000CTC2

CTC2RES0502

RESCTC2T0010502 #00030

T001

■ High-speed counter current value clear

Counts pulses at input relay 0005. When the count value reaches setting value60000, clears the current value of high speed counter CTH1 and turns ON outputrelay 0502 for 3 s.


■ Input of phase differential signal

Inputs phase differential signals to input relays 0004 and 0006 and counts pulses atCTH0.Writes the count value into DM0000.When high speed counter CTH0 reaches 60000, clears the current value of CTH0,sets output relay 0500, and stops fetching count value to CTH0.Sets 0008 as external reset.

Ladder diagram

Note: Initial settings for special utility relays

• Sets input time constant of input relays 0000 to 0009 to 10 µs when 2813 turnsON.

• Clears the current value of CTH0 when 2103 turns ON and CTC0 is ON.• Sets CTH0 in the X 2 mode when 2113 is ON and 2114 is OFF.• Enables external reset (input relay 0008) when 2115 turns ON.

Line No. Instruction Operand0000 LD 20080001 SET 28130002 CON0003 SET 22030004 CON0005 RES CTH10006 LD 20020007 CTH1 00050008 CTC2 #600000009 LD CTC20010 OUT 05020011 CON0012 TMR 001 #000300013 CON0015 AND T0010016 RES CTC20017 CON0018 RES 0502

2008RES

CTH0SET2115

0500RES2114

SET2113

SET2103

SET2813

EI

CTH000004#60000CTC02002

STADM0000

LDACTH0

END

INTCTC0

2002SET0500

RETI

ENDH

Initial settings*Note

8.2 Details

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8


0000STA

TM03LDA

#00030STA

TM02LDA

#00010

END

00CALL

2002

NEXT

RET

ENDH

SBN00

2002STA

TM05SUB

TM02STA

TM04ADD

#00001LDA

TM03

FORTM05

2002STA

#TM04LDA

#TM03DECTM04

DECTM03

STA#TM02

LDA#00000

1000DIFU

1000 Shifts data from DM0010 to DM0030.

Designates the shift start DM No. (DM0010).

Designates the shift end DM No. (DM0030).

Uses the indirect addressing function to designate DM Nos.

Clears the start DM to #0000 after the data is shifted.

The program lines which execute the data shift are groped as the subroutine.

Shift level

Synchoronous signal

External reset 0008 is predetermined on hardware even if you do not specify inthe program. However, you have to set external reset enable relay 2115 to ON.

Coding

Line No. Instruction Operand Line No. Instruction Operand0000 LD 2008 0014 LDB 05000001 EI 0015 CTH 1 00040002 CON 0016 CTC 0 #600000003 SET 2813 0017 LD 20020004 CON 0018 LDA CTH00005 SET 2103 0019 CON0006 CON 0020 STA DM00000007 SET 2113 0021 END0008 CON 0022 INT CTC00009 RES 2114 0023 LD 20020010 CON 0024 SET 05000011 SET 2115 0025 RETI0012 CON 0026 ENDH0013 RES CTH0

Application of Subroutine CALL

■ DM shift

Shifts the data from current DM to the next DM at UP edge of the synchronoussignal (timing).As the number of DMs to be shifted increases, the required scan time becomeslonger.

Ladder diagram

CAUTION

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18


Coding


Application of FOR-NEXT

■ Transfer of a block of DM data

Uses the indirect addressing function to transfer a block of data from DM0000 -DM0099 to DM0100 - DM0199.


Line No. Instruction Operand Line No. Instruction Operand0000 LD 0000 0021 CON0001 DIFU 1000 0022 SUB TM020002 CON 0023 CON0003 AND 1000 0024 STA TM050004 LDA #00010 0025 FOR TM050005 CON 0026 LD 20020006 STA TM02 0027 DEC TM030007 CON 0028 CON0008 LDA #00030 0029 DEC TM040009 CON 0030 CON0010 STA TM03 0031 LDA #TM030011 CON 0032 CON0012 CALL 00 0033 STA #TM040013 END 0034 NEXT0014 SBN 00 0035 LD 20020015 LD 2002 0036 LDA #000000016 LDA TM03 0037 CON0017 CON 0038 STA #TM020018 ADD #00001 0039 RET0019 CON 0040 ENDH0020 STA TM04


FOR

NEXT

RET

SBN01

2002STA

TMO3LDA

#00100STA

TMO2LDA

#0000

2002INC

TM03INC

TM02STA

#TM03LDA

#TM02

#00100

1st DM No. of transfer source

1st DM No. of transfer destination

Number of DMs to be Transferred.

Line No. Instruction Operand0000 SBN 010010 LD 20020001 LD 20020011 LDA #TM020002 LDA #00000012 CON0003 CON0013 STA #TM030004 STA TM020014 CON0005 CON0015 INC TM020006 LDA #001000016 CON0007 CON0017 INC TM030008 STA TM030018 NEXT0009 FOR #001000019 RET

DM0000

DM0099

DM0100

DM0199

Transfer a block of data

Data memory

8.2 Details

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8


2008SET2814

2815

END

ENDH

HKEY0000

STADM0000

ORATM06

SLA#04

LDADM0000

DW#00000

2815DMXSTA

TM05CMPTM05

ANDA$03FF2010

0500

LDA2900

KEY IN

Input value (BCD)

2010STA

TM06

2002

2815STA

TM05CMPTM05

ANDA$03FF2010

LDA2900 2010

2915

DM0000

Input value (BCD)

24 VDC COM 000 001 002 003

COM 500 501 502 503KV

0 1 2 3

4 5 6 7

8 9 A B

C D E F

Application of HKEY instruction

■ Fetching 16-key input

Writes the following 16-key input value into DM0000 in 4-digit BCD.Pressing the keys in the lower line clear the input numerical value.Wires the 16-key input terminals using 4 outputs and 4 inputs as shown below.

Ladder diagram

Coding


Line No. Instruction Operand Line No. Instruction Operand0000 LD 2008 0021 AND 20100001 SET 2814 0022 ANDA $03FF0002 LD 2002 0023 CON0003 HKEY 0000 0500 0024 CMP TM050004 LD 2815 0025 CON0005 LDA 2900 0026 ANB 20100006 CON 0027 STA TM050007 ANB 2010 0028 CON0008 ANDA $03FF 0029 LDA DM00000009 CON 0030 CON0010 CMP TM05 0031 SLA #040011 CON 0032 CON0012 ANB 2010 0033 ORA TM060013 STA TM05 0034 CON0014 CON 0035 STA DM00000015 DMX 0036 LD 28150016 CON 0037 AND 29150017 STA TM06 0038 DW #0000 DM00000018 LD 2815 0039 END0019 LDA 2900 0040 ENDH0020 CON

8.2 Details

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18


2002

0000

0500

#00010T000

0500 T000

STAT000

TMIN0

2002

0000

0500

#00010T000

0500 T000

STAT002

STAT001

STAT000

TMIN0

0001

0501

#00010T001

0501 T001

0002

0502

#00010T002

0502 T002

Arithmetic Instructions

Applications of TMIN (Analog timer) instruction

■ Changing timer setting value

Uses analog timer (TMIN0) to change the timer setting value (0 to 24.9 s).


■ Changing setting values of multiple timers

Uses analog timer (TMIN0) to change setting values of multiple timers (0 to 24.9 s).


* In the above example, T000, T001,and T002 have the same setting value.


Applications of LDA/STA instruction

■ First-in first-out (FIFO)

DM data flow

Line No. Instruction Operand0000 LD 20020001 TMIN 00002 CON0003 STA T0000004 LD 00000005 OR 05000006 TMR 000 #000100007 ANB T0000008 OUT 0500

Line No. Instruction Operand0000 LD 20020001 TMIN 00002 CON0003 STA T0000004 CON0005 STA T0010006 CON0007 STA T0020008 LD 00000010 TMR 000 #000100011 ANB T0000012 OUT 05000013 LD 00010014 OR 05010015 TMR 001 #000100016 ANB T0010017 OUT 05010018 LD 00020019 OR 05020020 TMR 002 #000100009 OR 05000021 ANB T0020022 OUT 0502

D M 0 0 0 2

D M 0 0 0 0

D M 0 0 0 1

D M 0 0 0 3

D M 0 0 0 4

Data shift

OK/NG judgement

Unloading timing

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8


Line No. Instruction Operand Line No. Instruction Operand0000 LD 0000 0035 STA DM00030001 DIFU 1000 0036 CON0002 CON 0037 LDA $00000003 AND 1000 0038 CON0004 MPS 0039 STA DM00020005 AND 0001 0040 LD 20020006 LDA $1111 0041 LDA DM00020007 CON 0042 CON0008 STA DM0000 0043 CMP $00000009 MPP 0044 CON0010 ANB 0001 0045 AND 20100011 LDA $5555 0046 LDA DM00010012 CON 0047 CON0013 STA DM0000 0048 STA DM00020014 LD 2002 0049 CON0015 LDA DM0004 0050 LDA $00000016 CON 0051 CON0017 CMP $0000 0052 STA DM00010018 CON 0053 LD 20020019 AND 2010 0054 LDA DM00010020 LDA DM0003 0055 CON0021 CON 0056 CMP $00000022 STA DM0004 0057 CON0023 CON 0058 AND 20100024 LDA $0000 0059 LDA DM00000025 CON 0060 CON0026 STA DM0003 0061 STA DM00010027 LD 2002 0062 CON0028 LDA DM0003 0063 LDA $00000029 CON 0064 CON0030 CMP $0000 0065 STA DM00000031 CON 0066 LD 00020032 AND 2010 0067 @LDA $00000033 LDA DM0002 0068 CON0034 CON 0069 @STA DM0004

The data once fetched is written into DM0004, DM0003, ..., DM0000 in this order. Atthe unloading timing, unload the data from DM0004 and shifts the data value to thenext DM.

The ON/NG judgement and unloading timings can be used in asynchronous pro-grams.

Ladder diagram

Coding

2002LDA$0000

STADM0004

LDADM0003

CMP$0000 2010

LDADM0004

STADM0003

0000LDA

$11111000 0001STA

DM00001000DIFU

Transfers $1111 to DM0000.

LDA$55550001

STADM0000

Transfers $5555 to DM0000.

OK/NG judgementOK/NG judgement timing

2002LDA$0000

STADM0003

LDADM0002

CMP$0000 2010

LDADM0003

STADM0002

2002LDA$0000

STADM0002

LDADM0001

CMP$0000 2010

LDADM0002

STADM0001

2002LDA$0000

STADM0001

LDADM0000

CMP$0000 2010

LDADM0001

STADM0000

0002LDA

$0000STA

DM0004

Unloading timing Transfers $0000 to DM at unloading timing.

Compares the DM value to $0000. If it is equal to $0000, transfers the value of the previous DM No. and then writes $0000 into the current DM No.

8.2 Details

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2002

0005 #9999C000

STAC000

LDADM0000

0001

■ Changing the counter setting value

Sets the setting value of counter C000 to DM0000. Reset input is 0005.


■ Changing the timer setting value

Sets the setting value of timer T000 to DM0000. Reset input is 0005.



Application of CMP (compare) instruction

■ When comparing values with no specific rangeTurns ON 0500 when the DM0000 value is smaller than the CMP value.Turns ON 0501 when the DM0000 value is equal to the CMP value.Turns ON 0502 when the DM0000 value is greater than the CMP value.


■ Setting the upper/lower limitTurns ON 0500 when the C001 value is 1000 or less.Turns ON 0501 when the C001 value is 2000 or more.

Ladder diagram


0001 LDA DM0000

0002 CON

0003 STA C0000004 LDB 0005

0005 C 000 #9999 0001

2002

0005 #9999T000

STAT000

LDADM0000 Line No. Instruction Operand

0000 LD 2002

0001 LDA DM0000

0002 CON

0003 STA T0000004 LDB 0005

0005 T 0000 #9999

2002

05022011

CMP

#01000

LDA

DM000 05002009

DM0000 <#01000

DM0000 =#01000

DM0000 >#01000

05012010


0001 LDA DM0000

0002 CON

0003 CMP #010000004 MPS

0005 AND 2009

0006 OUT 0500

0007 MRD0008 AND 2010

0009 OUT 0501

0010 MPP

0011 AND 20110012 OUT 0502

2002

0001 #09999C001

CMP

#02000

LDA

C001 05012009

C001≤#1000

C001≥#02000

2002

CMP

#01000

LDA

C001 050020110000

8.2 Details

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8


2002

05012009

CMP

DM0000

LDA

C000 05002009

2002DIV

#00010MUL

#00004ADD

#00001TMIN

0

0001 #09999C00000000

STADM0000

Sets the TMIN setting range from 0 to 100.

Coding

Line No. Instruction Operand Line No. Instruction Operand0000 LDB 0001 0008 OUT 05000001 C 001 #09999 0000 0009 LD 20020002 LD 2002 0010 LDA C0010003 LDA C001 0011 CON0004 CON 0012 CMP #020000005 CMP #01000 0013 CON0006 CON 0014 ANB 20090007 ANB 2011 0015 OUT 0501

■ Changing the CMP setting valueCompares the current value of C000 to the CMP setting value. Sets the CMP settingvalue to analog timer TMIN0.The following example changes the setting value within the range from 0 to 100.Turns ON 0500 when the C000 value is smaller than the CMP setting value.Turns ON 0501 when the C000 value is greater than the CMP setting value.

Ladder diagram

Coding

■ Multi-level comparator

Compares the counter current value according to the following range:• 0 to 999 → 0500 turns ON.• 1000 to 1999 → 0501 turns ON.• 2000 to 2999 → 0502 turns ON.Counter reset relay 0001Counter input relay 0000

Line No. Instruction Operand Line No. Instruction Operand0000 LD 2002 0011 C 000 #09999 00000001 TMIN 0 0012 LD 020020002 CON 0013 LDA C0000003 ADD #00001 0014 CON0004 CON 0015 CMP DM00000005 MUL #00004 0016 MPS0006 CON 0017 AND 20090007 DIV #00010 0018 OUT 05000008 CON 0019 MPP0009 STA DM0000 0020 ANB 20090010 LDB 0001 0021 OUT 0501

8.2 Details

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18


0001 #09999C000

2002 0500#00999C000 ≤ 00999LDA

C000CMP

0501

0502

2011

#01999CMP

2011 0500

#02999CMP

2011 0500 0501

0000

00999 < C000 ≤ 01999

01999 < C000 ≤ 02999

Ladder diagram

Coding


Application of ADD instruction

■ Adding BCD and BIN valuesAdds a 4-digit BCD input value (7000 to 7015) to the counter current value andwrites the sum into DM0100.

Ladder diagram

Coding

2002

0001 #09999C001

ADD

DM0000

LDA

C001

2002

TBINLDA

7000

0000

STA

DM0100

STA

DM0000Converts BCD input value to BIN.

Adds converted BIN value to the current value ofC001 and writes the sum into DM0100.

Line No. Instruction Operand Line No. Instruction Operand0000 LDB 0001 0012 CON0001 C 000 #09999 0000 0013 ANB 20110002 LD 2002 0014 ANB 05000003 LDA C000 0015 OUT 05010004 CON 0016 MPP0005 MPS 0017 CMP #029990006 CMP #00999 0018 CON0007 CON 0019 ANB 20110008 ANB 2011 0020 ANB 05000009 OUT 0500 0021 ANB 05010010 MRD 0022 OUT 05020011 CMP #01999

Line No. Instruction Operand Line No. Instruction Operand0000 LD 2002 0007 LDA C0010001 LDA 7000 0008 CON0002 CON 0009 ADD DM00000003 TBIN 0010 CON0004 CON 0011 STA DM01000005 STA DM0000 0012 LDB 00010006 LD 2002 0013 C 001 #09999 0000

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8


Line No. Instruction Operand Line No. Instruction Operand0000 LD 2002 0012 LDA DM00010001 LDA DM0000 0013 CON0002 CON 0014 SUB DM00000003 SUB DM0001 0015 CON0004 MPS 0016 CMP #000050005 ANB 2009 0017 CON0006 CMP #00005 0018 ANB 20090007 CON 0019 OUT 10010008 ANB 2009 0020 LD 10000009 OUT 1000 0021 OR 10010010 MPP 0022 OUT 05000011 AND 2009

0000LDAC001

STADM0001#09999

C0010001

0000LDAC002

STADM0002#09999

C0020002

0000LDAC003

STADM0003#09999

C0030003

2002ADD

DM0002LDA

DM0001STA

DM0100ADD

DM0003

2002CMP

#00052009LDA

DM0000SUB

DM0001 10002009

CMP#0005

SUBDM0000

LDADM00012009 10012009

1000 0500

1001

■ Total count

Writes total count of counters C001 to C003 into DM0100. The total count must bewithin 65535.

Ladder diagram

Coding

Line No. Instruction Operand Line No. Instruction Operand0000 LDB 0000 0013 C 003 #09999 00030001 C 001 #09999 0001 0014 CON0002 CON 0015 LDA C0030003 LDA C001 0016 CON0004 CON 0017 STA DM00030005 STA DM0001 0018 LD 20020006 LDB 0000 0019 LDA DM00010007 C 002 #09999 0002 0020 CON0008 CON 0021 ADD DM00020009 LDA C002 0022 CON0010 CON 0023 ADD DM00030011 STA DM0002 0024 CON0012 LDB 0000 0025 STA DM0100

Writes C001 current value into DM0001.



Writes total count (DM0001 + CM0002 + DM0003) intoDM100.


Application of SUB instruction

■ Comparison of absolute values

Compares the DM0000 value to the DM0001 value and turns ON 0500 when thedifference of the two absolute values is greater than 5.

Ladder diagram

Coding


8.2 Details

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18


2002LDATM00

STADM0100

MULDM0000

LDAC001

0001 #09999C0010000

STADM0101

#09999

00001C001

0000STA

DM0001LDA

C001

2002

DM0001 DM0002 DM0003

÷3 → Output to 07500 to 07515 in 4-digit BCD.

2002

#09999C002

0000STA

DM0002LDA

C002

#09999C003

0000STA

DM0003LDA

C003

ADDLDADM0001

ADDDM0003

TBCDDIV#00003

STA07500

00002

00003DM0002

Writes the C001 current value into DM0001.



Application of MUL instruction

■ Multiplying the counter current value by DM value

Multiplies the counter current value by the DM0000 value and writes the high-order16 bits of the product into DM0101 and low-order 16 bits of the product intoDM0100.



Application of DIV instruction

■ Total count average

Outputs the average of 3 counter values in 4-digit BCD.(C001 + C002 + C003) ÷ 3 → BCD output valueThe BCD value is output to 7500 to 7515.

Ladder diagram

Coding

Line No. Instruction Operand0000 LDB 00010001 C 001 #09999 00000002 LD 20020003 LDA C0010005 MUL DM00000004 CON0006 CON0007 STA DM01000008 CON0009 LDA TM000010 CON0011 STA DM0101

Line No. Instruction Operand Line No. Instruction Operand0000 LDB 0000 0015 LDA C0030001 C 001 #09999 0001 0016 CON0002 CON 0017 STA DM00030003 LDA C001 0018 LD 20020004 CON 0019 LDA DM00010005 STA DM0001 0020 CON0006 LDB 0000 0021 ADD DM00020007 C 002 #09999 0002 0022 CON0008 CON 0023 ADD DM00030009 LDA C002 0024 LD 20020010 CON 0025 DIV #000030011 STA DM0002 0026 CON0012 LDB 0000 0027 TBCD0013 C 003 #09999 0003 0028 CON0014 CON 0029 STA 7500


8.2 Details

3-350

8



Line No. Instruction Operand Line No. Instruction Operand0000 LD 2002 0011 ANDA $FF00

0001 LDA 7000 0012 CON

0002 CON 0013 SRA #08

0003 ANDA $00FF 0014 CON0004 CON 0015 TBIN

0005 TBIN 0016 CON

0006 CON 0017 STA T001

0007 STA C000 0018 LDB 00010008 LD 2002 0019 C 000 #09999 0000

0009 LDA 7000 0020 LDB 0001

0010 CON 0021 T 001 #09999

Application of ANDA instruction

■ BCD (1-digit) input

Sets a 1-digit BCD value, which is input to 0000 to 0003, in C000.

Ladder diagram

Coding

■ Fetches input data separately

Sets the low-order 2 digits of the BCD digital switch (7000 to 7007) to counter C000and the high-order 2 digits to timer T001.

Ladder diagram

Coding

Line No. Instruction Operand Line No. Instruction Operand0000 LD 2002 0005 TBIN0001 LDA 0000 0006 CON0002 CON 0007 STA C0000003 ANDA $000F 0008 LDB 70000004 LD 2002 0009 C 000 #09999 7001

2002ANDA$000F

LDA0000

2002STAC000

TBIN

#09999C000

7000

7001

Fetches data of 0000 to 0015 and retains data of 0000to 0003 only.

Converts data to BIN and writes it into C000.

Sets C000.

2002

2002LDA

#09999C000

0001

0000

7000ANDA$FF00

TBIN#08

SRA STAT001

LDA7000

ANDA$00FF

STAC000

TBIN

#09999T001

0001

Converts data of 7000 to 7007 to BIN andwrites it into C000.

Shifts data to right by 8 bits, converts it toBIN, and writes it into T001.

Sets C000.

Sets T001.

8.2 Details

3-351

18


Application of ORA instruction

■ Output of BCD 2-digit data

Converts the current value of counter C000 to BCD and sends 2 digits of BCD datato output relays 7500 to 7507.However, retain ON/OFF of 7508 to 7515 which are loaded.

Ladder diagram

Coding

■ Separate input of 2-digit BCDFetches only 2 digits of the BCD digital switch (7000 to 7003 for the 1st digit, 8000 to8003 for the 2nd digit) and sets it as the counter value.

Ladder diagram

Coding


#00099

0001C000

0000

2002

2002STA

DM0000ANDA$FF00

2002ANDA$00FF

TBCD

STAORADM0000 7500

LDA7500

LDAC000

Sets C000.

Writes data of 7008 to 7015 into DM0000.

ORs the data in the internal register and theDM0000 data and sends the ORed data to 7500to 7515.

Converts the current value of C000 to BCD andretains the low-order 2 digits of BCD in theinternal register.

Line No. Instruction Operand Line No. Instruction Operand0000 LDB 0000 0009 LDA C0000001 C 000 #00099 0001 0010 CON0002 LD 2002 0011 TBCD0003 LDA 7500 0012 CON0004 CON 0013 ANDA $00FF0005 ANDA $FF00 0014 LD 20020006 CON 0015 ORA DM00000007 STA DM0000 0016 CON0008 LD 2002 0017 STA 7500

#00099

0001C001

0000

2002

2002STA

DM0000ANDA$000F

2002ANDA$000F

LDA7000

LDA8000

SLA#04

ORADM0000

STAC001

TBIN

Line No. Instruction Operand Line No. Instruction Operand0000 LDB 0000 0010 CON0001 C 001 #00099 0001 0011 ANDA $000F0002 LD 2002 0012 LD 20020003 LDA 7000 0013 SLA #040004 CON 0014 CON0005 ANDA $000F 0015 ORA DM00000006 CON 0016 CON0007 STA DM0000 0017 TBIN0008 LD 2002 0018 CON0009 LDA 8000 0019 STA C001

8.2 Details

3-352

8


1 0 1 1 1 0 1 1 1 0 1 1 1 0 1 1D15D14D13D12D11D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0

0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1

0 0 0 0 0 0 0 0 1 0 1 1 1 0 1 1

0 0 0 0 0 0 0 0 1 0 1 0 1 0 1 0

0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 1

ANDA

EORA

$BBBB

$00FF

$00BB

$00AA

$0011

7000 to 7015

Operand

Internal register

DM0000

Internal register → 2010 is OFF. When the value of internal register is 0000, 2010 turns ON.

Judges match between the operand and the data of 7000 to 7015.

#00099

0000C001

0001

2002

2002ANDA$F000

2002STA

ANDALDA08000

DM0000

LDA7000

SRA#12

2002

2002ORA

STATBINC001

SLA#04

$000F

DM0000

Sets C001.

Sends the data of 7012 to 7015 to internalregister.

Shifts the value of internal register to right by12 bits and writes it into DM0000.

Sends the data of 8000 to 8003 to internalregister.

Shifts the data of internal register to left by 4bits, ORs the internal register data and thedata of DM0000, and sends the ORed data tointernal register.

Converts the data of internal register to BINdata and writes it into C001.

2008

2002LDA7000

ANDA$00FF DM0000

EORA

LDA$00AA

STADM0000

2010 0500

Application of EORA instruction

■ Judgement of matching data

Turns ON 0500 (“OK” output) when the ON/OFF statuses of input relays 7000 to7007 match the DM0000 setting value.


For easy comprehension, the following data is set temporarily.

When 2010 is ON, the two values match.When 2010 is OFF, the two values do not match.➮ Refer to p. 3-164.

Application of SRA/SLA instructions

■ Separate input of BCD

Fetches only 2 digits of the BCD digital switch (7012 to 7015 for the 1st digit, 8000 to8003 for the 2nd digit) and sets it as the counter value.

Ladder diagram

Line No. Instruction Operand0000 LD 20080001 LDA $00AA0002 CON0003 STA DM00000004 LD 20020005 LDA 70000006 CON0007 ANDA $00FF0008 CON0009 EORA DM00000010 CON0011 AND 20100012 OUT 0500

8.2 Details

3-353

18


Coding


Application of RRA/RLA instructions

■ Error input countWrites the number of error detection sensors, which are connected to input relays(7000 to 7015) and turn ON, into DM0000.

Ladder diagram

Coding


Applications of INC/DEC instructions

■ Total count

Writes the total count of 4 lines (0000 to 0003) into DM0000.Reset input relay is 0005.

Line No. Instruction Operand Line No. Instruction Operand0000 LD 0001 0011 LDA 80000001 C 001 #00099 0000 0012 CON0002 LD 2002 0013 ANDA $000F0003 LDA 7000 0014 LD 20020004 CON 0015 SLA #040005 ANDA $F000 0016 CON0006 LD 2002 0017 ORA DM00000007 SRA #12 0018 LD 20020008 CON 0019 TBIN0009 STA DM0000 0020 CON0010 LD 2002 0021 STA C001

Line No. Instruction Operand Line No. Instruction Operand0000 LD 2002 0009 LD 20020001 LDA 7000 0010 LDA TM100002 FOR #00016 0011 CON0003 LD 02002 0012 STA DM00000004 RRA #01 0013 CON0005 CON 0014 LDA #000000006 AND 2009 0015 CON0007 INC TM10 0016 STA TM100008 NEXT

Writes the TM10 data into DM0000, and then writes#00000 to TM10.

2002

RRA#01

INCTM10

LDA7000

#00016

2002

LDATM10

LDADM0000

STA STATM102002

2009

#00000

NEXT

FOR

Writes the data of 7000 to7015 into internal register.

Executes FOR-NEXT instruction for 16 times.

Shifts the data including carry (2009) to right,and increments TM10 by 1 when 2009 is ON.

8.2 Details

3-354

8


2008STA

DM0000LDA

#00000

0000INC

DM0000

0005DW

#00000

0001DEC

DM0000

DM0000

Sets #00000 to DM0000 at startup.

Increments DM0000 by 1 at UP edgeof input relay 0000.

Decrements DM0000 by 1 at UP edgeof input relay 0001.

Clears DM0000 to #00000 when 0005turns ON.

Line No. Instruction Operand Line No. Instruction Operand0000 LD 2008 0005 @INC DM00000001 LDA #00000 0006 LD 00010002 CON 0007 @DEC DM00000003 STA DM0000 0008 LD 00050004 LD 0000 0009 DW #00000 DM0000

Ladder diagram

Coding

■ UP/DOWN count

Performs UP count when input relay 0000 turns ON.Performs DOWN count when input relay 0001 turns ON.Writes the count value into DM0000.Reset input relay is 0005.

Ladder diagram

Coding


Line No. Instruction Operand Line No. Instruction Operand0000 LD 2008 0007 @INC DM00000001 LDA #00000 0008 LD 00020002 CON 0009 @INC DM00000003 STA DM0000 0010 LD 00030004 LD 0000 0011 @INC DM00000005 @INC DM0000 0012 LD 00050006 LD 0001 0013 DW #00000 DM0000

2008STA

DM0000LDA

#00000

0000INC

DM0000

0003INC

DM0000

0005DW

#00000

0001INC

DM0000

0002INC

DM0000

DM0000

Sets #00000 to DM0000 at startup.

Increments DM0000 by 1 at UPedge of input relay 0000.




Clears DM0000 to #00000 when0005 turns ON.

8.2 Details

3-355

18


a

f b

e c

g

d

a. 7500

b. 7501

c. 7502

d. 7503

e. 7504

f. 7505

g. 7506

Application of MPX instruction

■ Display of 7-segment LED

Displays the current value of counter C000 to the 7-segment LED.Outputs from 7500 to 7571.Connection of 7 segmentsConnect each of 7 segments to output relays as shown below:


1000

1004

1005

1006

STA7500

LDA$003F

1001STA7500

LDA$0006

1002STA7500

LDA$005B

1003STA7500

LDA$004F

1007STA7500

LDA$0007

C000 #00009C000 STA

1000MPX#0

LDAC000

0000

Converts the counter value to 16-bit data using the MPX instruction.Auto reset counter

STA7500

LDA$0066

STA7500

LDA$006D

STA7500

LDA$007D

Sends internal register data to output relays starting from 7500.

1008STA7500

LDA$007F

1009STA7500

LDA$006F

0

1

2

3

4

5

6

7

8

9

7-segment display

Line No. Instruction Operand0000 LDB C0000024 LD 10040001 C 000 #00009 00000025 LDA $00660002 CON0026 CON0003 LDA C0000027 STA 75000004 CON0028 LD 10050005 MPX #00029 LDA $006D0006 CON0030 CON0007 STA 10000031 STA 75000008 LD 10000032 LD 10060009 LDA $003F0033 LDA $007D0010 CON0034 CON0011 STA 75000035 STA 75000012 LD 10010036 LD 10070013 LDA $00060037 LDA $00070014 CON0038 CON0015 STA 75000039 STA 75000016 LD 10020040 LD 10080017 LDA $005B0041 LDA $007F0018 CON0042 CON0019 STA 75000043 STA 75000020 LD 10030044 LD 10090021 LDA $004F0045 LDA $006F0022 CON0046 CON0023 STA 75000047 STA 7500


8.2 Details

3-356

8


2002DMXLDA

07000

2002ANDATBCD$00FF

STA8000

STA7500

TBCDLDA

0001 #09999C001

2002 C001

0000

Converts the most significant bit of 16-bit data(7000 to 7015) to 4-bit BIN data and sends it tointernal register.Converts internal register data to BCD data,executes ANDA instruction, and outputs the datato 8000 to 8015.


0000 LDB 0001 0004 CON

0001 C 001 #09999 0000 0005 TBCD

0002 LD 2002 0006 CON

0003 LDA C001 0007 STA 7500

DM0000 x DM0001 = TM00 Internal register

DM00 Internal register ÷ #10000 = TM00 Internal register --- TM01

(High-order 4 digits) (Low-order 4 digits)

(High-order 4 digits) (Low-order 4 digits) (Remainder)

8500 to 8515 7500 to 7515

(Display)

(High-order 4 digits) (Low-order 4 digits)

Application of DMX instruction

■ Output of error input No. in BCD

Outputs the error sensor No. from input relay 7000 to 7015 to output relays 8500 to8507 in 2-digit BCD.

Ladder diagram

Coding


Applications of TBCD instruction

■ Output of 4-digit BCD data

Outputs the current value of counter C001 to 7500 to 7515 in 4-digit BCD data.

Ladder diagram

Coding


Outputs the calculated product of DM0000 x DM0001 (0 to 99999999) in BCD of 8digits at maximum as below:

High-order 4-digit BCD data ➞ To 8500 to 8515Low-order 4-digit BCD data ➞ To 7500 to 7515

Line No. Instruction Operand Line No. Instruction Operand0000 LD 2002 0005 TBCD0001 LDA 7000 0006 CON0002 CON 0007 ANDA $00FF0003 DMX 0008 CON0004 LD 2002 0009 STA 8000

8.2 Details

3-357

18


MULLDA2002

LDASTADIV TBCD STADM0000 DM0001 #10000 DM0101 TM01 7500

LDA TBCD STADM0101 8500


0000 LD 2002 0010 CON

0001 LDA DM0000 0011 TBCD

0002 CON 0012 CON

0003 MUL DM0001 0013 STA 750

0004 CON 0014 CON

0005 DIV #10000 0015 LDA DM0101

0006 CON 0016 CON

0007 STA DM0101 0017 TBCD

0008 CON 0018 CON

0009 LDA TM01 0019 STA 8500

2002TBINLDA

7000STAC001

#09999

0000C001

0001

Converts data of 7000 to 7015 to BINdata and writes it into C001.

Sets C001.


0000 LD 2002 0004 CON

0001 LDA 7000 0005 STA C001

0002 CON 0006 LDB 0001

0003 TBIN 0007 C 001 #09999 0000

Ladder diagram

Coding


Application of TBIN instruction


Sets 4 digits of the BCD digital switch (7000 to 7015) as the counter C001 value.

Ladder diagram

Coding


8.2 Details

3-358

8


Index

Inde

x

Index3-360

Index — For Visual KV User’s OnlyThe following is the index with some descriptions for your reference.

Index — For Visual KV User’s Only

esopruP eltiT egaP

A

nieulavecivedgnignahc,wodniWsseccA edomeciveD 78-1

nisedomgnignahc,wodniWsseccA kcolyekgnitteser/gnittesdnasedomgnitceleS 28-1

nisnoitceridgniyalpsid,wodniWsseccA segassemresU 79-1

nisrorregniyalpsid,wodniWsseccA sutatsrorrednasegassemrorrE 79-1

niyalpsidrorre,wodniWsseccA tsiLrorrE 273-1

nideepsnoitcelesecivedgnisaercni,wodniWsseccA noitcnufobruT 38-1

fosnoitcnufsemantrap,wodniwsseccA wodniWsseccAehtfosnoitcnufdnasemantraP 28-1

dnaNURneewtebCLPVKehtgnihctiws,wodniWsseccAnisedom)pots(MARGORP

edoMmetsyS 49-1

niremmirtlatigidgnisu,wodniWsseccA edoMremmirTlatigiD 48-1

tuobagninrael,snoitcurtsninoitacilppA snoitcurtsninoitacilppA 63-3

tuobagninrael,snoitcurtsnicitemhtirA snoitcurtsnicitemhtirA 83-3

B

tuobagninrael,snoitcurtsnicisaB snoitcurtsnicisaB 43-3

C

rofmetignittes,noitcnufhctiwsmaC noitcnufhctiwsmacrofdesueciveD 332-3

saVKgnisu,hctiwsmaC noitcnufhctiwsmaC 332-3

gniriuqca,gnikramEC gnikramECehtgniriuqcanonoitcirtseR )2(

retupmoclanosrepdnaVKneewtebnoissimsnartdnammoC tsilesnopser/dnammocnoitacinummoC 013-3

gnirudsruccororrenehw,noissimsnartdnammoC tsiledocrorrE 613-3

fosnoitacificeps,tropnoitacinummoC noitacificepSsnoitacinummoC 603-3

CLPVKotmehtgnittimsnart,stnemmoctcatnoC noitcnufevastnemmoctcatnoC 72-3

gnitcetorp,stcatnoC noitcetorptcatnoC 96-1

htiwsecnereffid,seiresVKlanoitnevnoC stinularehpirepVKlanoitnevnochtiwytilibitapmoC )4(

noitpmusnoctnerruC snoitacificepslareneG 4-1

D

otdengissasnoitcnuf,yromemataD seiromemataD 91-3

foeniltuo,eslupkcolctceriD tuptuoeslupkcolctceridfoeniltuO 732-3

oitarFFO/NO1:1htiwseslupgnittuptuo,eslupkcolctceriDgnisu

1:1fooitarFFO/NO 832-3

eslupelbairavhtiwseslupgnittuptuo,eslupkcolctceriDhtdiw

htdiweslupelbairaV 832-3

rofmetignittes,eslupkcolctceriDretnuocdeeps-hgihehthtiwgnittestuptuoesluP

rotarapmoc832-3

E

fonoitarepognikcehc,tinunoisnapxE stinunoisnapxerofnoitamrofninoitcennoC 57-1

gnitcennoc,tinunoisnapxE stinunoisnapxeseireSVKlausiVgnitcennoC 17-1

otdetcennocebotrebmunmumixam,tinunoisnapxE stinuelbatcennocforebmuN 37-1

tinucisabepyt-CAhtiwhsulfthgiehstignittes,tinunoisnapxE recapstinunoisnapxE 66-1

gnilbasid,tuptuolanretxE noitcnufnoitibihorptuptuO 62-3

F

hctiwstuohtiwFFO/NOtupnignicroF noitcnufdelbasidhserfertupnI 62-3

rofmetignittes,noitcnufretnuocycneuqerF retnuocycneuqerfehthtiwdesuseciveD 132-3

foegnartnemerusaemgnisaercni,retnuocdeeps-hgiH retnuocdeeps-hgihtib-42 122-3

htiwycneuqerfgnirusaem,retnuocdeeps-hgiH noitcnufretnuocycneuqerF 132-3

gnisuseslupgnittuptuo,retnuocdeeps-hgiH tuptuOesluPkcolCtceriD 732-3

foeulavtnerrucgnidaer,retnuocdeeps-hgiHdeeps-hgihehtfoeulavtnerrucehtgnidaeR

retnuoc112-3

"0"nahtrehtooteulavehtgnitteser,retnuocdeeps-hgiH noitcnufteserP 512-3

Inde

x

Index 3-361

esopruP eltiT egaP

"0"oteulavehtgnitteser,retnuocdeeps-hgiH retnuocdeeps-hgihehtgnitteseR 412-3

rofecruostupnignitceles,retnuocdeeps-hgiH dohtemtupnitnuoC 212-3

fosnoitacificeps,retnuocdeeps-hgiH sretnuocdeeps-hgihfosnoitacificepS 802-3

foeulavteserpehtgniyficeps,retnuocdeeps-hgiHretnuocdeeps-hgihehtfoeulavteserP

rotarapmoc112-3

retnuocgnirsa,gnisu,retnuocdeeps-hgiH noitcnufretnuocgniR 522-3

I

gnignahc,tinucisabfotnatsnocemittupnI noitcnufegnahctnatsnocemittupnI 32-3

gnittes,tinunoisnapxefotnatsnocemittupnI stinunoisnapxeroftnatsnocemittupnI 67-1

fotnednepednisutatsyalergnittuptuo,noitcurtsnitpurretnIemitnacs

tuptuO/tupnItceriD 791-3

tuobagninrael,snoitcurtsnitpurretnI noitcurtsnitpurretnI 14-3

nihtiwdesuebtonnactahtsnoitcurtsni,smargorptpurretnI desuebtonnactahtsnoitcurtsnI 691-3

ybretnuocdeeps-hgihfoeulavtnerrucgnidaer,tpurretnI erutpactupnI 591-3

rofnoitidnoctupnignittes,tpurretnI tupnilanretxenaybstpurretnirofgnittesytiraloP 591-3

detucexeerastpurretnilarevesnehw:tpurretnI ytiroirptpurretnI 691-3

K

gnisu,VKrofREDLIUBREDDAL/)SOD(eraWidercnIVKreddalfonoisrevsuoiverpehtgnisunehwsnoituaC

erawtfostroppus)5(

gnisusnoitcurtsnigniretne,)10(E3P-VK )redrolacitebahpla(tsil.oNnoitcnuF 14-3

htiwelbaliavasnoitcnuf,)10(E3P-VK tsil.soNnoitcnuF 612-1

gnitarepo,)10(E3P-VK noitarepognimmargorpcisaB 002-1

M

foyticapac,dracyromeM yticapacegarotS 032-1

foyrettabgnicalper,dracyromeM yrettabecalperoT 832-1

gnitucexe,MDfonoitareporotarapmocpets-itluM edomrotarapmocpets-itluM 432-3

O

VKmorftuptuognilbasid,tuptuO noitcnufdelbasidtuptuO 62-3

P

VKfognitnuomlenaP lenapaotyltceridtinuagnihcattA 66-1

morfatadgniviecer,retupmoclanosreP atadtxetgnivieceR 813-3

otVKmorfatadgnittimsnart,retupmoclanosreP atadtxetgnittimsnarT 913-3

fonoitaluclac,yticapacmargorP desutnuocetybehtgnitaluclaC 4-3

tuobagninrael,yticapacmargorP yticapacmargorP 4-3

dracyromemotnignivas,smargorP ])10(E3P-VKhtiwdesu[snoitcnuF 032-1

gnivird,rotomesluP erudecorpgnittesretemaraP 552-3

ycneuqerfderisedtatuptuoesluP noitcnuftuptuoeslupycneuqerfdeificepS 822-3

tinucisabotdengissa.soNyaleR tsilyaleR 5-3

tinunoisnapxeotdengissa.soNyaleR stinunoisnapxenisyalerfotsiL 6-3

gningissa,.soNyaleR .soNyalergningissA 8-3

S

MORotniMD/retnuocfoeulavtnerrucgnivaS sedomEVASdnaDAOL 69-1

emitnacS emitnacS 3-3

VKotgnitcennoc,secivedrehtorosrosneS stinucisabrofserudecorpgniriW 76-1

citemhtiranehw,fosutatsniegnahc,syalerytilitulaicepSdesusinoitcurtsni

syalerytilitulaicepsfosutatsniegnahCsnoitcurtsnicitemhtirayb)sgalfcitemhtira(

681-3

otdengissasnoitcnuf,syalerytilitulaicepS tsilyalerytilitulaicepS 68-3

rofmetignittes,noitcnuftuptuoeslupycneuqerfdeificepS tuptuoeslupycneuqerfdeificepsrofdesueciveD 822-3

T

otdengissasnoitcnuf,yromematadyraropmeT yromematadyraropmeT 12-3

forebmunmumixam,sretnuoc/sremiT tsilretnuoC/remiT 81-3

Index — For Visual KV User’s Only

Inde

x

Index3-362

AA/D converter ........................... 1-312 [AN6], 1-334 [AD4]A/D conversion table ................ 1-408 [AN6], 1-357 [AD4]ADD/@ADD: Add .................................................. 3-150AND: And ................................................................ 3-58ANB: And Bar ......................................................... 3-58ANDA/@ANDA: And A ......................................... 3-159ANL: And Load ....................................................... 3-61Application Instructions ...................... 3-36, 3-45, 3-95Arithmetic Instructions ...................... 3-38, 3-48, 3-134ASC/@ASC: ASCII Convert ................................ 3-183Assignment of Data Memory ................................. 3-19Assignment of I/O relay numbers ......................... 3-22

BBasic Instructions ................................ 3-34, 3-42, 3-56Baud rate......................................... 2-136, 1-247 [KV-L2]Break signal .......................................................... 3-308

CC: Counter .............................................................. 3-72CALL: Subroutine Call ......................................... 3-122CMP/@CMP: Compare ......................................... 3-146COM/@COM: Complement .................................. 3-171Commands [Serial communication] ................... 3-310Communications ....................................... 2-135, 3-306CON: Connect ....................................................... 3-102Connector wiring ....................................................... 1-72CTC: Counter Comparator .................................. 3-204CTH1: 16-Bit Counters ......................................... 3-204

DData Memory ........................................................... 3-19D/A converter ........................... 1-312 [AN6], 1-334 [AD4]D/A conversion table ................ 1-408 [AN6], 1-357 [DA4]DEC/@DEC: Decrement Memory ........................ 3-172DI: Interrupt Disabled ........................................... 3-193DIFD: Differentiate Down ....................................... 3-78DIFU: Differentiate Up ........................................... 3-78Dimensions ............................................................. 1-404DIN rail (mounting) .................................................. 1-180Direct Clock Pulse ................................................ 3-276Display Interface Mode [KV-L2] .............................. 1-244DIV/@DIV: Divide .................................................. 3-150DMX/@DMX: Demultiplexer ................................. 3-176DW: Data Memory Write ...................................... 3-136

EEI: Interrupt Enabled ............................................ 3-193END: End ................................................................. 3-94ENDH: End Hi ......................................................... 3-94ENDS: End Stage ................................................. 3-106Environment requirements ........................................ 1-64EORA/@EORA: Exclusive Or A .......................... 3-164Error code list .......................................................... 1-372Extended Ladder Diagrams ................................... 3-29

Index — For KV-300, KV-10/80 User’s Only


FFOR: Repeat Start ................................................ 3-125

HHigh-Speed Counters .......................................... 3-276HKEY: 16 Key Input .............................................. 3-131HSP: High Speed .................................................... 3-86

IINC/@INC: Increment Memory ............................ 3-172Indirect Addressing of Data Memory or Relay .. 3-127Input Relays .............................................................. 3-9Instruction List .............................................. 3-34, 3-42INT: Interrupt ........................................................ 3-192Interface [RS-232C] .............................................. 3-306Internal register .................................................... 3-135Internal Utility Relays ............................................. 3-11Internal Clocks for CTH0 and CTH1 ................... 3-278Interrupt Instructions ........................................... 3-268I/O distribution ......................................................... 1-187ITVL: Interval Timer .............................................. 3-117

JJMP: Jump ............................................................ 3-106

KKEEP: Keep ............................................................ 3-80KV-10/16/24/40/80 ............................ 1-167, 1-175, 1-177KV-300 ......................................................... 1-166, 1-170KV-AD4 ................................................................... 1-334KV-AN6 ................................................................... 1-312KV-B16R/B16S/C32T.............................................. 1-172KV-C16X/C32X ....................................................... 1-171KV-DA4 ................................................................... 1-334KV-L2 ...................................................................... 1-240KV-R1A/R16X/R16R/R16T/R8X/R8R/R8T .. 1-173, 1-174KV-U4/U5 ..................................................... 1-168, 1-169KV mode [KV-L2] .................................................... 1-253

LLD: Load .................................................................. 3-57LDA/@LDA: Load A .............................................. 3-140LDB: Load Bar ........................................................ 3-57

MMacros ...................................................................... 2-72MC: Master Control ................................................ 3-89MCR: Master Control Reset ................................... 3-89Memory Card .......................................................... 1-230MEMSW: Memory Switch ...................................... 3-92Module names......................................................... 1-175Mounting Environment .............................................. 1-64MPP: Pop .............................................................. 3-103MPS: Push ............................................................ 3-103

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Index 3-363

MPX/@MPX: Multiplexer ...................................... 3-176MRD: Read ............................................................ 3-103MUL/@MUL: Multiply ........................................... 3-150

NNEXT: Repeat End ................................................ 3-125Non-procedure mode [KV-L2] ................................. 1-292NOP: No Operation ................................................ 3-94

OOR: Or ..................................................................... 3-60ORA/@ORA: Or A ................................................. 3-161ORB: Or Bar ............................................................ 3-60ORL: Or Load .......................................................... 3-63OUB: Out Bar .......................................................... 3-65OUT: Out ................................................................. 3-65Output Relays ......................................................... 3-10

PPeripheral equipments ............................................ 1-176Port1/Port2 [KV-L2] ................................................. 1-245Positionning control ............................................ 3-296Programming examples ...................................... 3-324

RRASC/@RASC: Reverse ASCII Convert ............. 3-183Receiving text data .............................................. 3-318Relay/Memory/Memory Switch Lists ....................... 2-167Relay/Memory Nos.................................................. 2-167Relay No. List .......................................................... 2-167Relay Nos. and Functions ....................................... 2-167RES: Reset .............................................................. 3-66RET: Subroutine Return ...................................... 3-122RETI: Return Interrupt ......................................... 3-192RLA/@RLA: Rotate Left A ................................... 3-169ROOT/@ROOT: Square Root .............................. 3-185RRA/@RRA: Rotate Right .................................... 3-169RS-232C cable connection .................................. 3-307RS-232C Protocol ................................................. 3-306RS-422A [KV-L2] ..................................................... 1-248

SSBN: Subroutine Entry ........................................ 3-122Serial Communication ......................................... 3-306SET: Set .................................................................. 3-66SFT: Shift ................................................................ 3-82SLA/@SLA: Shift Left A ....................................... 3-166Special Utility Relays............................................... 2-174SRA/@SRA: Shift Right A .................................... 3-166STA/@STA: Store A ............................................. 3-140Station No. [KV-L2] ................................................. 1-246STE: Step End ...................................................... 3-114STG: Stage ............................................................ 3-106STP: Step .............................................................. 3-114SUB/@SUB: Subtract ........................................... 3-150System configuration............................................... 1-166


System Configuration (Memory Card) ..................... 1-196System specifications [Visual KV Series] ................ 1-382System specifications [KV-300 Series] ................... 1-392

TTBCD/@TBCD: Transfer BCD ............................. 3-180TBIN/@TBIN: Transfer BIN .................................. 3-180Temporary Memory ...................................... 2-172, 2-176Timers and Counters............................................... 2-169TMH: 0.01-s Timer .................................................. 3-68TMIN: Trimmer In .................................................. 3-138@TMIN: Trimmer Setting ..................................... 3-138TMR: 0.1-s Timer .................................................... 3-67TMS: 1-ms Timer .................................................... 3-69Transmitting text data .......................................... 3-319Troubleshooting ...................................................... 1-372

UUDC: Up-Down Counter ......................................... 3-76

WW-DE: Wait Down Edge ......................................... 3-98W-OFF: Wait OFF ................................................... 3-96W-ON: Wait ON ....................................................... 3-96W-UE: Wait Up Edge .............................................. 3-98

X@xxxx: Differentiation ......................................... 3-137

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AACCS ...................................................................... 1-234ALL CLEAR [FNC60] [P3E] ..................................... 1-217ALL DATA MEMORY CLEAR (DM ALL CLEAR): [FNC64] [P3E] ...................... 1-219ALL LATCHING RELAYS RESET (L-RELAY ALL RST): [FNC65] [P3E] ................... 1-219

BBreak signal .......................................................... 3-308

CCLEAR [P3E] .......................................................... 1-232Comments (Relay comment, Line comment) ............ 2-46Compile ..................................................................... 2-75Converting N.O./N.C. ................................................ 2-65Copy, move and delete ............................................. 2-69COUNTER CLEAR (CTR CLEAR): [FNC62] [P3E] 1-218Customizing KV-LADDER , Defining Environment Strings................................ 2-19Copy, move and delete operation ............................. 2-52

DData Communications between KV and Personal Computer .................................... 3-306Display mode ........................................................... 2-19Double coil check ...................................................... 2-76

EEdit screen ................................................................ 2-27Entering symbols....................................................... 2-37Environment requirements .......................................... 2-3Error message list ................................................... 2-156

HHANDHELD PROGRAMMER CLEAR (P3E CLEAR): [FNC61] .............................................................. 1-217Handheld Programmer KV-P3E .............................. 1-196HIGH-SPEED COUNTER CLEAR (HIGH SPEED CTR CLR): [FNC63] [P3E] .......... 1-218

IInstalling Ladder Builder.............................................. 2-9

JJump ......................................................................... 2-58

LLadder Monitor ........................................................ 2-134Ladder Simulator ....................................................... 2-84Line comment........................................................... 2-46

MMacros ...................................................................... 2-72Memory Card [P3E] ................................................. 1-230Monitor Mode .......................................................... 2-134Monitor screen ........................................................ 2-143MOVE CURSOR [P3E] ........................................... 1-202

Index — Software/P3E (handheld programmer)MULTI-MONITOR [P3E] ......................................... 1-212

OOFFLINE EDITOR START (OFFLINE EDITOR): [FNC67] [P3E] .................................................... 1-221OFFLINE EDITOR STOP (QUIT OFF-L EDIT): [FNC68] [P3E] .................................................... 1-221ON/OFF MONITOR [P3E] ....................................... 1-215

PPrinter Setting, Defining Environment Strings .......... 2-77Printing examples...................................................... 2-81PROGRAM CAPACITY CHECK (PROGRAM SIZE): [FNC75] [P3E] .................................................... 1-229PROGRAM SENT OR RECEIVED (COMMUNICATION—): [FNC66] [P3E] ............. 1-220

QQuitting software ....................................................... 2-16

RREAD TRIMMER SETTING (TRIMMER MONITOR): [FNC73] [P3E] .................................................... 1-228Registration of cursor position and jump to registered position ................................... 2-59RELAY ON/OFF (FORCED SET/RESET): [FNC71] [P3E] .................................................... 1-226Replacing relays........................................................ 2-64RS-232C cable connection ......................................... 2-7RS-232C Protocol ....................................................... 2-3

SSCAN TIME MONITOR [P3E] ................................. 1-212SCROLL [P3E] ........................................................ 1-202Search ....................................................................... 2-58Searching Program [P3E] ....................................... 1-207Selecting display mode ............................................. 2-19Setting print range ..................................................... 2-77Simulator Mode ......................................................... 2-84Simulator screen ....................................................... 2-86Starting and quitting software ................................... 2-16Starting edit mode .................................................... 2-29Starting the Monitor Function .................................. 2-139Starting the Simulator ................................................ 2-86SYNTAX CHECK (PROGRAM CHECK): [FNC74] [P3E] .................................................... 1-228

TTemporary Memory ................................................ 3-21Time Chart Monitor ................................................. 2-157Time Chart Viewer ....................................... 2-148, 2-167TIMER/COUNTER SETTING CHANGE (CHG: T/C SET-V): [FNC70] [P3E] .................... 1-224TIMER/COUNTER CURRENT VALUE CHANGE (CHG: T/C CURT-V): [FNC69] [P3E] ................. 1-222

WWRITE INTO DATA MEMORY (DM WRITE): [FNC72] [P3E] .................................................... 1-227

Index — Software/P3E (handheld programmer)

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WARRANTIES AND DISCLAIMERS: (1) KEYENCE warrants the Products to be free of defects in materials and workmanship for a period ofone (1) year from the date of shipment. If any models or samples were shown to Buyer, such models orsamples were used merely to illustrate the general type and quality of the Products and not to representthat the Products would necessarily conform to said models or samples. Any Products found to be defec-tive must be shipped to KEYENCE with all shipping costs paid by Buyer or offered to KEYENCE for in-spection and examination. Upon examination by KEYENCE, KEYENCE, at its sole option, will refund thepurchase price of, or repair or replace at no charge any Products found to be defective. This warrantydoes not apply to any defects resulting from any action of Buyer, including but not limited to improperinstallation, improper interfacing, improper repair, unauthorized modification, misapplication and mishan-dling, such as exposure to excessive current, heat, coldness, moisture, vibration or outdoors air. Compo-nents which wear are not warranted. (2) KEYENCE is pleased to offer suggestions on the use of its various Products. They are only sugges-tions, and it is Buyer’s responsibility to ascertain the fitness of the Products for Buyer’s intended use.KEYENCE will not be responsible for any damages that may result from the use of the Products. (3) The Products and any samples (“Products/Samples”) supplied to Buyer are not to be used internallyin humans, for human transportation, as safety devices or fail-safe systems, unless their written specifica-tions state otherwise. Should any Products/Samples be used in such a manner or misused in any way,KEYENCE assumes no responsibility, and additionally Buyer will indemnify KEYENCE and holdKEYENCE harmless from any liability or damage whatsoever arising out of any misuse of the Products/Samples. (4) OTHER THAN AS STATED HEREIN, THE PRODUCTS/SAMPLES ARE PROVIDED WITH NOOTHER WARRANTIES WHATSOEVER. ALL EXPRESS, IMPLIED, AND STATUTORY WARRANTIES,INCLUDING, WITHOUT LIMITATION, THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR APARTICULAR PURPOSE, AND NON-INFRINGEMENT OF PROPRIETARY RIGHTS, ARE EXPRESSLYDISCLAIMED. IN NO EVENT SHALL KEYENCE AND ITS AFFILIATED ENTITIES BE LIABLE TO ANYPERSON OR ENTITY FOR ANY DIRECT, INDIRECT, INCIDENTAL, PUNITIVE, SPECIAL OR CONSE-QUENTIAL DAMAGES (INCLUDING, WITHOUT LIMITATION, ANY DAMAGES RESULTING FROMLOSS OF USE, BUSINESS INTERRUPTION, LOSS OF INFORMATION, LOSS OR INACCURACY OFDATA, LOSS OF PROFITS, LOSS OF SAVINGS, THE COST OF PROCUREMENT OF SUBSTITUTEDGOODS, SERVICES OR TECHNOLOGIES, OR FOR ANY MATTER ARISING OUT OF OR IN CONNEC-TION WITH THE USE OR INABILITY TO USE THE PRODUCTS, EVEN IF KEYENCE OR ONE OF ITSAFFILIATED ENTITIES WAS ADVISED OF A POSSIBLE THIRD PARTY’S CLAIM FOR DAMAGES ORANY OTHER CLAIM AGAINST BUYER. In some jurisdictions, some of the foregoing warranty disclaimersor damage limitations may not apply.

BUYER’S TRANSFER OBLIGATIONS: If the Products/Samples purchased by Buyer are to be resold ordelivered to a third party, Buyer must provide such third party with a copy of this document, all specifica-tions, manuals, catalogs, leaflets and written information provided to Buyer pertaining to the Products/Samples.

1 2 3

Visual KV Series 3 P

rogra

mm

ing

User's ManualVisual KV Series

3Programming

© KEYENCE CORPORATION, 1999 NKVP-UM-4-1000 Printed in Japan

96M0366

How this manual is organized:

The Visual KV Series User’s Manual is composed of 3 separatemanuals; 1-Installation, 2-Support Software, 3-Programming.Please read each manual relevant to your purpose.

Installation

1. Configuration andSpecifications

2. System Installation

3. Access Window

4. KV-D20 OperatorInterface Panel

5. KV-10/80 Hardware

6. Handheld Program-mer

7. KV-L2 Serial InterfaceModule

8. KV-AN6 Analog I/OModule

9. KV-AD4/DA4 AnalogI/O Unit

10. Troubleshooting

11. Appendices

SupportSoftware

1. Introduction

2. Editor

3. Simulator

4. Monitor

5. Appendices

Programming

1. Programming

2. Instructions

3. Interrupts

4. High-speed Counters

5. Positioning Control

6. Interrupts, High-speedCounters, PositioningControl

7. Serial Communication

8. ProgrammingExamples

INDEX

Specifications are subject to change without notice.

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