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1. Industrial Lathe Se xr xo xz uc E ege TEM A B C E sel jj jj PORTI Mee to XO and X1 Encoder i Motor quadrature pulses LI Start lead screw cutter head The timing diagram below shows the duration of each equal relay contact closure Each contact remains on until the next one closes All go off when the counter resets Equal Relays A B C SP540 SP541 SP542 I NOTE Each successive preset must be two numbers greater than the previous preset value In the I industrial lathe example B gt A 2 and C gt B 2 DL06 Micro PLC User Manual 1st Ed Rev A 10 02 l 3 13 Chapter 3 High speed Input and Pulse O utput Features Bi M X Input Configuration The configurable discrete input options for H igh Speed Counter M ode are listed in the table below Input X0 is dedicated for the first counter clock input Input X1 can bethe clock for the second counter or a filtered input T he section on M ode 60 operation at the end of this chapter describes programming the filter time co
2. DirectSOFT32 Counting Diagram upc CT2 v2000 xi x2 x2 x3 a x3 CTA2 KI Ys va L gt our Y4 boo E CTA2 K2 e Current 1 2 3 LINE gt out Value Handheld Programmer Keystrokes Handheld Programmer Keystrokes cont B B sm gt 1 ENT gt i ENT c GX D STR gt 2 ENT OUT gt 3 ENT D c T C STR gt 3 ENT STR js 2 SHFT MLR 2 U D C G C SHFT isa 3 2 2 2 A A 2 ENT c A A A GX E SHFT AND 2 0 0 0 PT OUT 2 4 ENE c T C STR gt jserT 2 SHFT MR 2 5 50 DL06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions Timer Counter and Shift Register Instructions EM MM Shift Register SR The Shift Register instruction shifts data through a predefined number of control relays The control ranges DATA 9R in the shift register block must start at the beginning of ee eee an 8 oit dou day use 8 bit blocks crock The Shift Register has three contacts e Data determines the value 1 or 0 that will enter the 10 lt A D09 register RESET Clock shifts the bits one position on each low to high transition e Reset resets the Shift Register to all zeros With each off
3. DirectSOFT32 CEN SPO Load constant K20 into the accumulator This selects LY ren Mode 20 as the HSIO mode OUT Output this address to V7633 the location of the HSIO V7633 Mode select register LD Load the constant required to configure XO as a K2 quadrature absolute input OUT Output the constant to V7634 the location of the setup V7634 register for XO LD Load the constant required to configure X2 as an external K107 reset with interrupt OUT Output the constant to V7636 the location of the setup V7636 register for X2 LD Load the constant required to configure X3 as a filtered K2006 input OUT Output the constant to V7637 the location of the setup V7637 register for X3 LDD Load the preset 1 value into the accumulator K5000 OUTD Output the accumulator contents to the memory V3630 location for preset 1 LDD Load the constant required to configure XO as Phase A K10000 input OUTD Output the constant to V7634 the location of the setup V3632 register for XO LDD Load the constant required to configure X1 as Phase B K15000 input OUTD Output the constant to V7635 the location of the setup V3634 register for X1 LDD Load the constant required to configure X2 as an external KFFFF reset OUTD Output the constant to V7636 the location of the setup V3636 register fo
4. ET LD ojojoji used as offset The value is 1 V 4 n The unused accumulator Doe Load the offset value of 1 K1 into the lower 16 bits are setto zero _ ___ _ bits of the accumulator Acc 0 0 0 0 0 0 0 1 gt Level 1 0000200 0 1 Level2 X X X X X X X X EDS us Levels X X X X X X X X Constant Level4 X X X X X X X X Move the offset to the stack K 0 0 0 2 Load the accumulator with the data label Level 6 Oe cae ge ape aco o number The unused accumulator Levele X X X X X X X X bits are set to zero Levei7 IX X X X X X X X OUT Aco 0 10 0 10 o o 0 2 Level8 X XX X X X X X V2000 Copy the value in the lower 16 bits of the accumulator to V2000 The unused accumulator bits are set to zero END k acc 0 o o o 2 s 2 a DLBL K2 2 3 2 3 NCON PR Offset 0 m NCON K2323 Offset 1 NCON K4549 Offset 2 5 62 DL06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions Accumulator Stack Load and O utput D ata a gt B ENT Handheld Programmer Keystrokes L D K B SHFT mpsr 3 gt SHFT IMP 1 ENT Ls D S X C SHFT anost a RST SET E 2 ENT E N D SHFT 4 pe 3 ENT D L B L C SHET 3 ANDST 1 ANDST e 2 ENT N C o N D D D D SHFT TMR 2
5. Data label area x1 programmed after LD the END instruction Hd K4 DLBL K1 Load the value 4 into the accumulator specifying the N CON 1 2 3 4 v2000 number of locations to be K 123 4 copied N CON 4 5 3 2 V2001 LD K 4 5 3 2 KO N CON gt 1611 15 1 v2002 Load the value 0 into the K 6 1 5 1 accumulator specifying the offset for source and N CO N 8 8 4 5 v2003 destination locations K8 8 4 5 LDLBL X X X X v2004 K1 Load the value 1 into the accumulator specifying the Data Label Area K1 as the starting address of the data to be copied Handheld Programmer Keystrokes B MOVMC STR gt 1 ENT V2000 L D K E i inati SHFT SHFT ENT V2000 is the destination ANDST 3 2 JMP 4 starting address for the data to be copied L D K A SHFT l inps 3 gt sHFT IMP ENT s D L B E B SURI ANDST 3 ANDST 1 ANDST gt 1 ENT M O V M e e A A A SHIRT ORST INST AND ORST 2 gt 2 0 0 0 ENT DL06 Micro PLC User Manual 1st Ed Rev A l 5 143 Chapter 5 Standard RLL Instructions Table Instructions EIU 3 SETBIT TheSet Bit instruction sets a single bit to one SETBIT within a range of V memory locations A aaa RSTBIT 7 ASTET The Reset Bit instruction rese
6. 24VDC ul V 1 I I i OUTPUT E COM I Wiring for ZL M056 vo 0 1 2 3 NC 10 11 12 13 V1 CO 9969 vo 4 5 6 7 NC 14 15 16 1 V1 CO S BS ees 8 8 T L L L L L L b i E 9 J s Dp mr JA Duns aL 4L 9 9 9 9 9 9 9 9 9 9 9 Derating chart Points 0 1A L 12 a E L QUT Z 22 m M 4 0 0 10 20 30 40 50 55 C E 32 50 68 86 104 122 131 F Ambient Temperature J 1 CoA j 0000000000000 3 D0 16TD2 Use ZipLink ZL CBLO56 cable and ZL CM056 connector module 92091999 eeocoeese or build your own cables using 24 pin e Molex Micro Fit 3 0 receptacle part geopogece QOO number 43025 or compatible DL06 Micro PLC User Manual 1st Ed Rev A 10 02 2 47 Chapter 2 Installation Wiring and Specifications m ees D 0 07CDR 4 point DC input and 4 point relay output module Input Specifications Inputs per module 4 sink source Output Specifications Outputs per module 3
7. DL06 Micro PLC User Manual 1st Ed Rev A 10 02 l 4 41 Chapter 4 CPU Specifications and O peration C LLL a Module Placement Slot Numbering TheDL06 has four slots which are numbered as follows Slot 4 4 42 DL06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 4 CPU Specifications and O peration NNN Automatic I O Configuration TheDL06 CPUs automatically detect any installed 1 0 modules including specialty modules at powerup and establish the correct O configuration and addresses T his applies to modules located in local and expansion I O bases For most applications you will never have to changethe configuration O addresses use octal numbering starting at X100 and Y 100 in the slot next to the CPU T he addresses are assigned in groups of 8 or 16 depending on the number of pointsfor the 1 0 module T he discrete input and output modules can be mixed in any order but there may be restrictions placed on some specialty modules T he following diagram shows the I O numbering convention for an example system Both the H andheld Programmer and DirectSO FT 32 provide AU X functions that allow you to automatically configure the I O For example with the H andheld Programmer AU X 46 executes an automatic configuration which allowsthe CPU to examinethe installed modules and determinethel O configu
8. recon cc aunt Poeccoco cu noce X90 090 99 9 g 9 9 9 0 9 9 9 9 9 2 e e e Step 4 C onnect the Programming D evice M ost programmers will use D irectSO FT 32 programming software Version 4 0 or later installed on a personal computer An alternative if you need a compact portable programming device is the H andheld Programmer firmware version 2 20 or later Both devices will connect to COM port 1 of the DL06 via the appropriate cable Use cable part D2 DSCBL cable comes with HPP For replacement cable use part DV 1000CBL E g Bi Note The Handheld Programmer cannot create or access LCD ASCII or MODBUS instructions 1 8 DLO06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 1 Getting Started i Step 5 Switch on the System Power Apply power to the system and ensure the PWR indicator on the D L06 is on If not remove power from the system and check all wiring and refer to the troubleshooting section in Chapter 9 for assistance Step 6 Initialize Scratchpad Memory It s a good precaution to always clear the system memory scratchpad memory on anew DLO6 T here are two ways to clear the system memory n DirectSO FT 32 sdect the PLC menu then Setup then Initialize Scratchpad For additional information see the
9. IIIS MESES EDS AIEEE EIIEIEIEIEIENS SC 0 Yo V2 Ij A TUE Yi iF Vis H AC L JAC N 24v Co v1 va Ya Ye C2 vtt v13 Y14 Y16 NC OUTPUT G OV 50 60Hz 20A 6 27V 20A PWR 100 240V 50 60Hz 40A 0000000000099 D0 06DR 1 2 4 3 6 7 10 H 12 13 M 15 16 17 20 2 22 23 900000000000000000009 x INPUT 12 24V zs 3 15mA status indicators a ooooooo Direct 06 im tlt S eee eee TERM mode switch i S _ 9 eee AR eE ee e PORT1 g PORT2 a J J lo Status Indicators The status indicator LED s on the CPU front panels have specific functions which can help in programming and troubleshooting Mode Switch Functions The mode switch on the DL06 PLC provides positions for enabling and disabling program changes in the CPU Unless the mode
10. DirectSOFT32 Counting diagram xi SGCNT CT2 xi CT2 KI va s OUT L YA L cm K2 Y4 out ys E cm K3 Ys Current 1 2 3 4 o Value gt our RST CT2 Handheld Programmer Keystrokes Handheld Programmer Keystrokes cont B C m c STR 1 ENT sm 2 SH T 2 J S T mr 2 s G GY c SHFT her e SHFT P E 5 ENT c B A GX E 2 gt 1 0 ENT ow 2 4 ENT C y c C T c em SHFT 2 SHET un 3 sta gt SHFT 2 SHFT un B D gt j ENT gt A ENT GX D GX F our 7 3 ENT our 7 5 ENT 5 48 DL06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions Timer Counter and Shift Register Instructions M M M Up Down Counter UDC This Up D own Counter counts up on each off to on transition of the Up input and counts down on each off to on transition of the D own input The counter is reset to 0 when the Reset input is on Thecount range is 0 99999999 T he count input not being used must be off in order for the active count input to function Instruction Specification Counter Reference CTaaa Specifies the counter number Preset Value Bbbb Constant value K or two consecutive V memory locations Current Values Current count is a double word value accessed by referencing the associated V or Up UDC CT aaa B bbb D dii C
11. Instruction Page Instruction Page Decode DECO 5 126 Load Accumulator Indexed LDX 5 61 Decrement DEC 5 98 Load Accumulator Indexed from Data Constants LDSX 5 62 Decrement Binary DECB 5 105 Load Address LDA 5 60 Degree Real Conversion DEGR 5 133 Load Double LDD 5 58 Disable Interrupts DISI 5 184 Load Formatted LDF 5 59 Divide DIV 5 95 Load Immediate LDI 5 37 Divide Binary DIVB 5 104 Load Immediate Formatted LDIF 5 38 Divide Binary by Top OF Stack DIVBS 5 117 Load Label LDLBL 5 142 Divide by Top of Stack DIVS 5 113 Load Real Number LDR 5 63 Divide Double DIVD 5 96 Master Line Reset MLR 5 181 Divide Formatted DIVF 5 109 Master Line Set MLS 5 181 Divide Real DIVR 5 97 MODBUS Read from Network MRX 5 201 Enable Interrupts ENI 5 183 MODBUS Write to Network MWX 5 204 Encode ENCO 5 125 Move MOV 5 141 End END 5 173 Move Memory Cartridge MOVMC 5 142 Exclusive Or XOR 5 77 Multiply MUL 5 92 Exclusive Or Double XORD 5 78 Multiply Binary MULB 5 103 Exclusive Or Formatted XORF 5 79 Multiply Binary Top of Stack MULBS 5 116 Exclusive OR Move XORMOV 5 167 Multiply Double MULD 5 93 Exclusive Or with Stack XORS 5 80 Multiply Formatted MULF 5 108 External Interrupt Program Example 5 184 Multiply Real MULR 5 94 Fault FAULT 5 186 Multiply Top of Stack MULS 5 112 Fill FILL 5 146 No Operation NOP 5 173 Find FIND 5 147 No
12. Acc 0 of of of of of o of of of of of of of of off Of Of Of Of of of of of of of of of of 1 1 O OUT v2010 Copy the value in the lower 16 bits of the accumulator to Gray Code BCD v2010 0000000000 0000 0jojo 6 Handheld Programmer Keystrokes 0000000001 0001 v2010 7 0000000011 0002 STR a 1 ENT 0000000010 0003 suet D F gt A Je G ENT 0000000110 0004 ANDST 3 5 1 0 1 6 0000000111 0005 G R A Y SHFT 6 ORN 0 Mis ENT 0000000101 0006 0000000100 0007 Gx v c A B A OUT gt p AND 2 0 1 0 fnr 1000000001 1022 1000000000 1023 5 138 DL06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions Number Conversion Shuffle D igits SFLD GT The Shuffle D igits instruction shuffles a maximum of 8 digits rearranging them in a specified order T his function SFLDGT requires parameters to be loaded into the first level of the accumulator stack and the accumulator with two additional instructions Listed below are the steps necessary to use the shuffle digit function T he example on the following page shows a program for the Shuffle D igits function Step 1 Load the value digits to be shuffled into the first level of the accumulator stack Step 2 Load the order that the digits will be shuffled to into the accumulator Step 3 Insert the SFLD GT instruction Note If the number used to
13. 5 74 DL06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions Logical Or Formatted ORF E TheOr Formatted instruction logically O Rsthebinary value in the accumulator and a specified range of discrete ORF Aaaa bits 1 32 T he instruction requires a starting location K bbb Aaaa and the number of bits K bbb to be ORed Discrete status flags indicate if the result is zero or negative the most significant bit 21 Operand Data Type DLO6 Range Counter Bits Special Relays Discrete Bit Flags Description SP63 Will be on if the result in the accumulator is zero SP70 on when the value loaded into the accumulator by any instruction is zero NOTE Status flags are valid only until another instruction uses the same flag In the following example when X1 is on the Load Formatted instruction loads C 10 C 13 4 binary bits into the accumulator T he O r Formatted instruction logically O Rs the accumulator contents with Y 20 Y 23 bit pattern T he O ut Formatted instruction outputs the accumulator s lower four bits to C 20 C 23 DirectSOFT32 xi LDF C10 Lopation Constant cis 1211 C10 J sf f KA C10 K4 OFF ON ON
14. p Diet 06 mmm Koyo s B ea re fesses res es s pres tes ps ss e PORTI PORTZ RUN STOP p ji lol CPU Scan x Y The CPU reads the inputs from the local Read Inputs base and stores the status in an input pl image register xii x2 x1 xo OFF ON orF OFF OFF lt _4 xo Input Image Register OFF lt _ xi Read Inputs from Specialty O Solve the Application Program Immediate instruction does not use the X0 YO input image register but instead reads I J1 the status from the module immediately VO Point XO Changes Mas NN ON XO OFF lt _ X1 Write Outputs Write Outputs to Specialty 1 O Diagnostics DL06 Micro PLC User Manual 1st Ed Rev A 5 9 Chapter 5 Standard RLL Instructions Boolean Instructions Boolean Instructions Store STR TheStore instruction begins a new rung or an additional branch in a rung with a normally open contact Status of Pu the contact will bethe same state as the associated image IL register point or memory location Store Not STRN The Store N ot instruction begins a new rung or an Kandi additional branch in a rung with a normally closed contact Status of the contact will be opposite the state of the associated image register point or memory location Operand Data
15. 9 Multiply Double MULD specified in the instruction T helower 8 digits of the results reside in the accumulator Upper digits of the result reside in the accumulator stack Operand Data Type MULD Aaaa DLO6 Range aaa See memory map See memory map Description On when the result of the instruction causes the value in the accumulator to be zero On anytime the value in the accumulator is negative On when a BCD instruction is executed and a NON BCD number was encountered NOTE Status flags are valid only until another instruction uses the same flag In the following example when X1 is on the constant Kbc614e hex will be loaded into the accumulator W hen converted to BCD the number is 12345678 T hat numbers stored in V 1400 and V 1401 After loading the constant K 2 into the accumulator we multiply it times 12345678 which is 24691356 Direct SOFT32 Display LDD I Kbc614e OUTD V1400 MULD V1400 OUTD V1402 Handheld Programmer Keystrokes Load the hex equivalent of 12345678 decimal into the accumulator Convert the value to BCD format It will occupy eight BCD digits 32 bits Output the number to V1400 and V1401 using the OUTD instruction Load the constant K2 into the accumulator Multiply the accumulator contents 2 by
16. Handheld Programmer Keystrokes on gt J 0 ENT SHFT MUST D gt prev fF ENT SHET inosr s o gt Ja l o o o FN SHFT Tjin SHFT Mus H s F 5 Pai gt next B f E f ENT 5 166 DLO06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions Table Instructions AND Move ANDMOV TheAN D M oveinstruction copies data from a table to the ANDMOV specified memory location AN D ing each word with the A aaa accumulator data as it is written OR Move ORMOV TheOr M oveinstruction copies data from a table to the specified ORMOV memory location O Ring each word with the accumulator contents A aaa 85 it is written Exclusive OR Move XORMOV The Exclusive OR M ove instruction copies data from a table to the XORMOV specified memory location XO Ring each word with the A aaa accumulator value as it is written The following description applies to the AN D M ove OR M ove and Exclusive OR M ove instructions A table is just a range of V memory locations T hese instructions copy the data of a table to another specified location preforming a logical operation on each word with the accumulator contents as the new table is written Step 1 Load the length of the table number of V memory locations into the first level of the accumulator stack T his parameter must be a H EX value 0 to FF Step 2 Load the s
17. o Or OR The Comparative O r instruction connects a normally open comparative contact in parallel with another contact The contact will be on when Aaaa is equal to or greater than Bbbb Or Not ORN The Comparative O r N ot instruction connects a normally open comparative contact in parallel with Aaaa Bbbb another contact T he contact will be on when Aaaa lt Bbbb Aaaa B bbb IV Operand Data Type DLO6 Range aaa bbb See memory map See memory map See memory map See memory map 0 9999 0 377 0 177 In the following example when the value in V memory location V 2000 6045 or V 2002 2345 Y3 will energize DirectSOFT32 Handheld Programmer Keystrokes E C A A A V2000 K6045 Ya sra SHFT gt 2 0 0 0 cy OUT G A E F 6 0 4 5 ENT Q v e A A C v2002 K2345 on gt SHET p IE 2 B 3 gt c D E F 2 3 4 5 ENT GX D OUT gt 3 ENT In the following example when the value in V memory location V2000 1000 or V2002 lt 2500 Y3 will energize DirectSOFT32 Handheld Programmer Keystrokes V2000 K1000 Y3 Some SHEI i 4 gt i 2 0 0 0 a7 OUT B A A A A ENT V2002 K2500 orn A SH T lo 2 o o l2 2
18. Phase B Counterclockwise sequence Phase A Phase B Leading Edge Signal pasi e one cycle co L xi I d eT X6 Grey aoe C D amp amp QGO0O0000100 S SSSSSSSSESSE Signal Common Phase A T LT 12 24VDC Quadrature Encoder Input Phase B LM Encoder F X0 I X2 a s T c IE e6eooooooooooaG o6eeooo060060000 Reset Prox Sensor Input Q a 0 Up Down DLO06 Micro PLC User Manual 1st Ed Rev A 10 02 l 3 25 Chapter 3 High speed Input and Pulse O utput Features Interfacing to Encoder Outputs TheDLO6 sDC inputs are flexible in that they detect current flow in either direction so they can be wired to an encoder with either sourcing or sinking outputs In the following circuit an encoder has open collector N PN transistor outputs It sinks current from the PLC input point which sources current T he power supply can be the 24VDC auxiliary supply or another supply 12VDC or 424V DC as long as the input specif
19. DLO0G Micro PLC User Manual 1st Ed Rev A 10 02 2 43 Chapter 2 Installation Wiring and Specifications D0 10TD1 10 point D C output module DO 10TD1 Specifications Number of Outputs 10 sinking el Operating Voltage Range 6 27VDC Sie Output Voltage Range 5 30VDC O TER Peak Voltage 50 0VDC S21VDC tiee IX co i 0 3A point 4 5x1 Maximum Output Current 12 00 o T WN Minimum Output Current 0 5mA O p 2 ON Voltage Drop 0 5 VDC 0 3A f ym _3 E Maximum Leakage Current 154A 30 0VDC E Maximum Inrush Current 1Afor 10ms tpt et OFF to ON Response lt 10us o B 6 T px 7 ON to OFF Response 60us Lom E Status Indicators bip a x T 2 non isolated OE aN 5 points common D0 10TD1 No fuse Max 150mA All pts on Note The DLO6 must have firmware version V4 10 or later for this module to function properly Derating chart Equivalent output circuit Points bus 7 v T 10 3A i i OUTPUT 8 i E 1 e i Ot 6 T SOT Q o E LR l 4 p f to i LED S 2 f SB E COM 0 I 0 10 20 30 40 50 55 C pn 32 50 68 86 104 122 131 F Ambient Temperature Use ZipLink ZL CBLO56 cable and ZL CM056 c
20. DirectSOFT32 P gt LD 1 K60 Mode 60 OUT V7633 Filtered Inputs LD K1006 OUT V7634 OUT V7635 OUT V7636 OUT V7637 X0 YO OUT x1 Y1 OUT END Load constant K60 into the accumulator This selects Mode 60 as the HSIO mode Output the constant to V7633 the location of the HSIO Mode select register Load the constant K1006 which is required to configure filtered inputs with a time constant of 10 mS Output this constant to V7634 configuring X0 Output this constant to V7635 con Output this constant to V7636 con Output this constant to V7637 coni Use a switch on X0 input to manua iguring X1 iguring X2 iguring X3 ly control output YO Use a switch on X1 input to manua ly control output Y1 END coil marks the end of the main program 6 Memory Error H SIO configuration parameters are stored in the CPU system memory Corrupted data in this memory area can sometimes interfere with proper H SIO operation If all other corrective actions fail initializing the scratchpad memory may solve the problem With DirectSO FT 32 select the PLC menu then Setup then Initialize Scratchpad Symptom T he motor turns in the wrong direction Possible causes 1 Wiring If you have sdected CW and CCW type operation just swap the wires on YO and Y1 outputs 2 Direction control If you have selected Pulse and D irection type operation just change the d
21. In thefollowing example Y5 will energize for one CPU scan whenever X1 ison and X2 transitions from On to Off DirectSOFT32 Handheld Programmer Keystrokes B xi x2 Y5 sta gt i ENT i OUT Q N D c on SHFT Sin gt gt ENT GX F our gt s ENT 5 22 DLO0G Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions Boolean Instructions Set SET Optional T he Set instruction sets or turns on an image register memory range point memory location or a consecutive range of Aaaa aaa image register points memory locations O nce the SET point location is set it will remain on until it is reset using the Reset instruction It isnot necessary for the input controlling the Set instruction to remain on Reset RST Optional T he Reset instruction resets or turns off an image Memory range register point memory location or a range of image Aaaa aaa registers points memory locations O nce the RST point location is reset it is not necessary for the input to remain on Operand Data Type DLO6 Range In the following example when X1 is on Y2 through Y5 will energize DirectSOFT32 Handheld Programmer Keystrokes x1 B I y2 Y5 em gt 4 ENT 9 1 R c F SET gt 2 5 ENT In thefollowing example when X1 is o
22. Time 3 16 DLO06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 3 H igh speed Input and Pulse O utput Features M i1 Automatic Trapezoidal Profile O peration Starting velocities must be within the range of 40 pps to 1k pps The remainder of the profile parameters are in the profile parameter table Automatic Trapezoidal Profile Velocity Target Velocity Accel Decel Starting Velocity mic ME Ending velocity optional Pa d Time Start position Target position Start External Interrupt Yo Optional x Profile Complete 7 Thetime line of signal traces below the profile indicates the order of events The H SIO uses logical output YO as the Start input to the H SIO which starts the profile Immediately the H SIO turns off the Profile Complete signal SP 104 so the ladder program can monitor the progress of the move Typically a ladder program will monitor this bit so it knows when to initiate the next profile move You can also use the external interrupt X1 O nce the external interrupt feature is selected for the profile the D L06 keeps outputting the pulses until X1 turns on Then the D L06 outputs the pulses defined as the target position If you are familiar with motion control you ll notice that we do not have to specify the direction of the move The H SIO function examines the target positi
23. F2 in the upper byte indicates the use of the T right port of the D L06 PLC port number 2 KF201 The lower byte contains the slave address number in BCD 01 to 99 6 4 BCD Step 2 Load Number of Bytes to Transfer Ene SA e T he second Load LD instruction determines p the number of bytes which will be transferred between the master and slave in the subsequent PaE aTa W X or RX instruction T he value to be loaded T isin BCD format decimal from 1 to 128 K64 bytes The number of bytes specified also depends on the type of data you want to obtain For example the D L06 Input points can be accessed by V memory locations or as X input locations H owever if you only want X0 X27 you ll have to use the X input data type because the V memory locations can only be accessed in 2 byte increments T hefollowing table shows the byte ranges for the various types of D irectLO GIC products DL 05 06 205 350 405 Memory Bits per unit V memory T C current value Inputs X SP Outputs Y C Stage T C hits Scratch Pad Memory Diagnostic Status DL330 340 Memory Data registers T C accumulator 1 0 internal relays shift register bits T C hits stage bits Scratch Pad Memory Diagnostic Status 5 word R W DL06 Micro PLC User Manual 1st Ed Rev A 10 02 l 4 57 Chapter 4 CPU Specifications and O peration Step 3 Specify M aster Memo
24. X1 xi UDC CT U p K3 x2 x2 x3 Down x3 cT2 Reset Current 1 2 1 2 3 0 Value Counts Counter Preset T he stage counter SG CN T has a count input and is reset by the RST instruction This instruction is useful when programming using the RLL7ZUS structured programming T he maximum count value is 9999 T he timing diagram below shows the relationship between the counter input associated discrete bit current value counter preset and reset instruction X1 CT X1 SGCNT CT2 K3 Current 1 2 3 4 0 Value Counts Counter preset RST Cm SHY DLO0G Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions Timer Counter and Shift Register Instructions Counter CNT lE The Counter is a two input counter that increments when the count input logic transitions from off to on When the counter reset input is on the counter resets to 0 W hen the current value equals the preset value the counter status bit comes on and the counter continues to count up to a maximum count of 9999 T he maximum value will be held until the counter is reset Instruction Specifications Counter Reference CTaaa Specifies the counter number Preset Value Bbbb Constant value K or a V memory location Current Values Counter current values are accessed by referencing the associated V or CT memory locations T he V memory location i
25. M lof Retaining Clip NOTE Refer to our catalog or web site for a complete listing of DINnector connection systems Environmental Specifications T he following table lists the environmental specifications that generally apply to D L06 M icro PLCs T herangesthat vary for the H andheld Programmer are noted at the bottom of this chart Certain output circuit types may have derating curves depending on the ambient temperature and the number of outputs O N Please refer to the appropriate section in this chapter pertaining to your particular D L06 PLC Environmental Specifications Specification Rating Storage temperature 4 F to 158 F 20 C to 70 C Ambient operating temperature 32 F to 131 F 0 C to 55 C Ambient humidity 5 95 relative humidity non condensing Vibration resistance MIL STD 810C Method 514 2 Shock resistance MIL STD 810C Method 516 2 Noise immunity NEMA ICS3 304 Atmosphere No corrosive gases Agency approvals UL CE C1D2 FCC class A O perating temperature for the H andheld Programmer and the D V 1000 is 32 to 122 F 0 to 50 C Storage temperature for the H andheld Programmer and the D V 1000 is 4 to 158 F 20 to70 C E quipment will operate down to 5 relative humidity H owever static electricity problems occur much more frequently at low humidity levels below 3096 M ake sure you take adequate precautions when you touch the equipment Consider usi
26. Profile Complete 7 The time line of signal traces below the profile indicates the order of events The H SIO uses logical output YO as the start input to the H SIO which starts the profile Immediately the H SIO turns off the Profile Complete signal SP 104 so the ladder program can monitor the progress of the move Typically a ladder program will monitor this bit so it knows when to initiate the next profile move You can also use the external interrupt X 1 O nce the external interrupt feature selected for the profile the D L06 keeps outputting the pulses until X1 turns on Then the DL06 outputs the pulses defined as the target position Each acceleration and deceleration slope consists of 4 steps You can set up the velocity and the distance number of pulses of each step You don t need to use all 4 steps of each slope For instance if you want to use only 2 steps just set zero to the velocity and the distance of the 3rd and 4th step If the acceleration slope and the deceleration slope are identical you can just put zero into all the velocity and the distance parameters for the deceleration slope DL06 Micro PLC User Manual 1st Ed Rev A 10 02 l 3 55 Chapter 3 High speed Input and Pulse O utput Features Bi Program Example 4 Step Trapezoidal Profile Program Example SPO LD H Mode 30 Locate Parameter Table Selec
27. Direct SOFT32 x14 id x12 x11 X10 x me x OFF ON OFF ON ON em ees I K5 Load the value in represented by discrete locations X10 X14 into the accumulator 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Acc 0 0 0 0 0 0 Of Of Of O Of OJ Of O Of Of Of Of O O Oj Of Of Of Of Of O OF 1 Of 1 1 M me binary vlaue is converted to bit position 11 DECO 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 3 10 9 8 765 4 3 2 1 0 Decode the five bit binary Acc 0 0 0 0 0 of Of of of oj of of of of of Off of of of of 1 of of of of of of of of of of O pattern in the accumulator and set the corresponding bit position to a 1 Handheld Programmer Keystrokes B STR gt 1 ENT L D F B A F SHFT M ANDSTI 3 s 1 o gt sg ENT D E c o SHFT Il 3 4 2 inst ENT 5 126 DL06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions Number Conversion M Ir Number Conversion Instructions Accumulator Binary BIN TheBinary i
28. DLO6 Output Circuit PLC i YO Y1 Y2 Y17 HSIO VO data CPU tote Interrupt Timer Interrupt erup M V memory or Mode select Filter Filter r V7633 0040 XO i X1 X2 X3 X4 X23 Input Circuit 3 64 DLO06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 3 H igh speed Input and Pulse O utput Features m Setup for M ode 40 Recall that V 7633 isthe H SIO M ode Select register Refer to the diagram below U se BCD 40 in the lower byte of V 7633 to select the H igh Speed Counter M ode Memory Location V7633 Bits 15 14 13 12 131 109 8 7 6 5 4 3 2 1 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 4 0 a Miscellaneous Setup BCD HSIO Mode Setup BCD 00 Not Used default 40 High Speed Interrupts 10 Battery Enabled 20 Power up in RUN 30 Battery Enabled and Power up in RUN Choose the most convenient method of programming V 7633 from the following Include load and out instructions in your ladder program DirectSO FT 32 s memory editor e Usethe H andhed Programmer D 2 H PP We recommend using the first method above so that the H SIO setup becomes an integral ie of your application program An example program later in this section shows how to do this Interrupts and the Ladder Program Refer to the drawing below T he source of the interrupt may be external X0 X3 An internal timer can be used instead of X0 asthe interrupt source
29. Program Example 2 Automatic Trapezoidal Profile with External Interrupt Registration Applications 1 In atypical application shown to the right product material in work moves past a work tool Such as a drill Registration marks on the scrap area of the work piece allow a machine tool to register its position relativeto the rectangle to drill properly direction of motion 2 In other examples of registration the work Registration marks piece is stationary and the tool moves A drill bit may approach the surface of a part in work preparing to drill a hole of precise depth H owever the drill bit length gradually decreases er due to tool wear A method to overcome this is to detect the moment of contact with the part surface on each drill moving the bit into the part a constant distance after contact D etect contact Finished part area Scrap Area Registration marks direction of motion 3 Thehome search move allows a motion system to calibrate its position on startup In this case the positioning system makes an indefinite move and waits for the load to pass by a home limit switch T his creates an interrupt at the moment when the load isin a known position Wethen stop motion and preload the position value with a number which equates to the physical home position W hen an interrupt pulse occurs on physical input X1 the starting position is declared to be the present count current load position
30. Acc 0 0 0 0 OJ O OJ OF Of OF O OF OF O OF OF O 1 0 0 1 0 0 0 0 o o 1 0 0 1 0 0 1 Shift the data in the accumulator 4 bits K4 to the right OUT V2010 Output the lower 16 bits of the ac cumulator to V2010 0 49 V2010 Some of the data manipulation instructions use 32 bits T hey use two consecutive V memory locations or an 8 digit BCD constant to manipulate data in the accumulator In the following example when X1 is on the value in V 2000 and V 2001 will be loaded into the accumulator using the Load D ouble instruction T he value in the accumulator is added with the value in V 2006 and V 2007 using the Add D ouble instruction T he valuein the accumulator is copied to V 2010 and V 2011 using the O ut D ouble instruction V2001 V2000 LDD V2000 6 7 3 9 5 0 2 6 Load the value in V2000 and V2001 into the accumulator 6 7 3 5 2 6 Accumulator ADDD V2006 Add the value in the accumulator with the value in V2006 and V2007 OUTD V2010 2 0 0 0 4 0 4 6 Q v2006 amp V2007 Acc 8 7 3 9 9 0 7 2 Copy the value in the accumulator to V2010 and V2011 V2011 V2010 DL06 Micro PLC User Manual 1st Ed
31. resets counter to zero E ositioning a Table Y31 m RST KIRT 3 36 DLO06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 3 H igh speed Input and Pulse O utput Features EU ot Troubleshooting Guide for Mode 20 If you re having trouble with M ode 20 operation please study the following symptoms and possible causes T he most common problems are listed below Symptom T he counter does not count Possible causes 1 Field sensor and wiring Verify that the encoder or other field device inputs actually turn on and illuminates the status LED sfor X0 and X1 A standard incremental encoder will visibly alternately turn on the LED sfor X0 and X1 when rotating slowly 1 RPM Or the problem could be dueto asinking sourcing wiring problem etc Remember to check the signal ground connection Also verify that the pulse on time duty cycle voltage leve and frequency are within the input specifications Configuration make sure all of the configuration parameters are correct V 7633 must be set to 20 and V 7634 must be set to 0002 to enable the Phase A input and V 7635 must be set to 0000 to enable the Phase B input 3 Stuck in reset check the input status of the reset input X2 If X2 is on the counter will not count because itis being held in reset 4 Ladder program make sure you are using counter CT 174 in your program T hetop input isthe enable signal for the counter It must be on before t
32. LIF D0 06AA and D0 06AR AC input only Direct 06 oyo T oT x2 Ts T bou hug Q Q Q Oo o0 OO0o0o00o0oo9 S SFSSSSSSESES 90 120 VAC Toggle Switches 3 qQ UL Listed q WARNING Remove power and unplug the DLO6 when wiring the switches Use only UL approved switches rated for at least amp 250VAC 1A for AC inputs Firmly mount the switches before using DL06 Micro PLC User Manual 1st Ed Rev A 10 02 1 7 Chapter 1 Getting Started Step 3 Connect the Power Wiring Connect the power input wiring for the D L06 O bserve all precautions stated earlier in this manual For more details on wiring see Chapter 2 on Installation Wiring and Specifications W hen the wiring is complete close the connector covers D o not apply power at this time Fuse 110 220 VAC Power Input 12 24 VDC Power Input Beooeeeo c ule SS OSS 6 Oe e6e6eoeeo AIII coles ov J vo v2 ci vs v7 v amp G ez2 Nc vo ve etr T vs Y7 vio v AC L AC N 24v co v1 vs v4 ve c2 Ne co yi vs v4 Ye c2 yu OUTPUT 17 240V 50 60Hz 0 5A PWR 100 240V 50 60 OUTPUT Sinking Output 6 27V 1 0A PWR 12 24 20W
33. 2 cece eee e RIA 2 12 System Wiring Strategies sss as aos esc ch eme eve ver ea ea ara areca ee 2 13 PLC Isolation Boundaries 2 244 ens nnan nak RR RR ARR aki Rd AREE E E d 2 13 Connecting Operator Interface Devices llc 2 14 Connecting Programming Devices 0 eee eee 2 14 Sinking Sourcing CONCEPtS 6 63 eect leew gk wee be eee eee eRe 2 15 1 0 Common Terminal Concepts en a ea ee eee eee 2 16 Connecting DC I O to Solid State Field Devices 0 00 0000s 2 17 Solid State Inp t Sensors eet bee OS eee eee ES YE PT SE P we ES 2 17 Solid State Output Loads eee ed eae m eee eee chee RUSO RUE S ees 2 17 Relay Output Wiring Methods ss sesioa aeiae aon EE e e 2 19 Surge Suppression For Inductive Loads 0 eee ee 2 20 Prolonging Relay Contact Life lt sesi 2 2 ee eee e 2 21 DC Input Wiring Methods s sese 0 0 cee cee ee eens 2 22 DC Output Wiring Methods es esia eunis aaie nsi EE eee eee 2 23 High Speed I O Wiring Methods 0 0 eee eee eee eee 2 24 Glossary of Specification Terms 0 ccc eee eee ee eens 2 25 Wiring Diagrams and Specifications 0 0 cee cee ee ee eee 2 26 DO O6AA I O Wiring Diagram 0 0 ee eee 2 26 D0 06AR I O Wiring Diagram 0 0 ee eee 2 28 D0 06DA I O Wiring Diagram 1 ee eee 2 30 D0 06DD1 1 0 Wiring Diagram 1 ee eee 2 32 D0 06DD2 I O Wiring Diagram 0 eee 2 34 DO O6DR I O Wiring Diagra
34. Direct SOFT32 V2001 v2000 x IDD 0 4 o 5 o 2 5 o0 VI 2000 Load the value in V2000 and V2001 into the accumulator 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Acc 0 0f of of of 1f of of of of of of o 1 of 1 of of of of of of 15 0 O 1 of 1 of OJ of O INV 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Acc 11 1 12 150 1 1 1 1 1 1 120 1 0 1 1 1 1 1 1 0 1 110 1 0 1 1 1 1 Invert the binary bit pattern in the accumulator OUTD F B F A F b A JF V2010 v2011 v2010 Copy the value in the accumulator to V2010 and v2011 Handheld Programmer Keystrokes B sm gt i ENT L D D A A A SHET ANDST 3 3 2 2 0 0 0 ENE 1 N v SHFT n MR AD ENT GX D C A B A our SHT 3 gt 2 0 1 0 ENT DL06 Micro PLC User Manual 1stIDHO Wicko PLC User Manual Ist Ed Rev A 5 129 Chapter 5 Standard RLL Instructions Number Conversion Ten s Complement BCD CPL TheTen s Complement instruction takes the 10 s complement BCD of the 8 digit accumulator T he result resides in the accumulator T he calculation for this instruction is 100000000 accumulator value 10 s complement value In thefollowing example when X1 is on the valuein V 2000 and V 2001 is loaded into the accumulator T he 10 s complement is taken for the 8 digit accumulator using the Ten s Complement i
35. NEXT NEXT NEXT NEXT ENT L D D H D A A A SHFT ANpsT 3 3 gt PPREV UU 3 0 0 a LENT A D A B 0 3 0 1 ENT GX D C A A A our SHFT 3 gt 2 0 0 0 ENT T l M E C A A A SHFT mer SHT e ornsh 4 S 2 0 0 a EN DL06 Micro PLC User Manual 1st Ed Rev A 5 172 Chapter 5 Standard RLL Instructions CPU Control Instructions CPU Control Instructions No Operation NOP TheNo Operation is an empty not programmed memory location NOP j Direct SOFT32 Handheld Programmer Keystrokes p SHET we ff inste cv PT End END The End instruction marks the termination point of the normal END program scan An End instruction is required at the end of the main program body If the End instruction is omitted an error will occur and the CPU will not enter the Run M ode D ata labels subroutines and interrupt routines are placed after the End instruction T he End instruction is not conditional therefore no input contact is allowed Direct SOFT32 Handheld Programmer Keystrokes sHet F p ME b ENT Stop STOP The Stop instruction changes the operational mode of the CPU from Run to Program Stop mode T his instruction is typically STOP used to stop PLC operation in an error condition In the following example when CO tur
36. LCD message Message Count V2500 B From V memory AL 5 198 DL06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions LCD 1 D ata Format Suffixes for Embedded V memory D ata Several data formats are available for displaying V memory data on the LCD T he choices are shown in thetable below A colon is used to separate the embedded V memory location from the data format suffix and modifier An example appears on the previous page Data Format Modifier Example Displayed Characters 2000 0000 0000 00010010 1 2 4 NS V2000 1 8 ve ES V2000 S 1 8 GEM tomat c V2000 C0 BE 0 V2000 0 1 8 2000 0000 0000 0001 0010 112314 a B V2000 B OB KON EUN E i EBS V2000 BS Ii2 4 digit BCD coy v2000 8C0 olol B0 V2000 BO 1 2 V2000 0000 0000 0000 0000 Double Word 2001 0000 0000 0000 0001 1 2 3 4 5 6 7 8 9 10 11 D ED V2000 D 6 5 53 6 32 bit decimal DS V2000 DS 61515136 DC0 V2000 DCO 0 0 0 0 0 0 6 5 5 3 6 D0 V2000 DO 6 5 5 3 6 V2000 0000 0000 0000 0000 Double Word 2001 0000 0000 00000011 1 2 3 4 5 EB DB DB V2000 DB 0 0 0 3 0 0 0 0 8 digit BCD DBS V2000 DBS SE EON HON KON NO DBCO V2000 DBCO OR ON ECOSSE GONE CON GI DBO V2000 DBO 3 0 0 0
37. 0 0 anana i cee IA 3 73 setup forMode 60 432 242 2 2b 4 tit daie da oie SER b ea ace e e e ee ed 3 74 X Input Configuration 22 lt 6 te ee Ps GV GS AA MAMA RR E Rx e e he ees 3 74 Program Example Filtered Inputs 0 0 0 eee 3 75 DL06 Micro PLC User Manual 1st Ed Rev A 10 02 l v Table of C ontents M MM Chapter 4 CPU Specifications and Operation 4 1 Introduction ii ieee es s h o dod EEE DE SR OR UR ORA CR nee 4 2 DL OG CPU FeQatUles 1 1 e toot nne n cp tua Nada Pa ai RR URL ANC bre a IN UR TROU 4 2 CPU Specifications eonun obe eor RD CIC i o aerate RO a bu VR Ru QU 4 3 CPU Hardware Setup se ra eR cana ge ie ENERO PR tiers e ee a a 4 4 Communication Port Pinout Diagrams sse 4 4 Connecting the Programming Devices lee 4 5 CPU Setup Information esee meme REY Y x YR Roe ac oe c e E ele ps 4 5 Status IridiCatorS nete dundee REN REY Eee eee tae ead 4 6 Mode Switch FUNRCHONS suut actum ua kw how edad we alee ake oe eed 4 6 Changing Modes in the DIO6 PLC enea aia iaia a a 4 7 Mode of Operation at Power Up issseee nn 4 7 Using Battery Backup cm rr bees eae cee bee hm hr ew eee need 4 8 Enabling the Battery Backup 4 xk EFE EE E Fh 4 8 Auxiliary FUDctlOns esee tex Revecee OE EY Y Y ER eee Cee EE etatas 4 9 Clearing an Existing Program euo tc be bay Y eR e OR ee RR ed dd 4 9 Initializing Syst
38. V1400 by 1 V1400 8 9 13 6 Handheld Programmer Keystrokes F STR gt NEXT NEXT NEXT NEXT 5 ENT N C B E A A SHET 8 TMR 2 a 1 4 0 0 ENT In the following decrement example when C5 is on the value in V 1400 is decreased by one Direct SOFT32 V1400 E DEC 8 9 3 15 Fd V1400 VL Decrement the value in V1400 by 1 V1400 8 9 3 4 Handheld Programmer Keystrokes F STR gt NEXT NEXT NEXT NEXT 5 ENT D E Cc B E A A SHET g 4 2 gt 1 4 0 o 9 5 98 DL06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions M ath Add Binary AD D B Add Binary isa 16 bit instruction that addsthe unsigned 2 s complement binary value in the lower 16 bits of the accumulator with an unsigned ADDB 2 s complement binary value Aaaa which is N3aa either a V memory location or a 16 bit constant The result can be up to 32 bits unsigned 2 s complement and resides in the accumulator Operand Data Type DLO6 Range aaa See memory map See memory map O FFFF Description On when the result of the instruction causes the value in the accumulator to be zero On when the 16 bit addition instruction results in a carry On when the 32 bit addition instruction results in
39. 4 mA Maximum OFF Current 0 5 mA 0 5 mA OFF to ON Response lt 70 uS 2 8 mS 4 mS typical ON to OFF Response 70 uS 2 8 mS 4 mS typical Status Indicators Logic side Logic side Commons Parameter 4 channels common x 5 banks isolated DC Output Specifications Pulse Outputs YO Y1 Standard Outputs Y2 Y17 Min Max Voltage Range 5 30 VDC 5 30 VDC Operating Voltage 6 27 VDC 6 27 VDC Peak Voltage 50 VDC 10 kHz max frequency 50 VDC On Voltage Drop 0 3 VDC 1 A 0 3 VDC 1A Max Current resistive 0 5 A pt 1A pt as standard pt 1 0 A point Max leakage current 15uA 30 VDC 15uA 30 VDC Max inrush current 2 A for 100 mS 2 A for 100 mS External DC power required 20 28 VDC Max 150mA 20 28 VDC Max 280mA Aux 24VDC powers V terminal sinking outputs OFF to ON Response lt 10us 10 us ON to OFF Response lt 20 us 60 us Status Indicators Logic Side Logic Side Commons 4 channels common x 4 banks non isolated Fuses None external recommended DLO0G Micro PLC User Manual 1st Ed Rev A 10 02 2 33 Chapter 2 Installation Wiring and Specifications D 0 06D D2 I O Wiring Diagram TheD 0 06D D 2 PLC hastwenty D C inputsand sixteen sourcing D C outputs The following diagram shows a typ
40. 5VDC power mA 24VDC power mA 600mA 280mA 35mA 150mA 280mA 100mA 24 VDC mA D0 06LCD 50mA 50mA 0 0 0 0 0 none 200mA 1215mA 280mA none 150mA 285mA 20mA none 785mA note 1 Auxiliary 24VDC used to power V terminal of D0 06DD1 sinking outputs choice A above Note 1 If the PLC s auxiliary 24VDC power source is used to power the sinking outputs use power DL06 Micro PLC User Manual 1st Ed Rev A 10 02 l HHS Chapter 4 CPU Specifications and O peration o gt Configuring the D L 06 s C omm Ports This section describes how to configure the CPU s built in networking ports for either M ODBUS or DirectN ET This will allow you to connect the D L06 PLC system directly to M ODBUS networks using the RTU protocol or to other devices on a DirectN ET network M O DBUS hosts system on the network must be capable of issuing the M OD BUS commands to read or write the appropriate data For details on the M O D BUS protocol please refer to the Gould M O D BUS Protocol reference Guide P1 M BU S 300 Rev B In the event a more recent version is available check with your M O D BUS supplier before ordering the documentation For more details on D irectN ET order our DirectN ET manual part number DA DNET M Note For information about the MODBUS protocol see the Group Schneider Web site at JE www schne
41. Programming Methods Two programming methods are available RLL Relay Ladder Logic and RLL s RLL Us combines the added feature of flow chart programming Stage to the standard RLL language Both the DirectSO FT programming package and the handheld programmer support RLL S as well as standard RLL instructions DirectSO FT 32 Programming for Windows TheDL06 M icro PLC can be programmed with D irectSO FT 32 V4 0 or later a W indows based software package that supports familiar features such as cut and paste between applications point and click editing viewing and editing multiple application programs at the same time etc 1 4 DL06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 1 Getting Started EU 7 DirectSO FT 32 part number PC PGM SW supports the DirectLO GIC CPU families You can use the full version of D irectSO FT 32 to program the D L05 D L06 DL 105 DL205 DL305 and DL405 U pgrade software may be required for new CPU s when they become available A separate manual discusses D irectSO FT 32 programming software DirectSO FT 32 version 4 0 or later is needed to program the DL 06 Handheld Programmer All DLO6 M icro PLCs have a built in programming port for use with the handheld programmer D 2 H PP the same programmer used with the DL05 DL105 and D L205 families T he handheld programmer can be used to create
42. 256 TO T377 6144 6399 Coil Counter Contacts CT 128 CTO CT177 6400 6527 Coil Stage Status Bits S 1024 S0 81777 5120 6143 Coil For Word Data Types Convert PLC Addr to Dec Data Type Timer Current Values V 256 V0 V377 0 255 Input Register Counter Current Values V 128 V1000 V1177 512 639 Input Register V Memory user data V 3200 V1200 V7377 640 3839 Holding Register 4096 V10000 V17777 4096 8191 Holding Register V Memory non volatile V 4 52 DL06 Micro PLC User Manual 1st Ed Rev A 10 02 128 V7400 V7577 3840 3967 Holding Register Chapter 4 CPU Specifications and O peration The following examples show how to generate the M O D BU S address and data type for hosts which require this format Example 1 V2100 Find the M O D BUS address for U ser V location V 2100 i i i 1 Find V memory in the table 2 Convert V2100 into decimal 1088 3 Usethe M O D BUS data type from the table V Memory user data V 3200 V1200 V7377 640 3839 Holding Register Example 2 Y20 Find the M O D BUS address for output Y 20 1 Find Y outputs in the table 2 Convert Y 20 into decimal 16 3 Add the starting address for the range 2048 4 Use the M OD BUS datatype from the table Outputs V 256 YO Y377 2048 2303 Coil Example 3
43. D2 H PP H andheld Programmer firmware version 2 20 or later comes with programming cable Please purchase H andheld Programmer M anual D 2 H PP M separately Mi MEER 3 200000 l Bl O00000 E OOOIOO E Bl OOOO E E QOOOO E ERE i PES m El cioe 8 lt I FP OOCwIO 1 6 DLO06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 1 Getting Started Step 2 Connect Switches to Input Terminals To proceed with this quick start exercise or to follow other examples in this manual you will need to connect one or more input switches as shown below If you have DC inputs on an AC supply D L06 you can use the auxiliary 24V D C supply on the output terminal block or other external 12 24V D C power supply Be sureto follow the instructions in the accompanying WARNING on this page D0 06DA D0 06DD1 D0 06DD2 D0 06DR Direct D0 DD1 D and D0 06DR1 D 06 DC Input F Xo i X2 H IEG T Hie deh TA SSSSSESSSE SSeS S FSSSSSSSSSOS 12 24VDC 4 Toggle Switches UL Listed
44. Operating voltage range 12 24 VDC Operating voltage range 6 27 VDC 6 240 VAC Input voltage range 10 8 26 4 VDC Output type Relay form A SPST Peak voltage 30 0 VDC Peak voltage 30 0 VDC 264 VAC Maximum input current 11 mA 26 4 VDC Maximum current resistive 1 A point 4 A common Typical 4mA 12VDC 8 5 mA 24VDC Minimum load current 5mA Q 5VDC Maximum leakage current 0 1 mA 264 VAC ON voltage drop 2 8KQ 12 24VDC N A gt 10 0 VDC Maximum inrush current Output 3A for 10 ms Common 10A for 10 ms ON to OFF response lt 2 0 VDC 10 ms OFF to ON response Minimum ON current 3 5 mA 15 ms Maximum OFF current 0 5 mA Status indicators Module acitivity one green LED Commons ON to OFF response 2 8 ms typical 4 ms 1 8 points common Fuse OFF to ON response 2 8 ms typical 4 ms N A Commons 1 4 points common Base power required 5V Max 200 mA all points ON Note The DLO6 must have firmware version V4 10 or later for this module to function properly Equivalent input circuit INPUT j COM Q 1224V0C Derating chart for DC inputs Points 4 0 10 50 20 30 40 68 86 104 122 131 Ambient Temperature 50 55 E to LED 12 24V 3 5 14mA 6 240V 1A 50
45. Output this constant to V3633 the location of the starting velocity parameter register Load the constant K20 which is required to select an acceleration time of 2 seconds 20 x 100 mS Output this constant to V3634 the location of the acceleration parameter register Load the constant K40 which is required to select a deceleration time of 4 seconds 40 x 100 mS Output this constant to V3635 the location of the deceleration parameter register We use a spare filtered input to allow the operator to start the profile When the operator turns X3 ON then OFF logical output YO starts the profile SP104 is the logical output of the HSIO to indicate the move is complete We use Y2 to energize an annunciator that the profile has finished At any time you can write preload a new position into the current position value T hisis often done after a home search see the registration example programs Y CO LDD 1 K1000 Profile Target OUTD Velocity V1174 Y1 PD Load the constant K1000 as the new current position value Output this constant to V1174 V1175 CTA174 CTA175 the location of the current position value Turn on Y1 for 1 scan The off to on transition causes the HSIO to preload the current position with the value in V1174 V1175 DLO06 Micro PLC User Manual 1st Ed Rev A 10 02 l 3 49 Chapter 3 High speed Input and Pulse O utput Features B M
46. The interrupt remains enabled until the program executes a Disable Interrupt instruction DLO06 Micro PLC User Manual 1st Ed Rev A 5 183 Chapter 5 Standard RLL Instructions Interrupt Instructions Disable Interrupts D ISI A Disable Interrupt instruction in the main body of the application program before the End instruction will disable the interrupt either external or timed T he interrupt remains DISI disabled until the program executes an Enable Interrupt instruction External Interrupt Program Example In the following example we do some initialization on the first scan using the first scan contact SPO T he interrupt feature is the H SIO M ode 40 T hen we configure X0 as the external interrupt by writing to its configuration register V 7634 See Chapter 3 M ode 40 O peration for more details D uring program execution when X2 ison the interrupt is enabled W hen X2 is off the interrupt will be disabled W hen an interrupt signal X0 occursthe CPU will jump to the interrupt label IN T O 0 T heapplication ladder logic in the interrupt routine will be performed The CPU will return to the main body of the program after the IRT instruction is executed Direct SOFT32 Handheld Programmer Keystrokes LD 5 sur nas l ENT L D K ANDST 3 s JMP 4 0 ENE x gt sur Y n g D PB ENT GX v OUT gt Jem AND 7 6
47. To LED High Speed Inputs X0 X3 DC Pulse Outputs YO Y1 vw pu mg m UTR M ow A i 4 ww T SE inpue T isolator a sr P awDE Optical To LED To LED n ie solator sist x J Y i eet G e de no di one Common 32 50 68 B6 104 122 122 C T e T Ambient Temperature C F E i i bi Derating Chart for DC Outputs Standard Input Circuit X4 X23 DC Standard Outputs Y2 Y17 2 38 DLO06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 2 Installation Wiring and Specifications E LLL LL DO 06DD1 D General Specifications External Power Requirements 12 24 VDC 20 W maximum Communication Port 1 9600 baud Fixed 8 data hits 1 stop hit odd parity K Sequence Slave DirectNET Slave MODBUS Slave Communication Port 2 9600 baud default 8 data bits 1 stop bit odd parity K Sequence Slave DirectNET Master Slave MODBUS Master Slave Non sequence print ASCII in out Programming cable type D2 DSCBL Operating Temperature 32 to 131 F 0 to 55 C Storage Temperature 4 to 158 F 20 to 70 C Relative Humidity 5 to 95 non condensing Environmental air No corrosive gases permitted Vibration MIL STD 810C 514 2 Shock MIL STD 810C 516 2 Noise Immu
48. V 1 4 0 0 K 1 ENT 5 25 DLO0G Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions Boolean Instructions Pause PAU SE The Pause instruction disables the output update on a range of outputs T he ladder program will continue to Yaaa aaa run and update the image register H owever the outputs PAUSE in the range specified in the Pause instruction will be turned off at the output points Operand Data Type DLO6 Range In the following example when X1isON Y5 Y7 will be turned OFF T he execution of the ladder program will not be affected DirectSOFT32 x1 Y5 Y7 PAUSE Sincethe D 2 H PP H andheld Programmer does not have a specific Pause key you can use the corresponding instruction number for entry 960 or type each letter of the command Handheld Programmer Keystrokes B sm 7 1 ENT Oo J G A D F INST 9 6 0 ENC ENT gt 3 gt 5 ENT In some cases you may want certain output points in the specified pause range to operate normally In that case use Aux 58 to over ride the Pause instruction DL06 Micro PLC User Manual 1st Ed Rev A 5 25 Chapter 5 Standard RLL Instructions Comparative Boolean es Comparative Boolean Store If Equal STRE The Store If Equal instruction begins a new rung or additional branch in ar
49. Chapter 4 CPU Specifications and O peration Word Memory V Data Type Word memory is referred to as V memory variable and isa 16 bit location normally used to XO nm Some information is automatically stored in V memory For example the timer current values are manipulate data numbers store data numbers etc p K1345 OUT V2000 stored in V memory T he example shows how a four digit BCD constant is loaded into the accumulator and then stored in a V memory location Stages S D ata type Word Locations 16 bits Stages are used in RLL programs to create a iore oloo oo olon structured program similar to a flowchart Each program Stage denotes a program segment W hen Se the program segment or Stage is active the logic 1 3 4 5 within that segment is executed If the Stage is off or inactive the logic is not executed and the CPU Ladder Representation skips to the next active Stage See C hapter 7 for a more detailed description of RLL5 programming Each Stage also has a discrete status bit that can be m used as an input to indicate whether the Stage is S6 com Check for a Part active or inactive If the Stage is active then the status bit is on If the Stage is inactive then the status bit is off T his status bit can also beturned b on or off by other instructions such asthe SET or dips RESET instructions T his allows you to easily el SG control stages throughout the progra
50. External Power Requirements 100 240 VAC 40 VA maximum Communication Port 1 9600 baud Fixed 8 data bits 1 stop bit odd parity K Sequence Save DirectNET Slave MODBUS Slave Communication Port 2 9600 baud default 8 data bits 1 stop bit odd parity K Sequence Slave DirectNET Master Slave MODBUS Master Slave Non sequence print ASCII in out Programming cable type D2 DSCBL Operating Temperature 32 to 131 F 0 to 55 C Storage Temperature 4 to 158 F 20 to 70 C Relative Humidity 5 to 95 non condensing Environmental air No corrosive gases permitted Vibration MIL STD 810C 514 2 Shock MIL STD 810C 516 2 Noise Immunity NEMA ICS3 304 Terminal Type Removable Wire Gauge Parameter DC Input Specifications High Speed Inputs X0 X3 One AWG16 or two AWG18 AWG24 minimum Standard DC Inputs X4 X23 Min Max Voltage Range 10 8 26 4 VDC 10 8 26 4 VDC Operating Voltage Range 12 24 VDC 12 24 VDC Peak Voltage 30 VDC 7 kHz maximum frequency 30 VDC Minimum Pulse Width 100 us N A ON Voltage Level 10 0 VDC 10 0 VDC OFF Voltage Level 2 0 VDC 2 0 VDC Max Input Current 6mA 12VDC 13mA 24VDC 4mA Q12VDC 8 5mA 24VDC Input Impedance 1 8 Ok 12 24 VDC 2 8 Ok 12 24 VDC Minimum ON Current 5 mA
51. Filtered Input Xx06 xx filter delay time 0 99 ms BCD default Filtered Input Xx06 xx filter delay time 0 99 ms BCD default Filtered Input xx06 xx filter delay time 0 99 ms BCD default Filtered Input Xx06 xx filter delay time 0 99 ms BCD default 3 74 DL06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 3 H igh speed Input and Pulse O utput Features E MMM i1 Program Example Filtered Inputs Thefollowing program selects M ode 60 then programsthe filter delay time constants for inputs X0 X1 X2 and X3 Each filter time constant is different for illustration purposes The program is otherwise generic and may be adapted to your application Direct SOFT32 SPO LD H Mode 60 Filtered Inputs Main Program K60 OUT V7633 LD K1006 OUT V7634 LD K2006 OUT V7635 LD K5006 OUT V7636 LD K7006 OUT V7637 GND Load constant K60 into the accumulator This selects Mode 60 as the HSIO mode Output the constant to V7633 the location of the HSIO Mode select register Load the constant K1006 which is required to configure filtered inputs with a 10 mS filter time constant Output this constant to V7634 configuring XO Load the constant K2006 which is required to select filtered inputs with a 20
52. LLL MODBUS Read from Network M RX TheM O DBUS Read from N etwork M RX instruction is used by the D L06 network master to read a block of data from a connected slave device and to write the data into V memory addresses within the master T he instruction allows the user theto specify theM OD BUS Function C ode slave station address starting master and slave memory addresses number of elements to transfer M O D BU S data format and the Exception Response Buffer o MAX Port Number Slave Address Enae 01 Read Col Status I Start Slave Memory Address Start Master Memory Address Number of Elements G2 Modbus Data Format 584 884 mode C 484 mode Exception Response Buffer V4010 Port Number must be D L06 Port 2 K2 Slave Address specify a slave station address 0 247 Function Code T hefollowing M O D BUS function codes are supported by theM RX instruction 01 Read a group of coils 02 Read a group of inputs 03 Read holding registers 04 Read input registers 07 Read Exception status 08 Diagnostics Start Slave Memory Address specifies the starting slave memory address of the data to be read Seethe table on the following page Start Master Memory Address specifies the starting memory address in the master where the data will be placed Seethe table on the following page Number of Elements specifies how many coils input holding registers or inpu
53. Operand Data Type DLO6 Range aaa See memory map 1 32 Discrete Bit Flags Description SP63 On when the result of the instruction causes the value in the accumulator to be zero SP70 On anytime the value in the accumulator is negative In the following example when X1 is on the value in V2000 and V 2001 will be loaded into the accumulator using the Load D ouble instruction T he bit pattern in the accumulator is shifted 2 bits to the left using the Shift Left instruction The valuein the accumulator is copied to V 2010 and V2011 using the O ut D ouble instruction Direct SOFT32 V2oni Vaido xX BD e 7z o s a 1 o 1 Ff V2000 Load the value in V2000 and V2001 into the accumulator 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 SHFL Ace 0 1 1 010 1 1 1 0 0 0 0 0 1 0 1 00 1 1 of of of 1 0 of of of of of of 1 K2 EP II The bit pattern in the fy accumulator is shifted 2 bit positions to the left Shifted out of the oct EE Lf 1 accumulator Fd d OUTD l ovY V2010 31 30 29 28 27 26 25 24 23 22
54. Preset Single Register 584 984 Mode 40001 49999 5 digit or 400001 465535 6 digit 15 Force Multiple Coils 484 Mode 1 999 15 Force Multiple Coils 585 984 Mode 1 65535 16 Preset Multiple Registers 484 Mode 4001 4999 16 Preset Multiple Registers 584 984 Mode 40001 49999 5 digit or 4000001 465535 6 digit MWX Master MWX Master Memory Address Ranges Memory Address Operand Data Type DL06 Range 0 1777 Ranges 0 1777 0 3777 0 1777 0 377 Counter Bits 0 377 Special Relays 0 777 V memory all Global Inputs 0 3777 Global Outputs 0 3777 MWX Number of Number of Elements Elements DL06 Range all Bits 1 2000 Registers 1 125 MWX Exception Number of Elements Response Buffer DL06 Range all DLO06 Micro PLC User Manual Ist Ed Rev A 5 205 Chapter 5 Standard RLL Instructions MODBUS C NO MWX Example DLO6 port 2 has two Special Reay contacts associated with it see Appendix D for comm port special relays O ne indicates Port busy SP 116 and the other indicates Port Communication Error SP 117 The Port Busy bit ison whilethe PLC communicates with the slave W hen the bit is off the program can initiate the next network request T he Port Communication Error bit turns on when the PLC has detected an error Use of this bit is optional W hen used it should be ahead of any network instruction boxes since the
55. V7760 V7762 Reserved V7763 Program address where syntax error exists V7764 Syntax error code V7765 Scan counter stores the total number of scan cycles that have occurred since the last Program Mode to Run Mode transition V7766 Contains the number of seconds on the clock 00 59 V7767 Contains the number of minutes on the clock 00 59 V7770 Contains the number of hours on the clock 00 23 V7771 Contains the day of the week Mon Tues Wed etc V7772 Contains the day of the month 01 02 etc V7773 Contains the month 01 to 12 V7774 Contains the year 00 to 99 V7775 Scan stores the current scan time milliseconds V7776 Scan stores the minimum scan time that has occurred since the last V7777 Program Mode to Run Mode transition milliseconds V37700 V37737 For remote 1 0 4 30 DLO06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 4 CPU Specifications and O peration E M IT DL06 Memory Map Discrete Memory Word Memory Memory Type Reference Reference Decimal octal octal Input Points X0 X777 V40400 V40437 du YO Output Points Y0 Y777 V40500 V40537 xi j CO CO Control Relays C0 C1777 V40600 V40677 SPO Special Relays SPO SP777 V41200 V41237 E 7 TMR TO Timers T0 T377 V41100 VA1117 VO K100
56. When using the D L06 PLC asthe master station simple RLL instructions are used to initiate the requests The W X instruction initiates network write operations and theR X instruction initiates network read operations Before executing either the W X or RX commands we will need to load data related to the read or write operation onto the CPU s accumulator stack When theW X or RX instruction executes it uses the information on the stack combined with data in theinstruction box to completely define the task which goesto the port Il lJ Master Network WX write RX read T he following step by step procedure will provide you the information necessary to set up your ladder program to receive data from a network slave 4u 56 DL06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 4 CPU Specifications and O peration Step 1 Identify M aster Port and Slave F The first Load LD instruction identifies the communications port number on the network master D L06 and the address of the slave station T his instruction can address up to 99 M ODBUS Slaves or 90 DirectN ET slaves T he format of the word is shown to the right T he Y Slave address BCD Port number BCD Internal port hex
57. lllseeeeeee III 4 46 DEO6 Port PINGUS s zs sss oie Ke Re ER EE SERRE ERE ER RR ES 4 46 Choosing a Network Specification llle 4 47 RS 232 Network i e er RR RR eNO be De eee a REC RE TES d 4 47 RS 485 Network soc s ccc ee m m yy Vee Nee ee eee RE La wee eee d 4 47 Connecting to MODBUS and DirectNET Networks 00 000 4 48 MODBUS Port Configuration 0 0 cece eee eee eee eee 4 48 DirectNET Port Configuration 2d ER RR RERO ERO SaaS Perder 4 49 Non Sequence Protocol ASCII In Out and PRINT eese 4 50 MODBUS Port Configuration s cissu kde one beak eee ee os ee F3 RR PER 4 50 Network Slave Operation 0 ccc cece nn 4 51 MODBUS Function Codes Supported 0 0 eee eee ee eee 4 51 Determining the MODBUS Address 0 000 4 51 If Your Host Software Requires the Data Type and Address 4 52 Example 1 V2100 amp i sa ow duet heh ne nian Rn ta POR aaa ae Qd A 4 53 Example 2 Y20 i tub nn e hte n RR Ra Ra dae eke ewe aaa s 4 53 Example 3 110 Current Value asc cksiebatana saad Ru Ra RARE EE T ed 4 53 Ex mple 4 C54 ii ss cua eun eade nh na ge Sita pon DR RR ADR RUIT E Peed ee eae g 4 53 If Your MODBUS Host Software Requires an Address ONLY 4 54 Example 1 V2100 584 984 Mode 2c eee eee een 4 55 Example 2 Y20 584 984 Mode 2 0 cece eee eee teenies 4 55 Example 3 T10 Current Value 484 Mode sees 4 55 E
58. or SHFT 5 gt NEXT T gt r ENT GX F c A E Our SHFT B gt PREV PREV A 0 gt ENT DL06 Micro PLC User Manual 1st Ed Rev A 5 79 Chapter 5 Standard RLL Instructions Logical Exclusive Or with Stack XO RS The Exclusive O r with Stack instruction is a 32 bit instruction that performs an exclusive or of the value in the accumulator with the first level of the accumulator stack T he result resides in the XORS accumulator T he value in the first level of the accumulator stack is removed from the stack and all values are moved up one level Discrete status flags indicate if the result of the Exclusive Or with Stack is zero or a negative number the most significant bit is on NOTE Status flags are valid only until another instruction uses the same flag Discrete Bit Flags Description Will be on if the result in the accumulator is zero on when the value loaded into the accumulator by any instruction is zero In the following example when X1 is on the binary value in the accumulator will be exclusive ored with the binary value in the first level of the accumulator stack T he result will reside in the accumulator Direct SOFT32 xi LDD V1401 V1400 se e s 7 V1400 L
59. 5 1 18 DLO0G Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions Transcendental Functions Arc Cosine Real ACO SR TheArc Cosine Real instruction takes the inverse cosine of the COSR real number stored in the accumulator T he result resides in the accumulator Both the original number and the result are in IEEE 32 bit format Arc Tangent Real ATANR The Arc Tangent Real instruction takes the inverse tangent of ATANR the real number stored in the accumulator T he result resides in the accumulator Both the original number and the result are in IEEE 32 bit format Square Root Real SQ RTR T he Square Root Real instruction takes the square root of the SQRTR real number stored in the accumulator T he result resides in the accumulator Both the original number and the result are in IEEE 32 bit format square root extract function for an orifice flow meter measurement as the PV to a PID loop note that the NOTE The square root function can be useful in several situations However if you are trying to do the PID loop already has the square root extract function built in The following example takes the sine of 45 degrees Since these transcendental functions operate only on real numbers we do a LDR load real 45 T he trig functions operate only in radians so we must convert the degrees to radians by using the RADR command After using the SINR Sine Real instruction we usean OUTD Out Double
60. Au 2 0 0 0 ENE P o P SHFT cv SHFT INST cv ENT GX V C A A B our eT ano 2 0 0 1 ENT P o P SHFT cv SHFT INST cv ENT GX V A A ic our gt 9 ano 2 0 0 2 ENT 5 66 DL06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions Accumulator Stack Load and O utput D ata Out Indexed OUT X Direct SOFT32 xi The Out Indexed instruction isa 16 bit instruction It copies a 16 bit or 4 digit value from the first level of the OUTX accumulator stack to a source address offset by the value in A aaa the accumulator V memory offset T his instruction interprets the offset value as a H EX number T he upper 16 bits of the accumulator are set to zero Operand Data Type DLO6 Range aaa See memory map See memory map In the following example when X1 is on the constant value 3544 is loaded into the accumulator T his is the value that will be output to the specified offset V memory location V 1525 T he value 3544 will be placed onto the stack when the Load Address instruction is executed Remember two consecutive Load instructions places the value of the first load instruction onto the stack T he Load Address instruction converts octal 25 to H EX 15 and places the value in the accumulator T he O ut Indexed instruction outputs the value 3544 which resides in the first level of the accumulator stack to V 1525 Constant
61. Chapter 5 Standard RLL Instructions M essage Instructions Message Instructions Fault FAULT The Fault instruction is used to display a message on the handheld programmer the optional LCD display or in the DirectSO FT status bar T he message has a maximum of 23 characters and can Aaaa be either V memory data numerical constant data or ASCII text To display the value in a V memory location specify the V memory location in the instruction To display the datain ACON ASCII constant or N CON N umerical constant instructions specify the constant K value for the corresponding data labe area Operand Data Type DLO6 Range aaa See memory map 1 FFFF Discrete Bit Flags Description SP50 On when the FAULT instruction is executed Fault Example In the following example when X1 is on the message SW 146 will display on the handheld programmer The N CON susetheH EX ASCII equivalent of the text to be displayed T he HEX ASCII for a blank is 20 a1 is 31 4 is 34 Direct SOFT32 Handheld Programmer Keystrokes X1 FAULT B Ki sm A 1 ENT F A U L T B sd 5 0 is ANpsr mur gt 1 ENT e END DLBL E N D Kk SHFT Pm ENT D L B L B ACON idi 3 Awosr
62. E s s 4 K3544 The unused accumulator Load the accumulator with bits are set to zero the value 3544 Ac 0 0 0 0 3 5 4 4 Octal HEX 2 5 0 0 1 5 LDA O25 Load the HEX equivalent to Thelunti amp edisec mulelior octal 25 into the lower 16 bits bits are set tozeto of the accumulator This is the D offset for the Out Indexed Ac 0 9 9 0 9 0 1 45 instruction which determines the final destinaltion address Octal Octal 2 OUTX u K BEE EIE p vii 2 s Accumulator Stack V1500 The hex 15 converts Copy the value in the first to 25 octal which is leve1 0 000354 level of the stack to the added to the base Level2 X XX X X X X ddi f V jeld V1525 offset address 1525 address of V1500 to yiel V1500 25 the final answer Level 3 X XX X X XX Handheld Programmer Keystrokes Level 4 X XXXXXX Level 5 X XX X X XX B str gt rae foal Levele X XX X X X X suet D 2s prev D F E E ENT Level7 X X X X X X X ANDST 9 3 5 4 4 Levels X X X X X X X L D A Cc F SHFT ANDsT 3 o gt 2 s ENT GX X B F A A our S4FT ser 1 5 0 0 ENT DL06 Micro PLC User Manual 1st Ed Rev A 5 67 Chapter 5 Standard RLL Instructions Accumulator Stack Load and O utput D ata Out Least OUTL TheO ut Le
63. MWX Example in DirectSOFT32 00 cee eee eee 4 66 Multiple Read and Write Interlocks 0 0 0 eee eee eee eee 4 66 Chapter 5 Standard RLL Instructions 2 000 ee eee 5 1 Introduction EPIIT 5 2 Using Boolean Instructions 0 0 0 0 cece eee e 5 5 END Statement yro PP Er 5 5 Simple RUNGS s 9 xe ODD ee SM Oh tos baa dha kaos ed 5 5 Normally Closed Contact creec oesesice Gib Sad i des eee e Ree os 5 5 Contacts InrSefles ssec e es ea aie Hs ME A aaa a e E 5 6 Midline Outputs 5 5 56 beh Bete E xr dst aioe RE Ree ds 5 6 Parallel Elements ues iO o Ce eati es e UR a rA Run oA Ust e b e ee 5 6 Joining Series Branches in Parallel 20 0 eee cee BRI 5 7 Joining Parallel Branches in Series 2 0 oaaside i iae 5 7 Combination Networks 0 0 0 cee eee I e eee 5 7 Comparative Boolean scecececoseeeek we NG SEMA EA MAA des e kee eed 5 7 Boolean Stack i obe eed tase pa acd SER SRR Sa See enw eee 5 8 immediate Boolean is ete tan Pew De EUR IRR EUR ia Mo bi ha da ae cd 5 9 DLO06 Micro PLC User Manual 1st Ed Rev A 10 02 l ix Table of C ontents M MMMMMM X x Boolean Instructions 1 eue eere Re ee we ee n wb ae A eee ae 5 10 Comparative Boolean sses 52 ke e e wae xr ed ed ay ER ARE ls 5 26 Immediate Instructions isse kr rer ph RR eee d 5 32 Timer Counter and Shift Register Instructions 0 cee eee ee eee 5 39 Using TIIe
64. pieg 6 F Xo E Ts Lp 4 al TERM SENEE elele eeke Ie PORT2 mpm E ES ES ESSE EE EE LEA J sy Discrete Inputs Input Status Option Slots Mode Switch Indicators Mounting Tab The output and power connector accepts external power and logic and chassis ground connections on the indicated terminals T he remaining terminals are for connecting commons and output connections YO through Y 17 T he sixteen output terminals are numbered in octal Y0 Y7 and Y 10 Y 17 On DC output units the end terminal on the right accepts power for the output stage T he input side connector provides the location for connecting the inputs X0 and X23 and the associated commons WARNING For some applications field device power may still be present on the terminal block even though the Micro PLC is turned off To minimize the risk of electrical shock check all field device power before you expose or remove either connector 2 4 DL06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 2 Installation Wiring and Specifications Terminal Block Removal The DLO6 terminals are divided into two groups Each group has its own terminal
65. 5 151 Chapter 5 Standard RLL Instructions Table Instructions Cex oO Thefollowing diagram shows the scan by scan results of the execution for our example program N otice how the pointer automatically cycles from 0 6 and then starts over at 1 instead of 0 Also notice how SP56 isonly on until the end of the scan Scan N Before TTD Execution After TTD Execution Table Pointer Table Table Pointer Automatically Incremented oT o veo ves sTsTe s 08 CEEE Destination Destination x x x x viso eT v o vo SP56 SP56 b sess orr sPse orr S Scan N 1 Before TTD Execution Table Table Pointer Table Pointer Automatically Incremented V1401 0 0 0 o 1 V1400 V1401 0 f0 0 2 Vt400 V1402 V1402 Destination Destination V1403 V1403 V1404 0 5 0 0 V1500 V1404 LIe 2 2 v1500 V1405 V1405 V1406 SRSP V1406 seer SP56 OFF SP56 OFF V1407 V1407 S S S S Scan N45 Before TTD Execution After TTD Execution Table Table Pointer Table Table Pointer Automatically Incremented sToTo T5 vm ves Pps CEEE Destination Destination 1 o 0 V1500 2 o 4 s visoo SP56 SP56 sess oFF sess on until end of scan or next instruction that uses SP56 Scan N 6 Before TTD Execution Table Table Pointer Table Table Pointer Reset
66. CW Limit found YO ED Ley 3 54 co C1 x2 YO VS RST LDD K80000200 OUTD V3631 Gb Select Automatic Trape zoidal Profile relative positioning and a target velocity of 1000 pps Dxxx times 10 pps The constant K4 selects a starting velocity of 40 Hz 4 x 10 pps The constant K20 selects an acceleration time of 2 seconds 20 x 100 mS We ll choose the same for the deceleration value Start the home search when X7 turns on The constant K50 selects a target position of 50 pulses CW direction Turn on Start Profile searching for either the home limit or the CW limit depends on our starting position Set CO to indicate the CW home search has begun Turn off Start Profile The constant K200 selects a target position of 200 pulses which is in the CCW direction The CW limit has been reached C1 HHH H TMR TO K5 TO C2 SED YO SEP CCW past home c2 C3 X1 C3 SED LDD c3 Xi C4 K50 OUTD V3631 1 Hm G8 C4 SED TMR T1 T1 K5 C5 CO C1 C3 X1 C5 SED YO SED as LDD KO OUTD V1174 Add a timer to create a slight delay before reversing motor CCW delay done Start profile a
67. Handheld Programmer Keystrokes X0 Sem gt o EY SHFT HAosti gt a PREV IIe ENT SHFT Anost s o gt fos Eo Wo o E SHFT Asi a gt PREV S Hes Woe Se ENT Vano FT Gast inst ano a Ea o o EY Theexampleto the right shows a table of two words at V 3000 and logically O Rsit with K 8888 T he copy of thetable at V 3100 shows the result of the O R operation for each word Theprogram to the right performsthe O RM OV example above It assumes that the data in thetable at V 3000 V 3001 already exists First weload the table length two words into the accumulator N ext we load the starting address of the source table using theLDA instruction T hen we load the data into the accumulator to be O Red with thetable In the ORM OV command we specify the table destination V 3100 Handheld Programmer Keystrokes str q e SHFT Fbst 2 gt prev ENT SHFT per P 3 o 2 Js Ee o o ENT SHFT d ST B gt prev l 8 E l ENT Soa SHFT rst INST ano gt Jos J o o e The example to the right shows a table of two words at V 3000 and logically XO Rsit with K 3333 The copy of the table at V3100 shows the result of the XOR operation for each word Theladder program example for the XO RM OV is
68. Load the octal address O3630 into the accumulator This instruction automatically converts the address into hex Output this address to V7630 the location of the pointer to the Preset Table continued on next page 3 18 DLO06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 3 H igh speed Input and Pulse O utput Features 1 continued from previous page INT PI YS LDD p K1500 Load Presets OUTD V3630 LDD K3780 OUTD V3632 LDD K4850 OUTD V3634 LDD Kffff OUTD V3636 SP1 UDC CT174 SP1 K99999999 SP1 SPO x3 Y1 RST X4 YO SET END O0 SP540 Preset 1 YO RST SP541 Preset 2 Y1 cser SP542 Preset 3 X2 C10 Gen CIRT Load the preset A value into the accumulator Output the accumulator contents to the memory location for preset 1 Load the preset B value into the accumulator Output the accumulator contents to the memory location for preset 2 Load the preset C value into the accumulator Output the accumulator contents to the memory location for preset 3 Load the constant Kffff into the accumulator This value represents the end of the preset list Output the accumulator contents to the memory location for preset 4 end of preset marker CT174 is the HSIO counter The first rung
69. N A C A E F D A ENT wr J SHFT 0 B 2 0 gt 4 5 ENT 3 0 T o A B A Gx F ENT sm gt ST wa 2 0 2 1 o J ENT our 7 5 Gx D OUT gt 3 ENT T C A C A STR 2 s MLR 2 0 zA 2 0 ENT DL06 Micro PLC User Manual 1st Ed Rev A 5 43 Chapter 5 Standard RLL Instructions Timer Counter and Shift Register Instructions EM o 3 Using Counters Counters are used to count events T he counters available are up counters up down counters and stage counters used with RLL7ZUS programming Theup counter CN T has two inputs a count input and a reset input The maximum count value is 9999 T he timing diagram below shows the relationship between the counter input counter reset associated discrete bit current value and counter preset CNT CTI xi Up K3 xi X2 x2 Reset Cri Current 1 2 3 4 n Counter preset Counts Theup down counter U D C hasthree inputs a count up input count down input and reset input T he maximum count value is 99999999 T hetiming diagram below showsthe relationship between the counter up and down inputs counter reset associated discrete bit current value and counter preset
70. O ACRB Example TheAIN Complete bit or the AIN diagnostic bits are used to clear the ASCII buffer Ain Complete ACRB 33 K2 Intercharacter timeout C2 Firstcharacter timeout C3 AIN overflow error Informa es sobre programa o www soliton com br e mail soliton soliton com br SOLITON CONTROLES INDUSTRIAIS LTDA Rua Alfredo Pujol 1010 Santana S o Paulo SP Tel 11 6950 1834 Fax 11 6979 8980 e mail vendas soliton com br 5 225 DLO06 Micro PLC User Manual 1st Ed Rev A
71. RSTI STR 2 1 ENT S F G c Rer SHFT A 5 gt 3 ENT 5 36 DL06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions Immediate Instructions Load Immediate LD I Direct SOFT32 5 TheLoad Immediate instruction loads a 16 bit V memory value into the accumulator T he valid address range includes all input point addresses on the local base T he value reflects the current status of the input points zz the time the instruction is executed This instruction may be used instead of the LDIF instruction which requires you to specify the number of input points LDI V aaa Operand Data Type DLO6 Range aaa Inputs 40400 40437 In the following example when CO is on the binary pattern of X0 X17 will be loaded into the accumulator using the Load Immediate instruction T he O ut Immediate instruction could be used to copy the 16 bits in the accumulator to output points such as Y40 Y57 T his technique is useful to quickly copy an input pattern to output points without waiting for a full CPU scan to occur TN DI ia xi x16 x15 x14 X13 paz x11 pao x7 xe xs x4 xe xe x1 xo V40400 ON OFF ON ON OFF ON OFF OFF ON OFF ON ON OFF ON OFF ON Load the inputs from X0 to X17 into the accumulator immediately Unused accumulator bits are set to zero OUTI V40502 31 30 29 28 27 26 25 24 2
72. Rev A Chapter 5 Standard RLL Instructions M ath Subtract Real SU BR The Subtract Real instruction subtracts a real number in the accumulator from either a real constant or a real number SUBR occupying two consecutive V memory locations T he result Aaaa resides in the accumulator Both numbers must conform to the IEEE floating point format Operand Data Type DLO6 Range Ry oe OUR E UTER A aaa V memory sssssssss eee V See memory map ong P See memory map pnr MT R 3 402823E 038 to 3 402823E 038 Description On when the result of the instruction causes the value in the accumulator to be zero On anytime the value in the accumulator is negative On anytime the V memory specified by a pointer P is not valid On anytime the value in the accumulator is an invalid floating point number On when a signed addition or subtraction results in a incorrect sign bit On anytime a floating point math operation results in an underflow error On when a BCD instruction is executed and a NON BCD number was encountered NOTE Status flags are valid only until another instruction uses the same flag Direct SOFT32 x LDR 4 e o o o o o R220 Load the real number 22 0 into the accumulator ne 8 2 2 decimal 4 i BO 000 0 Accumulator 15 44 170 00 0 0 SUBR v Acc 4 o o o o o o SUBR R15 0 1401 V1400 Subtract the real number 4 0 Ej O O O O 0 Hex num
73. Scan Solve Program Solve Program Program Solve Solve Program Field Input Input Off On Delay Write Fa Outputs CPU Reads Inputs CPU Writes Outputs Output Off On Delay a I O Response T ime In this case you can calculate the response time by simply adding the following items Input D day Scan Time Output D day ReponseTime Normal Maximum I O Response Thel O response time is longest when the input changes just after the Read Inputs portion of the execution cycle In this case the new input status is not read until the following scan Thefollowing diagram shows an example of the timing for this situation Scan Solve Solve Solve Solve Scan Program Program Program Program N Read Write Inputs Outputs Field Input CPU Reads CPU Writes Inputs Outputs Input cad Off On Delay Output Off On Delay pm nn VO Response T ime gt In this case you can calculate the response time by simply adding the following itens Input D day 2 x Scan Time Output D day ResponseTime 4 18 DL06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 4 CPU Specifications and O peration IT Improving ResponseTime T here are a few things you can do to help improve throughp
74. Setup for the protocol time out and the response delay time V7656 Port 2 Setup for the station number baud rate STOP bit and parity V7657 Port 2 Setup completion code used to notify the completion of the parameter setup V7660 Scan control setup Keeps the scan control mode V7661 Setup timer over counter Counts the times the actual scan time exceeds the user setup time V 662 V7717 Reserved V7720 V7722 Locations for DV 1000 operator interface parameters V7720 Titled Timer preset value pointer V7721 Title Counter preset value pointer V7722 HiByte Titled Timer preset block size LoByte Titled Counter preset block size V7723 V7737 Reserved V7740 Port 1 and Port 2 Communication Auto Reset Timer Setup Default 3030 V 741 V7746 Reserved V7747 Location contains a 10mS counter 0 99 This location increments once every 10 mS V7750 Reserved V7751 Fault Message Error Code stores the 4 digit code used with the FAULT instruction when the instruction is executed V7752 1 0 Configuration Error Current ID code of error slot V7753 1 0 Configuration Error Old ID code of error slot V7754 1 0 Configuration Error error slot number V7755 Error code stores the fatal error code V7756 Error code stores the major error code V7757 Error code stores the minor error code
75. T 10 Current Value Find the M O D BU S address to obtain the current value from T imer T 10 1 Find Timer Current Values in the table 2 Convert T 10 into decimal 8 3 Usethe M OD BUS data type from the table Timer Current Values V 128 V0 V177 0 127 Input Register Example 4 C54 Find the MOD BUS address for Control Relay C54 1 Find Control Rdays in the table 2 Convert C54 into decimal 44 3 Add the starting address for the range 3072 4 Use the M O D BUS datatype from the table Control Relays CR 00 077 3072 3583 Coil DL06 Micro PLC User Manual 1st Ed Rev A 10 02 l 4 53 Chapter 4 CPU Specifications and O peration ERR If Your MODBUS Host Software Requires an Address O N LY Some host software does not allow you to specify the M O D BUS data type and address Instead you specify an address only T his method requires another step to determine the address but it s still fairly simple Basically M O D BUS also separates the data types by address ranges as well So this means an address alone can actually describe the type of data and location T his is often referred to as adding the offset One important thing to remember here isthat two different addressing modes may be available in your host software package These are 484 M ode 584 98
76. T176 DOWN Count Preload Input mee KXXXXXXXX KXXXXXXXX Reset Input Reset Input Counts UP and DOWN Counts UP only Preload counter by write to value Can use Preload Input to change count Reset input is internal only Reset may be internal or external Direct SOFT32 SP1 ENI amp Required XX Enable Input UDC CT174 or CT176 XX Late Preload Input KXXXXXXXX XX Reset Input Preset Range 1 99999999 W hen the enable input is energized the up down counter CT 174 will respond to pulses on X0 and increment T he updown counter CT 176 will respond to pulses on X1 and increment Therese input contact behaves in a logical OR fashion with the physical reset input X2 when selected resets counter 1 X3 when selected resets counter 2 So the high speed counter can receive a reset form either the contact s on the reset rung in the ladder OR the external reset X2 or X3 if you have configured X2 or X3 as an external reset DL06 Micro PLC User Manual 1st Ed Rev A 10 02 l 3 15 Chapter 3 High speed Input and Pulse O utput Features Bi Program Example 1 Counter W ithout Presets The following example is the simplest way to use the high speed counters which does not use the presets and special relays in the interrupt routine T he program configures the H SIO circuit for M ode 10 operation so X0 is automatically the counter clock input for
77. TheD L06 PLCs offer expandable 1 0 high speed counter floating point PID etc There are a number of communication options and an optional LCD display The DLO6 PLC Features TheDL06 Micro PLC family includes eight different versions All have the same appearance and C PU performance T he CPU offers an instruction set very similar to our powerful new D L260 CPU including new easy to use ASCII and M OD BUS instructions All DLO6 PLCs have two built in communications ports that can be used for programming operator interface networking etc Units with DC inputs have selectable high speed input features on four input points Units with D C outputs offer selectable pulse output capability on the first and second output points D etails of these features and more are covered in Chapter 4 CPU Specifications and O peration T here are eight versions of the D L06 PLC The most common industrial 1 0 types and power supply voltages are available Consult the following table to find the mode number of the PLC that best fits your application DLOG Micro PLC Family ELE in Mois dos External Power k Pulse Output D0 06AA AC AC 95 240 VAC No No D0 06AR AC Relay 95 240 VAC No No D0 06DA DC AC 95 240 VAC Yes No D0 06DD1 DC DC Sinking 95 240 VAC Yes Yes D0 06DD2 DC DC Sourcing 95 240 VAC Yes Yes D0 06DR DC Relay 95 240 VAC Yes No D0 06DD1 D DC DC Sinking 12 24 VDC Yes Yes D0 06DR D DC Relay 12 24 VDC Yes No
78. Word Memory V Data Type isses 4 28 Stag s S Data type uezsecs sse ues eb er ea yeah boy wwe xx E eae 4 28 Special Relays SP Data Type sseeeeee II 4 28 DLO6 System V memory gt ere srssers serens hh hr 4 29 System Parameters and Default Data Locations V Data Type 4 29 DLO6 Memory Map s sesss ce e RR eae ok eee HSE ERR S RR UR RR S 4 31 X Input Y Output Bit Map ccsesecesk ei Ah ERR ERR ER RR hee ds 4 32 Stage Control Status Bit Map 1 n 4 33 Control Relay Bit Map rere eO E CA IER ER AREE CN e ec e w eee ee 4 35 Timer Status Bit Map 5 5 a ORE CE Ecol alae GT eet ens 4 37 Counter Status Bit Map sseeeeeeee ehh I nh 4 37 DL06 Micro PLC User Manual 1st Ed Rev A 10 02 l v e Table of C ontents ei M Remote I O Bit Map i eee eer e Pen Ge e Da e e e n 4 38 Module Placement 5 5 2 n nr ee eee siirast iiki beki CERE EE 4 42 Slot Numbering sese rsi riei ke ee ee eee eee be Se ee eee eee eee eee 4 42 Automatic I O Configuration lt 0 2 0 ee eh 4 43 Manual I O Configuration llle 4 43 Power Budgeting 22 ii cick ciate Rr ae ed SEES GEESE RA eee eee 4 44 Power supplied ccc cc cb cee eee eee RR Era ee ee eee ee eee ee eee 4 44 Power required by base unit 2 ee nee tenes 4 44 Power required by option cards cee eee tenes 4 44 Configuring the DLO6 s Comm Ports 0 0 eee eee eee ene 4 46 DLO6 Port Specifications
79. Write O utputs O ncethe application program has solved the instruction logic and constructed the output image register the CPU writes the contents of the output image register to the corresponding output points Remember the CPU also made surethat any forcing operation changes were stored in the output image register so the forced points get updated with the status specified earlier Write O utputs to Specialty 1 0 After the CPU updatesthe outputs in the local and expansion bases it sends the output point information that is required by any Specialty modules which are installed Diagnostics During this part of the scan the CPU performs all system diagnostics and other tasks such as calculating the scan time and resetting the watchdog timer There are many different error conditions that are automatically detected and reported by the DL06 PLCs Appendix B contains a listing of the various error codes Probably one of the more important things that occurs during this segment is the scan time calculation and watchdog timer control The DLO6 CPU has a watchdog timer that stores the maximum time allowed for the CPU to complete the solve application segment of the scan cycle If this time is exceeded the CPU will enter the Program M ode and turn off all outputs T he default value set from the factory is 200 ms An error is automatically reported For example the H andheld Programmer would display the following message E003 S W TIMEOUT when
80. X XI X X LD V2000 P2000 contains the value 440 v2100 2 6 3 5 Hex 440 Hex 2100 Octal which x xIx x P 2000 contains the value 2635 VAIO v2102 X X X X V2100 v2103 X X X X Accumulator 0 4 4 0 V2104 X X X X v2105 IX X X xX 0j0 0 0 2 6 3 5 OUT Copy the data from the lower 16 bits of V 2200 the accumulator to V2200 v2200 l2le 3 5 va201 X X I X X 5 56 DL06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions Accumulator Stack Load and O utput D ata e a e IS AKASA Load LD The Load instruction isa 16 bit instruction that loads the value Aaaa which is either a V memory location or a4 A digit constant into the lower 16 bits of the accumulator ied The upper 16 bits of the accumulator are set to 0 Operand Data Type LD DLO6 Range aaa See memory map See memory map Discrete Bit Flags O FFFF Description on when the pointer is outside of the available range On anytime the value in the accumulator is negative On when any instruction loads a value of zero into the accumulator NOTE Two consecutive Load instructions will place the value of the first load instruction onto the accumulator stack In the following example when X1 is on the value in V 2000 will be loaded into the accumulator and output to V 2010 Direct SOFT32 LD Fd V2000 Load the value
81. You have to load a value into the pointer somewhere in your program DLO06 Micro PLC User Manual Ist Ed Rev A 5 159 Chapter 5 Standard RLL Instructions Table Instructions In thefollowing example when X1 ison the constant value K 6 is loaded into the accumulator using the Load instruction T his value specifies the length of thetable and is placed in the first stack location after the Load Address instruction is executed T he octal address 1400 V 1400 isthe starting location for the source table and is loaded into the accumulator T he destination location V 1500 is specified in the Remove from Table instruction T hetable counter will be decreased by 1 after the instruction is executed Direct SOFT32 Display xi LD Load the constant value 6 Hex into the lower 16 bits K6 of the accumulator LDA Convert octal 1400 to HEX 300 and load the value into O 1400 the accumulator RFT Copy the specified value from the table to the V1500 specified location V1500 Handheld Programmer Keystrokes B STR gt 1 ENT L D G SHFT anost 3 PREV ENT s D A B E A A SHFT lANDST 3 0 2 1 4 0 0 ENT R F T B E A A SHFT ORN 5 Ma gt 1 5 0 0 ENT Since the table counter specifies the range of data that will be removed from thetable it is important Table C ounter to understand how the table locations are epe e poe numbered
82. aaa See memory map See memory map 0 99999999 Aaaa Description On when the result of the instruction causes the value in the accumulator to be zero On when the 16 bit addition instruction results in a carry On when the 32 bit addition instruction results in a carry On anytime the value in the accumulator is negative On when a BCD instruction is executed and a NON BCD number was encountered NOTE The status flags are only valid until another instruction that uses the same flags is executed In the following example when X1 is on the value in V 2000 and V 2001 will be loaded into the accumulator using the Load D ouble instruction T he value in the accumulator is added with the value in V 2006 and V 2007 using the Add D ouble instruction T he valuein the accumulator is copied to V 2010 and V 2011 using the O ut D ouble instruction Direct SOFT32 V2000 xi LD 4 9 3 5 Fd V2000 Load the value in V2000 into the lower 16 bits of the The unused accumulator accumulator bits are set to zero SF 0 00 0 4 9 3 5 Accumulator 20D V2006 V2006 2 50 0 Add the value in the lower Ace 7 4 3 5 16 bits of the accumulator with the value in V2006 OUT Y V2010 7 4 3 5 Copy the value in the lower V2010 16 bits of the accumulator to V2010 Handheld Programmer Keystrokes B STR gt 1 ENT surr
83. anogtl 3 PREV 6 ENT E D A B E A A SHFT lanpst 3 0 gt 1 4 0 0 ENT T T D B E A A SHFT mur MLR 3 gt 1 5 0 0 ER It isimportant to understand how the table locations are numbered If you examine the example table you ll notice that the first data location V 1401 will be used when the pointer is equal to zero and again when the pointer is equal to six W hy Becausethe pointer is only equal to zero beforethe very first execution From then on it increments from oneto six and then resets to one Also our example uses a normal input Table Pointer o 0 o vi4oo Destination x Ix x visoo contact optional latch example using SP56 Direct SOFT32 X1 to control the execution Sincethe CPU scan is extremely fast and the pointer increments automatically the table would TEE CET cyclethrough the locations very quickly If this Load the constant value 6 is a problem you have an option of using c SP56 in conjunction with a one shot PD and a latch C1 for example to allow the table E 4 ser to cycle through all locations one time then stop The logic shown here is not required it s just an optional method and SP56 ei k nsr Since Special Relays are reset at the end of the scan this latch must follow the TTD instruction in the program DL06 Micro PLC User Manual Ist Ed Rev A
84. for YO and it was off at the time then the CPU would not change the state of YO H owever you can still use a programming device to change the status N ow if you use the programming device to force YO on it will remain on and the CPU will not change the state of YO If you then force YO off the CPU will maintain YO as off The CPU will never update the point with the results from the application program or from thel O update until the bit override is removed T he following diagram shows a brief overview of the bit override feature Noticethe CPU does not update the Image Register when bit override is enabled 4 14 DL06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 4 CPU Specifications and O peration Input Update Inpu Npdate Pe xi28 xz xi xo g OFF ON oN otF Bit Override OFF Force from vus v vr vo Force from Bit Override ON Programmer gt OFF ON ON OFF Programmer exz c co o ofr ON OFF OFF Result of Program Image Register example Result K Py gram Solution Solutioi WARNING Only authorized personnel fully familiar with all aspects of the application should make changes to the program Make sure you thoroughly consider the impact of any changes to minimize the risk of personal injury or damage to equipment CPU Bus Communication It is possible to transfer data to and from
85. for example T he final string adds the units of degrees to the line of text and the N addsa carriage return line feed im PRINT K2 Print the message to Port 2 Reactor temperature V2000 deg N when X1 makes an off to on transition L represents a space Message will read Reactor temperature 0156 deg V memory text element T hisis used for printing text stored in V memory Use the followed by the number of characters after V memory number for representing the text If you assign 0 asthe number of characters the print function will read the character count from the first location T hen it will start at the next V memory location and read that number of ASCII codes for the text from memory Example V200096 16 16charactersin V 2000 to V 2007 are printed V2000 0 The characters in V2001 to V xxxx determined by the number in V 2000 will be printed DLO06 Micro PLC User Manual 1st Ed Rev A l 5 191 Chapter 5 Standard RLL Instructions M essage Instructions REM Bit element T his is used for printing the state of the designated bit in V memory or a relay bit T he bit element can be assigned by the designating point and bit number preceded by the V memory number or relay number T he output type is described as shown in thetable below Data Format Description Print 1 for an ON state and 0 for an 1 none Print TRUE for an ON state and 2 BOOL FALSE
86. from the logic side Isolation boundaries protect the operator interface and the operator from power input faults or fidd wiring faults When wiring a PLC it is extremely important to avoid making external connections that connect logic side circuits to any other Power Input 16 Discrete Outputs Output circuit LCD monitor Power gt 4 Optional Supply CPU card slots Isolation boundary x 1 99 Input circuit 2 comm ports Y M To programming device 20 discrete Inputs or Operator interface Thenext figure showsthe internal layout of D L06 PLCs as viewed from the front panel To Programming Device or Operator Interface DLOG NE PLC CPU 2 Comm 4 Ports F Main Power Supply Y Input Circuit Output Circuit T i Power Y i Input 20 Discrete Inputs Commons 16 Discrete Outputs Commons DL06 Micro PLC User Manual Ist Ed Rev A 10 02 2 13 Chapter 2 Installation Wiring and Specifications Connecting O perator Interface D evices O perator interfaces require data and power connections O perator interfaces with a large CRT usually require separate AC power H owever small operator interface devices like the popular D V 1000 D ata Access Unit may be powered directly from the DL06 Micro PLC Connect the D V 1000 to communi
87. i Level 1 Level 2 Level 3 Level 4 Copy the value in the accumulator to V1500 and V1501 e o 2 s e o V1501 V1500 OUTD V1500 Level 5 Xx Xx lt P XK lt p x So Level 6 Level 7 x Kl XP XK XP KP xP Kx oO X px pxjoxpx oxpx m lt x x x lt x lt fx fo Xx x xj x Level 8 Handheld Programmer Keystrokes B STR gt 1 ENT L D B E A A SHFT anpst 3 gt ENT The remainder resides in the first stack location Level 1 Level 2 x xj x co Level 3 SHFT ik ANDST 3 3 gt 1 4 2 0 Level 4 D l v S Level 5 SHET 3 8 AND RST GX B F A our SeT a gt 1 5 0 o ENT Level 6 Level 7 x x x x x x x x x x x x o x x x x x x x o x x x x x x x o x x x x x x x o x x x x x x x o X X K xX x x x Oo x Xx Level 8 DL06 Micro PLC User Manual 1st Ed Rev A 5 1 13 Chapter 5 Standard RLL Instructions M ath Add Binary Top of Stack AD D BS Add Binary Top of Stack instruction is a 32 bit instruction that adds the binary value in the accumulator with the binary value PTT in the first level of the accumulator stack T he result resides in the accumulator T he value in the first level of the accumulator stack is removed and all stack values are moved up one level Discrete Bit
88. instruction to move the result from the accumulator to V memory T he result is 32 bits wide requiring the O ut Double to move it Accumulator contents Directs OF T32 Display viewed as real number Load the real number 45 into the accumulator 45 000000 Convert the degrees into radians leaving the result in the accumulator 0 7358981 Take the sine of the number in the accumulator which is in 0 7071 067 radians Copy the value in the accumulator to V2000 0 7071 067 and V2001 NOTE The current HPP does not support real number entry with automatic conversion to the 32 bit IEEE I format You must use DirectSOFT32 for entering real numbers using the LDR Load Real instruction DL06 Micro PLC User Manual 1st Ed Rev A l 5 1 19 Chapter 5 Standard RLL Instructions Bit O peration es Bit Operation Instructions Sum SUM i SUM TheSum instruction counts number of bits that are set to 1 in the accumulator T he H EX result resides in the accumulator Discrete Bit Flags Description SP63 On when the result of the instruction causes the value in the accumulator to be zero In the following example when X1 ison the value formed by discrete locations X10 X17 is loaded into the accumulator using the Load Formatted instruction T he number of bits in the accumulator set to 1 is counted using the Sum instruction The value in the accumulator is copied to V 1500 using the O ut i
89. it increments from oneto six and then resets to one Also our example uses a normal input contact X 1 to control the execution Sincethe CPU scan is extremely fast and the pointer increnents automatically the source data would be moved into all the table locations very quickly If this is a problem for your application you have an option of using a one shot PD to move one value each time the input contact transitions from low to high Table Pointer ve ppe Eeee vi x x Pe Po Data Source V1403 v1404 Lo 5 o o visoo V1405 vias x v1407 DirectSOFT32 optional one shot method LP 5 11 fF co LD K6 Load the constant value 6 HEX into the lower 16 bits of the accumulator LDA O 1400 Convert octal 1400 to HEX 300 and load the value into the accumulator This is the starting table location DL06 Micro PLC User Manual 1st Ed Rev A 5 157 Chapter 5 Standard RLL Instructions Table Instructions RRM 3 The following diagram shows the scan by scan results of the execution for our example program N otice how the pointer automatically cycles from 0 6 and then starts over at 1 instead of 0 Also notice how SP56 is affected by the execution Although our example does not show it we are assuming that there is another part of the program that changes the value in V 1500 data source prior to
90. stopping just past it In the latter case we repeat the first move because we always need to make the final approach to the home limit switch from the same direction so that the final physical position is the same in either case Direct SOFT32 l Filtered Inputs SPO LD Selects Mode 30 as LD The constant K2006 the HSIO mode selects a 20 mS filter dg K30 K2006 time constant Mode 30 Output this constant to out NAM V7634 configuring XO Locate Configure the address Output this constant to uc LA ai of the parameter table OUT V7635 configuring X1 Table optional ih e constant SLM Tube selects a 10 mS filter time constant Select Pulse LD Configure ineo a Yi OUT Output this PO to n pulse outputs for pulse V7630 configuring X2 Direction K103 and direction respectively V7636 Output this constant to S NAME V7637 configuring X3 Y Y Y DL06 Micro PLC User Manual 1st Ed Rev A 10 02 l 3 53 Chapter 3 High speed Input and Pulse O utput Features TEM 35 y Profile Target Velocity P 5 LD 1 KD100 OUT V3630 Starting Velocity LD K4 OUT V3633 A I i LD cceleration Lo OUT V3634 Deceleration OUT V3635 X7 C10 a SET Search in CW direction 1 C10 E LDD 1 4 K50 Target Position OUTD V3631
91. vis Yi4 Yi vie 5v X n 12 24V 3 OUTPUT Sinking Output 6 27V s 200000000 1 0A PWR 100 240V 50 60Hz 40VA 99g 11 12 13 14 15 8880000000000000600 D0 06DD1 Direct 06 LOGIC Koyo co xi H xa xe Li xn HT x16 c xet mI xo x2 C1 X5 x7 X10 X12 C3 X15 X17 X20 X22 NC Q o Qo o eoooooooe RE XRNME EHE HERE HB ERE ES TES ESL ELT V VL Internal module circuitry y ote Optical Isolator 3 16 TOA T 24VDC Optical ia YO Y7 GP To LED Isolator Y10 Y17 y 84 1 ji l a 0 z 2 To LED O do de A sc 32 50 68 86 104 122 122 1 Ambient Temperature C F High Speed Inputs X0 X3 DC Pulse Outputs YO Y1 tV V d L Internal module circuitry Optical E av Suo input Isolator ANG i To LED 24VDC Optical To LED GFP ouput Balter me D Common L _L 6 27 T T voc E COM DC Standard Inputs X4 X23 DC Standard Outputs Y2 Y17 2 32 DL06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 2 Installation Wiring and Specifications E LLL uu r D0 06DD1 General Specifications
92. xo XI YO Ps 2 IH our OUT YO AND X2 X2 Y1 OUT Y1 ie T AND X3 d OUY ouTYe END X3 Y2 H ey Parallel Elements Direct SOFT32 Example Handheld Mnemonics XO Yo STR XO our OR X1 OUT YO X1 END ED You may also have to join contacts in parallel The OR instruction allows you to do this T he following example shows two contacts in parallel and a single output coil The instructions would be STR X0 OR X1 followed by OUT YO 5 6 DL06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions Boolean Instructions E 71 Joining Series Branches in Parallel Q uite often it is necessary to join several groups of series elements in parallel T heO r Store ORSTR instruction allows this operation T he following example shows a simple network consisting of series elements joined in parallel Direct SOFT32 Example Handheld Mnemonics xo xi YO str xo c H Qu x2 X3 AND X3 ORSTR 4 d OUT YO END END Joining Parallel Branches in Series You can also join oneor more parallel branches in series The And Store AN D STR instruction allows this operation T he following example shows a simple network with contact branches in series with parallel contacts Direct SOFT32 Example Handheld Mnemonics XO X1 YO STR XO CEP x2 ANDSTR OUT YO END 6D Combination Networks You can combine the various types of series and parall
93. 0 V2001 V2000 222 11111 Double Word m real number 1 2 3 4 5 6 7 8 9 10 11 12 13 uL ER V2000 R 112 2 2 1 1 1 11 1 pensis RS V2000 RS t 2 2 2 Thatta ERCO V2000 RCO 11 0 0 0 2 2 2 151 1111 ERO V2000 R0 1 2 2 2 1 1 1 11 1 V2001 V2000 222 1 Double Word E real number 11213141516789 10 11 12 13 DWord floating E V2000 E UII 2 30 0 015 s 0 2 point number ES V2000 ES f 2 22 EE KON KON RES EH BC IO with exponent zco V2000 ECO TRIES 23 2 pisos Oe 0 2 EEO V2000 E0 2l a2 a2 aonana f plus minus flag plus no symbol minus TheS CO and 0 modifiers alter the presentation of leading zeros and spaces S removes leading spaces and left justifies the result CO replaces leading spaces with leading zeros 0 is a modification of C0 0 eliminates any leading zeros in the CO format version and converts them to spaces DLO06 Micro PLC User Manual Ist Ed Rev A 5 199 Chapter 5 Standard RLL Instructions LCD CER Text Entry from V memory Alternatively text that resides in V memory can be displayed on the LCD following the example on this page The LCD dialog is used twice once for each line on the display T he dialog requires the address of the first character to be displayed and the number of characters to be displayed For example the two dialogs shown on this page would createthetwo LCD instructions below When enabled these instructions would cause the ASCII characters in V 100
94. 0 0 1 0 0 0 5 v1400 V1402 2 Vi402 19 9 9 9 2 V1403 3 Destination vi4o3 3 lo l7 4 3 Destination a j x x x x visoo vu eto Tes 4 Lele 4 6 vso V1405 5 via 1 0 1 jo 5 S V1406 6 SP36 SP56 OFF vi406 2 0 4 6 6 ge SP56 OFF 1407 V1407 X X X X S S Scan N 1 Before RFB Execution After RFB Execution Table Pointer Table Table Pointer Automatically Decremented v1401 1 o o o 5 v1400 vso o s o o 1 ofo o 4 viao V1402 2 vi402 19 9 9 9 2 Vi403 3 Des nelion vias 3 o 7 4 3 Desunqnon NE o s visoo vea BE u 1 o 1 o visoo V1405 5 Vi405 1 0 10 5 SP56 SP56 V1406 6 Vi400 210 4 6 6 SP56 OFF SP56 OFF V1407 V1407 X X X X S S S S S Scan N 4 Before RFB Execution After RFB Execution Table Table Pointer Table Table Pointer Automatically Decremented v1401 sfofo oJ o o 2 vi4o voi o s oo 1 o o o 1 vi4oo V1402 9 9 9 2 Vi402 9 9 9 9 2 V1403 o l7 l4 3 Destination vi40 3 lo 7 4 3 w Destination vu es e e e a4 L amp Loi7 4 jVtSoo vx s s s s 4 Lele fe fe voo V1405 0 1 0 5 Vi405 1 0 10 5 V1406 0 4 6 6 SP56 v1406 2 0 4 6 6 SP56 via x x x x Shee OFF via x x x x sP66 OFF S S S S Scan N 5 Before RFB Execution After RFB Execution Table Table Pointer Table Table Pointer vi401 0 5 0 0 1 0 01 0 1 V1400 Vi401 10 5 0 0 1 0 0 0 0 v1400 vi402 9 9 91 9 2 vi402 19 9 9 9 2 vius 3l o 7 4 3 Destination vi 3 lo l7 4 3 Destination vix els Teo 4 a J 9 o 9 v1500 vo
95. 1st Ed Rev A 10 02 Chapter 2 Installation Wiring and Specifications EL r1 DO 06DR D General Specifications External Power Requirements 12 24 VDC 20 W maximum Communication Port 1 9600 baud Fixed 8 data bits 1 stop bit odd parity K Sequence Slave DirectNET Slave MODBUS Slave Communication Port 2 9600 baud default 8 data bits 1 stop bit odd parity K Sequence Slave DirectNET Master Slave MODBUS Master Slave Non sequence print ASCII in out Programming cable type D2 DSCBL Operating Temperature 32 to 131 F 0 to 55 C Storage Temperature 4 to 158 F 20 to 70 C Relative Humidity 5 to 95 non condensing Environmental air No corrosive gases permitted Vibration MIL STD 810C 514 2 Shock MIL STD 810C 516 2 Noise Immunity NEMA 1053 304 Terminal Type Removable Wire Gauge One AWG16 or two AWG18 AWG24 minimum Parameter DC Input Specifications High Speed Inputs X0 X3 Standard DC Inputs X4 X23 Min Max Voltage Range 10 8 26 4 VDC 10 8 26 4 VDC Operating Voltage Range 12 24 VDC 12 24 VDC Peak Voltage 30 VDC 7 kHz maximum frequency 30 VDC Minimum Pulse Width 70 ps N A ON Voltage Level gt 10 VDC gt 10 VDC OFF Voltage Level lt 2 0 VDC lt 2 0 VDC Input Impedan
96. 2 0 VDC 2 0 VDC Input Impedance 1 8 KO 12 24 VDC 2 8 KQ 12 24 VDC Max Input Current 6mA Q12VDC 13mA 24VDC 4mA 12VDC 8 5mA 24VDC Minimum ON Current gt 5 mA 4 mA Maximum OFF Current 0 5 mA 0 5 mA OFF to ON Response lt 70 us 2 8 mS 4 mS typical ON to OFF Response lt 70 us 2 8 mS 4 mS typical Status Indicators Logic side Logic side Commons 4 channels common x 5 banks isolated Relay Output Specifications Output Voltage Range Min Max 5 264 VAC 47 63 Hz 5 30 VDC Operating Voltage 6 240 VAC 47 63 Hz 6 27 VDC Output Current 2A point 6A common Maximum Voltage 264 VAC 30 VDC Max leakage current 0 1 mA 9264 VAC Smallest Recommended Load 5 mA OFF to ON Response lt 15mS ON to OFF Response lt 10mS Status Indicators Logic Side Commons 4 channels common x 4 banks isolated Fuses DL06 Micro PLC User Manual 1st Ed Rev A 10 02 None external recommended 2 37 Chapter 2 Installation Wiring and Specifications B M D0 06DD 1 D 1 0 Wiring Diagram These micro PLCs feature twenty DC inputs and sixteen sinking D C outputs T he following diagram shows a typical field wiring example The DC external power connection uses four terminals at the left as shown Inputs
97. 3 1 0 1 IT V1400 Load the value in V1400 and Le d NC e V1401 into the accumulator 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 ROTR K2 Acc 0 1 1 0 0 1 1 1 0 0 0 0 0 1 0 1 0 0 1 1 0 0 0 1 0 0 0 0 0 0 0 1 The bit pattern in the i accumulator is rotated 2 bit positions to the right OUTD V1500 IET Y 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 Copy the value in the accumulator to V1500 Aoc 0 1 0 1 1 0 0 1 1 1 0 0 0 0 OF 14 OF 1 OF OF 1 17 OF OF OF 1 OF OF OF OF OF O and V1501 5 9 C 1 4 C 4 0 Handheld Programmer Keystrokes V1501 V1500 B str jo e L D D B E A A SHFT llanost 3 3 gt 1 4 0 0 ENT R o T R C Sher ORN INST MLR ORN gt 2 ENT GX D B F A A our SHFT 3 2 1 5 0 0 ENT 5 124 DLO06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions Bit O peration ee Encode ENCO Direct SOFT32 xi The Encode instruction encodes the bit position in the accumulator having a value of 1 and returns the appropriate binary representation If the most significant ENCO bit is set to 1 Bit 31 the Encode instruction would place 7 the value H EX 1F decimal 31 in the accumulator If the value to be encoded is 0000 or 0001 the instruction will place a zero in the accumulator If the value to be encoded has
98. 3 5 7 0 gt 4 ENT M U E F A E SHFT Baer ise lANDST 5 gt NEXT NEXT NEXT NEXT gt ENT GX F B A E Our SHFT 5 gt i gt 4 ENT 5 108 l DLO0G Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions M ath Divide Formatted D IVF Divide Formatted is a 16 bit instruction that divides the BCD X6 value in the accumulator by the BCD value Aaaa a range of DIVE Aaaa discrete bits T he specified range K bbb can be 1 to 16 K bbb consecutive bits T he first part of the quotient resides in the accumulator and the remainder resides in the first stack location Operand Data Type DLO6 Range aaa 0 777 0 777 0 1777 0 1777 0 377 0 177 0 137 320 717 0 3777 Description SP53 On when the value of the operand is larger than the accumulator can work with SP63 On when the result of the instruction causes the value in the accumulator to be zero SP70 On any time the value in the accumulator is negative SP75 On when a BCD instruction is executed and a NON BCD number was encountered NOTE Status flags are valid only until another instruction uses the same flag In the following example when X6 is on the value formed by discrete locations X0 X3 is loaded into the accumulator using the Load Formatted instruction T he value in the accumulator is divided by
99. 5 Standard RLL Instructions M ath Divide Binary DIVB Divide Binary isa 16 bit instruction that dividesthe unsigned 2 s complement binary value in the accumulator by a binary value Aaaa DIVB which is either a V memory location or a 16 bit unsigned 2 s complement binary constant T he first part of the quotient resides in the accumulator and the remainder resides in the first stack location Operand Data Type DLO6 Range aaa See memory map See memory map 0 FFFF Description On when the value of the operand is larger than the accumulator can work with On when the result of the instruction causes the value in the accumulator to be zero On anytime the value in the accumulator is negative NOTE Status flags are valid only until another instruction uses the same flag In the following example when X1 ison the value in V 1400 will be loaded into the accumulator using the Load instruction T he binary value in the accumulator is divided by the binary value in V 1420 using the Divide Binary instruction T he value in the accumulator is copied to V 1500 using the O ut instruction DirectS OFT32 Display V1400 xi peppers Load the value in V1400 into the The unus ed accumulator lower 16 bits of the accumulator bits are set to zero an 0 0 0 0 F A 0 1 Accumulator 0 0 5 0 VI420 vce o s 2 e e e ojoojojojo First stack location contains The binary value in the accumulator is divided
100. 5 Jo 2 l6 Load the value in V2000 and V2001 into the 32 bit accumulator a UO M CORE RUE SESS 6 7 3 9 5 O 2 6 OUTD V2010 V2011 V2010 Copy the value in the 32 bit accumulator to V2010 and V2011 Handheld Programmer Keystrokes aie x i 1 ENT SHET ANDST P 3 P 3 2 0 0 0 EMT uu SHET a 3 gt T 2 0 1 0 ENT 5 58 DL06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions Accumulator Stack Load and O utput D ata eS Load Formatted LD F The Load Formatted instruction loads 1 32 consecutive bits from discrete memory locations into LDF Aaaa the accumulator T he instruction requires a starting K bbb location Aaaa and the number of bits K bbb to be loaded Unused accumulator bit locations are set to zero Operand Data Type DLO6 Range 4 A X x C S T C S K Discrete Bit Flags Description SP70 On anytime the value in the accumulator is negative SP76 On when any instruction loads a value of zero into the accumulator NOTE Two consecutive Load instructions will place the value of the first load instruction onto the accumulator stack In the following example when CO ison the binary pattern of C10 C16 7 bits will be loaded into the accumulator using the Load Formatted instr
101. 60Hz Equivalent output circuit eee SS OUTPUT T IN 24VDC to LED OUT RELAY ACT C 6 27V 1A aw IN FO rt 12 24 VDC S7 CO 697VDE Sessa Se ZN 6 240VAC E o oc 0 T 9e ZA 1 Derating chart for relay outputs oo rad 2 Points E aM 6 27 VDC pag NC 6 240VAC N vm j E lt RUM L 0 2 e BEL oe e R A n L 2 QUT D0 07CDR 0 0 10 20 30 40 50 55 C 32 50 68 86 104 122 131 F 2 48 DL06 Micro PLC User Manual 1st Ed Rev A 10 02 Ambient Temperature Chapter 2 Installation Wiring and Specifications D 0 08TR 8 point Relay output module D0 08TR Specifications C Outputs per module 8 oue RELAY Operating voltage range 6 27 VDC 6 240 VAC ACT Output type Relay form A SPST Peak voltage 30 0 VDC 264 VAC EEE Maximum current resistive 1 A point 4 A common ane 6 27V 1A Minimum load current 0 5mA SEARS ey E Maximum leakage current 0 1 mA 264 VAC 1 r E ON voltage drop N A 1 5j 1 Maximum inrush current Output 3A for 10 ms Common 10A for 10 ms t 2 ON to OFF response 10 ms m p 3 OFF to ON response 15 ms c1 Status indicators Module acitivity
102. 64 Store If Equal STRE 5 26 Out Formatted OUTF 5 65 Store If Not Equal STRNE 5 26 Out Immediate OUTI 5 34 Store Immediate STRI 5 32 Out Immediate Formatted OUTIF 5 35 Store Negative Differential STRND 5 20 Out Indexed OUTX 5 67 Store Not STRN 5 29 Out Least OUTL 5 68 Store Not STRN 5 10 Out Most OUTM 5 68 Store Not Bit of Word STRNB 5 11 Pause PAUSE 5 25 Store Not Immediate STRNI 5 32 Pop POP 5 65 Store Positive Differential STRPD 5 20 Positive Differential PD 5 19 Subroutine Return RT 5 178 Print Message PRINT 5 189 Subroutine Return Conditional RTC 5 178 Radian Real Conversion RADR 5 133 Subtract SUB 5 89 Read from Network RX 5 193 Subtract Binary SUBB 5 101 Real to Binary Conversion RTOB 5 132 Subtract Binary Double SUBBD 5 102 Remove from Bottom RFB 5 153 Subtract Binary Top of Stack SUBBS 5 115 Remove from Table RFT 5 159 Subtract Double SUBD 5 90 Reset RST 5 23 Subtract Formatted SUBF 5 107 Reset Bit of Word RSTB 5 24 Subtract Real SUBR 5 91 Reset Immediate RSTI 5 36 Subtract Top of Stack SUBS 5 111 Reset Watch Dog Timer RSTWT 5 174 Sum SUM 5 120 Rotate Left ROTL 5 123 Swap SWAP 5 170 Rotate Right ROTR 5 124 Table Shift Left TSHFL 5 165 RSTBIT 5 144 Table Shift Right TSHFR 5 165 Segment SEG 5 137 Table to Destination TTD 5 150 Set SET 5 23 Tangent Real TANR 5 118 Set Bit of Word SETB 5 24 Ten s Complement BCDCPL 5 130 Set Immediate SETI 5 36 T
103. 777 V memory V All Global Inputs GX 0 3777 Global Outputs GY 0 3777 MRX Number of Elements Number of Elements Operand Data Type DLO6 Range V memory All Operand Data Type V memory DL06 Micro PLC User Manual 1st Ed Rev A 10 02 l 4 63 Chapter 4 CPU Specifications and O peration MODBUS Write to Network MWX TheM ODBUS Writeto N etwork M W X instruction is used to write a block of data from the network masterss D L06 memory to M O D BU S memory addresses within a slave device on the network T he instruction allows the user to specify the M O DBUS Function Code slave station address starting master and slave memory addresses number of elements to transfer M O D BUS data format and the Exception Response Buffer o MW Port Number K2 ka Slave Address K1 Ene Sde 15 Force Mutiple Cois s Start Slave Memory Address K1 ix Start Master Memory Address C10 gt Number of Elements K16 Modbus Data Formal Exception Response Buffer V2500 Port Number must be DL06 Port 2 K2 Slave Address specify a slave station address 0 247 Function Code T hefollowing M O D BUS function codes are supported by theM WX instruction 05 Force Single coil 06 Preset Single Register 08 Diagnostics 15 Force M ultiple Coils 16 Preset M ultiple Registers Start Slave Memory Address specifies the starting slave memo
104. 8 T 5 Ei g 3 i 0 2 8 ENT DL06 Micro PLC User Manual 1st Ed Rev A 5 35 Chapter 5 Standard RLL Instructions Immediate Instructions Set Immediate SETI The Set Immediate instruction immediately sets or turns on an output or a range of outputs in the image register and the corresponding output point s az the Yaaa aaa time the instruction is executed O nce the outputs are set SETI it is not necessary for the input to remain on The Reset Immediate instruction can be used to reset the outputs Reset Immediate RSTI The Reset Immediate instruction immediately resets or turns off an output or a range of outputs in the Vasa daa image register and the output point s at the time the RSTI instruction is executed O nce the outputs are reset it is not necessary for the input to remain on Operand Data Type DLO6 Range In the following example when X1 ison Y2 through Y5 will be set on in the image register and on the corresponding output points DirectSOFT32 Handheld Programmer Keystrokes B n ba YS sta 4 ENT SETI x l e F b ser SHFT gt 5 gt g ENT In thefollowing example when X1 ison Y5 through Y22 will be reset off in theimage register and on the corresponding output module s DirectSOFT32 Handheld Programmer Keystrokes xi Y5 Y22
105. AWG16 or two AWG18 AWG24 minimum AC Input Specifications X0 X23 Input Voltage Range Min Max 80 132 VAC 47 63 Hz Operating Voltage Range 90 120 VAC 47 63 Hz Input Current 8 mA 100 VAC at 50 Hz 10 mA 100 VAC at 60 Hz Max Input Current 12 mA 132 VAC at 50 Hz 15 mA 132 VAC at 60 Hz Input Impedance 14KO 950 Hz 12KO 60 Hz ON Current Voltage 6 mA Q 75 VAC OFF Current Voltage 2 mA Q 20 VAC OFF to ON Response 40 mS ON to OFF Response 40 mS Status Indicators Logic Side Commons 4 channels common x 5 banks isolated Relay Output Specifications Y0 Y17 Output Voltage Range Min Max 5 264 VAC 47 63 Hz 5 30 VDC Operating Voltage Range 6 240 VAC 47 63 Hz 6 27 VDC Output Current 2A point 6A common Max leakage current 0 1 mA 264VAC Smallest Recommended Load 5 mA 5 VDC OFF to ON Response lt 15mS ON to OFF Response 10 mS Status Indicators Logic Side Commons 4 channels common x 4 banks isolated Fuses None external recommended DL06 Micro PLC User Manual 1st Ed Rev A 10 02 2 29 Chapter 2 Installation Wiring and Specifications Bi M D0 06DA 1 0 Wiring Diagram TheD 0 06DA PLC hastwenty DC inputs and sixteen AC outputs T he following diagram shows atypical field wiring example T he AC external power connectio
106. C4 X21 X23 N C X0 x2 C1 X5 xr X10 X12 C3 X15 X17 X20 X22 N C 0 d bh b b 4 b sc oe ooooooooooooge 32 50 68 86 104 122 122 C Ambient Temperature C F e amp e amp amp amp e amp em Derating Chart for Relay Outputs l 1 i sumy elelelel lololol olololel olololol gel el Hu nri uu Inputs are organized into five banks of four Each bank has an isolated common terminal and may be wired as either sinking or sourcing inputs T he wiring example above shows all commons connected together but separate supplies and common circuits may be used O utputs are organized into four banks of four normally open relay contacts Each bank has a common terminal T he wiring example above shows all commons connected together but separate supplies and common circuits may be used T he equivalent output circuit shows one channel of atypical bank T he relay contacts can switch AC or D C voltages V V s i J Internal module circuitry V 5 Optical Copie O O on I Isolator AM r A V solator To LED i t R Output GE ee T G H L common 1 n i 7 Common To LED GO VAC High speed Input Circuit X0 X3 Standard Input Circuit X4 X23 Standard Output Circuit 2 40 DL06 Micro PLC User Manual
107. Chapter 3 High speed Input and Pulse O utput Features I M Continued from previous page Program Example SPO Load the constant K400 which selects the step 5 Mani distance of 400 pulses Step 5 Distance OUT Output this constant to V3644 the location of V3644 the step 5 distance Load the constant K60 which is required to select Step 6 Deceleration RE the step 6 deceleration velocity of 600 Hz OUT Output this constant to V3645 which is required to select V3645 the step 6 deceleration velocity of 600 Hz Load the constant K200 which selects the step 6 Step 6 Distance Kod distance of 300 pulses OUT Output this constant to V3646 the location of V3646 the step 6 distance Load the constant K40 which is required to select Step 7 Deceleration kao the step 6 deceleration velocity of 400 Hz OUT Output this constant to V3647 which is required to select V3647 the step 6 deceleration velocity of 400 Hz LD Load the constant K200 which selects the step 7 Step 7 Distance K200 distance of 200 pulses OUT Output this constant to V3650 the location of V3650 the step 7 distance LD Load the constant K20 which is required to select Step 8 Deceleration K20 the step 8 deceleration velocity of 200 Hz OUT Output this constant to V3651 which is required to select the ste
108. Configuration In DirectSOFT 32 choose the PLC menu then Setup then Secondary Comm Port Port From the port number list box at the top choose Port 2 Protocol Click the check box to the left of M O D BUS use AUX 56 on the H PP and select M BU S and then you ll seethe dialog box below Setup Communication Ports Port Port 2 z Close Protocol K Sequence DitectNET M MODBUS I Non Sequence Remote 1 0 Time out oom e RTS on delay time ow RTS off delay time o s Station Number fi 4 Baud rate s40 J Stopbits 1 x Parity pa z di Echo Suppression C R5 422 485 4 wire RS 232C 2 wire RS 485 2 wire Port 2 15 Pin Timeout amount of time the port will wait after it sends a message to get a response before logging an error RTS ON OFF Delay Time The RTS ON D day Time specifies the time the D L06 waits to send the data after it has raised the RTS signal line The RTS OFF Delay Time specifies the time the D L06 waits to release the RTS signal line after the data has been sent When using the DLOG on a multi drop network the RTS ON Delay time must be set to at least 9mS and the RTS OFF Delay time must be set to at least 2ms Ifyou encounter problems the time can be increased Station Number For making the CPU port a M O DBU S master choose 1 T he possible range for M ODBUS slave numbersisfrom 1 to 247 but the D L06 network instructions used i
109. Constant 3 2 4 5 v Kazas Current Acc value Accumulator Stack Load the value 3245 into the accumu Acc 0 0 0 0 3 2 4 5 lator Leveli X X X X X X X Previous Acc value Level2 X X X X X X X Ace X X XL XX HR X lois X X X X X X X X2 Level4 X X X X X X X 2 Level5 X X X X X X X gt Level6 X X X X X X X 2 LD Constant 5 15 1 Levl7 X X X X X X X 2 K5151 Current Acc value Eevero X K K e cum KX Load the value 5151 into the accumu Acc 0 0 0 0 5 1 5 1 Buck lator pushing the value 3245 onto the Piavious Ace value Accumulator Stack Aclolo o ol s 2 4 s Levelt o 0003245 Level2 X X X X X X X gt Level3 X X X X X X X 2 Level4 X X X X X X X 2 Level5 X X X X X X X 2 Level6 X X X X X X X E S Constant 61863 Level7 X X X X X X X S Level8 X X X X X X X K6363 Current Acc value Acc 0 0 0 0 6 3 6 3 Load the value 6363 into the accumu Bucket lator pushing the value 5151 to the 1st Previous Acc value Accumulator Stack stack location and the value 3245 to the 2nd stack location Acc 0 0 0 0 5 1 5 1 Leveli 0000515 gt Level2 0 0 003245 Level3 X X X X X X X gt Level4 X X X X X X X gt Level5 X X X X X X X 2 Level6 X X X X X X X 2 Level7 X X X X X X X 2 Levl8 X X X X X X X gt UJ Bucket ThePOP instruction rotates values upward through the stack into the accumulator W hen a POP isexecuted the value which wasin the accumulator is cleared and the value that w
110. Current 0 5 A point 1 5 A common Max leakage current 4 mA 264 VAC 60Hz Max inrush current 10 A for 10 mS Minimum Load 10 mA OFF to ON Response 1 m ON to OFF Response 1 mS 1 2 cycle Status Indicators Logic Side Commons 4 channels common x 4 banks isolated Fuses None external recommended DL06 Micro PLC User Manual 1st Ed Rev A 10 02 2 3 1 Chapter 2 Installation Wiring and Specifications ses D0 06DD11 O Wiring Diagram TheD 0 06D D 1 PLC hastwenty DC inputs and sixteen D C outputs T he following diagram shows atypical fidd wiring example T heAC external power connection uses four terminals as shown Inputs are organized into five banks of four Each bank has an isolated common terminal and may be wired as either sinking or sourcing inputs T he wiring example below shows all commons connected together but separate supplies and common circuits may be used O utputs all share the same common N otethe requirement for external power fuse el O I tB an au Disi 24 VDC amp e elelelelelelele amp an ee e e SaSSSSSSES Y7 v10 Y12 GQjic ov vo v2 ct AciDTAciv 22v co yi va v4 Y5 Y15 C3 ve c2 v
111. D irectSO FT 32 M anual Initializing Scratchpad will return secondary comm port settings and retentive range settings to default If you have made any changesto these you will need to note these changes and re enter them after initializing Scratchpad e For the H andheld Programmer use the AU X key and execute AU X 54 Seethe H andheld Programmer M anual for additional information Step 7 Enter a Ladder Program At this point DirectSO FT 32 programmers need to refer to the Q uick Start Tutorial in the D irectSO FT 32 M anual T here you will learn how to establish a communications link with the DL06 PLC change CPU modesto Run or Program and enter a program If you are learning how to program with the H andheld Programmer make sure the CPU isin Program M ode the RUN LED on thefront of the D L06 should be off If the RUN LED is on usetheM ODE key on the H andheld Programmer to put the PLC in Program M ode then switch to TERM Enter the following keystrokes on the H andheld Programmer Clear the Program Equivalent DirectSOFT32 display CLR CLR XO YO c 5 E AUX ENT ENT CLR t 1 OUT A Move to the first NEXT srg gt 0 ENT address and enter END XO contact Enter output YO Zur EZ li 0 ENT Enter the END E N D SHE 4 TMR 3 m statement After entering the simple example program put the PLC in Run mode by using the M ode key on the H andh
112. DLO6 Range Discrete Bit Flags Description SP63 Will be on if the result in the accumulator is zero SP70 Will be on if the result in the accumulator is negative NOTE Status flags are valid only until another instruction uses the same flag In the following example when X1 is on the Load Formatted instruction loads C 10 C 13 4 binary bits into the accumulator T he accumulator contents is logically AN D ed with the bit pattern from Y20 Y 23 using the And Formatted instruction The Out Formatted instruction outputs the accumulator s lower four bits to C 20 C 23 Location Constant C13 C12 C11 C10 ON ON oN oFF MD Load the status of 4 consecutive bits C10 C13 The unused accumulator bits are set to zero IN into the accumulator 31 30 29 28 27 26 25 24 23 22 2120 19 18 17 16 15 14 1312 11109 87 65 43 2 1 0 ol of of of of of of of of of of of of oLo o of of o of of of of o Accumulator of ofof a s Jo o And the binary bit pattern Y20 Y23 with the value in Ac 0 000000000000000 0000000000001110 the accumulator AND Y20 Y23 ONJOFF OFF OFF 1000 Acc of of of of of of of of of of o o o o o Copy the value in the lower 4 bits in accumulator to d C20 C23 Locati Constant Handheld Program
113. Description On when the result of the instruction causes the value in the accumulator to be zero On when the 16 bit subtraction instruction results in a borrow On when the 32 bit subtraction instruction results in a borrow On any time the value in the accumulator is negative On when a BCD instruction is executed and a NON BCD number was encountered NOTE Status flags are valid only until another instruction uses the same flag In the following example when X1 is on the value in V 1400 and V 1401 will be loaded into the accumulator using the Load D ouble instruction T he value in V 1420 and V 1421 is loaded into the accumulator using the Load D ouble instruction pushing the value previously loaded into the accumulator onto the accumulator stack The BCD valuein the first level of the accumulator stack is subtracted from the BCD valuein the accumulator using the Subtract Stack instruction T he value in the accumulator is copied to V 1500 and V 1501 using the O ut D ouble instruction Direct SOFT32 Display V1401 V1400 xi LDD Load the value in V1400 and LELE 7 Jj 2 0 5 6 Accumulator stack I V1401 into the accumulator after 1st LDD 1400 a a Levei X X X X X X X X aco LEE 7 J 2 o TsTs Level2 X XX XX XX X Level 3 X XX X X XX X LDD Load the value in V1420 and V14
114. Enabled and 30 Pulse Output Power up in RUN 40 High Speed Interrupts 50 Pulse Catch 60 Filtered Inputs default Bits 0 7 definethe mode number 00 10 60 previously referenced in this chapter The example data 2050 shown selects M ode 50 Pulse Catch BCD 50 Configuring Inputs X0 X3 In addition to configuring V 7633 for the H SIO mode you ll V Memory need to program the next four locations in certain modes Mode BBBBI oos according to the desired function of input points X0 X3 xo BEBE ooo Other memory locations may require configuring depending on x1 ERR theH SIO mode see the corresponding section for particular H SIO modes XXXX X2 V7636 Xxxx X3 V7637 xxxx 3 6 DLO06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 3 H igh speed Input and Pulse O utput Features n Mode 10 High Speed Counter Purpose TheHSIO circuit contains two high speed counters A single pulse train from an external source X0 docks the counter on each signal leading edge T he counter counts only upwards from 0 to 99999999 T he counter compares the current count with up to 24 preset values which you define T he purpose of the presets is to quickly cause an action upon arrival at specific counts making it ideal for such applications as cut to length It uses counter registers CT174to CT177 intheCPU Functional Block D iagram Refer to the block diagram below W hen the lower by
115. Error C3 M Chapter 5 Standard RLL Instructions ASCII EAMA Parameter Data Destination All V memory Fixed Length K1 128 Bits Busy Complete Timeout Error Overflow C0 3777 AIN Fixed Length Examples Fixed Length example when the PLC is reading the port continuously and timing is not critical AIN Complete C1 EE AIN Complete C1 AIN Port Number K2 Data Destination V2000 Fixed Length K32 Interchar Timeout None First Char Timeout None Byte Swap None Busy co Complete C1 Interchar Timeout Error C2 First Char Timeout Error C3 Data Read C100 our Fixed Length example when character to character timing is critical AIN Complete Intercharacter timeout C1 C2 5 F ar AIN Complete C1 er ie AIN Port Number K2 Data Destination V2000 Fixed Length K32 Interchar Timeout 20ms First Char Timeout None Byte Swap All Busy CO Complete C1 Interchar Timeout Error c2 First Char Timeout Error C3 Data Read C100 our 5 210 DL06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions ASCII AIN Variable Length Configuration Length Type select Variable Length if the ASCII string lengt
116. F th i i I 4 tit LH Lui Hi Derating Chart for DC Outputs All outputs share the same u aay D O memamen Sy common Notethe e teeta requirement for external Lt l x To LED power T 24VDC YS Common esed To LED Optical Isolator DC Pulse Outputs Y0 Y1 To Optical Input Isolator V 1 i x To LED 24VDC To LED E Output iz 4 sy Common 1 Common T Optical Isolator j DC Standard Inputs X4 X23 DC Standard Outputs Y2 Y17 2 34 DL06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 2 Installation Wiring and Specifications E LLL BAM D0 06DD2 General Specifications External Power Requirements 100 240 VAC 40 VA maximum Communication Port 1 9600 baud Fixed 8 data hits 1 stop bit odd parity K Sequence Slave DirectNET Slave MODBUS Slave Communication Port 2 9600 baud default 8 data hits 1 stop bit odd parity K Sequence PASE DirectNET Master Slave MODBUS Master Slave Non sequence print ASCII in out Programming cable type D2 DSCBL Operating Temperature 32 to 131 F 0 to 55 C Storage Temperature 4 to 158 F 20 to 70 C Relative Humidity 5 to 95 non condensing Environmental air No corrosive gases permitted Vibration MIL STD 810C 514 2 Shock MIL STD 8
117. H EX value Step 3 Insert theRFT instructions which specifies destination V memory location Vaaa T hisis where the value will be moved to H dpful Hint For parameters that require H EX values when referencing memory locations the LDA instruction can be used to convert an octal address to the H EX equivalent and load the value into the accumulator Helpful Hint T heinstruction will be executed every scan if the input logic is on If you do not want the instruction to execute for more than one scan a one shot PD should be used in the input logic H dpful Hint Thetable counter value should be set to indicate the starting point for the operation Also it must be set to a valuethat is within the length of thetable For example if thetableis 6 words long then the allowable range of values that could be in thetable counter should be between 1 and 6 If the value is outside of this range or zero the data will not be moved from the table Also a one shot PD should be used so the value will only be set in one scan and will not affect the instruction operation Operand Data Type DLO6 Range aaa See memory map Discrete Bit Flags Description SP56 On when the table counter equals 0 tet NOTE Status flags SPs are only valid until another instruction that uses the same flag is executed or the end of the scan The pointer for this instruction can be set to start anywhere in the table It is not set automatically
118. H andheld Programmer or a personal computer to the D L06 PLCs H owever if you need to build your own cables use the pinout diagrams shown The DL06 PLCs require an RJ 12 phone plug for port 1 and a 15 pin svga dsub for port 2 TheDL06 PLC has two built in serial communication ports Port 1 RS232C only is generally used for connecting to a D 2 H PP DirectSO FT 32 operator interface M ODBUS slave only or aDirectN ET slave only T he baud rate is fixed at 9600 baud for port 1 Port 2 RS232C RS422 RS485 can be used to connect to a D 2 H PP DirectSO FT 32 operator interface MO D BU S master slave DirectN ET master slave or ASCII in out Port 2 has a range of speeds from 300 baud to 38 4K baud Port 1 Pin Descriptions Port 2 Pin Descriptions 1 OV Power connection GND 1 5V Power connection 2 5V Power connection 2 TXD Transmit data RS 232C 3 RXD Receive data RS 232C 3 RXD Receive data RS 232C 4 TXD Transmit data RS 232C 4 RTS Ready to send 5 5V Power connection 5 CTS Clear to send 6 OV Power connection GND 6 RXD Receive data RS 422 485 TERM 7 OV Power connection GND 8 OV Power connection GND 9 TXD Transmit data RS 422 485 Rol 10 TXD Transmit data RS 422 485 a8 a 11 RTS Ready to send RS 422 485 sm eoo 12 RTS Ready to send RS 422 485 io 0 o o on 13 RXD Receive data RS 42
119. INST TMR R 3 3 3 3 ENT N C o N e D c D SHFT TMR 2 INST TMR gt 2 3 2 3 ENT N c o N E F E J SHFT run 2 INST TMR d 4 5 4 9 ENT GX c A A A OUT gt sw AND 2 0 0 0 ENT Load Real Number LD R The Load Real Number instruction loads a real number contained in two consecutive V memory locations or an 8 digit constant into the accumulator LDR A aaa Operand Data Type DLO6 Range SS aa De A aaa T E See memory map TARRO RI AE pin AN See memory map EE E 3 402823E 038 to 3 402823E 038 D irectSO FT 32 allows you to enter real numbers directly by using the leading R to indicate a real number entry You can enter a constant such as Pi shown in the LDR example to the right To enter negative numbers usea FUNDA minus after the R For very large numbers or very small numbers you can use exponential notation T he number to the right is 5 3 LDR million The O UTD instruction stores it in V1400 and cdd V 1401 sum These real numbers are in the IEEE 32 bit floating point V1400 format so they occupy two V memory locations regardless of how big or small the number may be If you view a stored real number in hex binary or even BCD the number shown will be very difficult to decipher Just like all other number types you must keep track of real number locations in memory so they can b
120. In the following circuit the PLC output point sinks current to the output common when energized It is connected to a sourcing input of a field device input PLC DC Output Field Device mo e Pes 9 r Output Input B H sinking 7 sourcing T No in 25 T Ground A Common gt st E m m 87 ee a 2 17 DLO0G Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 2 Installation Wiring and Specifications I M QM In the next example we connect a PLC D C output point to the sinking input of a field device T hisisa bit tricky because both the PLC output and field device input are sinking type Since the circuit must have one sourcing and one sinking device we add sourcing capability to the PLC output by using a pull up resistor In the circuit below we connect Rpull up from the output to the D C output circuit power input PLC DC Output TR EE Power DC pwr R pull u Field Device OUR SS 1 sinking Output input R input rd 1 sinking 1 Te Common SE Ground zh S LO Um NOTE DO NOT attempt to drive a heavy load 25 mA with this pull up method NOTE 2 Using the pull up resistor to implement a sourcing output has the effect of inverting the output B point logic In other words the field device input is energized when the PLC output is OFF from
121. K 4 is loaded into the accumulator using the Load instruction T his value specifies the length of thetable and is placed on the first level of the accumulator stack when the Load Address instruction is executed T he octal address 1600 V 1600 isthe starting location for the table and is loaded into the accumulator using the Load Address instruction T he value to fill the table with V 1400 is specified in theFill instruction DirectSOFT32 Display Load the constant value 4 HEX into the lower 16 bits of the accumulator viszs Convert the octal address V1577 1600 to HEX 380 and load the 2 5 o o vieoo value into the accumulator V1400 va EEUU ill the table with the value in V1400 i2 s o o V1603 Handheld P rogrammer Keystrokes STR Ei 1 ENT L D E SHFT luper 3 PREV 4 ENT L D A B G A A SHFT anost 3 0 ad 1 6 0 0 ENT F l L L SHET 5 8 ANDST ANDST za i 4 0 0 ENT 5 146 DLO06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions Table Instructions Find FIND The Find instruction is used to search for a specified value in a V memory table of up to 255 locations T he function FIND parameters are loaded into the first and second levels of the Aaaa accumulator stack and the accumulator by three additional instructions Listed below are the steps necessary to
122. KC x Pott Port 2 E LE Protocol K Sequence M DirectNET T M MODBUS Help Non Sequence Lone Remotel Q Time out 800 ms i RTS on delay time ow ATS off delay time Oms v Station Number 1 4 Baud rate s 0 vl Stop bits 1 d Parity oa a Format e m Port 2 15 Pin Timeout Amount of time the port will wait after it sends a message to get a response before logging an error RTS ON OFF Delay Time The RTS ON Delay Time specifies the time the D L06 waits to send the data after it has raised the RTS signal line The RTS OFF Delay Time specifies the time the D L06 waits to release the RT S signal line after the data has been sent When using theDL06 on a multi drop network the RTS ON Delay time must be set to at least 5ms and the RTS OFF Delay time must be set to at least 2ms If you encounter problems the time can be increased Station Number For making the CPU port a DirectN ET master choose 1 T he allowable range for DirectN ET slaves is from 1 to 90 each slave must have a unique number At powerup the port is automatically a slave unless and until the D L06 executes ladder logic instructions which attempt to usethe port as a master T hereafter the port reverts back to slave mode until ladder logic usesthe port again Baud Rate T he available baud rates include 300 600 1200 2400 4800 9600 19200 and 38400 baud Choose a higher baud rate initially reverting
123. L D ic A A A ENT A D D C A A G SHFT gt x ENT GX v c A B A our SHFT ENT DL06 Micro PLC User Manual 1st Ed Rev A 5 87 Chapter 5 Standard RLL Instructions Math Add Real ADDR The Add Real instruction adds a real number in the accumulator with either a real constant or a real number occupying two consecutive V memory locations T he result resides in the accumulator Both pki numbers must conform to the IEEE floating point format Operand Data Type DLO6 Range NM EET ME ED EC TR A aaa NAIMOMONY cca rette rr te tates V See memory map PONCE he toca stains RE t pe Re P See memory map Ina gem R 3 402823E 038 to 3 402823E 038 Description On when the result of the instruction causes the value in the accumulator to be zero On anytime the value in the accumulator is negative On anytime the V memory specified by a pointer P is not valid On anytime the value in the accumulator is an invalid floating point number on when a signed addition or subtraction results in a incorrect sign bit On anytime a floating point math operation results in an underflow error On if a BCD number is expected and a non BCD number is encountered NOTE Status flags are valid only until another instruction uses the same flag DirectSOFT32 pogo ooo R7 0 Load the real number 7 0
124. M anual Thank you for purchasing a D L06 M icro PLC This manual shows you how to install program and maintain all PLCsin the DLO6 family It also helps you understand how to interface them to other devices in a control system T his manual contains important information for personnel who will install DLO6 PLCs and for the PLC programmer T his user manual will provide the information you need to get and keep your system up and running Supplemental M anuals TheD0 OPTIONS M manual contains technical information about the option cards available for the DL06 PLCs This information includes specifications and wiring diagrams that will be indispensable if you use any of the optional 1 0 or communications cards If you have purchased one of our operator interface panels or DirectSO FT programming software you will want to refer to the manuals that are written for these products Technical Support We strive to make our manuals the best in the industry We rely on your feedback to let us know if we are reaching our goal If you cannot find the solution to your particular application or if for any reason you need technical assistance please call us at 770 844 4200 Our technical support group will work with you to answer your questions T hey are available M onday through Friday from 9 00 A M to 6 00 P M Eastern Time We also encourage you to visit our web site where you can find technical and non technical information about our products a
125. N etwork instruction is used by the master device on a network to read a block of data from a slave device on the same network T hefunction parameters are loaded into the first and second level of the accumulator stack and the accumulator by three additional instructions Listed below are the steps necessary to program the Read from N etwork function RX A aaa Step 1 Load the slave address 0 90 BCD into the first byte and the PLC internal port KF2 or slot number of the master DCM or ECOM 0 7 into the second byte of the second level of the accumulator stack Step 2 Load the number of bytes to betransferred into the first level of the accumulator stack Step 3 Load the address of the data to be read into the accumulator T his parameter requires a H EX value Step 4 Insert the RX instruction which specifiesthe starting V memory location Aaaa wherethe data will be read from in the slave Helpful Hint For parameters that require H EX values the LD A instruction can be used to convert an octal address to the H EX equivalent and load the valueinto the accumulator Operand Data Type DLO6 Range aaa See memory map See memory map 0 777 0 777 0 1777 0 1777 0 377 0 177 0 777 0 7680 2K program mem DL06 Micro PLC User Manual Ist Ed Rev A 193 Chapter 5 Standard RLL Instructions Network Instructions Cn IO In the followin
126. NOTE Status flags are valid only until another instruction uses the same flag In the following example when X1 ison the valuein V1400 and V 1401 will beloaded into the accumulator using the Load D ouble instruction T he binary value in V 1420 and V 1421 is subtracted from the binary value in the accumulator using the Subtract Binary D ouble instruction T he value in the accumulator is copied to V 1500 and V 1501 using the O ut D ouble instruction DirectS OF T32 Display V1401 V1400 LE 6 E oTt NE LDD EI V1400 Load the value in V1400 and V1401 into the accumulator 0006 0 o F F Accumulator SUED 0000 1 A 0 1 V1421 and V1420 va ne PPP ELT The binary value in V1420 and 1421 is subtracted from the binary value in the accumulator ERE BEE OUTD V1501 V1500 V1500 Copy the value in the accumulator to V1500 and V1501 Handheld Programmer Keystrokes orn gt 1 ENT SHET ANDST P 3 z 3 gt 1 i 4 0 0 ENT SHET m SHPT B 1 1 3 gt 1 li 4 2 A 0 ENT O SHFT 3 gt 1 i 5 0 A 0 ENT 5 102 DLO06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions M ath Multiply Binary MULB X1 M ultiply Binary isa 16 bit instruction that multiplies the unsigned 2 s complement binary value Aaaa which
127. O ctal base 8 For example the diagram shows how the octal numbering system works for the discrete input points N oticethe octal system does not contain any numbers with the digits 8 or 9 xo xi bo x3 x4 x5 X6 x7 Discrete and Word Locations pns i As you examine the different memory types you ll notice two types of memory in theDL06 iol x11 discrete and word memory D iscrete memory is one bit that can be either a 1 or a 0 Word Discrete On or Off 1 bit memory is referred to as V memory variable XO and isa 16 bit location normally used to I manipulate data numbers store data numbers etc Word Locations 16 bits Someinformation is automatically stored 011 0 11 0 0 010 0 0 1 0 0 1 0 1 in V memory For example the timer current values are stored in V memory V Memory Locations for D iscrete Memory Areas Bit The discrete memory area isfor inputs outputs control relays special relays stages timer status bits and counter status bits H owever you can also access the bit data types asa V memory word Each V memory location contains 16 consecutive discrete locations For example the following diagram shows how the X input points are mapped into V memory locations 8 Discrete X Input Points X7 X6 X5 XA X3
128. O utput Features EM Physical 1 0 Point Usage DC Input Points DC Output Points X0 X1 X2 X3 YO Y1 Counter 2 Reset 1 Reset 2 Interrupt Interrupt Interrupt Pulse Input or Pulse Input or Pulse Input or Filtered Input Filtered Input Filtered Input High Speed Counter Counter 1 Regular Output Regular Output Up Down counter Standard counting Up Counting Down Counting Reset Pulse Input or Filtered Input Pulse Input or Filtered Input Regular Output Regular Output Up Down counter Quadrature counting Phase A Input Phase B Input Pulse Input or Pulse Input or Pulse Input or Pulse Input or Pulse or Direction or Pulse Output Filtered Input Filtered Input Filtered Input Filtered Input CW Pulse CCW Pulse Interrupt Interrupt Interrupt High Speed Interrupt Interrupt Pulse Input or Pulse Input or Pulse Input or Regular Output Regular Output Filtered Input Filtered Inpu Filtered Input Pulse Input Pulse Input Pulse Input Pulse Catch Pulse Input Interrupt or Interrupt or Interrupt or Regular Output Regular Output Filtered Input Filtered Inpu Filtered Input Filtered Input Filtered Input Filtered Input Filtered Input Filtered Input Regular Output Regular Output D efault M ode M ode 60 Filtered Inputs is the default mode The DL06 is initialized to this mode at the factory and any time you initia
129. OFF oad the status fo 4 consecutive bits C10 C13 into the accumulator The unused accumulator bits are set to zero SS a PP ORF Y20 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 1109 8 76 543 2 1 O0 K4 Acc 0 0j0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 OF OF OF OF OF 1 1 O OR the binary bit pattern Y20 Y23 with the value in the accumulator Y23 Y22 Y21 Y20 ON orrjoFF oFF OUTF C20 OR Y20 Y23 1000 K4 Acc Of O Of Of Of Of Of OF Of OF OF Of OF Of OF OF OF Of Of Of OF Of Of Of OF OF Of OF A 1 1J 0 Copy the specified number of bits from the accumulator Pd to C20 C23 Handheld Programmer Keystrokes 5 Location Constant sma gt _ cm on ow ov oer L D F B A E SHFT mpsr 3 5 NEXT NEXT NEXT NEXT 1 gt x ENT Q F C A E or SHFT 5 gt Next 2 r gt ENT GX F C A E Our SHFT 5 Prev PREV 3 A A ENT DL06 Micro PLC User Manual 1st Ed Rev A 5 75 Chapter 5 Standard RLL Instructions Logical Or with Stack ORS TheOr with Stack instruction is a 32 bit instruction that logically ors the value in the accumulator with the first level of the accumulator stack T he result resides in the ORS accumulator T he value in the first level of the accumulator stack is removed from the stack and all values are moved up one level D isc
130. RFT Execution After RFT Execution Table Counter Table Counter Table Automatically decremented 1401 1 o o o viaoo Start here V1401 1 a o oo o vi4oo V1402 2 vi4o2 8 2 8 S V1403 3 Daa v1403 8 3 Destination 4 o 7 9 8 s s 9 V1404 4 l visoo viaoa 8 4 Vien V1405 5 V1405 5 V1406 6 SP56 vidos 2 o 4 6 6 SP56 V1407 SP56 OFF via x x x1 x p56 ON until end of scan or next instruction that uses SP56 DL06 Micro PLC User Manual 1st Ed Rev A 5 161 Chapter 5 Standard RLL Instructions Table Instructions Add to Top ATT TheAdd To Top instruction pushes a value on to a V ATT memory table from a V memory location W hen the Vaaa value is added to the table all other values are pushed down 1 location Theinstruction will be executed once per scan provided the input remains on T he function parameters are loaded into the first level of the accumulator stack and the accumulator by two additional instructions Listed below are the steps necessary to program the Add To Top function Step 1 Load the length of the table number of V memory locations into the first level of the accumulator stack T his parameter must be a H EX value 0 to FF Step 2 Load the starting V memory location for the table into the accumulator Remember the starting location of the table is used as the table length counter T his parameter must be a H EX value Step 3 Insert the ATT instructions whi
131. Register Example 4 C 54 584 984 Mode Find the M O DBUS address for Control Relay C54 1 Find Control Relays in the table 387 2 Convert C54 into decimal 44 mj 3 Add the starting address for the range 3072 4 Add the M O D BUS address for the mode 1 Control Relays V C0 C777 3072 3583 Determining the DirectNET Address Addressing the memory types for DirectN ET slavesis very easy Use the ordinary native address of the slave device itself To access a slave PLC s memory address V 2000 via D irectN ET for example the network master will request V 2000 from the slave DLO0G Micro PLC User Manual 1st Ed Rev A 10 02 4 55 Chapter 4 CPU Specifications and O peration ees Network Master Operation T his section describes how the D L06 can communicate on a M OD BU S or DirectN ET network as a master For M O D BUS networks it usesthe M ODBUS RTU protocol which must be interpreted by all the slaves on the network Both M O D BUS and D irectN et are single master multiple slave networks T he master isthe only member of the network that can initiate requests on the network T his section teaches you how to design the required ladder logic for network master operation Master MODBUS RTU Protocol or DirectNET Slave 1 Slave 2 Slave 3
132. SHFT 2 0 5 ENT L D K B A SHFT anost 3 gt SHFT IMP r ENT L D A C D A A SHFT EANDST 3 eo 2 3 0 o ENT R X C A A A SHFT orn SET gt 2 0 0 0 ENT 5 194 DLO06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions Network Instructions MM Writeto Network WX The Write to N etwork instruction is used to write a block of data from the master device to a slave device on the same network T he function parameters are loaded into the accumulator and the first and second level of the stack Listed below arethe program steps necessary to execute the Write to N etwork function Step 1 Load the slave address 0 90 BCD into the low byte and F2 into the high byte of the accumulator the next two instructions push this word down to the second layer of the stack Step 2 Load the number of bytesto be transferred into the accumulator the next instruction pushes this word onto the top of the stack Step 3 Load the starting M aster CPU address into the accumulator T his isthe memory location where the data will be written from T his parameter requires aHEX value Step 4 Insert theW X instruction which specifiesthe starting V memory location Aaaa where the data will be written to in the slave H dpful Hint For parameters that require H EX values the LD A instruction can be used to convert an octal address to the H EX equiv
133. Stan 6 p c ENT GX C D A our gt SHFT 2 3 ENT DL06 Micro PLC User Manual 1st Ed Rev A 5 81 Chapter 5 Standard RLL Instructions Logical ees Compare D ouble CM PD TheCompare D ouble instruction is a 32 bit instruction that compares the value in the accumulator with the value Aaaa CMPD which is either two consecutive V memory locations or an 8 digit A aaa max constant T he corresponding status flag will be turned on indicating the result of the comparison Operand Data Type DLO6 Range aaa See memory map See memory map O FFFFFFFF Description On when the value in the accumulator is less than the instruction value On when the value in the accumulator is equal to the instruction value On when the value in the accumulator is greater than the instruction value NOTE The status flags are only valid until another instruction that uses the same flags is executed In the following example when X1 is on the value in V 2000 and V 2001 will be loaded into the accumulator using the Load D ouble instruction T he value in the accumulator is compared with the value in V2010 and V 2011 using the CM PD instruction The corresponding discrete status flag will be turned on indicating the result of the comparison In this example if the value in the accumulator is less than the value specified in the Compare instruction SP60 will turn on energi
134. T he panel ground termination must be connected to earth ground M inimum wire sizes color coding and general safety practices should comply with appropriate electrical codes and standards for your area DL06 Micro PLC User Manual 1st Ed Rev A 10 02 l 2 7 Chapter 2 Installation Wiring and Specifications i 6 A good common ground reference Earth ground is essential for proper operation of the DL06 One side of all control and power circuits and the ground lead on flexible shielded cable must be properly connected to Earth ground T here are several methods of providing an adequate common ground reference including a Installing a ground rod as close to the panel as possible b Connection to incoming power system ground 7 Evaluate any installations where the ambient temperature may approach the lower or upper limits of the specifications If you suspect the ambient temperature will not be within the operating specification for the D L06 system measures such as installing a cooling heating source must be taken to get the ambient temperature within the range of specifications 8 T he D L06 systems are designed to be powered by 95 240 VAC or 12 24 VDC normally available throughout an industrial environment Electrical power in some areas where the PLCsare installed is not always stable and storms can cause power surges D ue to this powerline filters are recommen
135. T he setup parameter in V 7634 serves a dual purpose e t selects between the two interrupt sources external or internal timer T he timed interrupt can only be used with XO n the case of the timer interrupt it programs the interrupt timebase between 5 and 999 mS The resulting interrupt uses label INT 0 1 2 or 3 in the ladder program Be sure to include the Enable Interrupt EN 1 instruction at the beginning of your program Otherwise the interrupt routine will not be executed CPU Scan Input Update Ladder INT P A XO External Interrupt rogram a Execution Interrupt o gt Routine TIMER Current Program Instruction Tee Interrupt source IRT Time select Input Update V7634 xxx4 X1 X3 External Interrupts DL06 Micro PLC User Manual 1st Ed Rev A 10 02 l 3 65 Chapter 3 High speed Input and Pulse O utput Features se o External Interrupt Timing Parameters External interrupt signals must meet certain timing criteria to guarantee an interrupt will result Refer to thetiming diagram below T he minimum pulse width is 0 1 mS T here must be some delay beforethe next interrupt pulse arrives such that the interrupt period cannot be smaller than 0 5 mS 0 5 mS minimum 0 1 mS minimum External Interrupt XO Time Timed Interrupt Parameters W hen the timed int
136. T he velocity control switches to position control moving the load to the target position N otethat the minimum starting velocity is 40 pps This instantaneous velocity accommodates stepper motors that can stall at low speeds Registration Profile Velocity Target Velocity Accel Decel Starting Velocity Start Zi Target Pd Time position position Start YO i O External Interrupt X1 Profile Complete SP104 Thetime line of signal traces below the profile indicates the order of events The CPU uses logical output YO to start the profile Immediately the H SIO turns off the Profile Complete signal SP 104 so the ladder program can monitor the move s completion by sensing the signal s on state 3 50 DLO06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 3 H igh speed Input and Pulse O utput Features The Automatic Trapezoidal profile we want to perform is drawn and labeled in thefollowing figure It consists of a non zero starting velocity and moderate target velocity Automatic Trapezoidal Profile Velocity A Target Velocity 1 kHz Accel 2 sec Decel 4 sec Ending Velocity Starting 5 1 80 Hz Velocity 40 Hz Time Start position Target position 5000 The following program will realize the profile drawn above when executed T he first program rung contains all the necessary setup parameters We only have to do this once in the program so we
137. T hetime required to solvethe application program depends on the type and number of instructions used and the amount of execution overhead Just add the execution times for all the instructions in your program to determine to total execution time Appendix C provides a complete list of the instruction execution times for the DL06 M icro PLC For example the execution time for running the program shown below is calculated as follows Instruction Time XO X1 YO STR XO 67 ys Vt OUT OR CO 51 us ANDN X1 51 ps CO OUT YO 1 82 ys STRN C100 67 ys LD K10 9 00 us 109 1D STRN C101 67 ys us OUT V2002 9 3 us em STRN C102 67 ys OUT v2002 LD K50 9 00 ps STRN C103 67 ys C102 5 OUT V2006 1 82 ps K50 STR X5 67 ps ANDN X10 51 ps C103 O NE OUT Y3 1 82 ys END 12 80 ys X5 xig Y3 SUBT OTAL 51 11 us our Overhead _ DLOG END Minimum 746 2 us Maximum 4352 4 us TOTAL TIME Program execution time Overhead x 1 18 The program above takes only 51 11 us to execute during each scan T he D L06 spends 0 18 ms on internal timed interrupt management for every 1ms of instruction time T he total scan time is calculated by adding the program execution time to the overhead shown above and multiplying the result ms by 1 18 O verhead includes all other housekeeping and diagnostic tasks T he scan time will vary slightly from one scan to the next because of
138. Table counter Automatically Incremented V1401 0 0 0 5 v1400 V1401 7 7 0 0 0 6 vi400 V1402 V1402 Tos Data Soi vi403 ata Source V1403 Data Source V1404 7 7 7 7 V1500 V1404 7 7 7 7 Vi500 V1405 V1405 V1406 SP56 V1406 SP56 viday ee V1407 epis or next instruction that uses SP56 Discard Bucket 074 SUM Lo 5 164 DLO06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions Table Instructions Table Shift Left TSHFL Table Shift Right TSHFR TheTable Shift Left instruction shifts all the bits in a V memory table to the left the specified number of bit positions TheTable Shift Right instruction shifts all the bits in a V TSHFL A aaa TSHFR memory table to the right a specified number of bit A aaa positions Thefollowing description appliesto both theTable Shift Left and Table Shift Right instructions A table is just a range of V memory locations T heTable Shift Left and Table Shift Right instructions shift bits serially throughout the entire table Bits are shifted out the end of one word and into the opposite end of an adjacent word At the ends of the table bits are either discarded or zeros are shifted into the table T he example tables below are arbitrarily four words long Tae Shinra Table Shift Right Shift in zeros Discard Bits V XXXX ee EN pus c V xox 1 C TIIIIIIIIIIIIT Won
139. Type DLO6 Range In the following Store example when input X1 ison output Y2 will energize Direct SOFT32 Handheld Programmer Keystrokes xi Y2 B STR gt 1 ind ot GX c out gt 2 ENT In the following Store N ot example when input X1 is off output Y2 will energize Direct SOFT32 Handheld Programmer Keystrokes X1 Y2 SP gt e ENT yt GUT STRN 1 GX C our gt 2 EST 5 10 DL06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions Boolean Instructions Store Bit of Word STRB The Store Bit of Word instruction begins a new rung or an additional branch in a rung with a normally open contact Aaaa bb Status of the contact will be the same state as the bit referenced in the associated memory location Store Not Bit of Word STRNB The Store N ot instruction begins a new rung or an additional Aaaa bb branch in arung with anormally closed contact Status of the f contact will be opposite the state of the bit referenced in the associated memory location Operand Data Type DLO6 Range aaa bb See memory map BCD 0 to 15 See memory map BCD 0 to 15 In the following Store Bit of Word example when bit 12 of V memory location V 1400 is on output Y2 will energize DirectSOFT32 B1400 12 Y2 B ow Handheld Programmer Keystrok
140. User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions Boolean Instructions AND Bit of Word ANDB TheAnd Bit of Word instruction logically ands a Aaaa bb normally open contact in series with another contact in a rung T he status of the contact will be the same state as Fd I the bit referenced in the associated memory location And Not Bit of Word AND NB The And Not Bit of Word instruction logically ands a aaa De normally closed contact in series with another contact in a Vt rung T he status of the contact will be opposite the state of the bit referenced in the associated memory location Operand Data Type DLO6 Range bb See memory map BCD 0 to 15 See memory map BCD 0 to 15 In the following And Bit of Word example when input X1 and bit 4 of V1400 is on output Y5 will energize DirectSOFT32 xi B1400 4 Y5 OUT Handheld Programmer Keystrokes STR gt 1 ENT AND SHFT B gt V 1 4 0 0 gt K 4 ENT OUT gt 5 ENT In the following And Not Bit of Word example when input X1 is on and bit 4 of V1400 is off output Y5 will energize DirectSOFT32 xi B1400 4 Y5 yt OUT bd STR gt 1 ENT ANDN SHFT B gt V 1 4 0 0 gt K 4 ENT OUT gt 5 ENT DL06 M
141. V 2000 will be loaded into the accumulator using the Load instruction T he value in the lower 16 bits of the accumulator are added to the value in V 2006 using the Add instruction T he value in the accumulator is copied to V2010 using the O ut instruction Direct SOFT32 V2000 x LD 4193 5 I V2000 Load the value in V2000 into the lower 16 bits of the The unused accumulator accumulator bits are set to zero Lond 0 0 0 0 4 9 3 5 Accumulator ADD V2006 2 5 0 0 V2006 Add the value in the lower Acc 7 4 3 5 16 bits of the accumulator with the value in V2006 OUT V2010 7 4 3 5 Copy the value in the lower V2010 16 bits of the accumulator to V2010 Handheld Programmer Keystrokes sma gt Ja E SHFT Anost _3 gt s feo Wo Jo EN suTi IPs Ps gt Peo f J JP our gt J 9 7 wo 2 o Pa fo EV 5 86 DL06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions M ath Add Double AD DD Add D ouble is a 32 bit instruction that adds the BCD valuein the accumulator with a BCD value ADDD Aaaa which is either two consecutive V memory locations or an 8 digit max BCD constant T he result resides in the accumulator Operand Data Type DLOGRange
142. V1410 and Acc amp 15 0 Jo 3 5 4 4 V1411 into the accumulator j Feb dlator afin E We vu em in the first level of the 5 5 o 5 4 accumulator stack SP60 C30 a c o ace 5 5 efe Handheld Programmer Keystrokes re id op of Staci B STR gt 1 ENT L D D B E A A SHFT lANpsr 3 3 2 1 4 0 0 ENT E D D B E B A SHFT lANpsr 3 3 gt 1 4 1 0 EMI C M P S SHFT 2 SHFT ORST cv RST ENT G A STR PREV 6 0 ENT GX C D A OUT gt NEXT NEXT NEXT SHFT 2 3 0 ENT 5 84 DL06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions Logical Compare Real Number CM PR The Compare Real N umber instruction compares a real number value in the accumulator with two consecutive CMPR V memory locations containing a real number T he Aaaa corresponding status flag will be turned on indicating the result of the comparison Both numbers being compared are 32 bits long Operand Data Type DLO6 Range aaa See memory map See memory map 3 402823E 038 to 3 402823E 038 Description On when the value in the accumulator is less than the instruction value On when the value in the accumulator is equal to the instruction value On when the value in the accumulator is greater than the instruction value On anytime the V memory specified by a pointer P is not valid On if a BCD number is expected and a non BCD num
143. VS or M OV suppressor for your application based on the inductive load voltage Surge Suppressors Vendor Catalog Inductive Load Voltage Part Number 110 120 VAC ZL TD8 120 24 VDC ZL TD8 24 General Instrument 110 120 VAC rt eee TEND Transient Voltage Suppressors 220 240 VDC 6KE350C LiteOn Diodes from DigiKey 12 24 VDC or VAC P6K30CAGICT ND Catalog Phone 1 800 344 4539 i 12 24 VDC or VAC 1N4004CT ND Harris Metal Oxide Varistors 110 120 VAC V150LA20C from Newark Catalog 220 240 VAC V250LA20C Phone 1 800 463 9275 Prolonging Relay Contact Life Relay contacts wear according to the amount of relay switching amount of spark created at the time of open or closure and presence of airborne contaminants T here are some steps you can take to help prolong the life of relay contacts such as switching the relay on or off only when it is necessary and if possible switching the load on or off at a time when it will draw the least current Also take measures to suppress inductive voltage spikes from inductive D C loads such as contactors and solenoids For inductive loads in D C circuits we recommend using a suppression diode as shown in the following diagram DO NOT usethis circuit with an AC power supply When the load is energized the diode is reverse biased high impedance W hen the load is turned off energy stored in its coil is released in the form of a negative going voltage spike At this moment the diode is forward biased
144. WY ae Counter 2 Preset Data HSIO V3710 0000 1500 Interrupt V3712 0000 1 2500 Does Current Routine Counter 1 Preset Data Count 2 umen Program V3630 0000 1000 Preset EE B V3632 0000 2000 SPox V3634 0000 2500 Output V3636 0000 3175 Update IRT V3706 0921 0000 High Low Word Word DL06 Micro PLC User Manual 1st Ed Rev A 10 02 l 3 27 Chapter 3 High speed Input and Pulse O utput Features Ei X Input Configuration The configurable discrete input options for H igh Speed Counter M ode are listed in the table below T he section on M ode 60 operation the filter time constants Mode 20 Up D own Counter Configuration Register Function Input Up counting at the end of this chapter describes programming Hex Code Required 0202 standard absolute 0302 standard incremental Phase A 0002 quadrature absolute default 0102 quadrature incremental 1002 quadrature absolute 4x counting 1102 quadrature incremental 4x counting Down counting or Phase B 0000 Counter Reset no in terrupt Qe ac default 0107 Counter Reset with interrupt 0307 Pulse input 0005 Filtered input xx06 xx filter time 0 99ms BCD Pulse input 0005 Filtered input With this feature yo
145. X gt Level4 X X X X X X X X gt leel5 X X X X X XX X 2 ad v n v2001 3 7 9 2 Level6 X X X X X X X Jo levl7 X X X X X X X X S Copy data from the accumulator to Level8 X X X X X X X X Previous Acc value For Ac 0 0 0 0 3 7 9 2 Current Acc value Accumulator Stack ee ropes ias aee JLAEJES FAESETCI Rad M ee ES up one location Level2 X X X X X X X X Level3 X X X X X X X X gt level4 X X X X X X X X 2 Level5 X X X X X X X X 2 QNE Van v2002 7 9 3 0 Level6 X X X X X X X xij levl7 X X X X X X X X 5 Copy data from the accumulator to level X X X X X X X X Using Pointers M any of the D L06 series instructions will allow V memory pointers as a operand commonly known as indirect addressing Pointers allow instructions to obtain data from V memory locations referenced by the pointer value values viewed as HEX Use the Load Address LDA instruction to move an address into the pointer NOTE DL06 V memory addressing is in octal However the pointers reference a V memory location with location This instruction performs the Octal to Hexadecimal conversion automatically In the following simple example we are using a pointer operand in a Load instruction V memory location 2000 is being used as the pointer location V 2000 contains the value 440 which the CPU views as the H ex equivalent of the O ctal address V memory location V 2100 TheCPU will copy the data from V 2100 which in this example contains the va
146. Zo Gg ogg Address Address 1007 1006 1005 1004 V40040 V40240 1027 1026 1025 1024 V40041 V40241 1047 1046 1045 1044 V40042 V40242 1067 1066 1065 1064 v40043 V40243 1107 1106 1105 1104 V40044 V40244 1127 1126 1125 1124 V40045 V40245 1147 1146 1145 1144 V40046 V40246 1167 1166 1165 1164 V40047 V40247 1207 1206 1205 1204 V40050 V40250 1227 1226 1225 1224 V40051 V40251 1247 1246 1245 1244 V40052 V40252 1267 1266 1265 1264 V40053 V40253 1307 1306 1305 1304 V40054 V40254 1327 1326 1325 1324 V40055 V40255 1347 1346 1345 1344 V40056 V40256 1367 1366 1365 1364 V40057 V40257 1407 1406 1405 1404 V40060 V40260 1427 1426 1425 1424 V40061 V40261 1447 1446 1445 1444 V40062 V40262 1467 1466 1465 1464 V40063 V40263 1507 1506 1505 1504 V40064 V40264 1527 1526 1525 1524 V40065 V40265 1547 1546 1545 1544 V40066 V40266 1567 1566 1565 1564 V40067 V40267 1607 1606 1605 1604 V40070 V40270 1627 1626 1625 1624 V40071 V40271 1647 1646 1645 1644 V40072 V40272 1667 1666 1665 1664 V40073 V40273 1707 1706 1705 1704 V40074 V40274 1727 1726 1725 1724 V40075 V40275 1747 1746 1745 1744 V40076 V40276 1767 1766 1765 1764 V40077 V40277 DLO06 Micro PLC User Manual 1st Ed Rev A 10 02 l 4 39 Chapter 4 CPU Specifications and O peration DLO6 Remote 1 0
147. accumulator to a Acc 0 0 0 O OF OF OF O O OF OF OF OF OF OF OF OJ OF OF OF O O OF OF OF OF OF OF 1 1 OF O 5 bit binary value xt Copy the value in the lower 16 bits 0 0j 0 C of the accumulator to V2010 V2010 gt V2010 Binary value for 12 Handheld Programmer Keystrokes sm gt I 1 ENT SHEL ANDST P 3 gt E 2 i 0 2 0 0 ENT SHER d 4 PT 2 INST ENT POUT EZ SHEL LAND i 2 0 j 1 j 0 ENT DL06 Micro PLC User Manual 1st Ed Rev A l 5 125 Chapter 5 Standard RLL Instructions Bit O peration Ei M Decode DECO TheD ecode instruction decodes a 5 bit binary value of 0 31 0 1F H EX in the accumulator by setting the appropriate bit DECO position to a 1 If the accumulator contains the value F HEX 4 bit 15 will be set in the accumulator If the value to be decoded is greater than 31 the number is divided by 32 until the value is less than 32 and then the value is decoded In the following example when X1 is on the value formed by discrete locations X10 X14 is loaded into the accumulator using the Load Formatted instruction T he five bit binary pattern in the accumulator is decoded by setting the corresponding bit position to a 1 using the D ecode instruction
148. also use electro mechanical devices such as master control relays and or limit switches to prevent accidental equipment startup at an unexpected time T hese devices should be installed in such a manner to prevent any machine operations from occurring For example if the machine has a jammed part the PLC control program can turn off the saw blade and retract the arbor H owever since the operator must open the guard to remove the part you should also include a bypass switch that disconnects all system power any timethe guard is opened Emergency Stop Guard Line Switch Emergency EsTop Power On The machinery must provide a quick manual method of disconnecting all system power The disconnect device or switch must be clearly labeled Emergency Stop Use E Stop and Master Relay ae 7S Guard Master Link Relay Stop e o Ox Cy To Disconnect PLC Power To disconnect PLC Saw output circuitry Arbor After an Emergency shutdown or any other type of power interruption there may be requirements that must be met before the PLC control program can be restarted For example there may be specific register values that must be established or maintained from the state prior to the shutdown before operations can resume In this case you may want to use retentive memory locations or include constants in the control program t
149. are organized into five banks of four Each bank has an isolated common terminal and may be wired as either sinking or sourcing inputs T he wiring example below shows all commons connected together but separate supplies and common circuits may be used All outputs actually share the same common N ote the requirement for external power l J J J 424 VDC Acad ane HUE men i h ule el l le l l lel lee o6oocoooo0o0e0e90e9e0e S DIG Nc yo y2 c1 vs Y7 vio vti2 c3 vss vi7 Nc co v1 v3 v4 ve c2 yu vis vial vie v OUTPUT OO Output 6 27V 10A 12 24 YOQ 0000000000000 D0 06DD1 D 12 13 14 15 16 17 2 8008000000000000600 XO INPUT 12 24V 3 Direct 06 Koyo co x1 xa 54 xe c2 xu xis xi4 x26 C4 x21 x23 NC xo xe c1 xs xz xio x12 68 x15 x17 x20 xe2 Nc Gee 220999999 DC 9j9j9 9 apap 121819 ojoje 219 219 Supply ol o o 9 l 9 fey N T il j ji I L 14 1 i i aV Internal module circuitry 4y pi 2e V Optical T 24vDC Optical Isolator GUIPUP Isolator co
150. available that will update the output points immediately instead of waiting until the write output segment A complete list of the Immediate instructions is provided in m Normal Run mode scan Y Service Peripherals Y Update Special Relays Chapter 5 7 Theinternal control relays C the stages S and Solve the Application Program the variable memory V are also updated in this Y segment Write Outputs from Specialty I O You may recall that you can force various types of Y points in the system T his was discussed earlier in Diagnostics this chapter If any 1 O points or memory data have V been forced the output image register also contains this information Solve PID Loop Equations TheDL06 CPU can process up to 8 PID loops The loop calculations are run as a separate task from the ladder program execution immediately following it O nly loops which have been configured are calculated and then only according to a built in loop scheduler T he sample time calculation interval of each loop is programmable Please refer to C hapter 8 PID Loop O peration for more on the effects of PID loop calculation on the overall CPU scan time 4 16 DL06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 4 CPU Specifications and O peration IT
151. be changed by using a handheld programmer even when the CPU lE preset Operand Data Type DLO6 Range bbb 1200 7377 7400 7577 10000 17777 1200 7377 Pointers preset only 7400 7577 10000 17777 Constants preset only 0 9999 Timer discrete status bits 0 377 or V41100 41107 Timer current values 0 377 data reference DirectSOFT uses separate references such as T2 for discrete status bit for Timer T2 and NOTE With the HPP both the Timer discrete status bits and current value are accessed with the same TA2 for the current value of Timer T2 You can perform functions when the timer reaches the specified preset using the discrete status bit O r use comparative contacts to perform functions at different time intervals based on onetimer T he examples on the following page show these two methods of programming timers 5 40 DL06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions Timer Counter and Shift Register Instructions e M M M Timer Example Using D iscrete Status Bits In the following example a single input timer is used with a preset of 3 seconds T he timer discrete status bit T 2 will turn on when the timer has timed for 3 seconds T he timer is reset when X1 turns off turning the discrete status bit off and resetting the timer current value to Direct SOFT32 Ti
152. binary value in the accumulator ADDBD with the value Aaaa which is either two consecutive V memory locations or 32 bit unsigned 2 s complement binary constant T he result resides in the accumulator Operand Data Type DLO6 Range aaa See memory map See memory map O FFFF FFFF Description SP63 On when the result of the instruction causes the value in the accumulator to be zero SP66 On when the 16 bit addition instruction results in a carry SP67 On when the 32 bit addition instruction results in a carry SP70 On anytime the value in the accumulator is negative SP73 On when a signed addition or subtraction results in an incorrect sign bit NOTE Status flags are valid only until another instruction uses the same flag In the following example when X1 is on the value in V 1400 and V 1401 will be loaded into the accumulator using the Load D ouble instruction T he binary value in the accumulator is added with the binary value in V 1420 and V 1421 using the Add Binary Double instruction Thevaluein the accumulator is copied to V 1500 and V 1501 using the O ut D ouble instruction DirectS OFT32 Display V1401 V1400 xi o ojojoj o Ajo Load the value in V1400 and Y V1401 into the accumulator ERU SEEMS 0000 0 A 0 1 Accumulator 1 0 0 O C 0 1 0 V1421 and Vi420 ace 7 Jo Jo Te le DT 7 The binary value in the accumulator is added wi
153. bits of the accumulator is output to V 1500 using the O ut instruction LDA Octal Hexadecimal 025 2 5 gt 0 0 15 Load The HEX equivalent to The unused accumulator octal 25 into the lower 16 bits are set to zero bits of the accumulator 0 0 00 0 0 1 5 Acc LDX o LN V1410 HEX Value in 1st Octal stack location Octal Accumulator Stack Move the offset to the stack Load the accumulator with V1 4 1 0 e i1 5 vV i1 413 5 Level 0 00 00 0 1 5 the address to be offset Level2 X X X X X X X X The unused accumulator bits are set to zero Bevel 3 Xe AC Ue RS OUT Level4 X X X X X X X X VIEOD Acc 9 0 0 0 2 8 4 5 Level5 X X X X X X X X The value in V1435 Copy the value in the lower is 2345 leval XX S OE ORC QC S 16 bits of the accumulator Level 7 X X X X X X X X to V1500 2 3 4 5 Level8 X X X XX X X X V1500 Handheld Programmer Keystrokes Ss gt Pa ies sHFT srl a o 2 Mee s LENT sHT aost s ser gt hos Joa Jos Ao ENT Mor gt Prev prev f enev P ent DLO06 Micro PLC User Manual 1st Ed Rev A l 5 61 Chapter 5 Standard RLL Instructions Accumulator Stack Load and O utput D a
154. configure your CPU for the U P counter mode M ode 10 and use point 03 for a high speed interrupt You should read the individual sections for any alternate mode you might choose T here you will find instructions on how to select a high speed interrupt as a secondary feature 3 66 DLO06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 3 H igh speed Input and Pulse O utput Features M H i1 Program Example 1 External Interrupt Thefollowing program selects M ode 40 then selects the external interrupt option for inputs X0 and X1 Inputs X2 and X3 are configured as filtered inputs with a 10 mS time constant The program is otherwise generic and may be adapted to your application Direct SOFT32 SPO Hi LD Mode 40 External Interrupt Filtered Inputs INT Enable K40 OUT V7633 LD K4 OUT V7634 OUT V7635 LD K1006 OUT V7636 OUT V7637 INT INT Main Pi ain Program END O0 Interrupt Routine SP1 Y5 H Ge CIRT O1 Interrupt Routine SP1 Y6 H GED CIRT Load constant K40 into the accumulator This selects Mode 40 as the HSIO mode Output this constant to V7633 the location of the HSIO Mode select register Load the constant K4 which is required to select the external interrupt option XO is the inter
155. data in two tables of equal length Thefollowing description applies to both the Set Bit and Reset Bit table instructions Step 1 Load the length of the tables number of V memory locations into the first level of the accumulator stack T his parameter must be a H EX value 0 to FF Remember that the tables must be of equal length Step 2 Load the starting V memory location for the first table into the accumulator T his parameter must be a H EX value You can use the LDA instruction to convert an octal address to hex Step 3 Insert the Swap instruction T his specifies the starting address of the second table This parameter must be a H EX value You can use the LDA instruction to convert an octal address to hex H elpful hint T he data swap occurs within a single scan If the instruction executes on multiple consecutive scans it will be difficult to know the actual contents of either table at any particular time So renember to swap just on a single scan Operand Data Type DLO6 Range aaa See memory map The example to the right shows a table of v3000 V3100 two words at V 3000 We will swap its contents with another table of two words at swap Ale clo 3100 by using the Swap instruction The required ladder program is given below si 6 7 8 Lo of of o The example program below uses a PD contact triggers for one scan for off to on transition First we load the length of the tables two words into the accumu
156. device H owever a simple limit switch located at an exact location on the positioning mechanism can provide position feedback at one point For most stepper control systems this method is a good and economical solution Load Positioning System Motor Limit Switches CCW limit XO Home limit X1 CW limit X2 Motion ina brna bona bu bi nu dbuuudd Numbering System 3000 2000 1000 0 1000 2000 3000 In the drawing above the load moves left or right depending on the CW CCW direction of motor rotation The PLC ladder program senses the CW and CCW limit switches to stop the motor before the load moves out of bounds and damages the machine T he home limit Switch is used at powerup to establish the actual position T he numbering system is arbitrary depending on a machines engineering units At powerup we do not know whether the load is located to the left or to the right of the home limit switch T herefore we will initiate a home search profile using the registration mode T he home limit switch is wired to X1 causing theinterrupt We choose an arbitrary initial search direction moving in the CW left to right direction f the home limit switch closes first then we stop and initialize the position this value is typically 0 but it may be different if preferred However if the CW limit switch closes first we must reverse the motor and move until the home limit switch closes
157. for an OFF state Print ON for an ON state and 3 ONOFF OFF for an OFF state Example V 2000 15 Prints the status of bit 15 in V 2000 in 1 0 format C100 Prints the status of C 100 in 1 0 format C100 BOO L Prints the status of C 100 in TRU E FALSE format C100 ON OFF Prints the status of C100 in ON OFF format V 2000 15 BOOL Prints the status of bit 15 in V2000 in TRUE FALSE format T he maximum numbers of characters you can print is 128 T he number of characters for each element is listed in the table below Element Type Maximum Characters Text 1 character 16 bit binary 32 bit binary 4 digit BCD 8 digit BCD Floating point real number Floating point real with exponent V memory text Bit 1 0 format Bit TRUE FALSE format Bit ON OFF format The handheld programmer s mnemonic is PRIN T followed by the DEF field Special relay flags SP116 and SP117 indicate the status of the D L06 CPU ports busy or communications error See the appendix on special relays for a description ladder program does not try to PRINT to a port that is still busy from a previous PRINT or WX or NOTE You must use the appropriate special relay in conjunction with the PRINT command to ensure the RX instruction 5 192 DLO06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions Network Instructions Read from Network RX T he Read from
158. format and the Exception Response Buffer o MAX Port Number K2 Slave Address K1 s Eungtion 01 Read Coil Status 7 Start Slave Memory Address K1 Start Master Memory Address C200 Number of Elements G2 r Modbus Data Format 584 984 mode C 484 mode Exception Response Buffer V4010 Port Number must be D L06 Port 2 K2 Slave Address specify a slave station address 0 247 Function Code The following M O D BUS function codes are supported by the M RX instruction 01 Read a group of coils 02 Read a group of inputs 03 Read holding registers 04 Read input registers 07 Read Exception status Start Slave M emory Address specifies the starting slave memory address of the data to be read See the table on the following page Start M aster M emory Address specifies the starting memory address in the master where the data will be placed See the table on the following page Number of Elements specifies how many coils inputs holding registers or input register will be read See the table on the following page MODBUS Data Format specifies M O D BU S 584 984 or 484 data format to be used Exception Response Buffer specifies the master memory address where the Exception Response will be placed Seethe table on the following page DLO06 Micro PLC User Manual Ist Ed Rev A 5 201 Chapter 5 Standard RLL Instructions MODBUS C NAS MRX Slave
159. gt 4 EV suer A D D a F 5 NEXT NEXT NEXT NEXT gt E 4 ENT tr sur F 5 gt 2 1 5 0 gt i 4 ENT 5 106 DL06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions M ath Subtract Formatted SU BF EI Direct SOFT32 Display X6 Handheld Programmer Keystrokes Subtract Formatted isa 32 bit instruction that subtracts the BCD value Aaaa which is a range of discrete bits from the BCD valuein the accumulator T he specified range K bbb can be 1 to 32 consecutive bits T he result resides in the accumulator SUBF Aaaa K bbb Operand Data Type DLO6 Range aaa 0 777 0 777 0 1777 0 1777 0 377 Counter Bits 0 177 Special Relays 0 137 320 717 0 3777 Description On when the result of the instruction causes the value in the accumulator to be zero On when the 16 bit subtraction instruction results in a borrow On when the 32 bit subtraction instruction results in a borrow On any time the value in the accumulator is negative On when a BCD instruction is executed and a NON BCD number was encountered NOTE Status flags are valid only until another instruction uses the same flag In the following example when X6 is on the value formed by discrete locations X0 X3 is loaded into the accumulator using the Load Formatted instruction T he value formed by discrete location C 0 C3 is subtracted from the value in the ac
160. heimage register is not updated And Not Immediate AND NI TheAnd Not Immediate connects two contacts in series T he status of the contact will be opposite the status of the l X aaa associated input point zz the time the instruction is executed xf T he image register is not updated Operand Data Type In the following example when X1 and X2 areon Y5 will energize DirectSOFT32 Handheld Programmer Keystrokes xi x2 Y5 B gt ENT ia e AND SHFT T gt ENT GX F our gt ENT In the following example when X1 is on and X2 is off Y5 will energize DirectSOFT32 Handheld Programmer Keystrokes xi x2 YS gt B ENT arn fan w l C ANDN SHET E 2 ENT Gx F OUT 2 5 ENT DLO0G Micro PLC User Manual Ist Ed Rev A 5 33 Chapter 5 Standard RLL Instructions Immediate Instructions Out Immediate OUTI TheO ut Immediate instruction reflects the status of the rung on off and outputsthe discrete on off status to the specified module output point and the image register at the time the instruction is executed f multiple O ut Immediate instructions referencing the same discrete our point are used it is possible for the module output status to change multiple timesin a CPU scan See Or Out Immediate Or Out Immediate O RO UTI TheOr Out Immediate instruction has be
161. hen the lower byte of H SIO M ode register V 7633 contains a BCD 60 the input filter in the H SIO circuit is enabled Each input X0 through X3 has its own filter time constant T he filter circuit assigns the outputs of the filters as logical references X0 through X3 4 DLO6 Output Circuit PLE YO Y1 Y2 Y17 HSIO VO data CPU ja FILTERS X0 X3 V memory TY T T i B Mode select 7633 I 0060 XO X1 x2 x3 X4 X23 Input Circuit Input Filter Timing Parameters Signal pulses at inputs X0 X3 are filtered by using a delay time In the figure below the input pulse on the top line is longer than the filter time T he resultant logical input to ladder is phase shifted delayed by the filter time on both rising and falling edges In the bottom waveforms the physical input pulse width is smaller than the filter time In this case the logical input to the ladder program remains in the O FF state input pulse was filtered out Filter Time m m Filter Time Physical Input X0 Logical Input XO Time Physical Input XO Logical Input XO DL06 Micro PLC User Manual 1st Ed Rev A 10 02 3 73 Chapter 3 High speed Input and Pulse O utput Features E Setup for Mode 60 Recall that V 7633 isthe H SIO M ode Select register Refer to the diagram below Use BCD 60 in the lower by
162. hese are By specifying the M O D BU S data type and address e By specifying a M O D BU S address only DL06 Micro PLC User Manual 1st Ed Rev A 10 02 l 4 5 1 Chapter 4 CPU Specifications and O peration C mmm NAO If Your H ost Software Requires the D ata Type and Address M any host software packages allow you to specify the M O D BU S data type and the M ODBUS address that corresponds to the PLC memory location T hisis the easiest method but not all packages allow you to do it this way T heactual equation used to calculate the address depends on the type of PLC data you are using T he PLC memory types are split into two categories for this purpose Discrete X SP Y CR S T C contacts Word V Timer current value Counter current value In either case you basically convert the PLC octal addressto decimal and add the appropriate M ODBUS address if required T hetable below shows the exact equation used for each group of data MODBUS Address Range Decimal MODBUS Data Type DLO6 Memory Type QTY Dec PLC Range Octal For Discrete Data Types Convert PLC Addr to Dec Start of Range Data Type Inputs X 512 X0 X777 2048 2559 Input Special Relays SP 512 SPO SP777 3072 3583 Input Outputs Y 512 YO Y777 2048 2559 Coil Control Relays CR 1024 C0 C1777 3072 4095 Coil Timer Contacts T
163. in V2000 into the lower 16 bits of the accumulator OUT V2010 Copy the value in the lower 16 bits of the accumulator to V2010 Handheld Programmer Keystrokes The unused accumulator bits are set to zero 0 0 0 0 8 9 3 5 Acc e i P 1 SHET ANS D 3 E C A A A ENT Dur wa SHEL ahi 2 2 0 ENT DL06 Micro PLC User Manual 1st Ed Rev A 5 57 Chapter 5 Standard RLL Instructions Accumulator Stack Load and O utput D ata ee I III Load D ouble LDD The Load D ouble instruction is a 32 bit instruction that loads LDD the value Aaaa which is either two consecutive V memory Aaaa locations or an 8 digit constant value into the accumulator Operand Data Type DLO6 Range aaa See memory map See memory map O FFFF Description on when the pointer is outside of the available range On anytime the value in the accumulator is negative On when any instruction loads a value of zero into the accumulator NOTE Two consecutive Load instructions will place the value of the first load instruction onto the accumulator stack In the following example when X1 ison the 32 bit valuein V 2000 and V 2001 will be loaded into the accumulator and output to V 2010 and V 2011 Direct SOFT32 r LDD V2001 V2000 1 v2000 6 7 3 9
164. in either direction so they can be wired as either sourcing or sinking In the following circuit a field device has an open collector N PN transistor output It sinks current from the PLC input point which sources current T he power supply can be the included auxiliary 24 V DC power supply or another supply 12 VDC or 24VDC aslong as the input specifications are met rte Device PLC DC Input Output Input r i sinking sourcing jl ha Supply GP 4 4 Ground i Common 1 B Ul NEL J EEE 4 In the next circuit a field device has an open emitter PN P transistor output It sources current to the PLC input point which sinks the current back to ground Sincethe field device is sourcing current no additional power supply is required between the device and the PLC DC Input Field Device a a PLC DC Input _ A Input E I l sinking i i Output sourcing Em A Ground Common 1 post recess iut l Solid State O utput Loads Sometimes an application requires connecting a PLC output point to a solid state input on a device T his type of connection is usually made to carry a low level signal not to send DC power to an actuator TheDL06 PLC family offers D C outputs that are sinking only or D C outputs that are sourcing All sixteen outputs have the same electrical common even though there are four common terminal screws
165. in the accumulator is ored with 36476A38 using the O r D ouble instruction T he valuein the accumulator is output to V 2010 and V 2011 using the O ut D ouble instruction Direct SOFT32 xi v2001 V2000 Hn 5 4 7 e 2 s z Fd V2000 C Load the value in V2000 and m a N Em oe d im sec V2001 into accumulator 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 O c 0 1 0 1 0 1 0 0 0 1 1 1 1 1 1 0 0 0 1 0 1 0 0 0 0 1 1 1 1 0 1 O ORD K36476A38 Ac 0 10101 0007717131310 00101 000008111101 0 OR the value in the accumulator with OR 36476A38_ 0 01 10 11001700017 11 011210101000111 000 the constant value 36476A38 Acc 0 1 1 1 0 1 1 0 0 1 1 1 1 1 11 0 1 1 0 1 0 1 0 0 1 1 1 1 0 1 0 mum bo PM d ilu N r4 m d V2010 a a 6 A 7 A Copy the value in the AAAS accumulator to V2010 and v2011 v2010 V2011 Handheld Programmer Keystrokes B STR 1 EN E D D E A A A SHET f Anpsr 3 3 gt 2 0 0 0 m Q D K D G E H G A D I OR SHFT 3 SHFT JMP 3 6 4 7 6 SHFT 0 SHFT 3 8 ENT GX D C A B A our J 7 3 gt 2 0 1 0 ENT
166. in the subroutine will be executed If X35 is on the CPU will return to the main program at the RTC instruction If X35 is not on Y0 Y17 will be reset to off and then the CPU will return to the main body of the program Direct SOFT32 Display xi K3 GTs zag co LD K10 c END SBR K3 N X20 Y5 T oum X21 Y10 N f OUTI X35 ap RTC X35 Yo Yi7 Lr RSTI L o e oa Handheld Programmer Keystrokes B STR Ei 1 ENT G T s D SHIT 6 MLR RST za 3 ENT E N D SHFT n TUE 3 ENT s B R D SHFT psr SHET i ORN gt 5 ENT A str SHET 8 gt n 0 ENT GX I F out SHFT gt 5 ENT l s B str SHET 7 gt 7 i ENT GX I B A Our SHFT gt 0 ENT D F srr SHET 3 gt 3 5 ENT R T e SHIT orn mir 2 EN SP I D F STRN SHFT gt 3 ENT S I A B H rsr SHET 8 gt gt ENT R T ENT SHFT orn MLR DLO06 Micro PLC User Manual 1st Ed Rev A 5 179 Chapter 5 Standard RLL Instructions Program Control Instructions In the following example when X1 ison Subroutine K 3 will be called The CPU will jump to the Subroutine Label K 3 and the ladder logic in the subroutine will be executed T he CPU will return to the main body of the program after the RT instruction is executed Di
167. instruction will use to begin byte swapping e Number of Bytes specifies the number of bytes beginning with the Starting Address to byte swap Parameter DLO6 Range Starting Address All V memory Number of Bytes All V memory or K1 128 Byte Swap No Byte Swapping Preferences AIN AEX PRINTV VPRINT AJBJ CIDIE Byte Swap All A B O g m w gt oO Q m Byte Swap All but Null A BI CIDIE BADCE 5 227 DLO06 Micro PLC User Manual Ist Ed Rev A iy ox SWAPB StatingAddress V29500 Number of Bytes m Byte Swap c Byte High Low v2000 0005h V2001 B A V2002 D C V2003 XX E Byte High Low V2000 0005h V2001 A B v2002 C D V2003 E XX Byte High Low V2000 0005h V2001 A B v2002 C D V2003 xx E Chapter 5 Standard RLL Instructions ASCII SWAPB Example TheAIN Complete bit is used to trigger the SWAPB instruction U se a one shot so the SWAPB only executes once AIN complete SWAPB C1 2 3 Starting Address V2001 Number of Bytes K32 Byte Swap All ASCII Clear Buffer ACRB TheASCII Clear Buffer instruction will clear the ASCII receive buffer of the specified communications port number Port N umber must be D L06 port 2 K 2 ARSE
168. instructions in your ladder program DirectSOFT 32 s memory editor e UsetheH andheld Programmer D 2 H PP We recommend using the first method above so that the H SIO setup becomes an integral part of your application program An example program later in this section shows how to do this Memory Location V3630 default Bis 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 0 0 0 0 1 1 1 0 0 0 0 0 0 0 0 0 7 0 0 ____ _ _ __ Profile Select BCD Target Velocity Value 4 to 7 C to F Automatic Trapezoidal Profile Range 0 4 to 999 representing 0 1 8 9 Step Trapezoidal Profile 40 Hz to 10 kHz pulse rate 2 Velocity Profile 3 42 DL06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 3 H igh speed Input and Pulse O utput Features i Profile Velocity Select Register The first location in the Profile Parameter Table stores two key pieces of information T he upper four bits 12 15 select the type of profile required T he lower 12 bits 0 11 select the Target Velocity The ladder program must program this location before initiating any of the three profiles TheLD and OUT instruction will write all 16 bits so be sure to fully specify the full four digit BCD value for the Profile Velocity Select Register each time The absolute and relative selection determines how theH SIO circuit will interpret your specified target position Absolute position targets are refer
169. is either MULB aV memory location or a 16 bit unsigned 2 s complement Aaaa binary constant by thel6 bit binary value in the accumulator T he result can be up to 32 bits and resides in the accumulator Operand Data Type DLO6 Range aaa See memory map See memory map 0 FFFF Discrete Bit Flags Description SP63 On when the result of the instruction causes the value in the accumulator to be zero SP70 On anytime the value in the accumulator is negative NOTE Status flags are valid only until another instruction uses the same flag In the following example when X1 is on the value in V 1400 will be loaded into the accumulator using the Load instruction T he binary value in V 1420 is multiplied by the binary value in the accumulator using the M ultiply Binary instruction T he value in the accumulator is copied to V 1500 using the O ut instruction DirectS OFT32 Display V1400 io o Load the value in V1400 into the lower 16 bits of the accumulator The unused accumulator bits are set to zero 0000 0 A O 1 Accumulator xX 0 02 E V1420 The binary value in V1420 is ne gogg BEBE multiplied by the binary value in the accumulator Lelli V1501 V1500 Copy the value in the lower 16 bits of the accumulator to V1500 and V1501 Handheld Programmer Keystrokes L 2 Eg 1L JD EA ov se ILS De dE Ibs De E Ibe DLO06 Micro PLC User Manual 1st Ed Rev A 5 103 Chapter
170. loaded into the accumulator using the Load instruction T he value in the accumulator is anded with the value in V2006 using the And instruction T he value in the lower 16 bits of the accumulator is output to V 2010 using the O ut instruction Direct SOFT32 Kt LD V2000 e v2000 2 8 7 Load the value in V2000 into The upper 16 bits of the accumulator a Z x ee the lower 16 bits of the will be set to 0 accumulator oo s D a ES e N o 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 Acc 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 o o o o AND V2006 Ac 0000000000000000 9001010000111 10 1 0 AND the value in the 6A38 accumulator with AND V2006 9000000000000000 0110101000111000 the value in V2006 Acc 0 0 010 0 0 0 0 0 00 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 1 17 1 0 OF O on Rc Ww n Copy the lower 16 bits of the accumulator to V2010 V2010 Handheld Programmer Keystrokes Sera 3 I 1 ENT SAET ANDST P 3 gt e 2 E 0 i 0 0 ENT VAND gt _ HFT AND E 2 0 i 0 6 ENT Our gt _ HFT VAND i 2 B 0 2 1 0 ENE DL06 Micro PL
171. mS filter time constant Output this constant to V7635 configuring X1 Load the constant K5006 which is required to select filtered inputs with a 50 mS filter time constant Output this constant to V7636 configuring X2 Load the constant K5006 which is required to select filtered inputs with a 70 mS filter time constant Output this constant to V7637 configuring X3 Insert Main Program rungs here for your application END coil marks the end of the main program DL06 Micro PLC User Manual 1st Ed Rev A 10 02 l 3 75 CPU SPECIFICATIONS AND OPERATION In This Chapter rit FO CB IC LORI uu acce EROGO On ACER ERROR ER Co e d 4 2 CPU Specifications quia nubi ee ede de ob AER e Cel 9 oo 4 3 CPU Hardware Setup 1s vex RER ER RR REX REOR 4 4 Using Battery Backup see errore anrik GRECI ae oboe 4 8 CPU Operation 2 lt vickin xo exa iresi sied FR HEU ES RENES 4 12 O Response TIME 4 sescent ace ond thea UE ied RU e 4 17 CPU Scan Time Considerations 25 5 sso Res 4 20 Memory MaDe do hot ny Eoo E eden Sob P CR Ea d 4 25 DLOG System V memory ec eo hr RREEREEREIES RE E 4 29 Control Relay Bit Map oaa or dea b node bae P deno rte PAs 4 35 Timer Status Bit Map 4 es 208492039422 sieReedddeesdecees 4 37 Counter Status BI MB oue o a doo e Eee ue ee seats 4 37 Remote I O Bit Map secos x kac xx ERE TERR ss 4 38 Module Placement lt rss racks ore det o aub Ree raid eo ace i en 4 42 Power BUCQEUNG i cssrcsc riseire iiaea
172. modify and debug your application program A separate manual discusses the H andheld Programmer O nly D 2 H PPs with firmware version 2 2 or later will program the DL O6 1 0 Quick Selection Guide The eight versions of the D L06 have input output circuits which can interface to a wide variety of field devices In several instances a particular input or output circuit can interface to either DC or AC voltages or both sinking and sourcing circuit arrangements C heck this guide to find the proper D L06 M icro PLC to interfaceto the field devices in your application DLO6 Part Number INPUTS 1 0 Selection Guide OUTPUTS 1 0 type commons Sink Source Voltage Ranges 1 0 type commons Sink Source Voltage Current Ratings D0 06AA AC 5 90 120 VAC AC 4 17 240 VAC 47 63 Hz 0 5A D0 06AR AC 5 90 120 VAC Relay 4 Sink or Source 6 27VDC 2A 6 240 VAC 2A D0 06DA DC 5 Sink or Source 12 24 VDC AC 4 17 240 VAC 47 63 Hz 0 5A D0 06DD1 DC 5 Sink or Source 12 24 VDC DC 4 Sink 6 27 VDC 0 5A VM 6 27 VDO 1 0A Y2 Y17 D0 06DD2 DC 5 Sink or Source 12 24 VDC DC 4 Source 6 27 VDC 0 5A VR 6 27 VDC 1 0A Y2 Y17 D0 06DR DC 5 Sink or Source 12 24 VDC Relay 4 Sink or Source 6 27VDC 2A 6 240 VAC 2A D0 06DD1 D DC 5 Sink or Source 12 24
173. no way to determine which mode will be entered as the startup mode Failure to adhere to this warning greatly increases the risk of unexpected equipment startup DL06 Micro PLC User Manual 1st Ed Rev A 10 02 l 4 7 Chapter 4 CPU Specifications and O peration Using Battery Backup An optional lithium battery is available to maintain the system RAM retentive memory when the DL06 system is without external power Typical CPU battery life is five years which includes PLC runtime and normal shutdown periods H owever consider installing a fresh battery if your battery has not been changed recently and the system will be shut down for a period of morethan ten days You can do this by using DirectSOFT32 to save the program V memory and system parameters to renner NOTE Before installing or replacing your CPU battery back up your V memory and system parameters hard floppy disk on a personal computer To install the D 2 BAT 1 CPU battery in the DL06 CPU 1 Press the retaining clip on the battery door down and swing the battery door open 2 Place the battery into the coin type slot 3 Close the battery door making sure that it locks securely in place 4 M ake anote of the date the battery was installed Battery door WARNING Do not attempt to recharge the battery or dispose of an old battery by fire The battery may explode or release hazardous materials Enabling the Battery Backup Setting bit 12 in V7633 ON enables the ba
174. of the instruction In the following example when X1 is off Y2 will energize T his is because the N ot instruction inverts the status of the rung at the N ot instruction DirectSOFT32 Handheld Programmer Keystrokes x1 Y2 gt 18 ENT STR EO our e F SHFT Tun insta J mer ENT GX C ow 2 J EN NOTE DirectSOFT Release 1 1i and later supports the use of the NOT instruction The above example rung is merely intended to show the visual representation of the NOT instruction The rung cannot be created or displayed in DirectSOFT versions earlier than 1 1i Positive D ifferential PD The Positive D ifferential instruction is typically Aaaa known as a one shot W hen the input logic PD produces an off to on transition the output will energize for one CPU scan Operand Data Type DLO6 Range In the following example every time X1 makes an off to on transition CO will energize for one scan DirectSOFT32 Handheld Programmer Keystrokes x1 co B STR Ed 1 ENT d km SHFT P surr P gt CV 3 0 DL06 Micro PLC User Manual 1st Ed Rev A 5 19 Chapter 5 Standard RLL Instructions Boolean Instructions Store Positive D ifferential STRPD The Store Positive D ifferential instruction begins a new rung or an additional branch in a rung with a Aaaa contact T he contact doses for
175. on the D L06 has standard RS232 leves and should work with most printer serial input connections Text element thisis used for printing character strings T he character strings are defined as the character more than 0 ranged by the double quotation marks Two hex numbers preceded by the dollar sign means an 8 bit ASCII character code Also two characters preceded by the dollar sign is interpreted according to the following table Character code Description 1 Dollar sign 2 Double quotation 3 L or I Line feed LF 4 N or n Carriage return line feed CRLF 5 P or p Form feed 6 R or r Carriage return CR 7 T or t Tab Thefollowing examples show various syntax conventions and the length of the output to the printer Example Length 0 without character A Length 1 with character A Length 1 with blank Length 1 with double quotation mark R L Length 2 with one CR and one LF 0D 0A Length 2 with oneCR and one LF Length 1 with one mark In printing an ordinary line of text you will need to include double quotation marks before and after thetext string Error code 499 will occur in the CPU when the print instruction contains invalid text or no quotations It is important to test your PRINT instruction data during the application development The following example prints the message to port 2 We usea PD contact which causes the message ins
176. one CPU scan when the state of the associated image register point makes d an Off to On transition T hereafter the contact remains open until the next O ff to O n transition the symbol insidethe contact represents the transition Thisfunction is sometimes called a one shot Store Negative D ifferential STRND TheStore N egative D ifferential instruction begins a new rung or an additional branch in a rung with a contact T he contact closes for one CPU scan when T the state of the associated image register point makes an O n to O ff transition T hereafter the contact L I remains open until the next O n to O ff transition the symbol inside the contact represents the transition Operand Data Type DLO6 Range In the following example each time X1 is makes an O ff to O n transition Y 4 will energize for one scan DirectSOFT32 Handheld Programmer Keystrokes P D B P Y4 str SHFT ov 3 x 1 ENT T out ax J eu gt a ENT In the following example each time X1 is makes an O n to O ff transition Y4 will energize for one scan DirectSOFT32 Handheld Programmer Keystrokes N D B A Y4 str SHFT mun 4 gt 1 ENT i out GX E E ea gt 4 ENT 5 20 DL06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions Boolean Inst
177. one green LED E a P 4 2 isolated 4 points common m x 5 N A m 2 Max 280 mA c P 7 Base power required 5V all points ON PES Note The DLO6 must have firmware version V4 10 or later for this module to function properly Equivalent output circuit Derating chart Ip e SERE Points OUTPUT 9 1A 8 T T to LED 6 4 2 t P 0 6 27 VDC SSS SSS ios 0 10 20 30 40 50 55 C 6 240VAC 32 50 68 86 104 122 131 F Ambient Temperature DL06 Micro PLC User Manual 1st Ed Rev A 10 02 2 49 Chapter 2 Installation Wiring and Specifications esse D0 08CDD1 4 point D C input and 4 point relay output module Input Specifications Output Specifications Inputs per module 4 sink source Outputs per module 4 sinking Operating voltage range 10 8 26 4 VDC Operating voltage range 6 27 VDC Input voltage range 12 24 VDC Output voltage range 5 30 VDC Peak voltage 30 0 VDC Peak voltage 50 0 VDC Maximum input current 11 mA 26 4 VDC Maximum output current 0 3 A point 1 2 A common Typical Minimum outpu current 0 5 mA Fire Lr Maximum leakage current 1 5 pA 30 0 VDC aK EDIE ON voltage drop 0 5 VDC 0 3A Maximum inrush current 1A for 10 ms daa ON to OFF response lt 60 ms is SEDE OFF to ON response 10 ms pest oie A 23 mA Status indicators Module acitivity one green LED Commons 2 non isolated 4 points common ON to OFF response 2 8 ms typical 4 ms EISE N A OFF to ON response 2 8 ms t
178. or DC voltages iia SI z d J J acoc Output Point Wiring dg um un amp elee eeeeeseee AIII kc EET T ul i a VIDHERDRDBDEL OUTPUT 6 240V 50 60Hz 2 0A 6 27V 2 0A PWR 100 240V 50 60Hz 40VA vV9099000909969006 DO06DR xo60000000000000000000 INPUT 12 24V 3 15mA oio E Koyo co x1 X3 X4 Xe C2 Xt1 X13 X14 X16 C4 X21 X23 N C xo x2 ci xs xz xto xi2 c3 x15 x17 x20 x22 TNC 20A vov 969eeeoooooooocoeo EDT eleleeeieeejieeeJeje 50 T m 10 20 30 40 50 50 C os ie i ne FOE ER EH E sjale Input Point Wiring Ambient Temperature C F T I l Derating Chart for Relay Outputs Equivalent Output Circuit Equivalent Circuit High speed Equivalent Circuit Standard Inputs X0 X3 Inputs X4 X23 Internal module circuitry V Optica AN V V L 1 ptica Isolator Optical i Ll Output G x To LED joput I Isolator iy rO To LED o zi T x Common To LED C
179. outputs a 1 32 OUTIF bit binary value from the accumulator to specified output K bbb points az the time the instruction is executed Accumulator bits that are not used by the instruction are set to zero Y aaa Operand Data Type DLO6 Range In the following example when CO is on the binary pattern for X10 X17 is loaded into the accumulator using the Load Immediate Formatted instruction The binary pattern in the accumulator is written to Y30 Y 37 using the O ut Immediate Formatted instruction T his technique is useful to quickly copy an input pattern to outputs without waiting for the CPU scan DirectSOFT32 co Location Constant X17 X16 X15 X14 X13 X12 xt1 x10 x10 ON oFF ON ON OFF ON OFF ON Load the value of 8 Unused accumulator bits consecutive locations into the are set to zero accumulator starting with X10 n 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 1312 1 10 9876543210 Acc O O O OF O OF O OF OF OF OF O OF OF OF OF OF OF OF OF O OF OF OF 1 OF 1 1 OF 170 1 Sopy m a in us lower Location Constant Y37 Y36 Y35 Y34 Y33 Y32 Y31 Y30 its of the accumulator to Y30 Y37 vao or on on ore on oer on Handheld Programmer Keystrokes m gt NEXT NEXT NEXT NEXT R 0 ENT ST perl 3 8 s gt o L2 s 8V OUT SHFT
180. parallel with another contact The contact will be on when Vaaa Bbbb Or If Not Equal ORNE The Or If Not Equal instruction connects a normally closed comparative contact in parallel with another contact T he contact will be on when Vaaa does not Vaaa Bbbb equal Bbbb V aaa B bbb Operand Data Type DLO6 Range aaa bbb See memory map See memory map See memory map See memory map 0 9999 In the following example when the value in V memory location V 2000 24500 or V2002 2500 Y3 will energize DirectSOFT32 Handheld Programmer Keystrokes V2000 K4500 Ya SS suet E gt 2 B 0 d 0 a 0 gt OUT E g F A o A g ENT V2002 K2345 m suet E gt le A o A a c gt z C gt D E F ENT Out 3 ENT In the following example when the value in V memory location V 2000 3916 or V 2002 050 Y3 will energize DirectSOFT32 Handheld Programmer Keystrokes E C A A A V2000 K3916 Ya erm SHFT gt 3 0 s gt OUT D J B G a e ENT R E C A A C V2002 K2500 orn SHFT gt 2 0 2 gt Z C F A A ENT 2 5 0 0 GX D OUT 3 ENT DL06 Micro PLC User Manual 1st Ed Rev A 5 27 Chapter 5 Standard RLL Instructions Comparative Boolean
181. port 2 2 Print to V memory VPRINT Usethis instruction to create pre coded ASCII strings in the PLC i e alarm messages W hen the instruction s permissive bit is enabled the message is loaded into a pre defined V memory address location T hen the PRINTV instruction may be used to write the pre coded ASCII string out of port 2 American European and Asian Time D ate stamps are supported Additionally if aD L06 PLC isa master on a network the N etwork Write instruction W X can be used to write embedded ASCII data to an H M I or slave device directly from V memory via a supported communications protocol using port 2 DL06 Micro PLC User Manual 1st Ed Rev A 5 207 Chapter 5 Standard RLL Instructions ASCII a r a Managing the ASCII Strings Thefollowing instructions can be helpful in managing the ASCII strings within the CPUs V memory e ASCII Find AFIN D Finds where a specific portion of the ASCII string is located in continuous V memory addresses Forward and reverse searches are supported e ASCII Extract AEX Extracts a specific portion usually some data value from the ASCII find location or other known ASCII data location Compare V memory CM PV Thisinstruction is used to compare two blocks of V memory addresses and is usually used to detect a change in an ASCII string Compared data types must be of the same format i e BCD ASCII amp c Swap Bytes SWAPB usually used to swap
182. s SP1 always enables the counter The preload input in the middle is off unused in this example The third rung s Reset input is normally off because we will use the external reset You can optionally reset the counter value on each powerup using the SPO contact Input X3 energizes when the groove has finished cutting So we retract the cutter head Turn lead screw on again after cutter head has retracted END coil marks the end of the main program The INT label marks the beginning of the interrupt service routine program Inside the interrupt service routine we turn OFF the lead screw motor immediately These special equal relays turn on individually as the corresponding preset is reached In this application each results in the cutting of a groove Y1 so they are logically ORed together Input X2 will be energized inside the interrupt routine if X2 external interrupt was the source Return from the interrupt service routine DL06 Micro PLC User Manual 1st Ed Rev A 10 02 l 3 19 Chapter 3 High speed Input and Pulse O utput Features ELLA Some applications will require a different type of action at each preset It is possiblefor the interrupt routineto distinguish one preset event from another by turning on a unique output for each equal relay contact SPxxx We can determine the source of the interrupt by examining the equal relay contacts individually as well as X2 T he X2 contact will beon inside
183. s o s s V2010 V2010 Out Double OUTD TheO ut Doubleinstruction is a 32 bit instruction that OUTD copies the value in the accumulator to two consecutive V Aaaa memory locations at a specified starting location Aaaa Operand Data Type DLO6 Range aaa See memory map See memory map Discrete Bit Flags Description SP53 On if CPU cannot solve the logic In thefollowing example when X1 ison the 32 bit valuein V 2000 and V 2001 will be loaded into the accumulator using the Load D ouble instruction T he value in the accumulator is output to V 2010 and V 2011 using the O ut Double instruction Direct SOFT32 v2001 v2000 Handheld Programmer Keystrokes e z s 9ls Jo e 5 xi T LDD ste gt 1 ENT 1 v2000 SHT Anosr 5 3 gt Load the value in V2000 and 7 V2001 into the accumulator Acc 0 7 3 9 0 2 6 c A A A ENT SS d 2 0 0 0 OUTD x V2010 J i Our SHFT 3 gt Copy the value in the 7 3 9 5 jo 2 j6 c A B A ENT accumulator to V2010 and V20li V2010 2 0 1 0 v2011 5 64 DLO06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions Accumulator Stack Load and O utput D ata E 140 Out Formatted OUTF The Out Formatted instruction outputs 1 32 bits from the accumulator to the specified discrete memory
184. similar to the one above for the O RM OV Just use the XO RM OV instruction On the handheld programmer you must usethe SH FT key and spell XORM OV explicitly DL06 Micro PLC User Manual 1st Ed Rev A 5 168 ipi E 1 1 1 DirectSOFT 32 X0 V3000 Load the constant value 2 Hex into the lower 16 bits of the accumulator Convert otal 3000 to HEX and load the value into the accumulator This is the table beginning Load the constant value 6666 Hex into the lower 16 bits of the accumulator Copy the table to V3100 ANDing its contents with the accumulator as it is written V3100 ORMOV o o 9 K8888 919 9 9 Load the constant value 2 Hex into the lower 16 bits of the accumulator Convert octal 3000 to HEX and load the value into the accumulator This is the table beginning Load the constant value 8888 Hex into the lower 16 bits of the accumulator Copy the table to V3100 ORing its contents with the accumulator as it is written V3100 K3333 2 2 2 2 Chapter 5 Standard RLL Instructions Table Instructions Find Block FINDB TheFind Block instruction searches for an occurrence of a specified block of values in a V memory table T he function parameters are loaded into the first and second levels of the FINDB accumulator stack and the accumulator by three additional Aaaa instructions If the block is found it
185. supports the M O D BU S function codes described below MODBUS Function Code Function DLOG Data Types Available Read a group of coils Y CR T CT Read a group of inputs X SP Set Reset a single coil slave only Y CR T CT Set Reset a group of coils Y CR T CT Read a value from one or more registers Write a value into a single register slave only Read Exception Status Diagnostics Write a value into a group of registers 4 60 DLO06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 4 CPU Specifications and O peration H MODBUS Port Configuration In DirectSO FT 32 choose the PLC menu then Setup then Secondary Comm Port e Port From the port number list box at the top choose Port 2 e Protocol Click the check box to the left of M O D BU S use AU X 56 on the H PP and select M BU S and then you ll see the dialog box below setup communication Ports Port Port 2 h Core Protocol K Sequence DirectNET is in v MODBUS Hel Non Sequence Remote 1 0 Time out 800 ms ha RTS on delay time 0 ms m RTS off delay time 0 ms hd Station Number 1 E Baud rate 38400 Echo Suppression C RS 422 485 4 wire Stop bits 1 Y RS 232C 2 wire Parity Odd RS 485 2 wire Port 2 15 Pin Timeout Amount of time the port will wait after it sends a message to get a response before loggi
186. the 8 digit number in V1400 and V1401 Move the result in the accumulator to V1402 and V1403 using the OUTD instruction 123 4 5 6 7 8 Accumulator V1401 V1400 Accumulator Ss gt a ENT SHFT I Sanar 3 og Prev sher 9 suet IS lE suet E ENT SHFT 8 i c 5 Lr 3 ENT Sur T a gt a Ea J o s et SHFT ber a gt pprev C ENT sHFT nsr isa anosrl 3 gt Pa Ea Wo o JV Sur ST a gt Ps Ea o Se T DL06 Micro PLC User Manual 1st Ed Rev A 5 93 Chapter 5 Standard RLL Instructions M ath E Multiply Real MULR The Multiply Real instruction multiplies a real number in the MULR accumulator with either a real constant or a real number occupying two consecutive V memory locations T he result resides in the accumulator Both numbers must conform to the IEEE floating point format Operand Data Type DLO6 Range aaa See memory map See memory map 3 402823E 038 to 3 402823E 038 Description On when the result of the instruction causes the value in the accumulator to be zero On anytime the value in the accumulator is negative On anytime the V memory specified by a pointer P is not valid On anytime the value in the accumulator is an inva
187. the accumulator using the Load D ouble instruction CO should be a contact from a one shot PD instruction The value in the accumulator is output to V 2000 using the O ut D ouble instruction T he D ate instruction uses the value in V 2000 to set the date in the CPU V Memory Location BCD READ Only 0 99 V7774 1 12 V7773 1 31 V7772 0 06 V7771 The values entered for the day of week are 0 Sunday 1 Monday 2 Tuesday 3 Wednesday 4 Thursday 5 Friday 6 Saturday Operand Data Type DLO6 Range aaa See memory map DirectSOFT 32 Constant K co 9 44 0 11 In this example the Date Lb instruction uses the value set in Loadithe constant A 8 4 o Eo Do To 1 V2000 and V2001 to set the date ael pene in the appropriate V memory Hcc locations V7771 V7774 Acc 9 4 0 1 0 3 0 1 A NS ae Copy the value i the accumulator to TTP Jods To D V2000 and V2001 V2001 V2000 Format V2001 V2000 e SRT 9 j Jo 1 flo fo 1 using the value in V2000 and 2001 Handheld Programmer Keystrokes L A Year Month Day Day of Week STR NEXT NEXT NEXT NEXT 0 ENT L D D J E A B SHFT DsT 3 3 PREV 4 ENT A D A B 0 3 0 1 ENT GX D c A A A our SHFT 3 eA 2 0 0 0 ENT D A T E c A A A SHFT 3 0 MLR 4 gt 2 0 0 0 ENT DL06 Micro PLC User Man
188. the CPU over the CPU bus on the backplane T his data is more than standard I O point status T his type of communications can only occur on the CPU local base T hereisa portion of the execution cycle used to communicate with these modules The CPU performs both read and write requests during this segment Update Clock Special Relays and Special Registers TheDL06 CPUshavean internal real time clock and calendar timer which is accessible to the application program Special V memory locations hold this information T his portion of the execution cycle makes sure these locations get updated on every scan Also there are several different Special Relays such as diagnostic relays etc that are also updated during this segment DL06 Micro PLC User Manual 1st Ed Rev A 10 02 l E 15 Chapter 4 CPU Specifications and O peration CER Solve Application Program TheCPU evaluates each instruction in the application program during this segment of the scan sexro ccr ums cycle T he instructions define the relationship ababogrccoereocessts between the input conditions and the desired output s 5 E response T he CPU usesthe output image register i area to storethe status of the desired action for the outputs O utput image register locations are designated with a Y followed by a memory location Theactual outputs are updated during the write outputs segment of the scan cycle T here are Read Inputs trem Specialty VO immediate output instructions
189. the End statement in the program W hen the subroutine is called from the main program the CPU will execute the subroutine SBR with the same constant number K asthe GTS instruction which called the subroutine By placing codein a subroutineit is only scanned and executed when needed since it resides after the End instruction Code which is not scanned does not impact the overall scan time of the program Subroutine Retum RT Operand Data Type DLO6 Range W hen a Subroutine Return is executed in the subroutine the CPU will return to the point in the main body of the program a from which it was called T he Subroutine Return is used as termination of the subroutine which must be the last instruction in the subroutine and is a stand alone instruction no input contact on the rung Subroutine Retum Conditional RTC The Subroutine Return Conditional instruction is a optional ex RIC instruction used with a input contact to implement a conditional return from the subroutine T he Subroutine R eturn RT is still required for termination of the Subroutine 5 178 DLO06 Micro PLC User Manual Ist Ed Rev A Chapter 5 Standard RLL Instructions Program Control Instructions EM u In the following example when X1 is on Subroutine K 3 will be called The CPU will jump to the Subroutine Label K3 and the ladder logic
190. the pane layout guidelines other specifications can affect the installation of a PLC system Always consider the following Environmental Specifications Power Requirements Agency Approvals Enclosure Selection and Component D imensions Unit Dimensions The following diagram shows the outside dimensions and mounting hole locations for all versions of the D L06 M ake sure you follow the installation guidelinesto allow proper spacing from other components 2 68 9 09 68mm gt DIN Rail o3 231mm ail peram 831 359 211mm 65mm O D ry GOs ov vo v2 Lor vs v7 vo viz es vis Iv Ace Jaceny 2ev co vi vs va ve cz vii via vis vie NG Es OUTPUT 6 240V 50 60Hz 20A 6 27V c 20A PWR 100 240V 50 60Hz 40VA D ceu 0000000000000 D0 06DR Eno Q 1 2 3 4 8 6 7 10 1 12 13 14 18 16 17 20 21 22 23 ERA xeooooooo09o000000000090 D Re INPUT 12 24V 3 15mA 7 5 00 2 127mm Iuno Direct 4 61 TRR 06 mmm 117mm K
191. the scan overrun occurs You can use AU X 53 to view the minimum maximum and current scan time U se AU X 55 to increase or decrease the watchdog timer value 1 0 Response Time IsTiming Important for Your Application O response time is the amount of time required for the control system to sense a change in an input point and update a corresponding output point In the majority of applications the CPU performs this task in such a short period of time that you may never have to concern yourself with the aspects of system timing H owever some applications do require extremely fast update times In these cases you may need to know how to to determine the amount of time spent during the various segments of operation T here are four things that can affect the1 O response time T he point in the scan cycle when the field input changes states e Input Off to On delay time CPU scan time Output O ff to On delay time Thenext paragraphs show how these items interact to affect the response time DL06 Micro PLC User Manual 1st Ed Rev A 10 02 l 4 17 Chapter 4 CPU Specifications and O peration C M Normal Minimum I O Response Thel O response time is shortest when the input changes just before the R ead Inputs portion of the execution cycle In this casethe input status is read the application program is solved and the output point gets updated T he following diagram shows an example of the timing for this situation Scan
192. the trig function All transcendental functions utilize the following flag bits Discrete Bit Flags Description On when the value of the operand is larger than the accumulator can work with On when the result of the instruction causes the value in the accumulator to be zero On anytime the value in the accumulator is negative On anytime the value in the accumulator is a valid floating point number On anytime the value in the accumulator is negative On when a real number instruction is executed and a non real number was encountered Sine Real SINR The Sine Real instruction takes the sine of the real number stored in the accumulator T he result resides in the accumulator Both the original number and the result are in IEEE 32 bit format Cosine Real COSR SINR The Cosine Real instruction takes the cosine of the real number stored in the accumulator T he result resides in the accumulator Both the original number and the result arein IEEE 32 bit format Tangent Real TANR COSR TheTangent Real instruction takes the tangent of the real number stored in the accumulator T he result resides in the accumulator Both the original number and the result arein IEEE 32 bit format Arc Sine Real ASINR SINR TheArc SineReal instruction takes the inverse sine of the real number stored in the accumulator T he result resides in the accumulator Both the original number and the result arein IEEE 32 bit format ASINR
193. the value formed by discrete location C0 C3 using the Divide Formatted instruction T he valuein the lower four bits of the accumulator is copied to Y10 Y 13 using the O ut Formatted instruction Direct SOFT32 Display LDF K4 DIVF K4 xo co Load the value represented by discrete locations X0 X3 into the accumulator Divide the value in the accumulator with the value represented by discrete X3 X2 X1 Xo ON OFF OFF OFF Si The unused accumulator bits are set to zero Y 0000 000 8 Accumulator c3 c2 cr co 2 C0 C3 orlom onlo location 60 65 Acc o Jo o o o e e 4 ofofo oJ e oTe o K4 locations Y10 Y13 ee Handheld Programmer Keystrokes Y13 Y12 Y11 Y10 OFF ON OFF OFF Som gt Se ev SHFT lI Anpst 3 s gt e gt E sur P P a Nano IP s o Next next Next next 5 ent SX o SHET E i gt B gt ENT DL06 Micro PLC User Manual 1st Ed Rev A 5 109 Chapter 5 Standard RLL Instructions M ath Add Top of Stack AD D S Add Top of Stack isa 32 bit instruction that adds the BCD value in the accumulator with the BCD valuein the first level ADDS of the accumulator stack T he result resides in the accumulator T he value in the fi
194. theH TA instruction H dpful Hint For parameters that require H EX values when referencing memory locations the LDA instruction can be used to convert an octal address to the H EX equivalent and load the value into the accumulator DL06 Micro PLC User Manual 1st Ed Rev A 5 13 5 Chapter 5 Standard RLL Instructions Number Conversion Operand Data Type DLO6 Range aaa See memory map Discrete Bit Flags Description SP53 On when the value of the operand is larger than the accumulator can work with In the following example when X1is ON the constant K 2 is loaded into the accumulator using the Load instruction T he starting location for the H EX table V 1500 is loaded into the accumulator using the Load Address instruction T he starting location for the ASCII table V 1400 is specified in the HEX to ASCII instruction Direct SOFT32 Hexadecimal x LD Equivalents ASCII T ABLE Ld K2 Load the constant value into l the lower 16 bits of the gum umm accumulator This value defines the number of V 33 34 V1400 locations in the HEX table V1500 1234 LDA Bache 31 32 V1401 EIU EIU Convert octal 1500 to HEX 340 and load the value into the accumulator poco HTA 37 38 V1402 V1400 V1501 V1400 is the starting 5678 location for the ASCII table The conversion i
195. to V memory Parameter DLO6 Range Print to Starting V memory Address All V memory VPRINT Time Date Stamping the codes in the table below can be used in the VPRINT ASCII string message to print to V memory the current time and or date Character code Date Time Stamp Options _Date us American standard month day 2 digit year _Date e European standard day month 2 digit year _Date a Asian standard 2 digit year month day _Time 12 standard 12 hour clock 0 12 hour min am pm _Time 24 standard 24 hour clock 0 12 hour min am pm 5 218 DLO06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions ASCII VPRINT V memory element thefollowing modifiers can be used in theVPRINT ASCII string message to print to V memory register contents in integer format or real format U se V memory number or V memory number with and data type T he data types are shown in thetable below T he Character code must be capital letters NOTE There must be a space entered before and after the V memory address to separate it from the text string Failure to do this will result in an error code 499 Character code Description 16 bit binary decimal number 4 digit BCD 32 bit binary decimal number 8 digit BCD Floating point number real number Floating point number real number with exponent Examples V 2000 Print binary data in V 2000 for deci
196. to on transition of the clock input the bits which make up the shift register block are shifted by one bit position and the status of the data input is placed into the starting bit position in the shift register T he direction of the shift depends on the entry in the From and To fields From CO to C17 would define a block of sixteen bits to be shifted from left to right From C17 to CO would define a block of sixteen bits to be shifted from right to left The maximum size of the shift register block depends on the number of available control relays T he minimum block size is 8 control relays Operand Data Type DLO6 Range bbb 0 1777 Direct SOFT32 Handheld Programmer Keystrokes d Data Input SR str E i 1 ENT e JR 2 ENT x2 From CO Clock Input 3 t P 3 ENT a To C17 SHFT PEST sHFT oa SHET gt j Reset Input 5 B H ENT N Inputs on Successive Scans Shift Register Bits Data Clock Reset 1 0 1 0 0 __ CO C17 0 0 1 0 0 Ll 0 0 1 0 0 1 0 1 0 0 0 0 1 0 0 __ 0 0 1 l Indicates ON Indicates OFF DL06 Micro PLC User Manual 1st Ed Rev A 5 51 Chapter 5 Standard RLL Instructions Accumulator Stack Load and O utput D ata B M Accumulator Stack Load and Output Data Instruct
197. value from the first level of the accumulator stack 32 bits to the accumulator and shifts each value in the stack up one levd POP Discrete Bit Flags Description SP63 on when the result of the instruction causes the value in the accumulator to be zero DL06 Micro PLC User Manual 1st Ed Rev A 5 65 Chapter 5 Standard RLL Instructions Accumulator Stack Load and O utput D ata Ei M MQ rM X Pop Instruction Continued In the example below when CO is on the value 4545 that was on top of the stack is moved into the accumulator using the Pop instruction T he value is output to V 2000 using the Out instruction T he next Pop movesthe value 3792 into the accumulator and outputsthe value to V 2001 Thelast Pop movesthe value 7930 into the accumulator and outputs the value to V 2002 Please note if the value in the stack were greater than 16 bits 4 digits the O ut D ouble instruction would be used and 2 V memory locations for each O ut D ouble must be Direct SOFT32 co Previous Acc value POE Acc X X X X X X X X Current Acc value A
198. value in the accumulator is divided by the value in V 1420 and V 1421 using the Divide D ouble instruction T he first part of the quotient resides in the accumulator an the remainder resides in the first stack location T he value in the accumulator is copied to V 1500 and V 1501 using the O ut D ouble instruction Direct SOFT32 V1401 V1400 d LDD ol s5 ololo o o IT V1400 Load the value in V1400 and The unused accumulator bits are set to zero V1401 into the accumulator VENDOR ER 0150 0 0 0 0 Accumulator DIVD 0000 0 0 5 O VI421 and V1420 V1420 5 Acc 0 0 0 3 0 0 0 O0 0 0 0 O0 0O OJO O The value in the accumulator First stack location contains is divided by the value in the remainder V1420 and V1421 OUTD V1500 0j0 o 3 ojo o o Copy the value in the V1501 V1500 accumulator to V1500 and V1501 Handheld Programmer Keystrokes B sm gt 1 ENE L D Cc A A A SHFT anDsT 3 2 2 0 0 0 ENT D 1 V C A A G SERT 3 8 ano 2 0 0 6 EN GX V Cc A B A our gt J SHFT ano 2 0 1 0 ENT 5 96 DL06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions M ath Divide Real DIVR TheDivideReal instruction divides a real number in the accumulator by either a rea
199. when referencing memory locations the LDA instruction can be used to convert an octal address to the H EX equivalent and load the value into the accumulator Note This instruction does not have an offset such as the one required for the FIND instruction 5 148 DLO06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions Table Instructions Operand Data Type DLO6 Range aaa See memory map Discrete Bit Flags SP53 On if there is no value in the table that is greater than the search value NOTE Status flags are only valid until another instruction that uses the same flags is executed The pointer for this instruction starts at 0 and resides in the accumulator O FFFF Description In the following example when X1 is on the constant value K 6 is loaded into the accumulator using the Load instruction T his value specifies the length of the table and is placed in the first stack location after the Load Address instruction is executed T he octal address 1400 V 1400 is the starting location for the table and is loaded into the accumulator The greater than search value is specified in the Find Greater T han instruction If a value is found greater than the search value the offset from the starting location of the table where the value is located will reside in the accumulator If there is no value in the table that is greater than the search value a zero is stored in the accumulator and
200. with European Union EU D irectives A TheM icro PLC has met the requirements of the European Union Directives CE 1 12 DL06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 1 Getting Started EM m Q Which devices can connect to the communication ports of the D L06 A Port 1 T he port is RS 232C fixed at 9600 baud odd parity address 1 and uses the proprietary K sequence protocol T he DL06 can also connect to M O D BUS RTU and DirectN ET networks as a slave device through port 1 T he port communicates with the following devices DV 1000 Data Access Unit EZTouch EZText D irectTouch LookoutD irect D SD ata or O ptimation O perator interface panels DirectSOFT 32 running on a personal computer D2 H PP handheld programmer e Other devices which communicate via K sequence D irectnet M O DBUS RTU protocols should work with the DL06 Micro PLC Contact the vendor for details A Port 2 T his is a multi function port It supports RS 232C RS422 or RS485 with selective baud rates 300 38 400bps address and parity It also supports the proprietary K sequence protocol as well as D irectN et and MODBUSRTU ASCII In O ut and non sequence print protocols Q Can the D L06 accept 5VDC inputs A No 5 voltsislower than theD C input ON threshold H owever many TT L logic circuits can drive the inputs if they are wired as open colle
201. 0 0 0 1 0 1 0 0 0 0 1 1 1 1 0 1 0 XOR V2006 M Ac 0000000000000000 0010100001 11 1010 6A38 XOR V2006 0 00 0000000000000 0 XOR the value in the accumulator with the value in V2006 1 1 01010001 1 1000 Acc 0 O OF OF OF OF OF OF OF OF OF OF OF OF OF OF OF 1 OF OF OF OF 1 OF OF 17 0 OF OF OF 1 0 d M 4 2 44 2 OUT V2010 Copy the lower 16 bits of the accumulator to V2010 V2010 Handheld Programmer Keystrokes Sse gt 9 Je EMI SHFT Aupsr 3 gt er ano E eo o Wo v SHFT Am SHFT p surr P ANB A A G ENT Sur gt e ano E 0 Pa o e DL06 Micro PLC User Manual 1st Ed Rev A 5 77 Chapter 5 Standard RLL Instructions Logical C NO Exclusive Or D ouble XO RD TheExclusive OR D oubleis a 32 bit instruction that performs an exclusive or of the value in the accumulator XORD and the value Aaaa which is either two consecutive V K aaa memory locations or an 8 digit max constant T he result resides in the accumulator D iscrete status flags indicate if the result of the Exclusive Or D ouble is zero or a negative number the most significant bit is on Operand
202. 0 C 13 4 bits will be loaded into the accumulator using the Load Formatted instruction T he value in the accumulator will be logically Exclusive O red with the bit pattern from Y20 Y 23 using the Exclusive O r Formatted instruction T he value in the lower 4 bits of the accumulator are output to C 20 C23 using the O ut Formatted instruction DirectSOFT32 x1 Location Constant C13 C12 C11 C10 LDF C10 cto K4 OFF ON ON OFF K4 Load the status of 4 The unused accumulator bits are set to zero consecutive bits C10 C13 into the accumulator 31 30 29 28 27 26 25 24 23 22 2120 19 18 17 16 15 141312 1 109 8 765 43 2 1 0 XORF Y20 Of of of of of of of of of oO of of of of of Off of of of of oJ of of of of of of of of 1 1 O K4 Accumulator Exclusive OR the binary bit Ac 0000000000000000 0000000000000110 pattern Y20 Y23 with the value in the accumulator Y23 Y22 Y21 Y20 S XORF Y20 Y23 ON OFF OFF OFF 1000 OUTF C20 K4 acc 0 o ot of of of of of of of of of 1 1 1 O Copy the specified number of bits from the accumulator we to C20 C23 Location Constant C23 cz2 c21 C20 Handheld Programmer Keystrokes C20 K4 ON ON ON OFF B sta gt 1 ENT L D F B A E SHFT AwDsT 3 5 NEXT NEXT NEXT NEXT 1 d gt A ENT x Q F C A E SHFT ser
203. 00 V 10020 to be displayed T he ASCII characters and their corresponding memory locations are shown in the table below i Jo Dg LCD Line Number C LCD message From V memory Starting V memory address Y10000 Number of characters K1 os LCD ENS Line Number K1 Starting V Memory Address V10000 Number of Characters K16 LCD Line Number K2 Starting V Memory Address V10010 Number of Characters K16 Admin Ef Gt il fel fe High Te Alar Lv Jo Dg LCD Line Number C LCD message Number of characters K2 d Tuam V memory address V10000 V10001 V10002 V10003 V10004 V10005 o 4 oO 3 3 gt V10006 V10007 V10010 V10011 V10012 V10013 3 4 gt V10014 V10015 V10016 V10017 3 moo 5 200 DLO06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions MODBUS MODBUS RTU Instructions MODBUS Read from Network MRX TheM ODBUS Read from N etwork M RX instruction is used by the D L06 network master to read a block of data from a connected slave device and to write the data into V memory addresses within the master T he instruction allows the user theto specify theM OD BUS Function C ode slave station address starting master and slave memory addresses number of elements to transfer M O D BU S data
204. 00 2000 SPxxx V3634 0000 2500 Output V3636 0000 3175 Update IRT V3706 0921 0000 High Low Word Word DL06 Micro PLC User Manual 1st Ed Rev A 10 02 3 9 Chapter 3 High speed Input and Pulse O utput Features Bi M Absolute and Incremental Presets Two preset modes are available absolute and incremental Presets are entered into a contiguous block of V memory registers In the absolute mode each preset is treated asthe total count In the incremental mode the presets are cumulative Incremental presets represent the number of counts between events Absolute Presets default Incremental Presets Event C 1 r 9 Event C A B C Preset 150 Preset 150 EventB Event B 4 A B Preset 100 Preset 100 Event A F Event A Preset 50 Preset 50 100 200 300 100 200 300 trigger point In the example above presets are established at 50 100 and 150 T he difference between absolute and incremental modes is shown Absolute presets trigger events at the preset values 50 100 and 150 Incremental presets trigger events at the cumulative totals 50 150 and 300 3 10 DL06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 3 H igh speed Input and Pulse O utput Features maaa Preset D ata Starting Location V 7630 is the pointer to the V memory loca
205. 01 to V xxxx determined by the number in V 2000 will be printed VPRINT Bit element the following is used for printing to V memory the state of the designated bit in V memory or a control relay bit T he bit dement can be assigned by the designating point and bit number preceded by the V memory number or relay number Theoutput type is described as shown in thetable below Data format Description Print 1 for an ON state and 0 for an OFF state Print TRUE for an ON state and FALSE for an OFF state Print ON for an ON state and OFF for an OFF state Example V 2000 15 Prints the status of bit 15 in V2000 in 1 0 format C100 Prints the status of C 100 in 1 0 format C100 BOOL Prints the status of C100 in TRU E FALSE format C100 ON OFF Prints the status of C00 in ON OFF format V 2000 15 BOOL Prints the status of bit 15 in V2000 in TRU E FALSE format The maximum numbers of characters you can VPRINT is 128 The number of characters required for each element regardless of whether the S C 0 or 0 modifiers are used is listed in the table below Maximum Element type Characters Text 1 character 16 bit binary 32 bit binary Floating point real number Floating point real with exponent V memory text Bit 1 0 format Bit TRUE FALSE format Bit ON OFF format 5 220 DLO06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RL
206. 06 M icro PLC has 14 8K words of memory comprised of 7 6K of ladder memory and 7 6K words of V memory data registers Program storage is in the FLASH memory which is a part of the CPU board in the PLC In addition thereisRAM with the CPU which will store system parameters V memory and other data which is not in the application program The RAM is backed up by a super capacitor storing the data for several hours in the event of a power outage T he capacitor automatically charges during powered operation of thePLC TheDL06 supports fixed I O which includes twenty discrete input points and sixteen output points O ver 220 different instructions are available for program development as well as extensive internal diagnostics that can be monitored from the application program or from an operator interface C hapters 5 6 and 7 provide detailed descriptions of the instructions TheDL06 provides two built in communication ports so you can easily connect a handheld programmer operator interface or a personal computer without needing any additional hardware 4 2 DL06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 4 CPU Specifications and O peration E M KT CPU Specifications Specifications Feature Total Program memory words Ladder memory words Total V memory words User V memory words Non volatile V Memory words Contact execution boolean Typica
207. 1 465535 6 digit 0 771 0 771 0 1777 0 1777 0 377 Counter Bits 0 177 Special Relays 0 771 V memory All 0 3777 Global Outputs 0 3777 MWX Number of Elements Operand Data Type Number of Elements DL06 Range All DL06 Micro PLC User Manual 1st Ed Rev A 10 02 l 4 65 Chapter 4 CPU Specifications and O peration se L MRX MWX Example in DirectSOFT 32 DL06 port 2 has two Special Relay contacts associated with it see Appendix D for comm port special relays O ne indicates Port busy SP 116 and the other indicates Port Communication Error SP 117 The Port Busy bit ison whilethe PLC communicates with the slave When the bit is off the program can initiate the next network request T he Port Communication Error bit turns on when the PLC has detected an error and use of this bit is optional W hen used it should be ahead of any network instruction boxes since the error bit is reset when an M RX or M W X instruction is executed Typically network communications will last longer than 1 CPU scan The program must wait for the communications to finish before starting the next transaction The Port Communication Error bit turns on when the PLC has detected an error Use of this bit is optional W hen used it should be ahead of any network instruction boxes since the error bit is reset when an RX or W X instruction is execute
208. 1 lanos gt 1 Een ASW A c o N s w SHET 0 2 sre mn gt sr anon ENT N c o N c A D B CON SHET tmr 2 sre rme gt 2 0 3 1 ENE K 2031 N C o N D E D G SHFT TMR 2 INST TMR gt 3 4 3 6 ENT NCON K 3436 5 186 DLO06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions M essage Instructions EM m IM Data Label DLBL The D ata Label instruction marks the beginning of an ASCII numeric data area DLBLs are programmed after the End statement A maximum of 64 DLBL instructions can be used in a program MultipleN CON sand ACO N ss can be used in aDLBL area DLBL K aaa Operand Data Type DLO6 Range ASCII Constant ACON TheASCII Constant instruction is used with the DLBL instruction to store id aaa ASCII text for use with other instructions Two ASCII characters can be stored in an ACON instruction If only one character is stored in aACON a leading space will be inserted Operand Data Type DLO6 Range Numerical Constant NCON The Numerical Constant instruction is used with the DLBL instruction to store the HEX ASCII equivalent of numerical NCON data for use with other instructions Two K aaa digits can be stored in an NCON instruction Operand Data Type DLO6 Range DL06 Micro PLC User Manual 1st Ed Rev A l 5 187 Chapter 5 Standard RLL Instructions M essage Instructions E MM ees S SA
209. 100 x 10 pps V3634 Acceleration Time 1 to 100 x 100 mS V3635 Deceleration Time 1 to 100 x 100 mS V3636 Error Code see end of section V3637 Ending Velocity 4to 100 x 10 pps If you select to use interrupt the DLO6 will not start looking for your target count until the interrupt X1 is on To set a negative number put 8 in the most significant digit For example 8388608 is 88388608 in V3631 and V3632 V3630 bits 12 15 3 43 DLO0G Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 3 High speed Input and Pulse O utput Features Bi M Step Trapezoidal Profile Function O absolute w o interrupt V3630 bits 12 15 Step Trapezoidal Profile iste wio Interrupt 9 relative with interrupt 3630 bits 0 11 Target Velocity NUS x 10 pps V3631 V3632 Target Position 0388608 to 8388607 Pulses V3633 Step 1 Acceleration 4 to 1000 x 10 pps V3634 Step 1 Distance 1 to 9999 Pulses V3635 Step 2 Acceleration 4to 1000 x 10 pps V3636 Step 2 Distance 1 to 9999 Pulses V3637 Step 3 Acceleration 4 to 1000 x 10 pps V3640 Step 3 Distance 1 to 9999 Pulses V3641 Step 4 Acceleration 4 to 1000 x 10 pps V3642 Step 4 Distance 1 to 9999 Pulses V3643 Step 5 Deceleration 4to 1000 x 10 pps V3644 Step 5 Distance 1 to 9999 Pulses V3645 Step 6 Decelerati 4 to 1000 x 10 pps V3646 Step 6 Distance 1 to 9999 Pulses V3647 Step 7 Decelerati 4to 1000 x 10 pps V3650 Step 7 Distance 1 to 9999 Pulses V3651 Step 8 De
210. 10C 516 2 Noise Immunity NEMA ICS3 304 Terminal Type Removable Wire Gauge Parameter DC Input Specifications High Speed Inputs X0 X3 One AWG16 or two AWG18 AWG24 minimum Standard DC Inputs X4 X23 Min Max Voltage Range 10 8 26 4 VDC 10 8 26 4 VDC Operating Voltage Range 12 24 VDC 12 24 VDC Peak Voltage 30 VDC 7 kHz maximum frequency 30 VDC Minimum Pulse Width 70 us N A ON Voltage Level 10 0 VDC 10 0 VDC OFF Voltage Level 2 0 VDC 2 0 VDC Max Input Current 6mA 12VDC 13mA 24VDC 4mA Q12VDC 8 5mA 24VDC Input Impedance 1 8 Ok 12 24 VDC 2 8 Ok 12 24 VDC Minimum ON Current 5 mA 4 mA Maximum OFF Current 0 5 mA 0 5 mA OFF to ON Response 70 uS 2 8 mS 4 mS typical ON to OFF Response lt 70 uS 2 8 mS 4 mS typical Status Indicators Logic side Logic side Commons Parameter 4 channels common DC Output Specifications Pulse Outputs YO Y1 x 5 banks isolated Standard Outputs Y2 Y17 Min Max Voltage Range 10 8 26 4 VDC 10 8 26 4 VDC Operating Voltage 12 24 VDC 12 24 VDC Peak Voltage 50 VDC 10 kHz max frequency 50 VDC On Voltage Drop 0 5VDC 1A 12VDC 1A Max Current resistive 0 5 A pt 1A pt as standard pt 1 0 A point M
211. 1174 V3630 V1174 K5100 lt EvD 2nd preset actual counts V1174 V3632 V1174 K6100 lt 3rd preset actual counts V1174 V3634 V1174 K7600 lt SP1 UDC CT174 SP1 K8388607 SP1 Drilling sequence initiation One shot bit C5 C6 CPD One shot bit Drill press down C6 Y20 SET Drill turning Y21 t Drill fully extended Limit switch 1 Drill press down X10 Y20 H RST Drill press up Y22 Drill fully retracted s J home position Limit switch 1 Oneshot bit x3 Er H PD Continued on next page DL06 Micro PLC User Manual 1st Ed Rev A 10 02 l 3 35 Chapter 3 High speed Input and Pulse O utput Features MM M SAS Continued from previous page One shot bit First scan bit Drill press down C7 SP1 Y22 A RST Drill turning Y21 RST Drilling sequence completed one hole only C ces 2 Drilling sequence initiation C5 RST 7 END INT OO Forwarding SP540 Positioning Table Y30 H OUT Drilling sequence initiation C5 ser SP541 Forwarding v30 Positioning Table H OUT Drilling sequence initiation C5 L SET SP542 Forwarding Y30 Positioning Table ali our Drilling sequence initiation C X s x T Forwarding SP543 Positioning Table Y30 HI OUT Reversing Positioning Table Y31 ser Drilling sequence initiation C 5 Position Table ser home limit switch
212. 2 485 PORTI PORT2 14 CTS Clear to send RS 422 485 15 CTS Clear to send RS 422 485 Communications Port 1 Communications Port 2 Com 1 Connects to HPP DirectSOFT32 operator Com 2 Connects to HPP DirectSOFT32 operator interfaces etc interfaces etc 6 pin RS232C b apn multifunction port RS232C RS422 Communication speed baud 9600 fixed i j m d baud 300 600 1200 aye ommunication speed baud 300 600 f Parity odd default 2400 4800 9600 19200 38400 Station Address 1 fixed Parity odd default even none 8 data bits Station Address 1 default 1 start 1 stop bit 8 data bits Asynchronous half duplex DTE 1 start 1 stop bit Protocol auto select Asynchronous half duplex DTE K sequence slave only DirectNET slave only Protocol auto select K sequence slave only MODBUS slave only DirectNET master slave MODBUS master slave non sequence print ASCII in out 4 4 DL06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 4 CPU Specifications and O peration Connecting the Programming D evices If you re using a Personal Computer with the D irectSO FT 32 programming package you can connect the computer to either of the D L06 s serial ports For an engineering office environment typical during program development this is the preferred method of programming TheH andheld programmer D 2 H PP is connected to the CPU with a handheld programmer cable
213. 2 Change Reference Override Setup 23 Clear Ladder Range HSIO Configuration Display Error History Scan Control Setup ndheld Programmer Configuration Show Revision Numbers 24 Clear All Ladders V Memory Operations 31 Clear V Memory 4 1 0 Configuration 41 Show 1 0 Configuration Beeper On Off 42 1 0 Diagnostics Run Self Diagnostics 44 Power Up 1 0 Configuration check EEPROM Operations 45 Select Configuration Copy CPU memory to HPP EEPROM 46 Configure 1 0 Write HPP EEPROM to CPU AUX 5 CPU Configuration Compare CPU to HPP EEPROM 52 Display Change Calendar Erase HPP EEPROM 54 Initialize Scratchpad 55 Set Watchdog Timer 81 Modify Password 56 Set Communication Port 2 82 Unlock CPU 57 Set Retentive Ranges 83 Lock CPU Clearing an Existing Program Before you enter anew program be sure to always clear ladder memory You can use AU X Function 24 to clear the complete program You can also use other AU X functions to clear other memory areas AUX 23 Clear Ladder Range AUX 24 Clear all Ladders e AUX 31 Clear V M mory Initializing System M emory TheDLO6 Micro PLC maintains system parameters in a memory area often referred to as the scratchpad In some cases you may make changes to the system setup that will be stored in System memory For example if you specify a range of Con
214. 2 input resets the counter to zero when energized 4 DLO6 Output Circuit PLE vovi um HSIO CPU VO data Counter V memory V7633 0020 Mode Select Up Down Reset Filter k ry XO X1 x2 x3 X4 X23 Input Circuit i 3 24 DL06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 3 H igh speed Input and Pulse O utput Features E H i1 Quadrature Encoder Signals Quadrature encoder signals contain position and direction information while their frequency represents speed of motion Phase A and B signals shown below are phase shifted 90 degrees thus the quadrature name W hen the rising edge of Phase A precedes Phase B s leading edge indicates clockwise motion by convention the H SIO counter counts U P If Phase B s rising edge precedes Phase A s rising edge indicates counter clockwise motion the counter counts DOWN Wiring Diagram A general wiring diagram for encoders to the DL06 in H SIO M ode 20 is shown below Encoders with sinking outputs N PN open collector are probably the best choice for interfacing If the encoder sources to the inputs it must output 12 to 24 VDC Note that encoders with 5V sourcing outputs will not work with D L06 inputs Clockwise sequence Phase A Leading Edge Signal HF 90 phase shift
215. 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Copy the value in the Ac 1 0 0 1 1 1 0 0 0 0 0 1 0 1 0 0 1 1 0 0 0 1 of of of of oj oj of 1 of O accumulator to V2010 and v2011 9 c 1 4 cla lo l4 v2011 V2010 Handheld Programmer Keystrokes B SIR gt 1 ENT L D D a A A SHFT ANDST 3 3 2 0 0 0 ENT S H F L e SHFT psr SHFT sli Anpe gt 2 ENT GX D C A B A our SHFT 3 gt 2 0 1 0 ENT DLO06 Micro PLC User Manual 1st Ed Rev A l 5 12 1 Chapter 5 Standard RLL Instructions Bit O peration ess Shift Right SH FR Shift Right is a 32 bit instruction that shifts the bits in the SHFR accumulator a specified number Aaaa of places to the right Aid The vacant positions are filled with zeros and the bits shifted out of the accumulator are lost Operand Data Type DLOGRange aaa See memory map 1 32 Discrete Bit Flags Description SP63 On when the result of the instruction causes the value in the accumulator to be zero SP70 On anytime the value in the accumulator is negative In the following example when X1 ison the value in V 2000 and V 2001 will be loaded into the accumulator using the Load D ouble instruction T he bit pattern in the accumulator is shifted 2 bits to the right using the Shift Right instruction T he value in the accumulator is copied to V2010 and V 2011 using the O ut D ouble instructio
216. 21 V1420 Level 4 X XX X X XX X Vi420 YiteFinto te acctmuletor o o s e s o 2 e levels X X X X X XX X l Level 6 X XX X X XX X gt Level 7 X XX X X XX X Acc 0 o 8 e 5 o 2 6 Subtract the value in the first Level 8 NIMES UG SUBS level of the accumulator stack from the value in the accumulator ace elele T2 2 e 7 o Accumulator stack after 2nd LDD OUTD Copy the value in the UC accumulator to V1500 mE Qo derer 0 19 70 Vi500 and V1501 Level2 X X X XX XX X eTeT2 T2 2 7 o level3 IX XX XX XXX V1501 V1500 Level 4 XXX XX XXx Handheld Programmer Keystrokes Level 5 X XX X X XX X gt P ENT Level6 X X X X X XX X STR 1 Level X X X XX XX X L D D B E A XXX X X X X X SHFT anost 3 3 gt 1 4 ENT Level 8 L D D B E C A SHFT lagpsr 3 3 a 1 4 2 0 ENT S U B S SHFT RST SHET ISG 1 RST ENT GX D B F A A our J SHFT 3 gt 1 5 0 0 ENT DLO0G Micro PLC User Manual 1stIBHOGR amp icto PLC User Manual Ist Ed Rev A 5 111 Chapter 5 Standard RLL Instructions M ath Multiply Top of Stack MULS Multiply Top of Stack is a 16 bit instruction that multiplies a 4 digit BCD valuein the first level of the accumulator stack by a MULS 4 digit BCD value in the accumulator T he result resides in the accumulator T he value in the first level of the accumulator stack is is removed and all stack values are moved up one levd Discrete Bit Fl
217. 3 15mA 3 Diregt 06 Koyo xa x4 co x xn x13 x14 X0 x2 ct xs xe c2 x7 Xt C4 o xi2 c3 x15 xi7 eoo e pe elele e e e eem I PM 9121219 iit iit 9 loll slelolol Cert geet ctn V Optical Isolator CIS High Speed Inputs X0 X3 Optical Isolator Optical Internal module circuitry Iv Isolator a To LED Standard Inputs X4 X23 Equivalent Output Circuit 2 30 2 ee creeps teas ernls Chapter 2 Installation Wiring and Specifications EM 1 DO O6DA General Specifications 100 240 VAC 40 VA maximum External Power Requirements Communication Port 1 9600 baud Fixed 8 data bits 1 stop bit odd parity DirectNET Slave Slave K Sequence Slave MODBUS Communication Port 2 9600 baud default 8 data bits 1 stop bit odd parity K Sequence Slave DirectNET Master Slave MODBUS Master Slave Non sequence print ASCII in out Programming cable type D2 DSCBL O
218. 3 22 21 20 19 18 17 16 15 141312 11109 8 765 43 2 1 0 Output the value in the Acc 0 0 Of OJ OF OJ Of Of OJ OF Of OF OF OF OF Of 1 OF 1 1 OF 1 OF OF 1 OF 1 1 OF 1 OF 1 accumulator to output points we 40 to Y57 Location ys7 Ys6 Y55 Ye4 vea Y52 51 yso Y47 Y46 vas vaa Y43 Y42 vat 40 oN orr ou ON OFF ou OFF OFF on OFF ou oor ou OFF ON Handheld Programmer Keystrokes Pu NEXT NEXT NEXT Next ENT SHFT psr s a gt la lo 4 llo Mo EV pet SHFT next a i F i c ENT DL06 Micro PLC User Manual 1st Ed Rev A 5 37 Chapter 5 Standard RLL Instructions Immediate Instructions Load Immediate Formatted LD IF TheLoad Immediate Formatted instruction loads a 1 32 bit binary value into the accumulator T he value reflects the current status of LDIF X aaa the input module s at the time the instruction is executed K bbb Accumulator bits that are not used by theinstruction are set to zero Operand Data Type DLO6 Range In the following example when CO is on the binary pattern of X10 X17 will be loaded into the accumulator using the Load Immediate Formatted instruction T he O ut Immediate Formatted instruction could be used to copy the specified number of bits in t
219. 3 4 ENE END sur H ENT 2 SP gt t ENT 4 DISI STRN 2 S D 1 5 1 rii 3 8 RST 8 END R E N D SHFT ENT c END 2 4 TMR 3 l n A Sn 8 MR wg gt 0 BENE INT 00 1 B sm SHFT n gt 1 ENT xi Ys x s 1 F SETI ser SHFT gt ENT 1 D x3 Y7 sm JL SHFT 8 gt 3 eu s x spp SHFT gt ENT _______________ RT R T DEP 8 orn J vun ENT 5 184 DLO06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions Interrupt Instructions MM N Timed Interrupt Program Example In the following example we do some initialization on the first scan using the first scan contact SPO T he interrupt feature is the H SIO M ode 40 T hen we configure the H SIO timer as a 10 mS interrupt by writing K 104 to the configuration register for X0 V 7634 See Chapter 3 M ode 40 O peration for more details W hen X4 turns on the interrupt will be enabled W hen X4 turns off the interrupt will be disabled Every 10 mS the CPU will jump to theinterrupt labe IN T O 0 The application ladder logic in the interrupt routine will be performed If X3 is not on YO Y7 will be reset to off and then the CPU will return to the main body of the program Direct SOFT32 Handheld Programmer Keystrokes B STR F 1 ENT suet D gt
220. 32 50 68 86 104 122 131 F External DC power required SO ata al DIS ON Ambient Temperature Max 200mA Base Power Required 5V All pts ON Note The DL06 must have firmware version V4 10 or later for this module to function properly Wiring for ZL CM056 i ceo eOooo00600099 T 24 VDC OW 6 27 VDC gt 6 27 VDC d EJ E3 E Z nu Use ZipLink ZL CBLO56 cable and ZL CM056 ED p connector module 0 167D1 or build your own cables using 24 pin Molex Micro Fit 3 0 receptacle part number 43025 QOO EIS 909 9099 or compatible leeo eoo Saeed DL06 Micro PLC User Manual 1st Ed Rev A 10 02 2 45 Chapter 2 Installation Wiring and Specifications D 0 10TD2 10 point D C output module D0 10TD2 Output Specifications Number of Outputs 10 sourcing m Operating Voltage Range 12 24VDC E OUT 12 24V Output Voltage Range 10 8 26 4VDC O 935 Peak Voltage 50 0VDC 1224VDC S Ss eM EM Maximum Output Current REM I 2 Minimum Output Current 0 5mA OO f 2 ON Voltage Drop 1 0 VDC 0 3A 1 L B Sc L Maximum Leakage Current 1 5uA 30 0VDC pzzavoc it LS Maximum Inrush Current 1A for 10ms 4 T 5 OFF to ON Response lt 10ps 6 ON to OFF Res
221. 32 Handheld Programmer Keystrokes x0 K1 A A ENT MLS sm gt 0 Y B xi co MLS gt 1 ENT OUT i gt JE i ENT x GX C cl QUT gt sHFT 5 0 ENT OUT c STR gt 2 ENT X3 YO GX C B SHFT ENT OUT OUT y 2 1 D ENT X10 K2 c LSR gt 3 GX A MLS gt ENT OUT 0 i B A l X5 Yi SIR gt i B ENT i OUT i Y C i MLS gt 2 EMI X4 Y2 F i gt ENT 1 OUT STR 5 i GX B i OUT gt 1 ENT K1 D i E MIR sr gt 4 End i i GX C i X5 C2 our gt 2 EIE i OUT T B MLR gt 1 ENT X6 Y3 F STR gt 5 ENT OUT GX e C UE sHFT 3 5 ENT KO p G MLR STR gt 6 ENT GX D X7 Y4 OUT gt 3 ENT OUT T A Mie ENT H STR gt 7 ENT GX E C OUT gt 4 2 ENT 5 182 DLO06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions Interrupt Instructions M M MM Interrupt Instructions Interrupt INT Thelnterrupt instruction allows a section of ladder logic INT O aaa to be placed below the main body of the program and executed only when needed H igh Speed I O M odes 10 20 and 40 can generate an interrupt With M ode 40 you may select an external interrupt input X0 or a time based interrupt 3 999 ms Typically interrupts are used in an application when a fast responseto an input is needed or a program section must execute faster than the normal CPU scan T heinterrupt label and all associated logic must be placed after the En
222. 36 configuring X2 Output this constant to V7637 configuring X3 DLO06 Micro PLC User Manual 1st Ed Rev A 10 02 l 3 51 Chapter 3 High speed Input and Pulse O utput Features E sg Continued from previous page Profile Target Velocity Target Position Starting Velocity Acceleration Deceleration Ending Velocity Start Profile x3 Load the constant KF100 which is required to select LD Automatic Trapezoidal Profile relative positioning with interrupt a KF100 velocity of 1 kHz Fxxx times 10 pps OUT Output this constant to V3630 the location of the Profile Select Starting Velocity setup register V3630 Load the constant K5000 which selects a target LDD position of 5000 pulses Don t forget to use double K5000 word size 8 digit BCD position value OUTD Output this constant to V3631 and V3632 the location of V3631 the Target Position double word register Load the constant K4 which is required to select a n starting velocity of 40 Hz 4 x 10 pps OUT Output this constant to V3633 the location of the starting V3633 velocity parameter register Load the constant K20 which is required to select an LD acceleration time of 2 seconds 20 x 100 mS K20 OUT Output this constant to V3634 the location of the V3634 acceleration parameter register Load the constant K40 which is required to select a LD deceler
223. 4 32 16 1 BIN Binary Equivalent Value 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Convert the BCD value in Ac 0 of of of of of of of of of of of of of of off of 1 1 of 1 1 1 1 o 1 1 1 0 0 0 1 the accumulator to the binary equivalent value 2 1 55 2 1 6 s 1 8 4 2 1 5 2 1 ef 3 1 8 4 20 1 5 2 1 e 3 1 8 4 2 1 110 13 6 3 7 3 6 3 110 0 2 6 3 s 2 6 1 0 0 o 1 s 2 4 2 6 4lz e s an1 s 718 o o 4 4 2 1 s 7 9 9 4 2 2 6 8 7 3 8 4 2 0 5 7 8 4 7 8 2 1 0 35 e 8 2 6 8 4 417 7 3 1 8 4 7 6 3 1 s5 8 4 7 e 3 4 4 4 0 s 7 s8 4 2 0 0 5 7 8 4 2 8 1 9 4 7 6 3 1 8 4 2 6 3 8 1 5 2 4 2 6 6 2 2 6 8 4 4 8 OUTD i v2010 The Binary HEX ojo jojo e F 7 1 i Copy the binary data in the value copied to accumulator to V2010 and V2011 von v2010 Handheld Programmer Keystrokes 5 B sa 1 ENT L D D c A A A SHFT f anost 3 3 gt 2 0 0 0 ENT B N SHFT A as enr GX D c A B A our SHFT 3 2 0 1 o ENT DL06 Micro PLC User Manual 1st Ed Rev A 5 127 Chapter 5 Standard RLL Instructions Number Conversion ERIAL Binary Coded D ecimal BCD The Binary Coded D ecimal instruction converts a binary value BCD in the accumulator to the equivalent BCD value The result resides in the accumul
224. 4 M ode We recommend that you use the 584 984 addressing mode if your host software allows you to choose T his is because the 584 984 mode allows access to a higher number of memory locations within each data type If your software only supports 484 mode then there may be some PLC memory locations that will be unavailable T he actual equation used to calculate the address depends on the type of PLC data you are using The PLC memory types are split into two categories for this purpose Discrete X SP Y CR S T C contacts Word V Timer current value Counter current value In either case you basically convert the PLC octal addressto decimal and add the appropriate M OD BUS addresses as required T he table below shows the exact equation used for each group of data MODBUS 584 984 MODBUS QTY Dec PLC Range Address 484 Mode Mode Data Octal Range Address fu Decimal Address Type For Discrete Data Types Convert Addr to Dec Start of Range Data Type Inputs X 512 X0 X777 2048 2559 31001 100001 Input Special Relays SP 512 SP0 SP777 3072 3583 1001 100001 Input Outputs Y 512 YO Y777 2048 2559 1 1 Coil Control Relays CR 1024 C0 C1777 3072 4095 1 Coil Timer Contacts T 256 TO T377 6144 6399 1 Coil Counter Contacts CT 128 CTO CT177 6400 6527 Coil Stage Status Bits S 1024 S 0 81777 5120 6143 1 Coil For Word Data Types Convert Addr to Dec Data Type Input Timer Cu
225. 50 C p gt OuT the over 450 light Y20 will turn on Continued on next page 3 32 DL06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 3 H igh speed Input and Pulse O utput Features E M i1 continued from previous page Counter output Over 500 light CT174 Y21 When the pulse count reaches or exceeds the preset value of 500 the output of the d OUT counter CT174 goes high and turns on Over 500 latch the over 500 light Y21 and latches C5 C5 ser Over 500 latch C5 Y22 When the count is 500 or greater the rerouting gate Y22 turns on and will stay I OUT on for 30 seconds after the count falls below 500 Counter output CT174 TMR LA TIMER 0 OUTPUT TO K300 Over 500 latch TO csr END END coil marks the end of the main program DL06 Micro PLC User Manual 1st Ed Rev A 10 02 l 3 33 Chapter 3 High speed Input and Pulse O utput Features Ei Program Example 3 Quadrature Counting In this example a wooden workpiece is being drilled with 3 holes and then the holes are injected with glue for dowels to be inserted at another workstation A quadrature encoder is connected to a positioning table which is moving a drill press horizontally over the workpiece The positioning table will stop and the drill press will lower to drill a holein an exact location After the three holes are drilled in the workp
226. 555 1554 1553 1552 1551 1550 1547 1546 V41066 1577 1576 1575 1574 1573 1572 1571 1570 1567 1566 V41067 1617 1616 1615 1614 1613 1612 1611 1610 1607 1606 V41070 1637 1636 1635 1634 1633 1632 1631 1630 1627 1626 V41071 1657 1656 1655 1654 1653 1652 1651 1650 1647 1646 V41072 1677 1676 1675 1674 1673 1672 1671 1670 1667 1666 V41073 1717 1716 1715 1714 1713 1712 1711 1710 1707 1706 V41074 1737 1736 1735 1734 1738 1732 1731 1730 1727 1726 V41075 1757 1756 1755 1754 1753 1752 1751 1750 1747 1746 V41076 1777 1776 1775 1774 1773 1772 1771 1770 1767 1766 V41077 4 34 DLO06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 4 CPU Specifications and O peration E MMM M ET Control Relay Bit Map This table provides a listing of the individual control relays associated with each V memory address bit DLO6 Control Relays C V40600 V40601 V40602 V40603 V40604 V40605 V40606 V40607 V40610 V40611 V40612 V40613 V40614 V40615 V40616 V40617 V40620 V40621 V40622 V40623 V40624 V40625 V40626 V40627 V40630 V40631
227. 6 1155 1154 1153 1152 1151 1150 1147 1146 V41046 1177 1176 1175 1174 1173 1172 1171 1170 1167 1166 V41047 1217 1216 1215 1214 1213 1212 1211 1210 1207 1206 V41050 1237 1236 1235 1234 1233 1232 1231 1230 1227 1226 V41051 1257 1256 1255 1254 1253 1252 1251 1250 1247 1246 V41052 1277 1276 1275 1274 1273 1272 1271 1270 1267 1266 V41053 1317 1316 1315 1314 1313 1312 1311 1310 1307 1306 V41054 1337 1336 1335 1334 1333 1332 1331 1330 1327 1326 V41055 1357 1356 1355 1354 1353 1352 1351 1350 1347 1346 V41056 1377 1376 1375 1374 1373 1372 1371 1370 1367 1366 V41057 1417 1416 1415 1414 1413 1412 1411 1410 1407 1406 V41060 1437 1436 1435 1434 1433 1432 1431 1430 1427 1426 V41061 1457 1456 1455 1454 1453 1452 1451 1450 1447 1446 V41062 1477 1476 1475 1474 1473 1472 1471 1470 1467 1466 V41063 1517 1516 1515 1514 1513 1512 1511 1510 1507 1506 V41064 1537 1536 1535 1534 1533 1532 1531 1530 1527 1526 V41065 1557 1556 1
228. 63 On when the result of the instruction causes the value in the accumulator to be zero NOTE The status flags are only valid until another instruction that uses the same flags is executed In the following example when C5 is on the value in V 2000 is decreased by 1 irectS V2000 oe Handheld Programmer Keystrokes C5 4 A 31 C I dd DL on gt suet 2 E ENT V2000 D E c B A A A Decrement the binary value SHFT 3 4 P 4 gt j n ENT in the accumulator by 1 v2000 4 A 3 B DLO06 Micro PLC User Manual Ist Ed Rev A 5 105 Chapter 5 Standard RLL Instructions M ath Add Formatted AD D F Add Formatted is a 32 bit instruction that adds the BCD value in the accumulator with the BCD value Aaaa which is a range of discrete bits T he specified range K bbb can be 1 to 32 consecutive bits T he result residesin the accumulator Operand Data Type ADDF K bbb Aaaa DLO6 Range 0 777 0 777 0 1777 0 1777 0 377 0 177 0 137 320 717 0 3777 Description On when the result of the instruction causes the value in the accumulator to be zero On when the 16 bit addition instruction results in a carry On when the 32 bit addition instruction results in a carry On anytime the value in the accumulator is negative NO
229. 7 516 515 514 513 512 511 510 506 Address V41024 537 536 535 534 533 532 531 530 526 V41025 557 556 555 554 553 552 551 550 546 V41026 577 576 575 574 573 572 571 570 566 V41027 617 616 615 614 613 612 611 610 606 V41030 637 636 635 634 633 632 631 630 626 V41031 657 656 655 654 653 652 651 650 646 V41032 677 676 675 674 673 672 671 670 666 V41033 717 716 715 714 713 712 711 710 706 V41034 137 736 735 734 733 732 731 730 726 V41035 757 756 755 754 753 752 751 750 746 V41036 TIT 776 775 774 713 772 771 770 767 766 V41037 1017 1016 1015 1014 1013 1012 1011 1010 1007 1006 V41040 1037 1036 1035 1034 1033 1032 1031 1030 1027 1026 V41041 1057 1056 1055 1054 1053 1052 1051 1050 1047 1046 V41042 1077 1076 1075 1074 1073 1072 1071 1070 1067 1066 V41043 1117 1116 1115 1114 1113 1112 1111 1110 1107 1106 V41044 1137 1136 1135 1134 1133 1132 1131 1130 1127 1126 V41045 1157 115
230. 7 l e EEO Wid geri c D Common COM aia rd ale 9 ia 17 240 LAW 0 T T T T T VAC 1 0 10 20 30 40 50 50 C L E To 32 50 68 86 104 T2 dac Ambient Temperature C F 2 26 DL06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 2 Installation Wiring and Specifications ee DO 06AA General Specifications External Power Requirements 100 240 VAC 40 VA maximum Communication Port 1 9600 baud Fixed 8 data bits 1 stop bit odd parity K Sequence Slave DirectNET Slave MODBUS Slave Communication Port 2 9600 baud default 8 data hits 1 stop bit odd parity K Sequence Slave DirectNET Master Slave MODBUS Master Slave Non sequence print ASCII in out Programming cable type D2 DSCBL Operating Temperature 32 to 131 F 0 to 55 C Storage Temperature 4 to 158 F 20 to 70 C Relative Humidity 5 to 95 non condensing Environmental air No corrosive gases permitted Vibration MIL STD 810C 514 2 Shock MIL STD 810C 516 2 Noise Immunity NEMA ICS3 304 Terminal Type Removable Wire Gauge AC Input Sp Input Voltage Range Min Max One AWG16 or two AWG18 AWG24 minimum ecifications 80 132 VAC 47 63 Hz Operating Voltage Range 90 120 VAC 47 63 Hz Input Current 8 mA 100 VAC at 50 Hz 10 mA 100 VAC at 60 Hz Max Input Current 12 mA 132 VAC at 50 Hz 15 mA 132
231. 8 7 A V2000 sia St es P m i c Load the value in V2000 and weno ES Ihe aoeumolator 31 30 29 28 27 26 25 2423 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 O Acc 0 1 0 1 0 1 0 0 0 1 14 1 141 14 1 0 Of Of 1 Of 1 0 Of Of OF 1 1 1 1 Of 1 O ANDD 0 1 01 01 0 0 07 17 977 11 0 0 0 O 1 00 0 O d 1 1 14 0 1 0 K36476A38 Acc AND the value in the accumulator with AND364763388 0 0 1 1 0 1 10 0100 05 11 0110101000111000 the constant value 36476A38 Acc 0 0 0 1 0 1 0 0 0 1 0 0 0 11 0 0 0 1 0 1 0 0 0 0 0 1 1 1 0 OF O R p x OUTD Eu ra B L P ud V2010 1 4 4 6 2 8 3 8 opua Vo and veon V200 V2011 Handheld Programmer Keystrokes B sm gt 1 ENT E D D C A A A SHFT MANDST 3 3 a 2 0 0 0 ENT V D K D G E H G A D I AND SHFT 3 gt SHFT UMP 3 6 4 7 6 SHFT 0 SHFT 3 8 ENT GX D C A B A our S4FT 3 gt 2 0 1 0 ENT 5 70 DLO06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions Logical And Formatted AND F DirectSOFT32 The And Formatted instruction logically AN Ds the binary value in the accumulator and a specified range of discrete memory bits 1 32 The instruction requires a starting ANDE Aaaa location Aaaa and number of bits K bbb to be AN D ed pp D iscrete status flags indicate if the result is zero or a negative number the most significant bit 21 Operand Data Type
232. ASCII Option m Byte Swap e None s None Destination Base C One Byte Left C All Address All V memory One Byte Right C All but Null Convert BCD HEX ASCII Constant range containing BCD value checked 1 4 Convert BCD HEXJASCII to BCD HEX Destination Base Address v4100 5 216 DL06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions ASCII il ASCII Compare CM PV TheASCII Compare instruction compares two groups of V memory registers T he CM PV will compare any data type ASCII to ASCII BCD to BCD etc of one series group of V memory registers to another series of V memory registers for a specified byte length Compare from Starting Address specifies the beginning V memory register of the first group of V memory registers to be compared from Compare to Starting Address specifies the beginning V memory register of the second group of V memory registers to be compared to e Number of Bytes specifies the length of each V memory group to be compared Parameter DLO6 Range Compare from Starting Address All V memory o CMPV Compare from Starting Address V3400 E Compare to Starting Address V3500 Number of Bytes Compare to Starting Address All V memory SP61 1 the result is equal SP61 0 the result is not equal Number of Bytes K0 127 CMPV Example TheCM PV instruction exe
233. Address Ranges Function Code MODBUS Data Format Slave Address Range s 01 Read Coil 484 Mode 1 999 01 Read Coil 584 984 Mode 1 65535 02 Read Input Status 484 Mode 1001 1999 02 Read Input Status 584 984 Mode pom 9999 5 digit or 100001 165535 03 Read Holding Register 484 Mode 4001 4999 03 Read Holding Register 584 984 Mode 4000001 468530 6 digi 04 Read Input Register 484 Mode 3001 3999 04 Read Input Register 584 984 Mode 000001 368835 6 digi 07 Read Exception Status 484 and 584 984 Mode n a MRX Master Memory Address Ranges DLO6 Range 0 1777 0 1777 0 3777 0 1777 0 377 0 377 0 777 all 0 3777 0 3777 Number of Elements Operand Data Type DL06 Range V memory all Bits 1 2000 Registers 1 125 Exception Response Buffer Operand Data Type DL06 Range V memory all 5 202 DLO06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions MODBUS MRX Example DL06 port 2 has two Special Relay contacts associated with it see Appendix D for comm port special relays O ne indicates Port busy SP116 and the other indicates Port Communication Error SP117 The Port Busy bit ison while the PLC communicates with the slave When the bit is off the program can initiate the next network request T he Port Communication Error bit turns on when the PLC has detected an error Us
234. BBS Subtract the binary value in the first level of the accumulator stack from the Acc oo 2 o s o 6 B binary value in the d accumulator SS Aecumusior Slack OUTD Copy the value in the i J Level 1 001 A205 B accumulator to V1500 Eo Level2 X X X X X X X X o o a oj s o e e levels x X X X X X X X V1501 V1500 XXX XX XXX Handheld Programmer Keystrokes Level 4 Level 5 XX X XX X X X Sora gt ent tevas X X X XX X X X L D D B E A A Level 7 XX X XX X Xx SHFT anpsT 3 3 7 1 4 0 o S Level X X X X X X X X L D D B E C A SHFT anDsT 3 3 gt 1 4 2 0 ENE S U B B S SHFT RST SHFT ISG 1 1 RST ENT GX D B F A A our SHET 3 gt 1 5 0 0 ENT DL06 Micro PLC User Manual 1st Ed Rev A 5 115 Chapter 5 Standard RLL Instructions M ath Multiply Binary Top of Stack MULBS Multiply Binary Top of Stack isa 16 bit instruction that multiplies the 16 bit binary value in the first level of the accumulator stack by the 16 bit binary value in the accumulator T he result resides in the accumulator and can be 32 bits 8 digits max T he valuein thefirst level of the accumulator stack is removed and all stack locations are moved up one level Discrete Bit Flags Description SP63 On when the result of the instruction causes the value in the accumulator to be zero SP70 On any time the value in the accumulator is negative NOTE Status flags are valid
235. Browser to locatethe LCD instruction When you select the LCD instruction and click OK the LCD dialog will appear as shown in the examples The LCD instruction is inserted into the ladder program via this set up dialog box Display text strings can include embedded variables D ate and time settings and V memory values can be embedded in the displayed text Examples of each are shown D irect Text Entry EE ie The two dialogs to the right show the LCD selections necessary to create the two ladder Lie Humber K1 instructions below D ouble quotation marks are required to delineate the text string In LCD message the first dialog thetext Sludge Pit Alarm Message Uses sixteen character spaces and will appear Sludge Pit Alarmi on line 1 when the instruction is enabled N ote the line number is K1 Clicking the C From V memory check button causes the instruction to be 4 inserted into the ladder program LCD Line Number K1 Sludge Pit Alarm o 5 o LCD LCD Line Number K2 P A K2 s Effluent Overflo Line Number LCD message By identifying the second Line N umber as Message K2 the text string Effluent O verflow will appear on the second line of the display when the second instruction is enabled C From V memory e PJEIS it Alarm ent Over f o a udg At DLO06 Micro PLC User Manual 1st Ed Rev A 5 197 Chapter 5 Standard RLL Instructions LCD
236. C User Manual 1st Ed Rev A 5 69 Chapter 5 Standard RLL Instructions Logical a And Double ANDD TheAnd D oubleis a 32 bit instruction that logically ands the value in the accumulator with two consecutive V memory NDD locations or an 8 digit max constant value Aaaa T he result resides in the accumulator D iscrete status flags indicate if the result of the And D ouble is zero or a negative number the most significant bit is on Operand Data Type DLO6 Range aaa See memory map See memory map O FFFFFFFF Description Will be on if the result in the accumulator is zero Will be on if the result in the accumulator is negative NOTE The status flags are only valid until another instruction that uses the same flags is executed In the following example when X1 ison the value in V 2000 and V 2001 will be loaded into the accumulator using the Load D ouble instruction T he value in the accumulator is anded with 36476438 using the And D ouble instruction T he value in the accumulator is output to V2010 and V2011 using the O ut D ouble instruction Direct SOFT32 V2000 V2000 i LDD 5 4 7 E 2
237. C User Manual Ist Ed Rev A 5 175 Chapter 5 Standard RLL Instructions Program Control Instructions For Next FOR NEXT TheFor and N ext instructions are used to execute a section of ladder logic between the For and N ext instruction a specified numbers of times W hen the For instruction is enabled the program will loop the specified number of times If the For instruction is not energized the section of ladder logic between the For and N ext instructions is not executed Aaaa For Next instructions cannot be nested T he normal I O update FOR and CPU housekeeping is suspended while executing the For Next loop The program scan can increase significantly depending on the amount of times the logic between the For and N ext instruction is executed W ith the exception of immediate I O instructions O will not be updated until the program execution is completed for that scan D epending on the length of time required to complete the program execution it may be necessary NEXT to reset the watch dog timer inside of the For N ext loop using theRSTWT instruction Operand Data Type DLO6 Range aaa See memory map 1 9999 5 176 DLO06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions Program Control Instructions MM MM Ef In thefollowing example when X1 ison the application program insidethe For N ext loop will be executed three times If X1 is off t
238. D K0003 LDA O40600 RX VYO C100 f SET LD LA KF201 LD K0003 LDA O40400 WX VYO C100 f RST DL06 Micro PLC User Manual 1st Ed Rev A 10 02 l 4 59 Chapter 4 CPU Specifications and O peration C mmm N Network Master Operation using MRX and MWX Instructions This section describes how the D L06 can communicate on a M O D BUS RTU network asa master using the M RX and M WX read write instructions T hese instructions allow you to enter native M O D BUS addressing in your ladder logic program with no need to perform octal to decimal conversions M O D BUS is a single master multiple slave network T he master is the only member of the network that can initiate requests on the network T his section teaches you how to design the required ladder logic for network master operation CERF TERM em e A cx PORT PORT2 RUN STOP MODBUS RTU Protocol or DirectNET Slave 1 Slave 2 Slave 3 Master MODBUS Function Codes Supported TheM O DBUS function code determines whether the access is a read or a write and whether to access a single data point or a group of them T he D L06
239. DLO6 User Manual Manual Number D0 06U SER M Volume 1 of 2 DLO6 Micro PLC USER MANUAL Please include the M anual Number and the M anual Issue both shown below when communicating with Technical Support regarding this publication Manual Number D 0 06U SER M Issue First Edition Rev A Issue D ate 10 02 Publication History Issue Description of Changes First Edition Original Rev A Updated drawing images and made minor corrections VOLUME ONE TABLE OF CONTENTS Chapter 1 Getting Started Introduction eese IET 1 2 The Purpose of this Manual vies o ER SE eee eee eet e RE Ee es 1 2 Supplemental Man als e eR RR RR REFERS EE E Eg hare recte Roe e 1 2 Technical Support esses ee ex RR COWES See wee Ee eee eee eee ees 1 2 Conventions Used cocer iR RACER OR 19 REOR A Dea R1 n a i6 1 3 Key Topics for Each Chapter sese RR ER EE vee tee ER RR e ER CR E s 1 3 DLO6 Micro PLC Overview eee RR n 1 4 The amp DLO6 PLC Features sss RR ER ESREREESRS SLES ee Ee xo 1 4 Programming Methods 0 ccc cece E n 1 4 DirectSOFT32 Programming for Windows lessen 1 4 Handheld Programmer 0 cece eee eee nee Ih 1 5 I O Quick Selection Guide llle 1 5 Quick Start 0 ce eee eee eee eee han 1 6 Steps to Designing a Successful System llle 1 10 Questions and Answers about DLO6 Micro PLCs llle 1 12 Chapter 2
240. Data Label Example In thefollowing example an ACON and two NCON instructions are used within a DLBL instruction to build a text message See the FAULT instruction for information on displaying messages T he D V 1000 M anual also has information on displaying messages Direct SOFT32 DLBL ACON ASW NCON K 2031 NCON K 3436 Handheld Programmer Keystrokes sHFT E i D D 4 ENT suer Slanost a anost gt Pa EXT SHET A o Ea isra a gt s aar ENT SHT ime le Misra iE o gt Mee Neo Pa MPa E suere 2 instal vl Se Ea Wes E 5 188 DLO06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions M essage Instructions EM M Print Message PRINT ThePrint M essage instruction prints the embedded text or text data variable message to the specified communications port Port 2 on the D L06 CPU which must have the communications port configured PRINT A aaa Hello this is a PLC message Operand Data Type DLO6 Range You may recall from the CPU specifications in Chapter 3 that the D L06 s ports are capable of several protocols Port 1 cannot be configured for the non sequence protocol To configure port 2 using the H andheld Programmer use AU X 56 and follow the prompts making the same c
241. Data Type DLO6 Range aaa See memory map See memory map O FFFFFFFF Description Will be on if the result in the accumulator is zero Will be on if the result in the accumulator is negative NOTE The status flags are only valid until another instruction that uses the same flags is executed In the following example when X1 ison the value in V 2000 and V 2001 will be loaded into the accumulator using the Load D ouble instruction T he value in the accumulator is exclusively ored with 36476A38 using the Exclusive O r D ouble instruction T he valuein the accumulator is output to V 2010 and V 2011 using the O ut Double instruction Direct SOFT32 V2001 V2000 x LDD s 4 z r 2 8 z 4 Fd 2000 ae ie ae maet bu Load the value in V2000 and 3200 Tinto the aceumulator 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 413 2 1 0 XORD c 051 0 1 0 1 0 0 0 1 1 1 1 1 1 0 0 0 1 0 1 0 0 0 0 1 1 1 1 0 1 o K36476A38 XORD the value in the accumulator with the constant value Acc 0 T 0 T7 0 7 OO 017 177171 1771 1 0 Q0 01 0T 0 0 O O 1 T 1 1 O 1 0 36476A38 XORD 36476A38 0 011011001000111 0110101000111000
242. Embedding date and or time variables T he date and or time can be embedded in the displayed text by using the variables listed in thetable below T hese variables can beincluded in the LCD message field of theLCD dialog In the example thetime variable 12 hour format is embedded by adding _time 12 T his time format uses a maximum of seven character spaces T he second dialog creates an instruction that prints the date on the second line of the display when enabled Date and Time Variables and Formats _date us US format MM DD YY _date e European format DD MM YY _date a Asian format YY MM DD _time 12 12 hour format HH MMAM PM _time 24 24 hour format HH MM SS LCD Line Number K1 Alarm 1 time 12 LCD Line Number K2 date us Alarm 1 uu 21PM 05 08 02 Embedding V memory data C o Any V memory data can be displayed in any one of six available data formats An example appears to the right A list of data formats and modifiers is on the next page N ote that different data formats require differing numbers of character positions on the display LCD Line Number K1 Count V2500 B unt 0412 Ixe o LCD Line Number K1 LCD message Message Alarm 1 time 12 ki From V memory zm v Tox o LCD Line Number LCD message Message _date us From V memory i Jo D o LCD Line Number K1
243. FT 32 menus to select the retentive ranges Appendix A contains detailed information about auxiliary functions WARNING The DLO6 CPUs do not come with a battery The super capacitor will retain the values in the event of a power loss but only for a short period of time depending on conditions If the retentive ranges are important for your application make sure you obtain the optional battery BH 10 DLO06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 4 CPU Specifications and O peration i Using a Password AN TheDLO6 PLCsallow you to use a password to help minimize the risk of unauthorized program and or data changes O nce you enter a password you can lock the PLC against access Once the CPU is locked you must enter the password before you can use a programming deviceto change any system parameters You can select an 8 digit numeric password T he M icro PLCsare shipped from the factory with a password of 00000000 All zeros removes the password protection If a password has been entered into the CPU you cannot just enter all zeros to remove it O nce you enter the correct password you can change the password to all zeros to remove the password protection WARNING Make sure you remember your password If you forget your password you will not be able to access the CPU The Micro PLC must be returned to the factory to have the password along with the ladder project removed You can use t
244. Flags Description On when the result of the instruction causes the value in the accumulator to be zero On when the 16 bit addition instruction results in a carry On when the 32 bit addition instruction results in a carry On anytime the value in the accumulator is negative On when a signed addition or subtraction results in an incorrect sign bit NOTE Status flags are valid only until another instruction uses the same flag In the following example when X1 ison the value in V 1400 and V 1401 will be loaded into the accumulator using the Load D ouble instruction T he value in V 1420 and V 1421 is loaded into the accumulator using the Load D ouble instruction pushing the value previously loaded in the accumulator onto the accumulator stack T he binary value in the first level of the accumulator stack is added with the binary value in the accumulator using the Add Stack instruction T he value in the accumulator is copied to V 1500 and V 1501 using the O ut D ouble instruction DirectS OF T32 Display v1401 V1400 xi LDD Load the value in V1400 and 910 3 A Accumulator stack V1401 into the accumulator after IstLDD V1400 l 1 p Level 1 acc 919 3 5 19 C 6 Level 2 Level 3 v1421 v1420 Level 4 DS Load the value in V1420 and 9 o pz p 8 Of s pe Level 5 V1421 into the accumulator Level 6
245. GX and GY Points LSB GX GY 0 Address Address V40100 V40300 V40101 V40301 V40102 V40302 V40103 V40303 V40104 V40304 V40105 V40305 V40106 V40306 V40107 V40307 V40110 V40310 V40111 V40311 V40112 V40312 V40113 V40313 V40114 V40314 V40115 V40315 V40116 V40316 V40117 V40317 V40120 V40320 V40121 V40321 V40122 V40322 V40123 V40323 V40124 V40324 V40125 V40325 V40126 V40326 V40127 V40327 V40130 V40330 V40131 V40331 V40132 V40332 V40133 V40333 V40134 V40334 V40135 V40335 V40136 V40336 V40137 V40337 4 40 DL06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 4 CPU Specifications and O peration DLO6 Remote 1 0 GX and GY Points LSB GX GY 0 LOCKSS CSS V40140 V40340 V40141 V40341 V40142 V40342 V40143 V40343 V40144 V40344 V40145 V40345 V40146 V40346 V40147 V40347 V40150 V40350 V40151 V40351 V40152 V40352 V40153 V40353 V40154 V40354 V40155 V40355 V40156 V40356 V40157 V40357 V40160 V40360 V40161 V40361 V40162 V40362 V40163 V40363 V40164 V40364 V40165 V40365 V40166 V40366 V40167 V40367 V40170 V40370 V40171 V40371 V40172 V40372 V40173 V40373 V40174 V40374 V40175 V40375 V40176 V40376 V40177 V40377
246. If you examine the example table you ll Destination notice that the data locations are numbered from x xIxIx visoo thetop of thetable For example if thetable counter started at 6 then all six of the locations would be affected during the instruction execution DirectSOFT32 Display optional one shot method Also our example uses a normal input contact X 1 TM 4 89 to control the execution Sincethe CPU scan is co T extremely fast and the pointer decrements Ko automatically the data would be removed from the TE table very quickly If thisis a problem for your diana application you have an option of using a one shot LDA PD to remove one value each time the input 2 Convert octal 1400 to HEX 300 and load the value into the accumulator This is the table pointer location contact transitions from low to high 5 160 DL06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions Table Instructions __ The following diagram shows the scan by scan results of the execution for our example program In our example were showing the table counter set to 4 initially Remember you can set the table counter to any value that is within the range of the table T he table counter automatically decrements from 4 0 as the instruction is executed N otice how the last two table positions 5 and 6 are not moved up through the table Also notice how SP56 which comes on when the tabl
247. In thecircuit diagram below an encoder has open emitter PN P transistor outputs It sources current to the PLC input point which sinks the current back to ground Sincethe encoder sources current no additional power supply is required H owever notethat the encoder output must be 12 to 24 volts 5V encoder outputs will not work Counter Output 12024 Vb MEE XIS BE Input 3 31 uputi ing sinking 4 Output sourcing K ye T Ground Common fete A J 3 8 DLO06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 3 H igh speed Input and Pulse O utput Features Setup for Mode 10 V7633 isthe H SIO M ode Select register Refer to the diagram below Use BCD 10 in the lower byte of V 7633 to select the H igh Speed Counter M ode Memory Location V7633 Bits 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 en ell SEE For the function of bits 8 15 HSIO Mode Setup BCD refer to page 3 6 10 High Speed Counter Choose the most convenient method of programming V 7633 from the following Include load and out instructions in your ladder program DirectSOFT 32 s memory editor or D ata View e Usethe H andhed Programmer D 2 H PP We recommend using the first method above so that the H SIO setup becomes an in
248. Installation Wiring and Specifications 2 1 Safety Guidelines isse sehe ehe hes t eT baa aaa 8 6 EE Lee Rei Dn 6 R1 e 2 2 Plan for Safety ss ssh e eere eee eee Oe ee e ER e obese og 2 2 Three Levels Of Protection sese m ek YR Y xx Ya E E E E Es 2 2 Orderly System Shutdown esses re eee er REG Seas iseitis 2 3 System Power Disconnect s ee e ey x xy xx E EE EE E US 2 3 Emergency StOD sss ko em EE EY YE FERE FEE ELI LEE EE EE Eg 2 3 Class I Division 2 ApproVal esee ee hex EE D E a 2 4 Orientation to DLO6 Front Panel eeeeee n 2 4 Table of C ontents M M mme Terminal Block Removal s teg re RR Ey E dece epoca ecce e dee ird 2 5 Mounting Guidelines 5sssosa a bh a eRe RR eS 2 6 Unit DIMENSIONS esses od ok SAK merde dob dr RU rs ERE ERE EE EEEEE 2 6 dish rr Dp 2 6 Panel Layout amp Clearances cese e RYE Re Re E ee ee 2 7 Using Mounting Rails lt s s cesed bk tere Rh ede ud eee a ewes 2 8 Environmental Specifications escatas ssec n 2 9 Agency Approvals lt sses s te titii E UCtUer RR ERERERRETRERERREESETE 2 9 Wiring Guidelines 5 5 sn o rt teeta bebe baba kiits 2 10 Fuse Protection for Input Power 2 2 00 eee II 2 10 External Power SOUFGe o as occupe uh 4 oboe Heo ea ee ee 2 11 Planning the Wiring Routes sss esie eee ee eee III 2 11 Fuse Protection for Input and Output Circuits 6 eee eee 2 12 I O Point Numbering
249. K1006 which is required to select X3 as a filtered input with a 20ms filter time constant Output this constant to V7637 configuring X3 Load the constant K8100 which is required to select trapezoidal profile relative positioning without interrupt and a target velocity of 1kHz Output this constant to V3630 the location of the profile select starting velocity setup register Load the constant K30000 which selects a target position of 30000 pulses Don t forget to use double word size 8 digit BCD position value Output this constant to V3631 and V3632 the location of the target position double word register Continued on next page 3 56 DL06 Micro PLC User Manual 1st Ed Rev A 10 02 Program Example Chapter 3 H igh speed Input and Pulse O utput Features E M i1 Continued from previous page SPO H Step 1 Acceleration Step 1 Distance Step 2 Acceleration Step 2 Distance Step 3 Acceleration Step 3 Distance Step 4 Acceleration Step 4 Distance Step 5 Deceleration LD K20 OUT V3633 LD K100 OUT V3634 LD K40 OUT V3635 LD K200 OUT V3636 LD K60 OUT V3637 LD K300 OUT V3640 LD K80 OUT V3641 LD K400 OUT V3642 LD K80 OUT V3643 Load the constant K20 which is required to select the step 1 acceleration velocity of 200 Hz Output this constant to V3633 the location of the step 1 acceleration velo
250. L Instructions ASCII aaa Text element the following is used for printing to V memory character strings T he character strings are defined as the character more than 0 ranged by the double quotation marks Two hex numbers preceded by the dollar sign means an 8 bit ASCII character code Also two characters preceded by the dollar sign is interpreted according to the following table Character code Description Dollar sign Double quotation Lor 1 Line feed LF N or n Carriage return line feed CRLF P or p Form feed R or r Carriage return CR T or t Tab 1 2 3 4 5 6 7 The following examples show various syntax conventions and the length of the output to the printer Length 0 without character AU Length 1 with character A an Length 1 with blank e Length 1 with double quotation mark S R L Length 2 with one CR and one LF 0D 0A Length 2 with one CR and one LF Length 1 with one mark In printing an ordinary line of text you will need to include double quotation marks before and after thetext string Error code 499 will occur in the CPU when the print instruction contains invalid text or no quotations It is important to tes your VPRINT instruction data during the application development DLO06 Micro PLC User Manual 1st Ed Rev A 5 221 Chapter 5 Standard RLL Instructions ASCII ee VPRINT Example Combined wit
251. O and Y 1 Watch the status LED s for YO and Y1 when you start a motion profile If the LED sflicker on and off or are steadily on the configuration is probably correct 2 Programming error f there are no pulses on YO or Y1 you may have a programming error Check the contents of V 3636 for an error code that may be generated when the PLC attempts to do the move profile Error code descriptions are given above 3 Check target value T he profile will not pulse if the count value is equal to the target value ex count 0 target 0 3 62 DLO06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 3 H igh speed Input and Pulse O utput Features M 1 4 Wiring Verify the wiring to the stepper motor is correct Remember the signal ground connection from the PLC to the motion system is required 5 Motion system Verify that the drive is powered and enabled To verify the motion system is working you can use M ode 60 operation normal PLC inputs outputs as shown in the test program below W ith it you can manually control YO and Y1 with X0 and X1 respectively U sing an input simulator is ideal for this type of manual debugging W ith the switches you can single step the motor in either direction If the motor will not move with this simple control M ode 30 operation will not be possible until the problem with the motor drive system or wiring is corrected
252. OUTD Acc O 1 1 Of OF Of 1 OF OF OF 1 1 1 Of OF 1 Of 1 07 O Of Of 1 OF Of 1 OF Of Of Of 1 0 V2010 Copy the value in the x A R b FT d accumulator to V2010 and V2011 6 213 9 4 2l4 2 Handheld Programmer Keystrokes Sm gt Js ENT SHIFT ABS P 3 3 B 2 0 i 0 0 ENT SHFT C S supr P gt ser nee p e 7 H 9 sHFT o f sHFT B 2 ENT ie SPEC K 3 gt 2 i 0 n 1 2 0 ENT 5 78 DL06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions Logical Exclusive Or Formatted XORF The Exclusive O r Formatted instruction performs an XORF Aaaa exclusive OR of the binary value in the accumulator and a K bbb specified range of discrete memory bits 1 32 Theinstruction requires a starting location Aaaa and the number of bits Bbbb to be exclusive O Red D iscrete status flags indicate if the result of the Exclusive O r Formatted is zero or negative the most significant bit 21 Operand Data Type DLO6 Range Discrete Bit Flags Description SP63 Will be on if the result in the accumulator is zero SP70 on when the value loaded into the accumulator by any instruction is zero NOTE Status flags are valid only until another instruction uses the same flag In the following example when X1 is on the binary pattern of C1
253. On when the 32 bit subtraction instruction results in a borrow On any time the value in the accumulator is negative NOTE Status flags are valid only until another instruction uses the same flag In the following example when X1 is on the value in V 1400 and V 1401 will be loaded into the accumulator using the Load D ouble instruction T he value in V 1420 and V1421is loaded into the accumulator using the Load D ouble instruction pushing the value previously loaded in the accumulator onto the accumulator stack T he binary valuein the first level of the accumulator stack is subtracted from the binary value in the accumulator using the Subtract Stack instruction T he valuein the accumulator is copied to V 1500 and V 1501 using the O ut D ouble instruction Direct SOFT32 Display V1401 V1400 xi Load the value in V1400 and 0 0 1 A 2 0 5 B8 Accumulator stack LDD ee value in an vioo V1401 into the accumulator after 1st LDD aa Level1 X X X X X X X X acc 9 9 3 4 2 0 5 B Level2 IX XX X X X X X Level 3 XX X XX X Xx V1421 V1420 Level 4 XX X XX X Xx LDD Load the value in V1420 and ofo 3 s v c s Level5 X X X X X XX X r v1420 1421 into the accumulator l 1 Level6 XX XXX XXX a Level 7 XX X XX X Xx 0 0 Al 5 o c 6 Acc 7 I level8 X X X X X X X X SU
254. Or is zero Aaaa Operand Data Type DLO6 Range aaa See memory map See memory map Discrete Bit Flags Description SP63 Will be on if the result in the accumulator is zero SP70 on when the value loaded into the accumulator by any instruction is zero NOTE The status flags are only valid until another instruction that uses the same flags is executed In the following example when X1 is on the value in V 2000 will be loaded into the accumulator using the Load instruction T he value in the accumulator is ored with V 2006 using the Or instruction The value in the lower 16 bits of the accumulator are output to V 2010 using the O ut instruction LD 2000 Load the value in V2000 into The upper 16 bits of the accumulator p d d Lb e the lower 16 bits of the will be set to 0 accumulator 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 115 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Acc 0 0 O OJ OJ O Of OJ Of OF O OF 0 Of O OJ Of Of 1 0 1 Of OF OF OF 1 1 1 1 0 1 0 OR V2006 Ac 0000000000000000 001 0100001 11 101 0 Or the value in the 6A38 accumulator with OR V2006 0000000000000000 0110101000111000 the value in V2006 Acc 0 0 0j 0j0 0 0j0j0
255. Presets 0 0 cece eee ee ee 3 10 Preset Data Starting Location diessa aaa aaae IRE eens 3 11 Using Fewer than 24 Presets 0 0 iaa a e tee ee eee 3 11 Equal Relay Numbers oie eres xr dd OR OR E p Eik ead aee 3 12 Calculating Your Preset Values eeri naia ia ia e e 3 13 X Inp tConflg ratlOD se scene exea a ek ORE xxn nod ed e e tees 3 14 Writing Your Control Program 0 eee Ih 3 15 Program Example 1 Counter Without Presets llle 3 16 Program Example Contd ee si eese ee ae SA AMAA Dobe e Raa eds 3 17 Program Example 2 Counter With Presets 00 ee eee eee eee 3 18 Program Example 3 Counter With Preload 0 0 0 0 cece eee ee eee 3 21 Troubleshooting Guide for Mode 10 0 eee eee ee eee 3 23 Symptom The counter does not count 2 0 eee ee eee 3 23 Symptom The counter counts but the presets do not function 3 23 Symptom The counter counts up but will not reset 0000000 3 23 6 o 6 DLO0G Micro PLC User Manual 1st Ed Rev A 10 02 l Table of C ontents M M Mode 20 Up Down Counter 0 ccc cee eee nn 3 24 Purpose cate ahs as x Ew REEL EE ET PS EU E a apts Ri RE 3 24 Functional Block Diagram llle III 3 24 Quadrature Encoder Signals seseris 06 Rus Eo EE y Ya eee Ee eee Ra 3 25 Wiring Diagram sve su s RR RR Ge eee oe ee eee asc a ENDE ce ane Rer s 3 25 Interfacing to Enc
256. R instructions combine levels of the boolean stack when they are encountered An error will occur during program compilation if the CPU encounters a rung that uses more than the eight levels of the boolean stack T he following example shows how the boolean stack is used to solve boolean logic XO STR X1 ORSTR RE A YO SIR our Output srr Ly ANP N ANDSTR Pss se gr BE 515 E We I SL of O STEE LEN O STEA elo o i p BE AND X4 ORNOT X5 X1 or X2 AND X3 X1 or X2 AND X3 X2 AND X3 EE AND X4 AND X1 or X2 AND X3 X4 AND X1 or X2 AND X3 X2 AND X3 1 NOT X5 OR X4 AND X1 OR X2 AND X3 smxo e XO x XO E ppc ANDSTR XO AND NOT X5 or X4 AND X1 or X2 AND X3 DIENEN D 5 8 DLO06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions Boolean Instructions io Immediate Boolean TheDL06 M icro PLCs can usually complete an operation cycle in a matter of milliseconds H owever in some applications you may not be ableto wait a few milliseconds until the next 1 0 update occurs T he D L06 PLCs offer Immediate input and outputs which are special boolean instructions that allow reading directly from inputs and writing directly to outputs during the program execution portion of the CPU cycle You may recall that this is normally done during the input or output update portion o
257. Rev A 5 53 Chapter 5 Standard RLL Instructions Accumulator Stack Load and O utput D ata B M Q MM M M MP Using the Accumulator Stack Theaccumulator stack is used for instructions that require more than one parameter to execute a function or for user defined functionality T he accumulator stack is used when more than one Load instruction is executed without the use of an Out instruction T he first load instruction in the scan places a value into the accumulator Every Load instruction thereafter without the use of an O ut instruction places a value into the accumulator and the value that was in the accumulator is placed onto the accumulator stack T he O ut instruction nullifies the previous load instruction and does not place the value that was in the accumulator onto the accumulator stack when the next load instruction is executed Every time a valueis placed onto the accumulator stack the other values in the stack are pushed down one location T he accumulator is eight levels deep eight 32 bit registers If thereisa valuein the eighth location when a new valueis placed onto the stack the valuein the eighth location is pushed off the stack and cannot be recovered xi LD
258. SP53 will comeON DirectS OFT 32 Display X1 Load the constant value 6 HEX into the lower 16 bits of the accumulator Convert octal 1400 to HEX 300 and load the value into the accumulator Find the value in the table greater than the s pecified value Handheld Programmer Keystrokes Table length Accumulator 00000002 V1402 contains the location where the first value greater than the search value was found 9999 was the 2nd location after the start of the specified table S STR gt s ENT SHFT hos a PREV S amp ENT SHFT ANDST D A A gt P WE ENT surr t 5 2 3 7 6 T Next 8 ENT DL06 Micro PLC User Manual 1st Ed Rev A l 5 149 Chapter 5 Standard RLL Instructions Table Instructions Table to D estination TTD TheTableTo D estination instruction moves a value from a V memory tableto a V memory location and increments the table pointer by 1 The first V memory location in the table contains the table pointer which indicates the next location in the table to be moved T he instruction will be executed once per scan provided the input remains on T he table pointer will reset to 1 when the value equals the last location in the table The function parameters are loaded into the first level of the accumulator stack and the accumulator by two additional in
259. SP562 19 V3755 V3754 SP612 20 V3677 V3676 SP563 20 V3757N3156 SP613 21 V3701 V3700 SP564 21 V3761 N3760 SP614 22 V3703 V3702 SP565 22 V3763 N3762 SP615 23 V3705 V3704 SP566 23 V3765 V3764 SP616 24 V3707 V3706 SP567 24 V3767 V3766 SP617 The consecutive addresses shown above for each relay are those assigned by the CPU as default addresses T he Pointer for the start of these addresses is stored by the CPU at V 7630 If you have a conflict of addresses because of pre existing code written to these addresses you can change the default block of addresses merely by having your ladder logic place a different pointer value in V 7630 To change the table location usethe LDA and OUT instructions as shown on the previous page 3 12 DL06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 3 H igh speed Input and Pulse O utput Features Eo Calculating Your Preset Values T he preset values occupy two data words each T hey can range in value from 8388608 to 8388607 just like the high speed counter value All 24 values are absolute values meaning that each one isan offset from the counter zero value T he preset values must be individually derived for each application In the industrial lathe diagram below the PLC monitors the position of the lead screw by counting pulses At points A B and C along the linear travel the cutter head pushes into the work material and cuts a groove
260. T cT2 xi K3 C10 C10 CTA2 KI Y3 va ovr YA CTA2 K2 Y4 ovr 2 mM Current 1 2 3 4 0 Value CTA2 K3 Y5 gt ovr ES Handheld Programmer Keystrokes Handheld Programmer Keystrokes cont B C T c str gt 1 BN sm gt SHFT 2 9 FT mer 2 c B A c em SHFT 2 i ENT gt ENT GY 4 D Gx E ont gt 2 gt 3 ENT our 4 ENT C T C c T C STR gt SHFT n SHFT un 5 SI SHFT 2 SHFT un 5 B D gt i ENT gt n ENT GX D GX F our 3 ENT our gt 5 ENT 5 46 DL06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions Timer Counter and Shift Register Instructions m Stage Counter SGCNT The Stage Counter is a single input counter that increments when the input logic transitions from off to on T his counter differs from other counters since it will Counter hold its current value until reset using the RST instruction T he Stage C ounter is designed for use in ___ SGCNT CT aaa RLL7ZUS programs but can be used in relay ladder logic B bbb programs W hen the current value equals the preset value the counter status bit turnson and the counter Preset continues to count up to a maximum count of 9999 The maximum value will be held until the counter is reset Instruction Specifications Counter Reference CTaaa Specifies the counter number Preset Value Bbbb Constan
261. T his device is ideal for maintaining existing installations or making small program changes T he handheld programmer is shipped with a cable which is approximately 6 5 feet 200 cm long For replacement TOUT nu STOP cable use part no e d DV 1000CBL CPU Setup Information Even if you have years of experience using PLCs there are a few things you need to do before you can start entering programs T his section includes some basic things such as changing the CPU mode but it also includes somethings that you may never haveto use H ere s a brief list of the items that are discussed Using Auxiliary Functions Clearing the program and other memory areas e How to initialize system memory Setting retentive memory ranges Thefollowing paragraphs provide the setup information necessary to get the CPU ready for programming T hey include setup instructions for either type of programming device you are using The D 2 H PP H andheld Programmer M anual provides the H andheld keystrokes required to perform all of these operations The DirectSO FT 32 M anual provides a description of the menus and keystrokes required to perform the setup procedures via D irectSO FT 32 DL06 Micro PLC User Manual 1st Ed Rev A 10 02 l 1 5 Chapter 4 CPU Specifications and O peration oO
262. TE Status flags are valid only until another instruction uses the same flag In the following example when X6 is on the value formed by discrete locations X0 X3 is loaded into the accumulator using the Load Formatted instruction T he valueformed by discrete locations C 0 C 3 is added to the value in the accumulator using the Add Formatted instruction T he valuein the lower four bits of the accumulator is copied to Y10 Y 13 using the O ut Formatted instruction Direct SOFT32 Display LT K4 Xo ADDF K4 co OUTF K5 Y10 Handheld Programmer Keystrokes Load the value represented by discrete locations XO X3 into the accumulator Add the value in the accumulator with the value represented by discrete location CO C3 Copy the lower 4 bits of the accumulator to discrete locations Y10 Y14 x3 xe xi zo ON OF F OFF OF F The unused accumulator bits are set to zero 0000000 8 Accumulator 8 oca On when a BCD instruction is executed and a NON BCD number was encountered c3 C2 C1 CO OFF OFF ON ON 0 0 0 11 0 0 O 1 vas Y12 vui Y10 oFF oFr orF ON STR 6 ze SHFT Eupsr a s o
263. Time chapter Automatic Trapezoidal Acca Slope to Target Velocity to D ecel Slope Step Trapezoidal U ser defined step acceleration deceleration and target velocity Velocity Control Speed and Direction only TheH SIO circuit becomes a high speed pulse generator up to 10 kH z in M ode 30 By programming acceleration and deceleration values position and velocity target values the H SIO function automatically calculates the entire motion profile T he figure below shows the DL06 generating pulse and direction signals to the drive amplifier of a stepper positioning System T he pulses accomplish the profile independently and without interruption to ladder program execution in the CPU Pulse DLO6 Micro PLC J Stepper Motor s Direction In the figure above the D L06 generates pulse and direction signals Each pulse represents the smallest o jg px increment of motion to the positioning system such as one step or micro step to a stepper system CW Pulse Alternatively the H SIO Pulse O utput M ode may be configured to deliver counter clock wise CCW and Drive clock wise CW pulse signals as shown to the right Amplifier NOTE The pulse output is designed for open loop stepper motor systems This plus its minimum ve
264. V memory bytes on ASCII data that was written directly to V memory from an external H M I or similar master device via a communications protocol TheAIN and AEX instructions have a built in byte swap feature 5 208 DLO06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions ASCII i ASCII Input AIN The ASCII Input instruction allows the CPU to receive ASCII strings through the specified communications port and places the string into a series of specified V memory registers T he ASCII data can be received asa fixed number of bytes or as a variable length string with a specified termination character s O ther features include Byte Swap preferences C haracter Timeout and user defined flag bits for Busy Complete and Timeout Error AIN Fixed Length Configuration Length Type select fixed length based on the length of the ASCII string that will be sent to the CPU port e Port Number must be D L06 port 2 K2 Data D estination specifies where the ASCII string will be placed in V memory Fixed Length specifies the length in bytes of the fixed length ASCII string the port will receive e Inter character Timeout if the amount of time between incoming ASCII characters exceeds the set time the specified Timeout Error bit will be set No data will be stored at the D ata D estination V memory location T he bit will reset when the AIN instruction permissive bits are disabled Oms selec
265. V40632 V40633 V40634 V40635 V40636 V40637 DL06 Micro PLC User Manual 1st Ed Rev A 10 02 l 4 35 Chapter 4 CPU Specifications and O peration DLO6 Control Relays C Address V40640 V40641 V40642 V40643 V40644 V40645 V40646 V40647 V40650 V40651 V40652 V40653 V40654 V40655 V40656 V40657 V40660 V40661 V40662 V40663 V40664 V40665 V40666 V40667 V40670 V40671 V40672 V40673 V40674 V40675 V40676 1 36 DL06 Micro PLC User Manual 1st Ed Rev A 10 02 40677 Chapter 4 CPU Specifications and O peration E MM IT Timer Status Bit Map T his table provides a listing of individual timer contacts associated with each V memory address bit DLO06 Timer T Contacts Address V41100 V41101 V41102 V41103 V41104 V41105 V41106 V41107 V41110 V41111 V41112 V41113 V41114 V41115 V41116 V41117 Counter Status Bit Map T histable provides a listing of individual counter contacts associated with each V memory address bit DLO6 Counter ad C
266. VAC at 60 Hz Input Impedance 14KQ 50 Hz 12KO 60Hz ON Current Voltage gt 6 mA 75 VAC OFF Current Voltage 2 mA 20 VAC OFF to ON Response 40 mS ON to OFF Response 40 mS Status Indicators Logic Side Commons 4 channels common x 5 banks isolated AC Output Specifications Output Voltage Range Min Max 15 264 VAC 47 63 Hz Operating Voltage 17 240 VAC 47 63 Hz On Voltage Drop 1 5 VAC 50mA 4 0 VAC lt 50mA Max Current 0 5 A point 1 5 A common Max leakage current 4 mA Q 264 VAC Max inrush current 10 A for 10 mS Minimum Load 10 mA OFF to ON Response 1 m ON to OFF Response 1 mS 1 2 cycle Status Indicators Logic Side Commons 4channels common x 4 banks isolated Fuses None external recommended DL06 Micro PLC User Manual 1st Ed Rev A 10 02 2 27 Chapter 2 Installation Wiring and Specifications ss D 0 06AR 1 0 Wiring Diagram TheD 0 06AR PLC hastwenty AC inputs and sixteen relay contact outputs T hefollowing diagram shows a typical field wiring example The AC external power connection uses four terminals at the left as shown Thetwenty AC input channels useterminals on the bottom of the connector Inputs are organized into five banks of four Each bank has a common terminal T he wiring example below shows all commons conn
267. VDC DC 4 Sink 6 27 VDC 0 5A VR 6 27 VDO 1 0A Y2 Y17 D0 06DR D DC 5 Sink or Source 12 24 VDC Relay 4 Sink or Source 6 27 VDC 2A 6 240 VAC 2A See Chapter 2 Specifications for more information about a particular D L06 version DL06 Micro PLC User Manual 1st Ed Rev A 10 02 1 5 Chapter 1 Getting Started ees Quick Start This example is not intended to tell you everything you need to know about programming and starting up a complex control system It is only intended to give you an opportunity to demonstrate to yourself and others the basic steps necessary to power up the PLC and confirm its operation Please look for warnings and notes throughout this manual for important information you will not want to overlook Step 1 Unpack the D L06 Equipment Unpack the D L06 and gather the parts necessary to build this demonstration system T he recommended components are e DLO6 Micro PLC AC power cord or DC power supply Toggle switches see Step 2 on next pagg Hook up wire 16 22 AWG e DL06 User M anual this manual A small screwdriver 5 8 flat or 1 Philips type You will need at least one of the following programming options DirectSO FT 32 Programming Software V 4 0 or later PC PGM SW or PC PGM BRICK DirectSO FT 32 M anual included with the software and a programming cable D 2 D SCBL connects the D L06 to a personal computer or
268. Velocity 4 Target Velocity 1 kHz Accel 2 sec Decel 4 sec Starti ng In this example the Velocity 40Hz m ending velocity is not f selected gt Pd Time Start position Target position 5000 Thefollowing program will realize the profile drawn above when executed T he beginning of the program contains all the necessary setup parameters for Pulse O utput M ode 30 Weonly have to do this once in the program so we use first scan contact SPO to trigger the setup DirectSOFT32 SPO Load constant K30 into the accumulator This selects LD Mode 30 as the HSIO mode 1 K30 Mode 30 OUT Output the constant to V7633 the location of the HSIO V7633 Mode select register Load the octal address of the beginning of the Profile Locate Parameter LDA Parameter Table The LDA instruction converts this to a Table optional O3630 hex number in the accumulator OUT Output this address to V7630 the location of the pointer V7630 to the Profile Parameter Table Load the constant K103 which is required to select Select Pulse LD pulse and direction for physical YO and Y1 functions Direction K103 respectively use K3 if your application needs CW and CCW OUT Output this constant to V7632 configuring the pulse V7632 output type Filtered Inputs LD Load the constant K1006 which is required to select K1006 filtered inputs with a 10 mS filter time
269. X2 X1 XO LLLI LII 15 14 13 12 11 10 9 81 7 5 4 3 2 1 V40400 o T hese discrete memory areas and their corresponding V memory ranges are listed in the memory area table for D L06 M icro PLCson the following pages DL06 Micro PLC User Manual 1st Ed Rev A 10 02 l 1 25 Chapter 4 CPU Specifications and O peration C LLL Input Points X Data Type The discrete input points are noted by an X data T v type T here are 8 discrete input points and 256 our discrete input addresses available with D L06 CPUs In this example the output point YO will be turned on when input X0 energizes Output Points Y D ata Type Thediscrete output points are noted by a Y data d i type T here are 6 discrete outputs and 256 discrete our output addresses available with DLO6 CPUs In this example output point Y1 will be turned on when input X1 energizes Control Relays C D ata Type Control relays are discrete bits normally used to control the user program T he control relays do not represent a real world device that is they cannot be physically tied to switches output coils s n etc T hey are internal to the CPU Because of this our control relays can be programmed as discrete inputs or discrete outputs T hese locations are used E 2 in programming the discrete memory locations C or the co
270. Y7 will energize DirectSOFT32 x1 Y7 our B1400 7 yt Handheld Programmer Keystrokes STR gt 1 ENT ORN SHFT B V 1 4 0 0 gt K 7 ENT OUT gt Ts ENT DL06 Micro PLC User Manual 1st Ed Rev A 5 13 Chapter 5 Standard RLL Instructions Boolean Instructions And AND TheAnd instruction logically ands a normally open Adaa contact in series with another contact in a rung The status of the contact will be the same state as the associated image register point or memory location And Not ANDN TheAnd Not instruction logically ands a normally Aaaa closed contact in series with another contact in a rung vi T he status of the contact will be opposite the state of the associated image register point or memory location Operand Data Type In the following And example when input X1 and X2 are on output Y5 will energize Direct SOFT32 Handheld Programmer Keystrokes X1 x2 Y5 gt B ENT STR 1 IL on DELE AND E 2 ENT GX F OUT Ei 5 ENT In the following And Not example when input X1 is on and X2 isoff output Y5 will energize Direct SOFT32 Handheld Programmer Keystrokes x1 x2 Y5 B ENT L H on per w C ANDN 2 ENT GX F OUT 5 ENT 5 14 DL06 Micro PLC
271. a ladder logic point of view Your ladder program must comprehend this and generate an inverted output Or you may choose to cancel the effect of the inversion elsewhere such as in the field device It is important to choose the correct value of R pull up In order to do so we need to know the nominal input current to the field device I input when the input is energized If this value is not known it can be calculated as shown a typical value is 15 mA T hen usel input and the voltage of the external supply to compute R pull up T hen calculate the power Ppull up in watts in order to size R pull up properly V input turn on l input R input 2 V supply 0 7 V supply R pull up Rinput P pull up input R pullup 2 18 DL05 Micro PLC User Manual Chapter 2 Installation Wiring and Specifications Relay Output Wiring Methods TheD0 06AR and the D 0 06D R models feature relay outputs Relays are best for the following applications Loads that require higher currents than the solid state D L 06 outputs can deliver Cost sensitive applications Some output channels need isolation from other outputs such as when some loads require AC while others require D C Some applications in which NOT to use relays Loads that require currents under 10 mA Loads which must be switched at high speed and duty cycle This section prese
272. a Fes Tes a Life e vso v1405 1 0 1 0 5 v1405 110 1 0 5 vi406 2 0 4 J6 6 SP56 Vi400 2 0 4 6 6 SP56 voz x x x x Shoe OFF viao7 x x x x SP55 ON until end of scan S S or next instruction S S that uses SP56 DL06 Micro PLC User Manual 1st Ed Rev A 5 155 Chapter 5 Standard RLL Instructions Table Instructions Source to Table ST T TheSourceTo Table instruction moves a value from a V memory location into a V memory table and increments a table pointer by 1 W hen thetable pointer reaches the end of thetable it resets to 1 T hefirst V memory location in STT thetable contains the table pointer which indicates the Vaaa next location in thetableto store a value T he instruction will be executed once per scan provided the input remains on T hefunction parameters are loaded into the first level of the accumulator stack and the accumulator with two additional instructions Listed below arethe steps necessary to program the SourceTo Table function Step 1 Load the length of the table number of V memory locations into the first level of the accumulator stack T his parameter must be a H EX value 0 to FF Step 2 Load the starting V memory location for thetable into the accumulator Remember the starting location of the table is used as the table pointer T his parameter must be a H EX value Step 3 Insert the STT instruction which specifies the source V memory location Vaaa T hisis where the value will
273. a carry On anytime the value in the accumulator is negative On when a signed addition or subtraction results in an incorrect sign bit NOTE Status flags are valid only until another instruction uses the same flag In the following example when X1 is on the value in V 1400 will be loaded into the accumulator using the Load instruction T he binary value in the accumulator will be added to the binary value in V 1420 using the Add Binary instruction T he value in the accumulator is copied to V 1500 and V 1501 using the O ut instruction DirectSOFT32 Display V1400 PEPE 1 V1400 Load the value in V1400 into the diheunised accumulitor lower 16 bits of the accumulator Hits ares tts zio P 0000 0 A 0 5 Accumulator ADDB 12 C 4 Vi42 V1420 Acc C c E The binary value in the accumulator is added to the binary value in V1420 OUTD 9 1500 V1500 Copy the value in the lower 16 bits of the accumulator to V1500 and V1501 Handheld Programmer Keystrokes suet t JL 1 4 o JLo ent Leet La IL IE ILe IL dE dC Ie Je Le e OUT suer Lv L5 o J ENT DLO06 Micro PLC User Manual Ist Ed Rev A l 5 99 Chapter 5 Standard RLL Instructions M ath Add Binary Double AD D BD Add Binary D oubleis a 32 bit instruction that addsthe unsigned 2 s complement
274. a ge weed 5 201 MRX Slave Address Ranges 0 cee eee eee eee eens 5 202 MRX Example s e ee sdsessssxe Re AR CI CES Sa y Wade 5 203 MWX Slave Address Ranges 0 cece enneunen 5 205 MWX Master Memory Address Ranges 2 eee eee eee ene 5 205 MWX Number of Elements 0 eee eee eee eens 5 205 MWX Exception Response Buffer 0 2 0 0 eee eee eee eee ee 5 205 MWX Example sese mmu RR Uae Ye Rh ape eee we weed Sea 5 206 ASCII Instr ctlOns severe Ie CRY Sears eo ch ce es 5 207 Reading ASCII Input Strings llle III 5 207 Writing ASCII Output Strings lt ie ricssassas da dE CE n RII 5 207 Managing the ASCII Strings esas netsa aa III 5 208 AFIND Search Example seseeeeeeeee n 5 214 AFIND Example Combined with AEX Instruction llle 5 215 DL06 Micro PLC User Manual 1st Ed Rev A 10 02 l xi GETTING STARTED In This Chapter EIEFOGODDICETOTILa ooa CY EROR OE E EON Rc eb REE eee o an QE Eg 1 2 Conventions Used uso e a e EU AC I EVO Awa OR 1 3 DLOS Micro PLC Overview 2412 94 GEI PEERS Ripa c XR eee 1 4 Programming Methods vauceuce yr oC RO DEC n oo ey 1 4 I O Quick Selection Guide iecore Ree EOS 1 5 Quick GE eden do ee Ache eg anh ok eh ee eae did Lee ess 1 6 Steps to Designing a Successful System 2 0005 1 10 Questions and Answers about DLO6 Micro PLCs 1 12 Chapter 1 Getting Started Ts Introduction The Purpose of this
275. a versa In degree format a circle contains 360 degrees In radian format a circle contains about 6 28 radians T hese convert between both positive and negative real numbers and for angles greater than a full circle T hese functions are very useful when combined with the transcendental trigonometric functions see the section on math instructions Discrete Bit Flags Description On when the result of the instruction causes the value in the accumulator to be zero On anytime the value in the accumulator is negative On anytime the V memory specified by a pointer P is not valid On anytime the value in the accumulator is a valid floating point number On anytime a floating point math operation results in an underflow error On when a BCD instruction is executed and a NON BCD number was encountered NOTE The current HPP does not support real number entry with automatic conversion to the 32 bit IEEE format You must use DirectSOFT32 for entering real numbers using the LDR Load Real instruction Thefollowing example takes the sine of 45 degrees Since transcendental functions operate only on real numbers we do a LDR load real 45 T he trig functions operate only in radians so we must convert the degrees to radians by using the RAD R command After using the SINR Sine Real instruction we usean OUTD Out Double instruction to move the result from the accumulator to V memory T he result is 32 bits wide requiri
276. ad previously been loaded into V memory N ote that a Search Starting Index of constant K 5 combined with a Forward Direction Search is used to prevent finding the day portion of the word Today T he Found Index will be placed into V 4000 o AFIND Base Address v3000 Total Number of Bytes Search Starting Index Direction Found Index Value Forward From Beginning C Reverse C FromEnd Found Index Notice that quotation marks Search for String are not placed around the day E Search String Only use quotation marks if they re actually part of the Search String ASCII Characters HEX Equivalent Base Address 0 T 54h Low m 1 Lo Fn High 3000 Reverse Direction Search 2 d e4n Low 3 a 6th High 9001 4 y 79h Low V3002 Search start Index Number J 5 20h High 300 6 i 69h Low 7 s 73h High V3003 8 20h Low irecti V3004 Forward Direction Search 9 F 46h High 10 r 72h Low 11 i 69n High 3005 Beginning Index Number J 12 d 64h Low V3006 13 _a 61h High End Index Number 14 EM 79h Low ooo High Found Index Number V4000 5 214 DLO06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions ASCII m gt AFIND Example Combined with AEX Instruction When an AIN instruction has executed its Complet
277. ags Description On when the result of the instruction causes the value in the accumulator to be zero On any time the value in the accumulator is negative On when a BCD instruction is executed and a NON BCD number was encountered NOTE Status flags are valid only until another instruction uses the same flag In the following example when X1 ison the value in V 1400 will be loaded into the accumulator using the Load instruction T he value in V 1420 is loaded into the accumulator using the Load instruction pushing the value previously loaded in the accumulator onto the accumulator stack T he BCD valuein the first level of the accumulator stack is multiplied by the BCD valuein the accumulator using the M ultiply Stack instruction T he value in the accumulator is copied to V 1500 and V 1501 using the O ut D ouble instruction Direct SOFT32 Display 1400 x1 LD Load the value in V1400 into 540 ojo Accumulator stack the accumulator The unused accumulator after 1st LDD 1400 bits are set to zero l Level 1 Level 2 x x x o o e o o le fo Acc Load the value in V1420 into the accumulator The unused accumulator V1420 bits are set to zero i X XXX X X X X X X X X X Xx xxx X X X X X X X X X X X X X X X X X X X X Acc 0 0 0 0 x x Multiply the value in the MULS accumulator with the value in the first level of the accumulator stack A
278. al ACOSR 5 119 Add Binary ADDB 5 99 Arc Sine Real ASINR 5 118 Add Binary Double ADDBD 5 100 Arc Tangent Real ATANR 5 119 Add Binary Top of Stack ADDBS 5 114 ASCII Clear Buffer ACRB 5 225 Add Double ADDD 5 87 ASCII Compare CMPV 5 217 Add Formatted ADDF 5 106 ASCII Constant ACON 5 187 Add Real ADDR 5 88 ASCII Extract AEX 5 216 Add to Top ATT 5 162 ASCII Find AFIND 5 213 Add Top of Stack ADDS 5 110 ASCII Input AIN 5 209 And AND 5 69 ASCII Print from V memory PRINTV 5 223 And AND 5 31 ASCII Print to V memory VPRINT 5 218 And AND 5 14 ASCII Swap Bytes SWAPB 5 224 AND Bit of Word ANDB 5 15 ASCII to HEX ATH 5 134 And Double ANDD 5 70 Binary BIN 5 127 And Formatted ANDF 5 71 Binary Coded Decimal BCD 5 128 And If Equal ANDE 5 28 Binary to Real Conversion BTOR 5 131 And If Not Equal ANDNE 5 28 Compare CMP 5 81 And Immediate ANDI 5 33 Compare Double CMPD 5 82 AND Move ANDMOV 5 167 Compare Formatted CMPF 5 83 And Negative Differential ANDND 5 22 Compare Real Number CMPR 5 85 And Not ANDN 5 31 Compare with Stack CMPS 5 84 And Not ANDN 5 14 Cosine Real COSR 5 118 And Not Bit of Word ANDNB 5 15 Counter CNT 5 45 And Not Immediate ANDNI 5 33 Data Label DLBL 5 187 And Positive Differential ANDPD 5 22 Date DATE 5 171 5 2 DL06 Micro PLC User Manual 1st Ed Rev A a Chapter 5 Standard RLL Instructions
279. alent and load the value into the accumulator WX A aaa Operand Data Type DLO6 Range aaa See memory map See memory map 0 777 0 777 0 1777 0 1777 0 377 0 177 0 777 0 7680 2K program mem DLO06 Micro PLC User Manual 1st Ed Rev A 5 195 Chapter 5 Standard RLL Instructions Network Instructions Cn IO In the following example when X1 is on and the module busy relay SP 116 see special relays is not on the W X instruction will access port 2 operating as a master Ten consecutive bytes of data is read from the M aster CPU and copied to V memory locations V 2000 V 2004 in the slave CPU at station address 5 Direct SOFT32 w up d LD Iul KF205 Mere TT Master Slave e constant value specifies the port number 2 CP U CP U and the slave address 5 LD K1 2 v2277 x x x x x x x x v1777 The constant value K10 v2300 3 4 5 7 3 4 5 7 Vv2000 specifies the number of bytes to be written v2301 8 5 3 4 2 8 53 4 v2001 LDA v2302 1 9 3 6 gt 11 9 3 6 v2002 O 2300 v2303 9 5 7 1 9 5 7 1 V2003 V23040 1 4 2 3 9 9 1 4 2 3 v2004 Octal address 2300 is converted to 4CO HEX and V2305 X X X X X X X X v2005 loaded into t
280. als end of presets and restarts presets Does not 0000 GOFF Incremental reset accumulated pulse counts of CT174 or CT176 Signals end of presets restarts presets and resets 0000 FFOO Incremental accumulated pulse counts of CT174 or CT176 Asshown in thetable above each of the table end signals has a different meaning U sethe LD D Kffff instruction to insert the table end code into the next register pair beyond the preset table In the example four presets are used T he 0000 FFFF in V 3641 V 3640 indicates the previous preset was the last preset Default Preset Table Example In absolute mode the counter and the cumulative total are reset each time a preset is reached In incremental mode you can choose not to reset the counter or the cumulative total or you can chooseto reset only the counter or you can chooseto reset the counter and the cumulative total when the table end code is read In the example FFFF has been placed in V 3640 since the last preset was in V 3636 and we are using fewer than 24 presets NOTE In incremental mode each successive preset must be greater than the previous preset value If a preset value is less than a lower numbered preset value the CPU cannot compare to that value since the counter can only count upwards DL06 Micro PLC User Manual 1st Ed Rev A 10 02 l 3 1 Chapter 3 High speed Input and Pulse O utput Features E M E
281. ample suppose we have a table V3000 starting at V 3000 that is two words MSB LSB long as shown to the right Each word in the table contains 16 bits or 0 to 17 in octal To set bit 12 in the second le 16bits word we use its octal reference bit 14 Then we compute the bit s octal address from the start of the table so V3001 17 14 34 octal T he following MSB LSB program shows how to set the bit as shown to a 1 1111111176543210 76543210 5 144 DL06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions Table Instructions SSAKA In this ladder example we will use input X0 to trigger the Set Bit operation First we will load the table length 2 words into the accumulator stack N ext we load the starting address into the accumulator Since V 3000 is an octal number we have to convert it to hex by using the LDA command Finally we use the Set Bit or Reset Bit instruction and specify the octal address of the bit bit 34 referenced from the table Direct SOFT Display32 LD Load the constant value 2 Hex into the lower 16 bits li K2 of the accumulator LDA Convert octal 3000 to HEX and load the value into the O 3000 accumulator This is the table beginning SETBIT Set bit 34 octal in the table toa t O34 Handh
282. arting address and a valid data type for the K64 slave DirectN ET slaves specify the same address in the W X LDA and RX instruction as the slave s nativel O address 040600 e MODBUS DL405 DL205 or DLO6 slaves specify the same address in the W X and RX instruction as the slave s RX native I O address YO e MODBUS 305 slaves use the following table to convert DL305 addresses to M O D BU S addresses DL305 Series CPU Memory Type to MODBUS Cross Reference excluding 350 CPU MODBUS MODBUS PLC Base Address hice Adiitces PLC Base Address Base Address PLC Memory Type PLC Memory Type TMR CNT Current Values R600 V0 TMR CNT Status Bits CT600 GY600 1 0 Points 10 000 Control Relays CR160 GY160 Data Registers R401 R400 Shift Registers SR400 GY400 Stage Status Bits D3 330P only S0 4 58 DL06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 4 CPU Specifications and O peration M IT Communications from a Ladder Program Typically network communications will last longer than 1 scan The program must wait for the communications to finish before starting the next transaction Port 2 which can be a master has two Special Relay contacts associated with it see Appendix D for comm port special relays O ne indicates Port busy SP116 and the other indicates Port Communication Error SP117 T he exam
283. as on top of the stack is in the accumulator T he values in the stack are shifted up one position in the stack 5 54 DL06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions Accumulator Stack Load and O utput D ata a n POP Previous Acc value Cg Acc x Ix Ix x x Ix x x POP the 1st value on the stack into the Current Acc value Accumulator Stack accumulator and move stack values aee Fac lolol lla Tace lt teeth oo 9 0 739 3 up one location D Ss level2 00007 9 3 0 level3 X X X X X X X X B Level4 X X X X X X X X e OUT leel5 X X X X X XX X 2 v2000 V2000 4 5 415 level6 X X X X X X X X 5 level7 X X X X X X X X 5 Copy data from the accumulator to Levels X X X X X X X X POP Previous Acc value Ac 0 0 0 0 4 5 4 5 Current Acc value Accumulator Stack POP the 1st value on the stack into the accumulator and move stack values Ac 0 o0 0 0 3 7 9 2 ted 00007 93 0 up one location level2 X X X X X X X X gt Level3 X X X X X X X
284. asses through thel O signals to or from the CPU so that all twenty inputs behave equally and all sixteen outputs behave equally W hen the CPU is configured in any other H SIO M ode theH SIO circuit imposes a specialized function on the portion of inputs and outputs shown T heH SIO circuit operates independently of the CPU program scan T his provides accurate measurement and capturing of high speed 1 0 activity while the CPU is busy with ladder program execution Wiring Diagrams for Each H SIO Mode After choosing the appropriate H SIO mode for your application you ll need to refer to the section in this chapter for that specific mode Each section includes wiring diagrams to help you connect the H igh Speed I O points correctly to field devices An example of the quadrature counter mode diagram is shown below E 9J PORT2 mj SUIS HESS ium lo Counter Input Wiring AN Signal 1 m 1 I Signal Common 12 24 VDC Supply DL06 Micro PLC User Manual 1st Ed Rev A 10 02 3 3 Chapter 3 High speed Input and Pulse O utput Features M Choosing the HSIO Operating Mode Understanding the Six M odes TheHigh Speed I O circ
285. ast instruction copiesthe value in the lower eight OUTL bits of the accumulator to the lower eight bits of the specified V memory location i e it copies the low byte of the low word of the accumulator In the following example when X1 is on the value in V 1400 will be loaded into the lower 16 bits of the accumulator using the Load instruction T he valuein the lower 8 bits of the accumulator are copied to V 1500 using the O ut Least instruction Direct SOFT32 x1 Load the value in V1400 into V1400 murem rae Copy the value in the lower The unused accumulator 8 bits of the accumulator to bits are set to zero p as 9 ofofo JE a 5 Handheld Programmer Keystrokes Ser gt iP 1 ENT o o s s BUT ANDST i 3 gt JI 1 4 0 0 ENT Viso Our SHRI ANDST Se 1 5 l 0 0 ENT Out Most OUTM The Out M ost instruction copies the value in the upper eight bits of the lower sixteen bits of the accumulator to the upper OUTM eight bits of the specified V memory location i e it copies the A aaa high byte of the low word of the accumulator Operand Data Type DLO6 Range aaa See memory map See memory map In the following example when X1 is on the value in V 1400 will be loaded into the lower 16 bits of the accumulator using the Load instruction T he value in the upper 8 bits of the lower 16 bits of the accumulator ar
286. aster Line Set M LS and M aster Line Reset M LR instructions allow you to quickly enable or disable sections of theRLL program T his provides program control flexibility The following example shows how the M LS and M LR instructions operate by creating a sub power rail for control logic X0 MLS When contact XO is on logic under the first MLS K1 will be executed X1 Y7 our VOUT x2 MLS When contacts X2 and XO are on logic K2 under the second MLS will be executed x3 MLR MLR The MLR instructions note the end of the Master Control area KO K1 They will be entered in adjacent addresses X10 DLO06 Micro PLC User Manual 1st Ed Rev A 5 181 Chapter 5 Standard RLL Instructions Program Control Instructions EM a MLS MLR Example In the following M LS M LR example logic between the first M LS K1 A and MLR KO B will function only if input X0 is on The logic between theM LS K2 C and MLR K1 D will function only if input X10 and X0 is on T he last rung is not controlled by either of the MLS coils Direct SOFT
287. ation time of 4 seconds 40 x 100 mS K40 OUT Output this constant to V3635 the location of the V3635 deceleration parameter register Load the constant K8 which is required to select an LD ending velocity of 80Hz 8 x 10 pps OUT Output this constant to V3637 the location of the V3637 deceleration parameter register YO Profile Complete SP104 SET We use an input to allow the operator to start the profile X3 is a momentary Start switch When the operator turns X3 ON logical output YO starts the profile Y2 our SP104 is the logical output of the HSIO to indicate the move is complete W e use Y2 to energize an CO annunciator that the profile has finished This won t occur until after the interrupt from X1 has occurred PD and the profile is complete YO RST Theprofile will begin when the start input X3 is given T hen the motion begins an indefinite move which lasts until an external interrupt on X1 occurs T hen the motion continues on for 5000 more pulses before stopping 3 52 DL06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 3 H igh speed Input and Pulse O utput Features M 71 Program Example 3 Automatic Trapezoidal Profile with H ome Search O ne of the more challenging aspects of motion control isthe establishment of actual position at powerup T his is especially true for open loop systems which do not have a position feedback
288. ations between two devices RS 422 Network RS 422 signals are for long distaces 1000 meters maximum U se terminator resistors at both ends of RS 422 network wiring matching the impedence rating of the cable between 100 and 500 ohms RS 485 Network RS 485 signals are for longer distances 1000 meters max and for multi drop networks Usetermination resistors at both ends of RS 485 network wiring matching the impedance rating of the cable between 100 and 500 ohms Point to point DTE Device PORT1 6P6C Phone Jack Connections on Port 1 RXD A OR Connections on Port 2 Loop Back RXD ASCII TD Slave IXD Device Signal GND The recommended cable for RS422 is Belden 9729 or equivalent TXD RXD Termination Resistor TXD RXD CTS Termination Resistor at both ends of network PORT 2 Master TXD RXD E TXD RXD TXD RXD Signal GND RT TXD DLO6 CPU Port 2 DLO0G Micro PLC User Manual 1st Ed Rev A 10 02 S RTS CTS CTS Signal GND Connect shield to signal ground Cable Use Belden 9841 or equivalent ov TXD DLO6 CPU Port 2 Signal GND RTS RTS CTS CTS 4 47 Chapter 4 CPU Specifications and O peration EM a a mmea Connecting to MODBUS and DirectNET Networks MOD BUS Port
289. ator Discrete Bit Flags Description SP63 On when the result of the instruction causes the value in the accumulator to be zero SP70 On anytime the value in the accumulator is negative In the following example when X1 is on the binary H EX value in V2000 and V 2001 is loaded into the accumulator using the Load D ouble instruction T he binary value in the accumulator is converted to the BCD equivalent value using the BCD instruction The BCD value in the accumulator is copied to V2010 and V 2011 using the O ut D ouble instruction DirectS OFT32 2001 v2000 T PP PP Te TT TJ v2000 Binary Value Load the value in V2000 and V2001 into the accumulator 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Acc 0 0 0 OJ OJ Of Of Of Of Of O Of Of OF Of Off OF 1 1 Of 1 1 1 1 Of 1 1 1 Of Of Of 1 2 1 15 2 1 6 3 1 8 4 2 1 5 2 1 6 3 1 8 4 271 5 2 176 3 1 8 4 2 1 1 0 316 3 7 3 6 3 1 0 0 2 6 3 5 2 6 1 0 0 0 1 5 2 4 2 6 4 7 6 8 4 1 5 7 8 9 9 4 4 2 1 5 7 3 9 9 442 2 6 8 7 318 4 2 0 5 7 8 4 7 8 2 1 0 3 6 8 2 6 8 4 4 7 7 3 1 8 4 7 6 3 1 5 8 4 7 6 8 4 4 4 0 5 7 8 4 2 0 0 5 7 8 4 2 8 119 4 7 6 3 1 8 4 2 6 3 8 1 5 2 4 2 6 6 2 2 6 8 4 4 8 BCD 16384 8192 2048 1024 512 256 64 32 16 1 28529 Convert the binar
290. av Se incu WwW Isolator Y10 Y17 L o npu a p x WS LED g Output Q 5 M 0 o Common dedo de 36v 4 20 N R v 32 50 68 86 104 122 122 C Common To LED Ambient Temperature C P 3 6 27 VDC 6 240 VAC 2 28 DL06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 2 Installation Wiring and Specifications eT The sixteen relay output channels use terminals on the right side top connector O utputs are organized into two banks of three normally open relay contacts Each bank has a common terminal T he wiring example on the last page shows all commons connected together but separate supplies and common circuits may be used T he equivalent output circuit shows one channel of a typical bank T he relay contacts can switch AC or DC voltages DO OGAR General Specifications External Power Requirements 100 240 VAC 40 VA maximum abge c don oM S 8 data sequence Slave DirectNET Slave MODBUS Slave Communication Port 2 9600 baud default 8 data K Sequence Slave DirectNET Master Slave MODBUS hits 1 stop bit odd parity Master Slave Non sequence print ASCII in out Programming cable type D2 DSCBL Operating Temperature 32 to 131 F 0 to 55 C Storage Temperature 4 to 158 F 20 to 70 C Relative Humidity 5 to 95 non condensing Environmental air No corrosive gases permitted Vibration MIL STD 810C 514 2 Shock MIL STD 810C 516 2 Noise Immunity NEMA ICS3 304 Terminal Type Removable Wire Gauge One
291. ax leakage current 15 pA 30 VDC 15 pA 30 VDC Max inrush current 2 A for 100 mS 2 A for 100 mS External DC power required 20 28 VDC Max 150mA 20 28 VDC Max 150mA OFF to ON Response lt 10 us lt 10 ys ON to OFF Response lt 20 us 60 us Status Indicators Logic Side Logic Side Commons 4 channels common x 4 banks non isolated Fuses None external recommended DLO06 Micro PLC User Manual 1st Ed Rev A 10 02 2 39 Chapter 2 Installation Wiring and Specifications D0 06DR D 1 0 Wiring Diagram TheD0 06D R D PLC hastwenty DC inputs and sixteen relay contact outputs T he following diagram shows a typical field wiring example T he D C external power connection uses three terminals as shown 12 24 VDC ug 1 1 LA Supply ele elelelelelelelelelele SESSSSSSSESSESSO i SEA T Y Tt T zT ea Ree OUTPUT 6 240V 50 60Hz 2 0A 6 27V 20A PWR 12 24 POG 9GCOTESO PESO DOOGDRD X0090000000000000000090 INPUT 12 24V 3 15mA Points e E Direct 06 2d 2 0A Yo Y7 Y10 Y17 Koyo 84 4 co xi X3 X4 X6 C2 X11 X13 X14 X16
292. ax leakage current 15 pA 30 VDC 15 pA 30 VDC Max inrush current 2 A for 100 mS 2 A for 100 mS External DC power required n a n a OFF to ON Response lt 10ys 10 us ON to OFF Response lt 20 us lt 0 5 us Status Indicators Logic Side Logic Side Commons 4 channels common x 4 banks non isolated Fuses None external recommended DLO0G Micro PLC User Manual 1st Ed Rev A 10 02 2 35 Chapter 2 Installation Wiring and Specifications Oe D0 06DR 1 0 Wiring Diagram TheD 0 06DR PLCsfesturetwenty D C inputsand sixteen rday contact outputs T he following diagram showsa typica fidd wiring example T heAC external power connection usesfour termindsas shown Inputs are organized into five banks of four Each bank has an isolated common terminal and may be wired as either sinking or sourcing inputs T he wiring example below shows all commons connected together but separate supplies and common circuits may be used T he equivalent circuit for standard inputs is shown below and the high speed input circuit is shown to the left O utputs are organized into four banks of four normally open relay contacts Each bank hasa common terminal T he wiring example below shows all commons connected together but separate supplies and common circuits may be used T he equivalent output circuit shows one channel of atypical bank T he relay contacts can switch AC
293. ays 0 137 320 717 0 3777 MULF Aaaa K bbb Description On when the result of the instruction causes the value in the accumulator to be zero On any time the value in the accumulator is negative On when a BCD instruction is executed and a NON BCD number was encountered NOTE Status flags are valid only until another instruction uses the same flag In the following example when X6 is on the value formed by discrete locations X 0 X3 is loaded into the accumulator using the Load Formatted instruction T he value formed by discrete locations C 0 C 3 is multiplied by the value in the accumulator using the M ultiply Formatted instruction T he value in the lower four bits of the accumulator is copied to Y10 Y 13 using the O ut Formatted instruction Direct SOFT32 Display xa x2 xi xo X6 LDF X0 Load the value represented OFF OFF ON ON by discrete locations X0 X3 K4 into the accumulator The unused accumulator bits are set to zero Multiply the value in the 0 0 0 0 0 3 Accumulator MULF co accumulator with the value 22 K4 represented by discrete 2 C0 C3 locations C0 C3 see pec o o per poro 6 Copy the lower 4 bits of the OUTF Yi0 accumulator to discrete K4 locations Y10 Y13 Handheld Programmer Keystrokes S00 G ENT Y13 Y12 Y11 Y10 sm J 6 orr on on oFF L D F A E SHFT ANDST
294. be moved from H elpful H int For parameters that require H EX values when referencing memory locations the LDA instruction can be used to convert an octal address to the H EX equivalent and load the value into the accumulator H elpful H int T heinstruction will be executed every scan if the input logic is on If you do not want the instruction to execute for more than one scan a one shot PD should be used in the input logic Helpful H int The table counter value should be set to indicate the starting point for the operation Also it must be set to a valuethat is within the length of thetable For example if the table is 6 words long then the allowable range of values that could be in the pointer should be between 0 and 6 If the valueis outside of this range the data will not be moved Also a one shot PD should be used so the value will only be set in one scan and will not affect the instruction operation Operand Data Type DLO6 Range aaa See memory map Discrete Bit Flags Description SP56 On when the table pointer equals the table length aaa NOTE Status flags SPs are only valid until another instruction that uses the same flag is executed or the end of the scan The pointer for this instruction starts at 0 and resets to 1 automatically when the table length is reached 5 156 DLO06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions Table Instructions In t
295. ber 15 0 from the accululator contents which is in real number format Real Value hod ev 842 118 42 148 4 2 1 8 4 2 1 8e 42 1 8 4211 8 4 2 1 8 4 2 1 hes Eee EN ERE GREE pee Po of of of of of of of of of of of of of o Copy the result in the accumulator to V1400 and V1401 Sign Bit Exponent 8 bits Mantissa 23 bits 128 1 129 1 11 x 2 exp 2 111 binary 7 decimal 129 127 2 Implies 2 exp 2 NOTE The current HPP does not support real number entry with automatic conversion to the 32 bit IEEE format You must use DirectSOFT32 for this feature DL06 Micro PLC User Manual 1st Ed Rev A l 5 91 Chapter 5 Standard RLL Instructions M ath eee Multiply MUL Multiply isa 16 bit instruction that multiplies the BCD value Aaaa which is either aV memory location or a MUL 4 digit max constant by the BCD value in the lower 16 Aaaa bits of the accumulator T he result can be up to 8 digits and resides in the accumulator Operand Data Type DLO6 Range aaa See memory map See memory map 0 9999 Description On when the result of the instruction causes the value in the accumulator to be zero On anytime the value in the accumulator is negative On when a BCD instruction is executed and a NON BCD number was encountered NOTE The status flags are only valid until another instruction that uses th
296. ber is encountered NOTE Status flags are valid only until another instruction uses the same flag In the following example when X1 ison the LDR instruction loads the real number representation for 7 decimal into the accumulator The CM PR instruction compares the accumulator contents with the real representation for decimal 6 Since 7 gt 6 the corresponding discrete status flag is turned on special relay SP60 DirectSOFT32 X1 a 4 0 0 0 0 0 0 ooo eee OMPR o o e o SP60 C 9 DL06 Micro PLC User Manual 1st Ed Rev A 5 85 Chapter 5 Standard RLL Instructions M ath o Math Instructions Add ADD Add isa 16 bit instruction that adds a BCD valuein the ABD accumulator with a BCD valuein aV memory location Aaaa Agad The result resides in the accumulator Operand Data Type DLO6 Range aaa See memory map See memory map Description On when the result of the instruction causes the value in the accumulator to be zero On when the 16 bit addition instruction results in a carry On when the 32 bit addition instruction results in a carry On anytime the value in the accumulator is negative On when a BCD instruction is executed and a NON BCD number was encountered NOTE The status flags are only valid until another instruction that uses the same flags is executed In the following example when X1 ison the value in
297. ber of V memory location in the c ASCII table v1400 33 34 TR Convert octal 1400 to HEX T 300 and load the value into v1600 O 1400 the accumulator 34 v1401 3132 ATH V1600 is the starting location for the HEX table l V1600 Handheld Programmer Keystrokes Aas B V1402 em q f ENT 37 38 L D E SHFT anost 3 gt PREV ENT 5678 V1601 L D A B E A A SHFT ANpsT 3 o gt 1 4 0 a ENF via03 35 36 A T H B G A A rete SHT I o L wn z gt 1 6 0 aN HEX to ASCII HTA TheHEX to ASCII instruction converts a table of HEX values to a specified table of ASCII values HTA HEX values are one digit and their ASCII Vaaa equivalents are two digits This means aH EX table of two V memory locations would require four V memory locations for the equivalent ASCII table T hefunction parameters are loaded into the accumulator stack and the accumulator by two additional instructions Listed below are the steps necessary to program a H EX to ASCII table function T he example on the following page shows a program for the HEX to ASCII table function Step 1 Load the number of V memory locations in the H EX tableinto the first level of the accumulator stack Step 2 Load the starting V memory location for the H EX table into the accumulator This parameter must bea H EX value Step 3 Specify the starting V memory location Vaaa for the ASCII tablein
298. ble machine operation that can result in a risk of personal injury or damage to equipment DLO Micro PLC User Manual 1st Ed Rev A 10 02 4 43 Chapter 4 CPU Specifications and O peration o Power Budgeting The D LO6 has four option card slots To determine whether the combination of cards you select will have sufficient power you will need to perform a power budget calculation Power supplied Power is supplied from two sources the internal base unit power supply and if required an external supply customer furnished T he D 0 06xx AC powered PLC s supply a limited amount of 24V D C power T he 24V DC output can be used to power external devices For power budgeting start by considering the power supplied by the base unit All DLO6 PLCs supply the same amount of 5VDC power Only the AC units offer 24V DC auxiliary power Be aware of the trade off between 5V D C power and 24V DC power T he amount of 5VDC power available depends on the amount of 24V D C power being used and the amount of 24V DC power available depends on the amount of 5VD C power consumed D etermine the amount of internally supplied power from thetable on the following page Power required by base unit Because of the different O configurations available in the D L06 family the power consumed by the base unit itself varies from model to model Subtract the amount of power required by the base unit from the amount of power supplied by the base unit Be suret
299. block The outputs and power wiring are on one block and the input wiring is on the other In some instances it may be desirable to remove the terminal block for easy wiring The terminal block is designed for easy removal with just a small screwdriver T he drawing below shows the procedure for removing one of the terminal blocks 1 Loosen the retention screws on each end of the connector block xeeeoo o o ooo o o ooo INPUT 1 H pag Hy p qu TUE a SJE ae Ge m eles Big E E El E PORT1 PORT2 RUN STOP ej 2 From the center of the connector block pry upward with the screwdriver until the connector is loose Theterminal blocks on D L06 PLCs have regular m3 size screw terminals which will accept either standard blade type or 1 Philips screwdriver tips You can insert one 16 AWG wire under a terminal or two 18 AWG wires one on each side of the screw Be careful not to over tighten maximum torque is 6 inch ounces Spare terminal blocks are available in an accessory kit Please refer to part number D 0 ACC 2 You can find this and other accessories on our web site J DL06 Micro PLC User Manual 1st Ed Rev A 10 02 2 5 Chapter 2 Installation Wiring and Specifications a Mounting Guidelines In addition to
300. by the binary value in V1420 the remainder Lebe V1500 Copy the value in the lower 16 bits of the accumulator to V1500 Handheld Programmer Keystrokes s 0E XJ JER se I 9 _ IoD oo se Ls JC JE dC a I Ge eo ES JUR E Se oI 108 5 104 DLO06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions M ath i Increment Binary INCB T he Increment Binary instruction increments a binary NCB value in a specified V memory location by 1 each A aaa timetheinstruction is executed Operand Data Type DLO6 Range aaa See memory map See memory map Discrete Bit Flags Description SP63 On when the result of the instruction causes the value in the accumulator to be zero In the following example when C5 is on the binary valuein V 2000 is increased by 1 Direct SOFT32 2000 Handheld Programmer Keystrokes e INCB roe e pue Soe gt Hower TS I ENT Increment the binary value SHFT 8 TMR E 2 1 gt E 2 P 0 a 0 0 ENT in the accumulator by 1 2000 4 A 3 D D ecrement Binary D ECB The Decrement Binary instruction decrements a DECB binary value in a specified V memory location by 1 A aaa each time the instruction is executed Operand Data Type DLO6 Range aaa See memory map See memory map Discrete Bit Flags Description SP
301. c 3j 010 1 1 110 0 0 0 0 10 1 0 0 1 1 0 0 0 1 0 0 0 0 0 0 0O 1 O t and V1501 9 C 1 4 C 4 0 5 Handheld Programmer Keystrokes V1501 V1500 B sm gt 1 ENT E D D B E A A SHFT ANDST 3 3 gt 1 4 0 0 ENT R o T L Cc SHET ORN INST MLR ANDST 2 2 ENT GX D B F A A our SHET 3 wa 1 5 0 0 d DL06 Micro PLC User Manual 1st Ed Rev A l 5 123 Chapter 5 Standard RLL Instructions Bit O peration Rotate Right ROTR Rotate Right is a 32 bit instruction that rotates the bits in ROTR the accumulator a specified number Aaaa of places to the Aaaa right Operand Data Type DLO6 Range aaa See memory map 1 32 In the following example when X1 ison the value in V1400 and V 1401 will be loaded into the accumulator using the Load D ouble instruction T he bit pattern in the accumulator is rotated 2 bit positions to the right using the Rotate Right instruction T he valuein the accumulator is copied to V1500 and V 1501 using the O ut D ouble instruction Direct SOFT Display V1401 V1400 i LDD 6 7 0 5
302. c F F A A ENT CT gt P 3 EH 5 30 DL06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions Comparative Boolean E i71 And AND The Comparative And instruction connects a normally open comparative contact in series with another Aaaa Bbbb contact T he contact will be on when Aaaa is equal to or greater than Bbbb And Not ANDN The Comparative And N ot instruction connects a normally Aaaa Bbbb open comparative contact in parallel with another contact The contact will be on when Aaaa Bbbb Operand Data Type DLO6 Range aaa bbb See memory map See memory map See memory map See memory map 0 9999 0 377 0 177 In the following example when the value in V memory location V 2000 5000 and V2002 2345 Y3 will energize DirectSOFT32 Handheld Programmer Keystrokes V2000 K5000 V2002 K2345 Y3 E C A A A _ I sm 97 4 4 gt 2 0 0 o gt OUT il ld N Fade A Ton 5 0 0 0 V V C A A C AND 7 ser AND 2 0 0 2 gt C D E F 2 3 4 5 ENT GX D our 7 3 ENE In the following example when the value in V memory location V 2000 7000 and V2002 2500 Y3 will energize DirectSOFT32 Handheld Programmer Keystrokes bin K7000 van m Y3 S
303. cation port 1 on theDL06 M icro PLC using the cable shown below A single cable contains transmit receive data wires and 5V power PLC DLO6 Micro DV 1000 RJ12 RJ12 phone style phone style D R Use cable part no DV 1000CBL EZ Touch and EZ Text operator interface panes require separate power and communications connections Connect the DL06 to the proper D shell connector on the rear of the operator panel using the cable shown below T hese panels require 8 30V DC power DLO6 Micro PLC UR rr r o Connecting Programming D evices DL06 M icro PLCs can be programmed 15 pin VGA male S d Use cable part no EZ 2CBL 1 15 pin D shell male M with either a handheld programmer or with DirectSO FT 32 on aPC Connect the D L06 to aPC using the cable shown below DLO6 Micro PLC 9 pin D shell RJ12 phone style female me Use cable part no D2 DSCBL TheD 2 H PP H andheld Programmer comes with a communications cable For a replacement part use the cable shown below DLO6 Micro PLC RJ12 phone style phone style a Os cable comes wit
304. cc 9 1 0 0 Accumulator stack after 2nd LDD OUTD Copy the value in the Level 1 0 0 5 vi ee HOS ISU ah Level 2 o 1 o o jojoj o o Level 3 Level 4 Level 5 Handheld Programmer Keystrokes Level 6 B sm gt 1 ENT Level 7 Level 8 ig D B E A A ANDST 3 gt ENT L D B E c A ANDST 3 gt ENT KK xxj xj x x gt lt gt lt gt lt x gt lt x px pxpx pxix x o Xpx xpx pxpx x o xx Kx x KL xp So gt lt gt lt gt lt gt lt gt lt x gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt gt lt x SHFT SHFT M L mE ORST ISG ANDST RST GX D B F A A Our SHFT 3 gt ENT 5 1 12 DLO06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions M ath Divide by Top of Stack DIVS DivideTop of Stack is a 32 bit instruction that divides the 8 digit BCD valuein the accumulator by a 4 digit BCD value in the first level of the accumulator stack T he result resides in the accumulator and the remainder resides in the first level of the accumulator stack DIVS Description Discrete Bit Flags SP53 On when the value of the operand is larger than the accumulator can work with SP63 On when the result of the instruc
305. ccumulator Stack Pop the 1st value on the stack into the accumulator and move stack values Acc 0 0 0 0 4 5 4 5 level 9 0 0 0 3 7 9 2 gt up one location Level2 0 0 0 07930 5 ese E a OUT Level 4 Ro E NR V2000 Level 5 X X X X X X X X gt v2000 4 5 4 5 Level6 X X X X X X X X Copy the value in the lower 16 bits of je the accumulator to V2000 Level7 X X X X X X X X 5 Level8 X X X X X X X X POP Previous Acc value Acc 0 0 0 0 4 5 4 5 Pop the 1st value on the stack into the accumulator and move stack values Current Acc value Accumulator Stack up one location Ac o o o o 3 z o 2 lt Levelt 0 00 07 9 3 ojs pua ELI QUT Level 3 EX RR E V2001 Level4 X X X X X X X Js Copy the value in the lower 16 bits of Level5 X X X X X X X X 5 the accumulator to V2001 v2001 3 7 9 2 Level6 X X X X X X X X E eve EA a a ay POR Level8 X X X X X X X X Pop the 1st value on the stack into the Previous Acc value accumulator and move stack values up one location Acc 0 0 0 013 7 9 2 Current Acc value Accumulator Stack OUT Acc 0 0 0 0 7 9 3 0 SMASH BE EUR ue Be e V2002 Level 2 X X X X X X X I X X X X X X X X Copy the value in the lower 16 bits of Level 3 je the accumulator to V2002 Level4 X X X X X X X X 5 Eve jee SS v2002 7 9 3 0 Level6 X X X X X X X X Handheld Programmer Keystrokes ne e s e SR KENT c A STR gt SHFT 2 0 ENT Level8 X X X X X X X X P o P SHFT cv SHFT INST cv ENT GX V A A A our 9
306. ce 1 8 KQ 12 24 VDC 2 8 KQ 12 24 VDC Max Input Current 6mA Q12VDC 13mA 24VDC 4mA Q12VDC 8 5mA 24VDC Minimum ON Current 5 mA 4 mA Maximum OFF Current 0 5 mA 0 5 mA OFF to ON Response lt 70 us 2 8 mS 4 mS typical ON to OFF Response lt 70 ys 2 8 mS 4 mS typical Status Indicators Logic side Logic side Commons 4 channels common x 5 banks isolated Relay Output Specifications Output Voltage Range Min Max 5 264 VAC 47 63 Hz 5 30 VDC Operating Voltage 6 240 VAC 47 63 Hz 6 27 VDC Output Current 2A point 6A common Maximum Voltage 264 VAC 30 VDC Max leakage current 0 1 mA 264 VAC Smallest Recommended Load 5mA OFF to ON Response 15 mS ON to OFF Response 10 mS Status Indicators Logic Side Commons 3 channels common x 2 banks Fuses None external recommended DL06 Micro PLC User Manual 1st Ed Rev A 10 02 2 41 Chapter 2 Installation Wiring and Specifications D 0 10ND 3 10 point D C input module DO 10ND3 Specifications Number of Inputs 10 sink source Input Voltage Range 10 8 26 4VDC Operating Voltage Range 12 24VDC Peak Voltage 30 0VDC Input Current Typical 4 0mA 12VDC 8 5mA 24VDC Maximum Input Current 11mA 26 4VDC Input Impedance 2 8K
307. ce V1403 2 V1403 2 ine DII wa s s s s Gels elvis V1405 4 V1405 4 V1406 5 SP56 V1406 5 SP56 sess orF sess OFF V1407 5 158 DL06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions Table Instructions Remove from Table RFT TheRemoveFrom Table instruction pops a value off of a table and stores it in aV memory location W hen a value is removed from the table all other values are shifted up 1 location T he first V RFT memory location in thetable contains the table length counter T he Vaaa table counter decrements by 1 each timethe instruction is executed If the length counter is zero or greater than the maximum table length specified in the first level of the accumulator stack the instruction will not execute and SP56 will be on The instruction will be executed once per scan provided the input remains on T he function parameters are loaded into the first level of the accumulator stack and the accumulator by two additional instructions Listed below are the steps necessary to program the Remove From Tablefunction Step 1 Load the length of the table number of V memory locations into the first level of the accumulator stack T his parameter must be a H EX value 0 to FF Step 2 Load the starting V memory location for the table into the accumulator Remember the starting location of the table is used as the table length counter T his parameter must bea
308. celerati 4to 1000 x 10 pps V3652 Step 8 Distance 1 to 9999 Pulses If you select to use interrupt the DLO6 will not start looking for your target count until the interrupt X1 is on To set a negative number put 8 in the most significant digit For example 8388608 is 88388608 in V3631 and V3632 Velocity Control V Memory Function V3630 Velocity Profile 2000 only V3631 3632 Direction Select 0 CW 80000000 CCW V3633 Velocity 4 to 1000 V3636 Error Code see end of section 3 H DLO06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 3 H igh speed Input and Pulse O utput Features Eo Choosing the Profile Type Pulse O utput M ode generates three types of motion profiles M ost applications use onetype for most moves H owever each move can be different if required Automatic Trapezoidal Accel Slopeto Target Velocity to D ecel Slope Step Trapezoidal Velocity to Position Control on Interrupt Velocity Control Speed and Direction only Automatic Trapezoidal Profile D efined The automatic trapezoidal profile is the most common positioning profile It moves the load to a pre defined target position by creating a move profile T he acceleration slope is applied at the starting position T he deceleration slope is applied backwards from the target position Theremainder of the move in the middle is spent traveling at a defined v
309. ch specifies source V memory location Vaaa T his is where the value will be moved from H elpful H int T heinstruction will be executed every scan if the input logic is on If you do not want the instruction to execute for more than one scan a one shot PD should be used in the input logic Helpful Hint For parameters that require H EX values when referencing memory locations the LDA instruction can be used to convert an octal address to the H EX equivalent and load the value into the accumulator H elpful H int The table counter value should be set to indicate the starting point for the operation Also it must be set to a valuethat is within the length of thetable For example if the table is 6 words long then the allowable range of values that could be in the table counter should be between 1 and 6 If the valueis outside of this range or zero the data will not be moved into the table Also a one shot PD should be used so the value will only be set in one scan and will not affect the instruction operation Operand Data Type DLO6 Range aaa See memory map Discrete Bit Flags Description SP56 On when the table counter is equal to the table size NOTE Status flags SPs are only valid until another instruction that uses the same flag is executed or the end of the scan The pointer for this instruction can be set to start anywhere in the table It is not set automatically You have to load a va
310. ci jacini 24v f co v1 va va ve c2 vii vi3 vaa vie v 2 24 Pa Chapter 2 Installation Wiring and Specifications EL oor Glossary of Specification Terms Discrete Input One of twenty input connections to the PLC which converts an electrical signal from a field device to a binary status off or on which is read by the internal CPU each PLC scan Discrete O utput O ne of sixteen output connections from the PLC which converts an internal ladder program result 0 or 1 to turn On or Off an output switching device T his enables the program to turn on and off large field loads 1 0 Common A connection in the input or output terminals which is shared by multiplel O circuits It usually isin the return path to the power supply of thel O circuit Input Voltage Range The operating voltage range of the input circuit Maximum Voltage M aximum voltage allowed for the input circuit ON Voltage Level The minimum voltage level at which the input point will turn ON OFF Voltage L evel The maximum voltage level at which the input point will turn O FF Input Impedance Input impedance can be used to calculate input current for a particular operating voltage Input Current Typical operating current for an active O N input Minimum ON Current The minimum current for the input circuit to operate reliably in theON state Maximum OFF Current The maximum curren
311. cient way to perform this function would be as follows ran LDD V2001 V2000 1 V2000 6 7 3 9 5 Jo 2 Je Copy data from V2000 and V2001 to the accumulator OUTD V2010 elz s o s lo l2 Je Copy data from the accumulator to V2010 and V2011 V2011 V2010 5 52 DL06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions Accumulator Stack Load and O utput D ata is Changing the Accumulator D ata LD K4935 Load the value 4935 into the accumulator Instructions that manipulate data also use the accumulator T he result of the manipulated data resides in the accumulator T he data that was being manipulated is cleared from the accumulator T he following example loads the constant value 4935 into the accumulator shifts the data right 4 bits and outputs the result to V 2010 Constant 4 9 3 5 vr di r4 hu 31 30 29 28 27 26 25 24 23 22 21 20119 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Acc 0 0 0 0 of of of of of of of of of of of oj O 0 0 1 0 0 1 1 0 1 0 1 The upper 16 bits of the accumulator Pc will be set to 0 Shifted out of SHFR K4 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 accumulator a ES w v o
312. city setup register Load the constant K100 which selects the step 1 distance of 100 pulses Output this constant to V3634 the location of the step 1 distance Load the constant K40 which is required to select the step 2 acceleration velocity of 400 Hz Output this constant to V3635 the location of the step 2 acceleration velocity setup register Load the constant K200 which selects the step 2 distance of 200 pulses Output this constant to V3636 the location of the step 2 distance Load the constant K60 which is required to select the step 3 acceleration velocity of 600 Hz Output this constant to V3637 the location of the step 3 acceleration velocity setup register Load the constant K300 which selects the step 3 distance of 300 pulses Output this constant to V3640 the location of the step 3 distance Load the constant K80 which is required to select the step 4 acceleration velocity of 800 Hz Output this constant to V3641 the location of the step 4 acceleration velocity setup register Load the constant K400 which selects the step 4 distance of 100 pulses Output this constant to V3642 the location of the step 4 distance Load the constant K80 which is required to select the step 5 deceleration velocity of 800 Hz Output this constant to V3643 which is required to select the step 5 deceleration velocity of 800 Hz Continued on next page DL06 Micro PLC User Manual 1st Ed Rev A 10 02 l 3 57
313. constant OUT Output this constant to V7634 configuring X0 V7634 OUT Output this constant to V7635 configuring X1 V7635 OUT Output this constant to V7636 configuring X2 V7636 OUT Output this constant to V7637 configuring X3 Y V7637 Continued on next page 3 18 DLO06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 3 H igh speed Input and Pulse O utput Features M i1 Continued from previous page Y SPO d K4100 Profile Target OUT Velocity V3630 Target Position LDD K5000 OUTD V3631 Starting Velocity LD K4 OUT V3633 Acceleration LD K20 OUT V3634 Deceleration LD K40 V3635 Start Profile X3 YO oup Profile Complete SP 104 Y2 oun Preload Position Value Load the constant K4100 which is required to select Automatic Trapzoidal Profile absolute positioning without interrupt and a target velocity of 1 kHz Output this constant to V3630 the location of the Profile Select Starting Velocity setup register Load the constant K5000 which selects a target position of 5000 pulses Don t forget to use double word size 8 digit BCD position value Output this constant to V3631 and V3632 the location of the Target Position double word register Load the constant K4 which is required to select a starting velocity of 40 Hz 4 x 10 pps
314. cording to which supply powers the associated load DL06 Micro PLC User Manual 1st Ed Rev A 10 02 2 19 Chapter 2 Installation Wiring and Specifications eS dev a gHelelele e eeeee tt 06 DP DRE T3 3s er pw pea De T oc Tr Ds DepeiorDe De bere er Dre por Des s oeooooo00oo0oo0 og DITE pa Ped e olelolel slolelol olalolal sel ney ppr DII frry 171 Surge Suppression For Inductive Loads Inductive load devices devices with a coil generate transient voltages when de energized with a relay contact W hen a relay contact is closed it bounces which energizes and de energizes the coil until the bouncing stops T hetransient voltages generated are much larger in amplitude than the supply voltage especially with a D C supply voltage W hen switching a D C supplied inductive load the full supply voltage is always present when the relay contact opens or bounces W hen switching an AC supplied inductive load there is one chance in 60 60 H z or 50 50 H z that the relay contact will open or bounce when the AC sine wave is zero crossing If the voltage is not zero when the relay contact opens there is energy stored in the induct
315. ction will stop executing So Ee it is helpful to understand how the system uses this Data Source counter to control the execution V1500 For example if the table counter was set to 2 and thetablelength was 6 words then there could only be 4 additions of data before the execution was stopped T his can easily be calculated by Table length table counter number of executions Also our example uses a normal input contact X1 PirsctSOFTS2 Display optional one shot method to control the execution Since the CPU scan is W 5 extremely fast and thetable counter increments automatically the data would be moved into the table very quickly If this is a problem for your application you have an option of using a oneshot PD to add one value each timethe input contact transitions from low to high e g 6 2 2 4 Load the constant value 6 HEX into the lower 16 bits of the accumulator Convert octal 1400 to HEX 300 and load the value into the accumulator This is the starting table location DLO06 Micro PLC User Manual 1st Ed Rev A 5 163 Chapter 5 Standard RLL Instructions Table Instructions a 5 The following diagram shows the scan by scan results of the execution for our example program T he table counter is set to 2 initially and it will automatically increment from 2 6 as theinstruction is executed N otice how SP56 comes on when thetable counter is 6 which i
316. ctor sinking inputs See Chapter 2 for 1 0 wiring guidelines DL06 Micro PLC User Manual 1st Ed Rev A 10 02 l 13 INSTALLATION WIRING AND SPECIFICATIONS In This Chapter Safety Guidelines 2 Ske ee e kr CR ERE EDR RE ERE ROC 2 2 Orientation to DLO6 Front Panel 4 4 a dopo RR tn c otn 2 4 Mounting Guidelines 1422 skr RR eR ER REX dr ER ded ER 2 6 Wiring Guidelines P 2 10 System Wiring Strategies exse kx RR T bee eee eee es 2 13 Glossary of Specification Terms acce 54244 ope deo I e Ao ees 2 25 Wiring Diagrams and Specifications llle 2 26 Chapter 2 Installation Wiring and Specifications Safety Guidelines specified by CE directives provided they are used according to their intended purpose and that the instructions in this manual are adhered to The protection provided by the equipment may be impaired if this equipment is used in a manner not specified in this manual NOTE Products with CE marks perform their required functions safely and adhere to relevant standards as and should be your primary goal during system planning and installation Automation systems can fail and may result in situations that can cause serious injury to personnel or damage to equipment Do not rely on the automation system alone to provide a safe operating environment You should use external electro mechanical devices such as relays or limit switches that are independent of the PLC application to
317. cumulator using the Subtract Formatted instruction T he valuein the lower four bits of the accumulator is copied to X3 X2 x1 Xo LDF xo Load the value represented ON OFF OFF ON by discrete locations X0 X3 K4 into the accumulator The unused accumulator bits are set to zero Accumulator SUBF Co Subtract the value 0000 000 9 represented by CO C3 from K4 the value in the accumulator y 8 C0 C3 Lon orr orr orr acc o o e o o o o 1 OUTF Y10 Copy the lower 4 bits of the accumulator to discrete K4 locations Y10 Y13 p Y13 Y12 Y11 Y10 str gt 6 ENT OFF OFF OFF ON sHT llawost 3 s gt o 2 Ea amp v sHFT Sus SHET Yigg P F amp Next next next next Ao 9 JE ent S isaer E gt WB gt JE ent DL06 Micro PLC User Manual 1st Ed Rev A 5 107 Chapter 5 Standard RLL Instructions M ath Multiply Formatted M ULF Multiply Formatted is a 16 bit instruction that multiplies the BCD valuein the accumulator by the BCD value Aaaa which is a range of discrete bits T he specified range K bbb can be 1 to 16 consecutive bits T he result resides in the accumulator Operand Data Type DLO6 Range aaa 0 777 0 777 0 1777 0 1777 0 377 Counter Bits 0 177 Special Rel
318. cutes when theAIN instruction is complete If the compared V memory tables are equal SP61 will turn ON AIN Complete CMPV Compare from Starting Address V2001 Compare to Starting Address 10001 Number of Bytes K3 SP61 Strings are equal C11 ou DL06 Micro PLC User Manual 1st Ed Rev A 5 217 Chapter 5 Standard RLL Instructions ASCII on ASCII Print to V memory VPRINT TheASCII Print to V memory instruction will write a specified ASCII string into a series of V memory registers O ther features include Byte Swap options to suppress or convert leading zeros or spaces and _D ate and Time options for U S European and Asian date formats and 12 or 24 hour VPRINT time formats Byte Swap Byte Swap swaps the high byte and T low byte within each V memory OS register the ASCII string is printed to Seethe SWAPB instruction for details All but null e Print to Starting V memory Address Print to starting V memory address V3000 specifies the beginning of a series of Message V memory addresses where the ASCII Reactor temperature V3500 degrees string will be placed by the VPRINT instruction e Starting V memory Address the first V memory register of the series of registers specified will contain the ASCII string s length in bytes e Starting V memory Address 1 the 2nd and subsequent registers will contain the ASCII string printed
319. d Multiple Read and Write Interlocks If you are using multiple reads and writes in the RLL program you haveto interlock the routinesto make sure all the routines are executed If you dont usethe interlocks then the CPU will only execute the first routine T his is because each port can only handle one transaction at a time In the example below after the RX instruction is executed C 100 is set W hen the port has finished the communication task the second routine is executed and C100 is reset If you re using RLLPLU S Stage Programming you can put each routine in a separate program stage to ensure proper execution and switch from stage to stage allowing only one of them to be active at a time SP116 will execute every time it attempts to poll the network You should see this counting up as you enable the MWX and MRX instructions Some things that would prevent this 1 Com Port RTS and CTS not jumpered 2 Port not set up for MODBUS RTU 3 Problem in logic that is not allowing the MWX or MRX to enable CNT Port 2 busy bit Number of times that 1 SP116 the PLC has tried to poll network FirstScan SPO CTO K9999 SP117 will come on when 1 The slave device sends an Exception Response If this occurs look at the V memory location associated with that instruction and consult the MODICON MODBUS manual for details 2 Cabling problem Consult wiring diagram in user manual and verify 3 Setting for communications ar
320. d statement in the program W hen an interrupt occurs the CPU will complete execution of the current instruction it is processing in ladder logic then execute the interrupt routine After interrupt routine execution the ladder program resumes from the point at which it was interrupted See Chapter 3 the section on M ode 40 Interrupt O peration for more details on interrupt configuration In the D L06 only one software interrupt is available T he software interrupt uses interrupt 00 IN T 0 which means the hardware interrupt 0 and the software interrupt cannot be used together H ardware interrupts are labeled in octal to correspond with the hardware input signal e g X1 will initiateINT 1 Operand Data Type DLO6 Range Interrupt Return IRT An Interrupt Return is normally executed as the last instruction in the interrupt routine It returns the CPU to the point in the IRT main program from which it was called The Interrupt Return is a stand alone instruction no input contact on the rung Interrupt Return Conditional IRTC The Interrupt Return Conditional instruction is a optional instruction used with an input contact to implement a IRTC conditional return from the interrupt routine T he Interrupt Return is required to terminate the interrupt routine Enable Interrupts ENI The Enable Interrupt instruction is placed in the main ladder program before the End instruction enabling the interrupt ENI
321. d the value in V1400 and P and W inc uu b ix e 1401 into the accumulator wc P P Pr M Q 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 1 10 9 8 7 6 5 4 3 2 1 0 Acc ofi 0 1 0 i 0 of i E 1 E 0 ofo 1 0 1 ofo 0 ofi E 1 of i 0 ANDS gt Ac 0 1010100024101 1 1151010 0010100001412 11 10 1 0 p 36476A38 AND the value in the accumulator with the AND topofstack 0 O 1 1 011001000111 0110101000111000 first level of the accumulator stack Acc 0 0 0 1 0 1 0 0 OF 1 OF OF OF 17 1 OF OF OF 1 OF 1 OF OF OJ OF OF 1 11 1 OF OF O Qu ce qr a lw V1500 a Copy the value in the Lele B 8j3je accumulator to V1500 V1501 and 1501 Handheld Programmer Keystrokes Sem gt Ja ENT SHET ll anost s s gt Pa Ea fo o PT Yano SHET Sag ENT Zur SHFT a gt Pa fis Ao Peo EN 5 72 DL06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions Logical es Or OR Direct SOFT32 w TheOr instruction is a 16 bit instruction that logically ors the value in the lower 16 bits of the accumulator with a specified V OR memory location Aaaa T he result resides in the accumulator T he discrete status flag indicates if the result of the
322. de Exception Response Buffer V400 Instruction interlock bit This rung does a MODBUS read from the first 32 coils of slave address number one It will place the values into 32 bits of the master starting at CO MRX 4 ees C1 no Port Number K2 Slave Address K1 Function Code 01 Read Coil Status Start Slave Memory Address 1 Start Master Memory Address co Number of Elements 32 Modbus Data Type 584 984 Mode Exception Response Buffer V400 Instruction interlock bit C100 RnsT DL06 Micro PLC User Manual 1st Ed Rev A 10 02 l 4 67 STANDARD RLL INSTRUCTIONS In This Chapter ntrod ctioN MP RUE ETE TL T TIT E TOT T QOO 5 2 Using Boolean Instructions 455 inne coe shad t eene aw ton 5 5 Boolean Instructions ou do eda e Rd A AES S EGxa Au ESEES 5 10 Comparative BOO esce coe wa top pon Rae epe boe EAA 5 26 Immediate Instructions uox s ex ex eoe ax dena cate Re ed 5 32 Timer Counter and Shift Register Instructions 5 39 Accumulator Stack Load and Output Data Instructions 5 52 Logical Instructions Accumulator 2 oce i Eee Rae OE eR Ode o orden 5 69 Math SECOS BOIS s oae i betas Geta ne oe eee o nci S a ERR d 5 86 Transcendental Functions 42 4 oat PEE ERU 4650004048085 5 118 Bit Operation Instructions lsoscio rk RR REX X ER RR 5 120 Number Conversion Instructions Accumulator 5 127 Table Instructions asi e on Ero ene HER RR E RUPES BL hee 5 141 C
323. ded for protecting the D L06 PLCs from power surges and EM I RFI noise T he Automation Powerline Filter for use with 120 VAC and 240 VAC 1 5 Amps is an excellent choice however you can usea filter of your choice T hese units install easily between the power source and the PLC NOTE If you are using other components in your system make sure you refer to the appropriate manual to determine how those units can affect mounting dimensions Using Mounting Rails DL06 M icro PLCs can be secured to a panel by using mounting rails We recommend rails that conform to DIN EN standard 50 022 T hey are approximately 35mm high with a depth of 7mm If you mount theM icro PLC on arail do consider using end brackets on each side of the PLC The end bracket helps keep the PLC from sliding horizontally along the rail reducing the possibility of accidentally pulling the wiring loose O n the bottom of the PLC aretwo small retaining clips To securethe PLC to aDIN rail place it onto the rail and gently push up on the clips to lock it onto the rail To remove the PLC pull down on the retaining dips lift up on thePLC slightly then pull it away from the rail 2 8 DL06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 2 Installation Wiring and Specifications uu DIN rail slot is designed for 35mm X 7mm rail DIN Rail Dimensions conforming to DIN EN 50022 Cad EE qe ue zal
324. discrete location should not be used since only the last O ut instruction in the program will control the physical output point Instead use the next instruction the Or Out Operand Data Type DLO6 Range In the following O ut example when input X1 is on output Y2 and Y5 will energize Direct SOFT32 Handheld Programmer Keystrokes X1 EDI Bs oe ai ppm ce 2 c 2 PNT Y5 OUT SOUL gt i 5 ENT Or Out OR OUT TheOr Out instruction allows more than one rung of discrete logic to control a single output M ultiple Or O ut instructions A aaa referencing the same output coil may be used since z contacts R OUT controlling the output are logically O R ed together If the status of any rung is on the output will also be on Operand Data Type DLO6 Range In the following example when X1 or X4 ison Y2 will energize Direct SOFT32 Handheld Programmer Keystrokes xi y2 B ENT OR our sm J 7 1 Oo D F C mE 3 P ENT ENT gt j ENT E STR 4 ENT A Y2 o D F C ENT ENT gt ENT 2 OR our INST 3 5 2 DL06 Micro PLC User Manual 1st Ed Rev A 5 17 Chapter 5 Standard RLL Instructions Boolean Instructions o Out Bit of Word O UTB TheO ut Bit of Word instruction reflects the status of the rung on off and outputs the disc
325. e Range 20 28VDC weu s i IN 24V m ow T Operating Voltage Range 24VDC nO 4 6mA pout Peak Voltage 30 0VDC GA Input Current ppa 24VDC l Maximum Input Current 6mA 28VDC Bn n Input Impedance 4 7KQ 24VDC te us li a a On Voltage Level gt 19 0 VDC Mdh O Wiring for ZL CM056 Off Voltage Level lt 7 0 VDC ale H Gv wr Wu Minimum ON Current 3 5mA EE OQOO00000000 Minimum OFF Current 1 5mA E 2 SeS A ee a ee eee Off to on Response 2 8ms Typ 4ms belie On to off Response 2 8ms Typ 4ms Status Indicators ee D9 16ND3 Af E li E ele Ail Commons 4 non isolated y t i Fuse No fuse 20 28VDC max UU erena DE qua s S mA all pts ON Note The DLO6 must have firmware version V4 10 Base Power Required 5V ES ony or later for this module to function properly Derating chart Points 12 24VDC 16 i MOL f E 0 mi E 0 10 20 30 40 50 55 C i cz BD O 2 32 50 68 86 104 122 131 F HH Ambient Temperature P adi sse Use ZipLink ZL CBLO56 cable and ZL CM056 D0 16ND3 connector module or build your own cables using 24 pin Molex 909 699 ELIT EDT Micro Fit 3 0 receptacle part number 43025 eeoeoo eesees or compatible co 2 3 C16 7 12 13 C3 16 C2 17
326. e Rungs an END statement You use a contact to start rungs that contain both contacts and coils T he boolean instruction that does this is called a Store or STR instruction T he output point is represented by the O utput or OUT instruction T hefollowing example shows how to enter a single contact and asingle output coil Direct SOFT32 Example Handheld Mnemonics 0 STR XO OUT YO our END Normally Closed Contact Normally closed contacts are also very common T hisis accomplished with the Store N ot or STRN instruction T he following example shows a simple rung with a normally closed contact Direct SOFT32 Example Handheld Mnemonics n P STRN XO OUT OUT YO Ne END c DL06 Micro PLC User Manual 1st Ed Rev A 5 5 Chapter 5 Standard RLL Instructions Boolean Instructions ERA Contacts in Series UsetheAN D instruction to join two or more contacts in series T he following example shows two contacts in series and a single output coil T he instructions used would be STR X0 AND X1 followed by OUT YO Direct SOFT32 Example Handheld Mnemonics xo XI YO STR XO a OUT AND X1 I Foy d Ww OUT YO END ev Midline O utputs Sometimes it is necessary to use midline outputs to get additional outputs that are conditional on other contacts T hefollowing example shows how you can usethe AN D instruction to continue a rung with more conditional outputs Direct SOFT32 Example Handheld Mnen
327. e accumulator T his parameter is aH EX value e Step 3 Insert the M OVE instruction which specifies starting V memory location Vaaa for the destination table H dpful Hint For parameters that require H EX values when referencing memory locations the LDA instruction can be used to convert an octal address to the H EX equivalent and load the value into the accumulator MOV V aaa Operand Data Type DLO6 Range aaa See memory map See memory map Discrete Bit Flags Description In the following example when X1 is on the constant value K 6 is loaded into the accumulator using the Load instruction T his value specifies the length of the table and is placed in the first stack location after the Load Address instruction is executed T he octal address 2000 V 2000 the starting location for the source table is loaded into the accumulator T he destination table location V 2030 is specified in the M ove instruction Direct SOFT32 xi Load the constant value 6 b j in HEX into the lower 16 bits x Ix Ix Tx v2026 I K6 of the accumulator x x x x v2o27 Convert octal 2000 to HEX 0111213 vzooo o 1 2 l3 lvaoso LDA 400 and load the value into O 2000 the accumulator o 5 o o0 v2001 J 0 5 0 o v2031 9 9 9 9 23 9 o o o Cop
328. e bit can be used to trigger an AFIN D instruction to search for a desired portion of the ASCII string O ncethe string is found the AEX instruction can be used to extract the located string AIN Complete AFIND 15 d 1 Base Address V2001 Total Number of Bytes K32 Search Starting Index KO Direction Forward Found Index Value From Beginning Found Index V2200 Code 39 Give delay time for AFIND instruction to complete SET Give delay time for AFIND instruction to complete Search string not found D t hotfoundiwiih C7 in table Km AFIND V2200 16 f ott C se Give delay time for AFIND instruction to complete C Ret gt Give delay time for AFIND instruction Data not found with TMR to complete AFIND Delay for C10 AFIND to complete 17 TO K2 Delay time for AFIND to complete AEX TO 18 Source Base Address V2001 Extract at Index KO Number of Bytes K4 Shift ASCII Option None Byte Swap Al Convert ASCII To BCD HEX Destination Base Address 3000 Give delay time for AFIND instruction to complete T ast gt DL06 Micro PLC User Manual 1st Ed Rev A 5 215 Chapter 5 Standard RLL Instructions ASCII o gt ASCII Extract AEX TheASCII Extract instruction extracts a specified number of bytes of ASCII data from one series of V memory registers and places it into another series of V memory registers O ther features i
329. e command Velocity Range 40 Hz to 10 kHz V memory registers V3630 to V3652 Profile Parameter Table Current Position CT174 and CT175 V1174 and V1175 Physical 1 0 Configuration The configurable discretel O options for Pulse O utput M ode are listed in the table below TheCPU uses SP 104 contact to sense profile complete V 7632 is used to select pulse direction or CW CCW modes for the pulse outputs Input X1 is dedicated as the external interrupt for usein registration mode Configuration Register Physical 1 0 Configuration Function Hex Code Required V7632 YO Pulse Y1 Direction YO CW Pulse Y1 CCW Pulse 0103 0003 default V7634 0005 xx06 xx filter time 0 9 BCD default pulse input filtered input V7635 0005 pulse input xx06 xx filter time 0 99 BCD default filtered input V7636 0005 xx06 xx filter time 0 99 BCD default pulse input filtered input V7637 Logical 1 O Functions 0005 Xx06 xx filter time 0 99 BCD default pulse input filtered input The following logical I O references define functions that allow the H SIO to communicate with the ladder program Logical 1 0 Logical 1 0 Functions Function SP104 Profile Complete the HSIO turns on SP104 to the CPU when the profile completes Goes back off when Start Profile YO turns on Xi External Interru
330. e constant value K 6 is loaded into the accumulator using the Load instruction T his value specifies the length of the table and is placed in the second stack location when the following Load Address and Load instruction is executed T he octal address 1400 V 1400 isthe starting location for the table and is loaded into the accumulator T his value is placed in the first level of the accumulator stack when the following Load instruction is executed T he offset K 2 is loaded into the lower 16 bits of the accumulator using the Load instruction T he value to be found in the table is specified in the Find instruction If a value is found equal to the search value the offset from the starting location of the table where the value is located will reside in the accumulator DL06 Micro PLC User Manual 1st Ed Rev A l 5 147 Chapter 5 Standard RLL Instructions Table Instructions DirectS OF T32 Display X1 Table length LD K6 Offset Load the constant value 6 HEX into the lower 16 bits Begin here of the accumulator Accumulator 00000004 V1404 contains the location where the match was found The value 8989 was the 4th location after the start of the specified table LDA O 1400 Convert octal 1400 to HEX 300 and load the value into the accumulator LD K2 Handheld Programmer Keystrokes B Load the cons tant value STR gt 1 ENT 2 into the lo
331. e copied to V 1500 using the O ut M ost instruction Direct SOFT32 xi Load the value in V1400 into the lower 16 bits of the accumulator 8194315 Copy the value in the upper The unused accumulator 8 bits of the lower 16 bits of bits are set to zero the accumulator to 1500 T e AE ofo o e JE 5 Handheld Programmer Keystrokes V1500 L D B E A A SHFT i anost 3 gt 1 4 0 0 ENT GX M B F A A our SHFT orst gt 1 5 0 0 ENT 5 68 DL06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions Logical E KT Logical Instructions Accumulator And AND The And instruction is a 16 bit instruction that logically ands the value in the lower 16 bits of the accumulator with a specified V memory location Aaaa The result resides in the accumulator T he discrete status flag indicates if the result of the And is zero Operand Data Type DLO6 Range aaa See memory map See memory map AND Aaaa Discrete Bit Flags Description SP63 Will be on if the result in the accumulator is zero SP70 on when the value loaded into the accumulator by any instruction is zero NOTE The status flags are only valid until another instruction that uses the same flags is executed In the following example when X1 is on the value in V 2000 will be
332. e counter is zero is only on until the end of the scan Scan N Before RFT Execution After RFT Execution Table Counter Table Counter Automatically d ecremented Table Counter 1 0 0 0 4 vt400 V1401 0 0 0 0f 3 v1400 Ti Jae vie estination i positions will 3 V1403 Destination be a DxdIxIxIxleso sasnee viso o s o o viso used 5 V1405 SP56 SP56 6 V1406 B SP56 OFF sPse orr V1407 Scan N 1 Before RFT Execution After RFT Execution Table Counter Table Table Counter Table Automatically decremented v1401 i 0 0 0 3 Vi400 V1401 9 o o o 2 v1400 vide 4 2 m V1402 mE vi43 8 3 Destination Start here v1403 Destination o 5 0 o v1500 9 9 9 9 v1500 V1404 8 4 l V1404 vi405 1 5 V1405 viaos 2 6 SP56 V1406 SP56 SP56 OFF SP56 OFF V1407 V1407 Scan N 2 Before RFT Execution After RFT Execution Table C Table Counter able Counter Table Automatically decremented v1401 1 0 0 0 2 vt400 0j 0 0 1 v1400 1402 2 D Start here 9 estination inati V1403 3 Destination JE 2 9 4 o 7 9 vidos 4 visoo V1500 V1405 5 V1406 6 SP56 SP56 V1407 sPss OFF X 56 oFF Scan N 3 Before
333. e in V2006 the remainder OUT 110 2 V2010 V2010 Copy the value in the lower 16 bits of the accumulator to V2010 Handheld Programmer Keystrokes B STR 2 1 ENT B E D C A A A SHET lANDST 3 gt 2 0 0 0 ove 5 D I V C A A G APER 3 8 ano gt 2 0 0 6 ENT GX i V C A B A our 2 auo 2 0 1 0 ENT DL06 Micro PLC User Manual 1st Ed Rev A 5 95 Chapter 5 Standard RLL Instructions ees Divide D ouble DIVD Divide D oubleis a 32 bit instruction that divides the BCD value in the accumulator by a BCD value Aaaa which must be obtained from two consecutive V memory JDIVD locations You cannot use a constant as the parameter in the A aaa box T he first part of the quotient resides in the accumulator and the remainder resides in the first stack location Operand Data Type DLO6 Range aaa See memory map See memory map Description On when the value of the operand is larger than the accumulator can work with On when the result of the instruction causes the value in the accumulator to be zero On anytime the value in the accumulator is negative On when a BCD instruction is executed and a NON BCD number was encountered NOTE Status flags are valid only until another instruction uses the same flag In the following example when X1 is on the value in V 1400 and V 1401 will be loaded into the accumulator using the Load D ouble instruction T he
334. e inputs and the letter Y is always used for outputs Thel O numbering always starts at zero and does not includethe digits 8 or 9 T he addresses are typically assigned in groups of 8 or 16 depending on the number of points in an 1 0 group For the D L06 the twenty inputs use reference numbers X0 X23 T he sixteen output points use references YO Y17 2 12 DL06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 2 Installation Wiring and Specifications EL Lr System Wiring Strategies TheDLO6 Micro PLC is very flexible and will work in many different wiring configurations By studying this section before actual installation you can probably find the best wiring strategy for your application T his will help to lower system cost wiring errors and avoid safety problems PLC Isolation Boundaries PLC circuitry is divided into three main regions separated by isolation boundaries shown in the drawing below Electrical isolation provides safety so that a fault in one area does not damage another A powerline filter will provide isolation between the power source and the power supply A transformer in the power supply provides magnetic isolation between the primary and secondary sides O pto couplers provide optical isolation in Input and O utput circuits T his isolates logic circuitry from the field side where factory machinery connects N ote that the discrete inputs are isolated from the discrete outputs because each is isolated
335. e not matching For example Baud rates parities stop bits all must match 4 Polling a slave address number that doesn t exist Under good conditions SP116 will be counting up and SP117 will not You will get an occasional error in many field environments that introduce electrical RF noise into the application Each application will dictate what allowable percentage of error is acceptable Anything below 10 typically does not affect the throughput very much CNT Port 2 error bit 2 SP1 i 7 Number of times that td the PLC has errored FirstScan GT1 P0 u K9999 4 66 DL06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 4 CPU Specifications and O peration EL u This rung does a MODBUS write to the first holding register 40001 of slave address number one It writes the values over that reside in V2000 This particular function code only writes to one register Use function code 16 to write to multiple registers Only one Network Instruction WX RX MWX MRX can be enabled in one scan That is the reason for the interlock bits For using many network instructions on the same port use the Shift Register instruction SP116 C100 Hid ort Number 3 aor AT Slave Address K1 Function Code 06 Preset Single Register Start Slave Memory Address 40001 Number of Elements n a Modbus Data Type 584 984 Mo
336. e of this bit is optional W hen used it should be ahead of any network instruction boxes since the error bit is reset when an M RX or M WX instruction is executed Typically network communications will last longer than 1 CPU scan The program must wait for the communications to finish before starting the next transaction This rung does a MODBUS read from the first 32 coils of slave address number one It will place the values into 32 bits of the master starting at CO Port 2 busy bit Instruction Interlock bit SP116 C100 MRX s Port Number K2 Slave Address K1 Function Code 01 Read Coil Status Start Slave Memory Address 1 Start Master Memory Address CO Number of Elements 32 Modbus Data type 584 984 Mode Exception Response buffer V400 Instruction Interlock bit C100 RST DLO06 Micro PLC User Manual 1st Ed Rev A 5 203 Chapter 5 Standard RLL Instructions MODBUS es MODBUS Write to Network MWX 5 204 TheM ODBUS Write to N etwork M W X instruction is used to write a block of data from the network masterss D L06 memory to M O D BU S memory addresses within a slave device on the network T he instruction allows the user the to specify the M O D BU S Function Code slave station address starting master and slave memory addresses number of elements to transfer M O D BUS data format and the Exception Response Buffer MWX Port Number K2 Slave Address K1 i Eungt
337. e read with the proper instructions later The previous example above stored a real number in LDR V1400 and V 1401 Supposethat now we want to retrieve V1400 that number Just use the Load Real with the V data type as shown to the right N ext we could perform real math on it or convert it to a binary number DL06 Micro PLC User Manual 1st Ed Rev A 5 63 Chapter 5 Standard RLL Instructions Accumulator Stack Load and O utput D ata EM M MM M MP M Out OUT The Out instruction isa 16 bit instruction that copies the value OUT in thelower 16 bits of the accumulator to a specified V A aaa memory location Aaaa Operand Data Type DL06 Range aaa See memory map See memory map Discrete Bit Flags Description SP53 On if CPU cannot solve the logic In the following example when X1 is on the value in V 2000 will be loaded into the lower 16 bits of the accumulator using the Load instruction T he value in the lower 16 bits of the accumulator are copied to V 2010 using the O ut instruction V 2000 Handheld Programmer Keystrokes Direct SOFT32 X1 j LD ome wane E 3 ox gt 1 ENT L D E ME ST os a 77 Ac o o o o s 3 s 2 0 o a OUT ao EE pn surr RD c 3 A i ENT Te bts ofthe acrior
338. e same CPU TheDL06 can also decipher ASCII embedded within a supported protocol K Sequence D irectN et M odbus via the CPU port Reading ASCII Input Strings T here are several methods that the D L06 can useto read ASCII input strings 1 ASCII IN AIN Thisinstruction configures port 2 for raw ASCII input strings with parameters such as fixed and variablelength ASCII strings termination characters byte swapping options and instruction control bits Use barcode scanners weight scales etc to write raw ASCII input stringsinto port 2 based on the AIN instruction s parameters 2 Write embedded ASCII strings directly to V memory from an external H M I or similar master device via a supported communications protocol using the CPU ports The AIN instruction is not used in this case 3 If aDLO6 PLC isa master on a network the Network Read instruction RX can be used to read embedded ASCII data from a slave device via a supported communications protocol using port 2 T heRX instruction places the data directly into V memory Writing ASCII Output Strings The following instructions can be used to write ASCII output strings 1 Print from V memory PRIN TV Use this instruction to write raw ASCII strings out of port 2 to a display panel or a serial printer etc T he instruction features the starting V memory address string length byte swapping options etc W hen the instruction s permissive bit is enabled the string is written to
339. e same flags is executed In the following example when X1 ison the value in V2000 will be loaded into the accumulator using the Load instruction T he value in V2006 is multiplied by the value in the accumulator T he value in the accumulator is copied to V 2010 and V 2011 using the O ut D ouble instruction Direct SOFT32 V2000 1 lo Tofo y LD 1 2000 The unused accumulator Load the value in V2000 into biis are setito zero the lower 16 bits of the accumulator 0000 1000 Accumulator x 25 V2006 M MUL V2006 Acc 0 0 0 2 5 JO JO JO The value in V2006 is multiplied by the value in the accumulator 0 0 0 2 5 O JO JO OUTD V2011 V2010 V2010 Copy the value in the accumulator to V2010 and V2011 Handheld Programmer Keystrokes B STR 2 1 ENT L D C A A A SHET P ANDsT 3 gt 2 0 0 0 EMT M U L C A A G SHET Srst isc_ Anost gt 2 0 0 6 EST GX D C A B A our SHET 3 2 0 1 0 zT 5 92 DL06 Micro PLC User Manual 1st Ed Rev A Multiply Doubleis a 32 bit instruction that multiplies the 8 digit BCD valuein the accumulator by the 8 digit BCD valuein the two consecutive V memory locations Chapter 5 Standard RLL Instructions M ath E
340. e set in V 7636 or V7637 the CPU does not check for changed preset values so the D L 06 has a faster reset time 3 14 DL06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 3 H igh speed Input and Pulse O utput Features Writing Your Control Program The mnemonic for the counter instruction is UD C up down counter T he DL06 can have up to 128 counters labeled CT 0 through CT 177 The high speed counter in the H SIO circuit is accessed in ladder logic by using UDC CT 174 and CT 176 It uses counter registers CT174 through CT 177 exclusively when the H SIO mode 10 isactive otherwise CT 174 through CT 177 are available for standard counter use The H SIO counter needs two registers because it is a double word counter It has three inputs as shown T he first input Enable allows counting when active T he middle input is used to preload the counter value The bottom signal is the reset T he Preload Input must be off while the counter is counting The next figure shows how the H SIO counter will appear in a ladder program N ote that the Enable Interrupt EN 1 command must execute before the counter value reaches the first preset value We do this at powerup by using the first scan relay W hen using the counter but not the presets and interrupt we can omit the EN I Standard Counter Function HSIO Counter Function UP Count UDC CTxx Enable Input UDC CT174
341. e table below Input Status Relay Setup for M ode 50 Recall that V 7633 isthe H SIO M ode Select register Refer to the diagram below U se BC D 50 in the lower byte of V 7633 to select the High Speed Counter M ode Memory Location V7633 Bis 15 14 13 12 11 109 8 7 6 5 4 3 2 1 0 0 0 0 0 0 0 0 0 0 1 0 1 0 0 01 0 0 0 5 0 X A Miscellaneous Setup BCD HSIO Mode Setup BCD 00 Not Used default 50 Pulse Catch 10 Battery Enabled 20 Power up in RUN 30 Battery Enabled and Power up in RUN Choose the most convenient method of programming V 7633 from the following Include load and out instructions in your ladder program DirectSOFT 32 s memory editor e Usethe H andheld Programmer D 2 H PP We recommend using the first method above so that the H SIO setup becomes an integral part of your application program An example program later in this section shows how to do this 3 70 DLO06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 3 H igh speed Input and Pulse O utput Features H i1 X Input Configuration The configurable discrete input options for Pulse C atch M ode are listed in the table below Each input has its own configuration register and filter time constant Input Configuration Register Function Hex Code Required Pulse Catch Input 0005 default Interrupt 0004 Pulse Catch In
342. eOr Immediate connects two contacts in parallel T he status of the contact will bethe same asthe status of the associated X aaa input point zz the time the instruction is executed T he image L register is not updated Or Not Immediate ORNI TheOr Not Immediate connects two contacts in parallel The status of the contact will be opposite the status of the associated X aaa input point zz the time the instruction is executed T he image register is not updated 5 32 DL06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions Immediate Instructions i OR Not Immediate Instructions Contd Operand Data Type DLO6 Range In the following example when X1 or X2 ison Y5 will energize DirectSOFT32 Handheld Programmer Keystrokes xi Ys B out sm gt 1 ENT S Q l C x or SHFT gt A ENT GX F our 7 5 EMT In the following example when X1 is on or X2 is off Y5 will energize DirectSOFT32 Handheld Programmer Keystrokes xi Y5 B ENT our sm 7 1 R l Cc xe orn T a gt a m X GX F our 7 gr ENP And Immediate ANDI TheAnd Immediate connects two contacts in series T he status of the contact will be the same as the status of the X aaa associated input point az the time the instruction is executed T
343. eTe oTsTcTZ Led X XX X X X X x A500 and V1501 level X X X X X X X X Viso v1500 Level8 X X X X X X X X Handheld Programmer Keystrokes The remainder resides in the B first stack location sm 7 1 ENT p Leeli 0 00 00 00 0 E D B E A A SHET ANDST 3 gt 1 4 0 0 ENT Level 2 X XX X X XX X X XX XX X X X SHFT Mer D D gt B E c A ENT Level 3 3 3 1 Ed 2 D Level4 X XX X X X X X p i Y 8 S levels X X X X X X X X SARD 3 8 AND 1 RST ENT Level 6 X XX X X XX X Sur S a gt Pa fs o o et level X X X XX X X X Level 8 X XX X X XX X DLO06 Micro PLC User Manual 1st Ed Rev A 5 17 Chapter 5 Standard RLL Instructions Transcendental Functions Ts Transcendental Functions TheDL06 CPU features special numerical functions to complement its real number capability T he transcendental functions includethe trigonometric sine cosine and tangent and also their inverses arc sine arc cosine and arc tangent T he square root function is also grouped with these other functions Thetranscendental math instructions operate on a real number in the accumulator it cannot be BCD or binary T hereal number result resides in the accumulator T he square root function operates on the full range of positive real numbers T he sine cosine and tangent functions require numbers expressed in radians You can work with angles expressed in degrees by first converting them to radians with the Radian RAD instruction then performing
344. ead extended X4 YO Yi Assignments Direct SOFT32 SPO Cutter head retracted Lead screw motor Cutter head solenoid SPO l y Counter gt a Device Start gt Cutter head Lead screw CEND LD Select Mode 10 K10 OUT V7633 LD K1 OUT V7634 LD K1006 OUT V7635 LD K107 OUT V7636 LD K1006 OUT V7637 LDA O3630 OUT V7630 Enable Interrupts before reaching a preset generates an interrupt Special Relay SPO is on during the first CPU scan Load constant K10 into the accumulator This selects Mode 10 as the HSIO mode Output the constant to V7633 the location of HSIO Mode select register Load the constant required to configure XO as the counter clock Output the constant K1 to V7634 the location of the setup parameter for XO Load the constant required to configure X1 as a filtered input Output the constant to V7635 the location of the setup parameter for X1 Load the constant required to configure X2 as an external reset with interrupt Output the constant to V7636 the location of the setup parameter for X2 Load the constant required to configure X3 as a filtered input Output the constant to V7637 the location of the setup parameter for X3
345. eb T Timer Status Bits TO T377 V41100 V41117 E a Timer Current Values None V0 V377 CNT CTO Counters CTO CT177 V41140 V41147 K10 Counter V1000 K100 Current Values None V1000 V1177 ais Counter Status Bits CTO CT177 V41140 V41147 T Data Words None V1200 2 V7377 None specific used with many V10000 V17777 instructions Data Words None specific used with many Non volatile V7400 V7577 None instructions St S0 1777 41000 V41017 SG SB apes S001 Jr GX0 GX3777 V40000 V40177 GX0 GYO Remote 1 0 GY0 GY3777 V40200 V40377 JF HX V700 V777 System parameters None V7600 V7777 None specific used for various purposes V36000 V37777 1 T he D L06 systems are limited to 20 discrete inputs and 16 discrete outputs with the present available hardware but 512 point addresses exist DL06 Micro PLC User Manual 1st Ed Rev A 10 02 l 4 3 1 Chapter 4 CPU Specifications and O peration MM MM MM M MM M M M M M M X Input Y Output Bit Map Thistable provides a listing of individual input and output points associated with each V memory address bit for the D L06 s twenty integrated physical inputs and 16 integrated physical outputs in addition to up to 64 inputs and 64 outputs for option cards Actual available references are X0 to X 777 V 40400 V40437 and YO to Y777 V40500 V40537 DLOG Input X and Outpu
346. ected together but separate supplies and common circuits may be used T he equivalent input circuit shows one channel of a typical bank Power Input Q cd T D PE Eb Output Point Wiring UE Wiring dE IU OOHH COD tfo i alld ele leel el eel oococooco0oo0oo0o0eog8 amp cojos ov J vo ve ci vs vz vio vi2 ca vis viz AC L AC N 24v Co Y1 va Ya Ye c2 Y1 vis Yi4 vte NC OUTPUT 6 240V 50 60Hz 2 0A 6 27V 2 0A PWR 100 240V 50 60Hz 40VA Hana D0 06AR d Z 10 1 12 13 14 15 16 17 20 21 22 23 09000000009900000000 ine 90 120V 7 1 pipet 06 E Koyo T X0 X2 Hu t X5 I TELLURE E S SSSSSSESSSSSESSH B S S S S S S S S S S S S i i Input Point Wiring ol olelolol d elelelel slololel ololelal lol ew P ales stele ety y s Equivalent Input Circuit Derating Chart for Relay Outputs Equivalent Output Circuit Points r V N 15 Internal module circuitry aL 2 0A 163 Optical 7 12 YO Y7
347. ee Mug LEON V xxxx 2 IN CLLTIILIILIILLIIILILII Discard Bits gt gt Shift in zeros eo ZS DLLIILIIIIIIIIIT Step 1 Load the length of the table number of V memory locations into the first level of the accumulator stack T his parameter must be a H EX value 0 to FF Load the starting V memory location for the table into the accumulator T his parameter must be aH EX value You can use the LDA instruction to convert an octal address to hex Insert the Table Shift Left or Table shift Right instruction T his specifies the number of bit positions you wish to shift the entire table T he number of bit positions must bein octal H elpful hint Remember that each V memory location contains 16 bits So the bits of the first word of the table are numbered from 0 to 17 octal If you want to shift the entire table by 20 bits that is 24 octal SP 53 will be set if the number of bits to be shifted is larger than the total bits contained within the table Flag 67 will be set if the last bit shifted just before it is discarded isa 1 Step 2 Step 3 Operand Data Type DLO6 Range aaa See memory map DLO06 Micro PLC User Manual Ist Ed Rev A 5 165 Chapter 5 Standard RLL Instructions Table Instructions Discrete Bit Flags Description SP53 On when the number of bits to be shifted is larger than the total bits contained within the table SP67 On when the last bit shifted just before it is discarded
348. el branches to solve most any application problem T hefollowing example shows a simple combination network XO X2 X5 YO our X1 X3 X4 X6 a 0 Comparative Boolean Some PLC manufacturers make it really difficult to do a simple comparison of two numbers Some of them require you to move the data all over the place before you can actually perform the comparison The D L06 M icro PLCs provide Comparative Boolean instructions that allow you to quickly and easily solvethis problem T he Comparative Boolean provides evaluation of two 4 digit values using boolean contacts T he valid evaluations are equal to not equal to equal to or greater than and lessthan In thefollowing example when the value in V memory location V 1400 is equal to the constant V1400 K1234 value 1234 Y 3 will energize DL06 Micro PLC User Manual 1st Ed Rev A 5 7 Chapter 5 Standard RLL Instructions Boolean Instructions ERA Boolean Stack T here are limits to how many elements you can include in a rung T his is because the D L06 PLCsusean 8 level boolean stack to evaluate the various logic elements T he boolean stack is a temporary storage area that solves the logic for the rung Each time the program encounters a STR instruction the instruction is placed on the top of the stack Any other STR instructions already on the boolean stack are pushed down a level The AN D STR and ORST
349. eld Programmer TheRUN indicator on the PLC will illuminate indicating the CPU has entered the Run mode If not repeat this step ensuring the program is entered properly or refer to the troubleshooting guide in chapter 9 After the CPU entersthe run mode the output status indicator for YO should follow the switch status on input channel X0 W hen the switch is on the output will be on DL06 Micro PLC User Manual 1st Ed Rev A 10 02 1 9 Chapter 1 Getting Started Steps to Designing a Successful System Step 1 Review the Installation Guidelines Always make safety the first priority in any system design Chapter 2 provides several guidelines that will help you design a safer more reliable system This chapter also includes wiring guidelines for the various versions of the DL06 PLC Step 2 Understand the PLC Setup Procedures ThePLC is the heart of your automation system M ake sure you take time to understand the various features and setup requirements Step 3 Review the 1 0 Selection Criteria M Thereare many considerations involved when you Y select your O typeand field devices Take time to understand how the various types of sensors and z loads can affect your choice of I O type Common Sensing JU d E Input Step 4 Choose a System Wiring Strategy AC Loads It isimportant to understa
350. eld Programmer Keystrokes Sem e ENT SHFT Anas pi prev 8 5 ENT SHFT nosti s o a j o Meo o FN PET sHFT P R Tuin NEXT 4 d ENT DL06 Micro PLC User Manual 1st Ed Rev A 5 145 Chapter 5 Standard RLL Instructions Table Instructions Fill FILL TheFill instruction fills a table of up to 255 V memory locations with m a value Aaaa which is either a V memory location or a 4 digit constant T he function parameters are loaded into the first level of the accumulator stack and the accumulator by two additional instructions Listed below are the steps necessary to program theFill function Step 1 Load the number of V memory locations to be filled into the first level of the accumulator stack T his parameter must be a H EX value 0 FF Step 2 Load the starting V memory location for thetable into the accumulator T his parameter must be a H EX value Step 3 Insert the Fill instructions which specifies the value to fill the table with H elpful Hint For parameters that require H EX values when referencing memory locations the LDA instruction can be used to convert an octal address to the H EX equivalent and load the valueinto the accumulator Operand Data Type DLO6 Range aaa See memory map See memory map 0 FF In thefollowing example when X1 ison the constant value
351. elocity Registration profiles solve a class of motion control problems In some applications product material in work moves past a work tool such as a drill station Shown to the right registration marks on the scrap area of the work piece allow a machine tool to register its position relative to the rectangle to drill properly H ome search moves allow open loop motion systemsto re calibrate preload the current position value at powerup Velocity Hz Automatic Trapezoidal Profile A 800 00 Target 7000 pulses S positioning velocity 800 HA 400 i i 200 Starting velocity Ending velocity 40 to 1000 Hz i 0 Hz or 40 to 1000 Hz i gt Time 14100 ms to 10 secs 1 100 ms to 10 secs D pulies 7000 pulses Acceleration Deceleration The user determines the starting velocity the acceleration deceleration times and the total number of pulses T he CPU computes the profile from these inputs DL06 Micro PLC User Manual 1st Ed Rev A 10 02 3 45 Chapter 3 High speed Input and Pulse O utput Features se Step Trapezoidal Profiles D efined Registration profiles are a combination of velocity and position control modes The move begins by accelerating to a programmed velocity T he velocity is sustained and the move is of indefinite duration W hen an external interrupt signal occurs due to registration sensing the profile switches from velocity to position contro
352. em Memoty s ca s0cot0o0beouse ee ee vee ROERERUEHR RUE EUE E P dria d 4 9 Setting Retentive Memory Ranges 0 0 cece ee eee 4 10 USING a PassWOId soc ceca emenreture bs s ob eG oe RR edhe teks baad 4 11 CPU Opeftallon sucio a 6 a erre eee ard and adhe acd 4 12 CPU Operating System iiis sommes e mh Rede e Re e ERR ESAE 4 12 Program Mode issssessk ehe mre ue e s ee sede eee rad bea Ed 4 13 Run Mode iius eR e ERR LEES PR ERA RGa4tR RR E TEES 4 13 Read Inputs ses siaine s heh RR E Re deu ERR REae RC eR CER ELE 4 14 Service Peripherals and Force 1 0 1 ee eee nee 4 14 CPU Bus Communication 0 eee ene 4 15 Update Clock Special Relays and Special Registers 200 4 15 Solve Application Program 2 0 eee eee eee nee 4 16 Solve PID Loop Equations 0 0 eee ee ee teen eee 4 16 Write Outputs assu Rer per eR aseGi eb biG e hows vee eek ue s 4 17 Write Outputs to Specialty I O llle IIIA 4 17 DiadQnOStics EET 4 17 I O Response Time istic cc zu mehr rre ee ERE ERR ERR ER 4 17 Is Timing Important for Your Application llle 4 17 Normal Minimum I O Response 0c cece eee eee ee eens 4 18 Normal Maximum I O Response 0 02 c ee eee e 4 18 vi DL06 Micro PLC User Manual 1st Ed Rev A 10 02 Table of Contents Improving Response Time 6 6 Rn 4 19 CPU Scan Time Considerations see nn 4 20 Reading Inputs o
353. en designed to use more than 1 rung of discrete logic to control a single output M ultiple O r O ut Immediate instructions referencing the same output coil may be used since all contacts coniralling the output are ored together If the oroum status of any rung is on at the time the instruction is executed the output will also be on Operand Data Type DLO6 Range In the following example when X1 ison output point Y2 on the output module will turn on For instruction entry on the H andheld Programmer you can use the instruction number 350 as shown or type each letter of the command DirectSOFT32 Handheld Programmer Keystrokes xi Y2 B l sm gt 1 ENT oum INST 3 5 0 ENT ENT C gt ENT In thefollowing example when X1 or X4 ison Y2 will energize DirectSOFT32 Handheld Programmer Keystrokes xi Y2 Ser gt 184 ENT oRour 5 o n INST 3 5 0 ENT ER xu v2 gt C ent oRour E sm gt 4 ENT D F A INST 3 5 0 ENT ENT gt Ie ENT 5 34 DL06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions Immediate Instructions Out Immediate Formatted OUTIF TheOut Immediate Formatted instruction
354. enced to zero Relative position targets are referenced to the current position previous target position You may choose whichever reference method is most convenient for your application Profile Parameter Table V 7630 isa pointer location which points to Profile Table Pointer the beginning of the Profile Parameter Table V7630 3630 The default starting location for the profile i Profile Parameter Table parameter table is V 3630 H owever you may V3630 xxxx change this by programming a different value vmm in V7630 Remember to use the LDA load Woes sex address instruction converting octal into hex TheHSIO usesthe next V memory register tees aon past the bottom of the profile parameter table V3639 20008 to indicate profile errors See the error table at ulse Output Error Code the end of this section for error code V3636 00xx definitions Automatic Trapezoidal Profile Function Automatic Trapezoidal Profile m oute darum without Ending Velocity C relative w o interrupt Ending Velocity is fixed to 0 D relative with interrupt Automatic Trapezoidal Profile 6 absolute w o interrupt with Ending Velocity 7 absolue with interrupt Use V3637 to set up E relative w o interrupt Ending Velocity F relative with interrupt V3630 bits 0 11 Target Velocity 4 to 999 or 0 to 1000 X10 pps V3631 V3632 Target Position 0388608 to 8388607 Pulses V3633 Starting Velocity 4to
355. ental Functions 0 0 cece cee eee eee eee eens 5 118 Bit Operation Instructions 0 0 ccc ccc n 5 120 Number Conversion Instructions Accumulator 2 2 e eee eee 5 127 Shuffle Digits Block Diagram 0 0 eee eee ee eee 5 139 Table Instructions 220265 ci sr m9 nm hr hm keys kk ee dee iita 5 141 Copy Data From a Data Label Area to V Memory eese 5 143 Clock Calendar Instructions llle e 5 171 CPU Control Instructions 1 0 0 cc eee eee eee ees 5 173 Program Control Instructions 6 0 cee cee ee eee eee 5 175 MLS MER Example ss ois yr reme eom n ain ie linn Re ceca ae anra 5 182 DLO06 Micro PLC User Manual 1st Ed Rev A 10 02 Table of Contents Interrupt Instructions 20 0 ccc In 5 183 Timed Interrupt Program Example 0 0 0 ee eee 5 185 Independent Timed Interrupt 1 0 6 0 eee ee eee eee 5 185 Message IMStructions sssusa 4a ecu ikaw a ACRRUUE E eee 5 186 FaultExample ii suse heh RR RR RARUS FN ea RR RR ea ee eo 5 186 Data Label Example 0 0 cece eee eee eens 5 188 Direct Text EDU iex oat aretha ee ain eS VE SS 5 197 Embedding date and or time variables 0 0 ee eee ee eee 5 198 Embedding V memory data 0 0 ccc cee eee eee 5 198 Data Format Suffixes for Embedded V memory Data 000 5 199 Text Entry from V memory 0 eee nn 5 200 MODBUS RTU Instr ctlolis iisueses ye em hh e e ye
356. er supply M ost input or output point groups on PLC PLCs share the return path among two or DO RUE geese more O points T he figure to the right nputagnsing shows a group or bank of 4 input points gos which share a common return path In Input 2 this way the four inputs require only five t 9 terminals instead of eight ZEE ro O M Input 3 1 Note In the circuit to the right the current in the common path is 4 times any channel s input current when all inputs are energized This is i especially important in output circuits where Common heavier gauge wire is sometimes necessary on dp A commons Input 4 M ost D L06 input and output circuits are grouped into banks that share a common return path T he best indication of I O common grouping is on the wiring label Thel O common groups are separated by a bold line A thinner line separates the inputs associated with that common To the right notice that X0 X1 X2 and X3 share the common CO X1 X3 terminal CO located to the left of X1 Thefollowing complete set of labels shows five banks of XO X2 four inputs and four banks of four outputs O ne common is provided for each bank G jta2 ov yo v2 c1 vs vv vio v a es vits v17 ACc D Ac N 24v co vi vs Y4 Ye c2 vt vas via vite Nc CO x1
357. error bit is reset when an M RX or MW X instruction is executed Typically network communications will last longer than 1 CPU scan T he program must wait for the communications to finish before starting the next transaction This rung does a MODBUS write to the first holding register 40001 of slave address number one It will write the values over that reside in V2000 This particular function code only writes to 1 register Use Function Code 16 to write to multiple registers Only one Network instruction WX RX MWX MRX can be enabled in one scan That is the reason for the interlock bits For using many network instructions on the same port look at using the Shift Register instruction Port 2 busy bit Instruction Interlock bit SP116 C100 MWX 8 x Port Number i Slave Address Function Code 06 Preset Single Register Start Slave Memory Address 40001 Start Master Memory Address V2000 Number of Elements n a Modbus Data type 584 984 Mode Exception Response Buffer V400 Instruction Interlock bit C100 SET 5 206 DLO06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions ASCII E ASCII Instructions TheDL06 CPU supports several instructions and methods that allow ASCII strings to be read into and written from the PLC communications ports Specifically port 2 on the D L06 can be used for either reading or writing raw ASCII strings but cannot be used for both on th
358. errupt is selected the H SIO generates the interrupt to ladder logic T here is no interrupt pulse width in this case but the interrupt period can be adjusted from 5 to 999 mS 5mSto999mS Timed Interrupt Time X Input Timed INT Configuration T heconfigurable discrete input options for H igh Speed Interrupt M odeare listed in thetable below Input X0 is the external interrupt when 0004 isin V 7634 If you need a timed interrupt instead then V 7634 contains the interrupt time period and input X0 becomes a filtered input uses X1 sfilter time constant by default Inputs X0 X1 X2 and X3 can befiltered inputs having individual configuration registers and filter time constants interrupt inputsor counter inputs Input Configuration Register Function Hex Code Required External Interrupt 0004 default Timed Interrupt Xxx4 xxx INT timebase 5 999 ms BCD Interrupt 0004 default Pulse Input 0005 Filtered Input xx06 xx filter time 0 99 ms BCD Interrupt 0004 default Pulse Input 0005 Filtered Input xx06 xx filter time 0 99 ms BCD Interrupt 0004 default Pulse Input 0005 Filtered Input xx06 xx filter time 0 99 ms BCD If you are only using one of the points for an interrupt you may want to sdect adifferent main mode i e 10 20 30 50 or 60 and then just configure one of theterminals not taken as an interrupt For example you might want to
359. es STR SHFT B V 1 4 0 0 K 1 2 ENT OUT gt 2 ENT In the following Store N ot Bit of Word example when bit 12 of V memory location V 1400 is off output Y2 will energize DirectSOFT32 B1400 12 Y2 Vt out Handheld Programmer Keystrokes STRN SHFT B gt V 1 4 0 0 gt K 1 2 ENT OUT gt 2 ENT DL06 Micro PLC User Manual 1st Ed Rev A 5 ll Chapter 5 Standard RLL Instructions Boolean Instructions Or OR TheOr instruction logically ors a normally open contact in parallel with another contact in a rung T he status of the contact will bethe same state as the associated image register point or memory location Or Not ORN TheOr Not instruction logically ors a normally closed contact in parallel with another contact in a rung T he status of the contact will be opposite the state of the associated image register point or memory location yt Operand Data Type DLO6 Range In the following Or example when input X1 or X2 ison output Y5 will energize Direct SOFT32 Handheld Programmer Keystrokes X1 Y5 B STR Ra 1 ENT OUT Q C or gt 2 d x2 GX F out gt 5 ENT In the following Or N ot exam
360. evel2 X X X X X X X X Level3 X X X X X X X X v1421 v1420 Levela X X X X X X X X LDD Load the value in V1420 and So PE o s s level5 X X X X X X X X Vi V1421 into the accumulator I tevele x X X X X X X X 4 gt gt Level7 X X X X X X X X Acc 0 0 Te 0 5 6 Level8 X X X X X X X X ADDS Add the value in the accumulator with the value in the firstlevel ofthe ace 9 o s s E o 8 2 accumulator stack Accumulator stack after 2nd LDD outo Sapan Ste kd EXG XXE V1500 and Viso a Level2 X X X X X X X X olos s e s 2 Level3 X X X X X X X X Handheld Programmer Keystrokes V1501 V1500 levd X X X X X X X X 7 z Level5 X X X X X X X X STR EZ 1 ENT Level6 X X X X X X X X Level7 X X X X X X X X SHFT innst gt J E i EDIT ni 3 3 1 4 0 0 Level X X X X X X X X L D D B E G A SHFT l Ipsa 3 1 4 2 0 ENT A D D S SHFT A 3 ast ENT GX D B F A A our SHFT 3 1 5 0 0 ENT 5 1 10 DL06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions M ath Subtract Top of Stack SU BS Subtract Top of Stack isa 32 bit instruction that subtracts the BCD valuein the first level of the accumulator stack from SUBS the BCD value in the accumulator T he result resides in the accumulator T he value in the first level of the accumulator stack is removed and all stack values are moved up one level Discrete Bit Flags
361. exit at the common PLC terminal and connect the supply to the go Put A common terminal By adding the switch between inking the supply and the input we have completed the circuit Current flows in the direction of the 4 Input arrow when the switch is closed zr Sensing By applying the circuit principle above to the four Comman a E l possible combinations of input output sinking sourcing types we have the four circuits as Shown below The D C powered D L06 M icro PLCs have selectable sinking or sourcing inputs and either sinking or sourcing outputs Any pair of input output circuits shown below is possible with one of the D L06 models Sinking Input DL06 Micro PLC User Manual Ist Ed Rev A 10 02 l 2 15 Chapter 2 Installation Wiring and Specifications 1 0 Common Terminal Concepts In order for a PLC 1 O circuit to operate eS teur ient current must enter at one terminal and exit Device WO point vo at another T his means at least two terminals Circuit are associated with every I O point In the e figure to the right the input or output terminal is the main path for the current Return Path One additional terminal must provide the return path to the pow
362. f the CPU cycle T heimmediate instructions take longer to execute because the program execution is interrupted while the CPU reads or writesthel O point T his function is not normally done until the read inputs or the write outputs portion of the CPU cyde NOTE Even though the immediate input instruction reads the most current status from the input point it only uses the results to solve that one instruction It does not use the new status to update the image register Therefore any regular instructions that follow will still use the image register values Any immediate instructions that follow will access the I O again to update the status The immediate output instruction will write the status to the I O and update the image register ol ES ESSI IS SUSHI IS D e ejes ele el le e e el el e e nannaa FEEEEFEI 9eeeogQgeqegegegeoQeQ a 860000000000000000000000
363. fluctuation in overhead tasks Program Control Instructions the DL06 CPUs offer additional instructions that can change the way the program executes T hese instructions include FO R N EXT loops Subroutines and Interrupt Routines T hese instructions can interrupt the normal program flow and affect the program execution time Chapter 5 provides detailed information on how these different types of instructions operate 4 22 DL06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 4 CPU Specifications and O peration KT PLC Numbering Systems octal BCD binary If you are a new PLC user or are using j 9 2 8 au 2 our PLCs for the first time please take 3A9 i ASCI a moment to study how our PLC s use numbers 7 RPN i 1001011011 exadecimal You ll find that each PLC manufacturer has their own conventions on the use of numbers in their PLCs We want to take just a moment to familiarize you with how numbers are used in our PLCs Theinformation you learn here applies to all of our PLC s Asany good computer does PLCs store and manipulate numbers in binary form just ones and zeros So why do we haveto deal with numbers in so many different forms N umbers have meaning and some representations are more convenient than others for particular purposes Sometimes we use numbersto represent a size or amount of something O ther numbers refer to locations or addresses or to time In science we attach engineering units t
364. g example when X1 is on and the port busy relay SP116 see special relays is not on the RX instruction will access port 2 operating as a master Ten consecutive bytes of data V 2000 V 2004 will be read from a CPU at station address 5 and copied into V memory locations V 2300 V 2304 in the CPU with the master port Direct SOFT32 hu BV a LD Fd KF205 fae Master Slave e constant value specifies the port number 2 CP U CPU and the slave address 5 LD RIO V2277 X X X X X X X JX V1777 The constant value K10 v2300 3 4 5 7 31 41 5 7 v2000 specifies the number of bytes to be read v2301 8 5 3 4 e 853 4 v2001 LDA v2302 1 9 3 6 t 119 3 6 v2002 O 2300 Vv2303 9 5 7 1 9 5 7 1 V2003 V2300 1 4 2 3 1 4 21 3 v2004 Octal address 2300 is converted to 4COHEX and V2305 X X X X X X X X v2005 loaded into the accumulator E V2300 is the starting location for the Master CPU where the specified data will be read into RX V2000 V2000 is the starting location in the for the Slave CPU where the specified data will be read from Handheld Programmer Keystrokes B STR F 1 ENT Ww SP B B G ANDN gt SHFT STRN 1 1 6 ENT L D K E C A F SHFT ANDST 3 gt SHFT JMP SHFT 5
365. gain CCW past home Load a small positive position count go CW Home Limit found CW search direction Turn off Start Profile Go CW back to home Add a timer to create a slight delay before reversing motor CW delay done Start profile again Home Limit found CW search direction Turn off Start Profile Load the constant KO for our initialized position Output this constant to V1174 V1175 Thehome search profile will execute specific parts of the program based on the order of detection of the limit switches Ladder logic sets CO to initiate a home search in the CW direction If the CW limit is encountered the program searches for home in the CCW direction passes it slightly and doesthe final CW search for home After reaching home the last ladder rung preloads the current position to 0 DLO06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 3 H igh speed Input and Pulse O utput Features na Step Trapezoidal Profile O peration With this step trapezoidal profile you can control the acceleration and deceleration slopes as you want Velocity Hz Step Trapezoidal Profile 4 1000 sA 5 00 1 Accel sq Step Decel 3 i 6 99 Sep l step 2 AM Pod 7 400 Sep i i O step Target position 200 1 tod Pop i LS I gt Time Start position PA Start L i External Interrupt YO Optional x
366. gits instruction is executed the bit positions in thefirst stack location that had a corresponding 0 or 9 F in the accumulator order specified are set to 0 Example C shows how the shuffle digits works when duplicate numbers are used specifying the order the digits are to be shuffled N otice when the Shuffle D igits instruction is executed the most significant duplicate number in the order specified is used in the result Direct SOFT32 A B C xt LDD V2001 V2000 v2001 V2000 V2001 V2000 I v2000 9 A B CHDIJE F Io 0 F E D C B A 9 9 A B c p E r o Load the value in V2000 and V2001 into the accumulator e Dem B 7 8 8 4 3 3 1 8 7 6 5 4 3 2 1 7 6 5 4 3 2 1 it Positions 9 a e c P F o cc O FIEJD C B A 9 ac 9 A B C D E JF O Ac IDD V2007 V2006 v2007 V2006 V2007 V2006 V2006 1 2 8 7 3 6 5 4 0 0 4 3 0 0 2 1 4 3 2 1 4 3 2 1 Load the value in V2006 and ILE o ql V2007 into the accumulator Specified 87654321 87654321 87654321 order 1 2 8 7 13 6 5 4 l Acc 0 0 4 3 0 2 1 ac 4 3 2 1 4 3 2 1 Acc Newbit 8 7 6 5432 1 amp 7 6 5 43 2 1 87 654321 SFLDGT Positions cje F ILO D A 9 ace o o
367. guarantee the prevention of M icro PLC damage but it will provide added protection o ESSE S SII E ESI E e I E e 8 9 DICH ET vo v2 ci ve vz vio viz cs vi V OUTPUT 82i0V s DA ED BOA PIS 1000Y Sze AD YO0000000000006000 DO 06DR X9990906000000000000660 jaa Pires 06 mm Koyo TE ET t Ebo ae eee Pe m EST PUNE Oo GEE Ol T amp A ele eC 9 a A D c Oo 1 0 Point Numbering All DL06 M icro PLCs havea fixed I O configuration It follows the same octal numbering System used on other D irectLogic family PLCs starting at XO and YO T he letter X is always used to indicat
368. h HPP For replacement cable use part no DV 1000CBL RJ12 2 1 DL06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 2 Installation Wiring and Specifications _ rj Sinking Sourcing Concepts Before going further in our presentation of wiring strategies we need to introduce the concepts of sinking and sourcing These terms apply to typical input or output circuits It is the goal of this section to make these concepts easy to understand First we give the following short definitions followed by practical applications Sinking Path to supply ground Sourcing Path to supply source Notice the reference to and polarities Sinking and sourcing terminology applies only to DC input and output circuits Input and output points that are either sinking or sourcing can conduct current in only one direction T his means it is possible to connect the external supply and field device to thel O point with current trying to flow in the wrong direction and the circuit will not operate H owever we can successfully connect the supply and field device every time by understanding sourcing and sinking For example the figure to the right depicts a sinking input To properly connect the external supply we just have to connect it so the the input provides a path to ground SO we start at the PLC input terminal follow through the input sensing circuit
369. h PRINTV Instruction The VPRINT instruction is used to create a string in V memory The PRINTV is used to print the string out of port 2 Create String Permissive C12 VPRINT 28 uu Byte Swap All Print to Address V4000 STX V3000 B 0D Delay permissive for VPRINT C13 Delay permissive for SET VPRINT C13 TMR of Delay for VPRINT to complete Ti Delay for Vprint to K10 complete T1 PRINTV 30 Port Number K2 Start Address V4001 Number of Bytes V4000 Append None Byte Swap None Busy C15 Complete C16 Delay Permissive for C13 VPRINT LLL e 5 222 DLO06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions ASCII ASCII Print from V memory PRINTV TheASCII Print from V memory instruction will send an ASCII string out of the designated communications port from a specified series of V memory registers for a specified length in number of bytes O ther features include user specified Append Characters to be placed after the desired data string for devices that require specific termination character s Byte Swap options and user specified flags for Busy and Complete e Port Number must be D L06 port 2 K2 Start Address specifies the beginning of series of V memory registers that contain the ASCII string to print Number of Bytes specifies the length of the string to print e Append Characters specifie
370. h followed by termination characters will vary in length e Port Number must be D L06 port 2 K2 e Data D estination specifies where the ASCII string will be placed in V memory M aximum Variable Length specifies in bytes the maximum length of a Variable Length ASCII string the port will receive e Inter character Timeout if the amount of time between incoming ASCII characters exceeds the set time the Timeout Error bit will beset No data will be stored at the D ata D estination V memory location T heTimeout Error bit will reset when the AIN instruction permissive bits are disabled Oms selection disables this feature First Character T imeout if the amount of time from when the AIN is enabled to the time the first character is received exceeds the set time the specified First Character Timeout bit will be set T he bit will reset when theAIN instruction permissive bits are disabled Oms selection disables this feature Byte Swap swaps the high byte and low byte within each V memory register of the Variable Length ASCII string Seethe SWAPB instruction for details Termination Code Length consists of either 1 or 2 characters Refer to the ASCII table on thefollowing page e Busy Bit isON whiletheAIN instruction is receiving ASCII data Complete Bit is set once the ASCII data has been received up to the termination code characters It will be reset when the AIN instruction permissive bits are disabled I
371. h speed Input and Pulse O utput Features E H M Introduction Built in Motion Control Solution M any machine control applications require various types of simple high speed monitoring and control These applications usually involve some type of motion control or high speed interrupts for time critical events T he D L06 Micro PLC solves this traditionally expensive problem with built in CPU enhancements Let s take a closer look at the available high speed 1 0 features The available high speed input features are High Speed Counter 7 kH z max with up to 24 counter presets and built in interrupt subroutine counts up only with reset Quadrature encoder inputs to measure counts and clockwise or counter clockwise direction 7 kHz max counts up or down with reset High speed interrupt inputs for immediate response to critical or time sensitive tasks e Pulse catch feature to monitor one input point having a pulse width as small as 100s 0 1ms Programmable discrete filtering both on and off delay up to 99ms to ensure input signal integrity this is the default mode for inputs X0 X3 The available pulse output features are e Single axis programmable pulse output 10 kH z max with three profile types including trapezoidal moves registration and velocity control Availability of HSIO Features IMPORTANT Please note the following restrictions on availabil
372. hanges when ladder logic or other device writing to V memory updates the velocity parameter Velocity Velocity Profile Time Thefollowing program uses dedicated discrete inputs to load in new velocity values T his program is fun to try because you can create an infinite variety of profiles with just two or three input switches T he intent isto turn on only one of X2 X3 or X4 at atime T he beginning of the program contains all the necessary setup parameters for Pulse O utput M ode 30 Weonly have to do this once in the program so we use first scan contact SPO to trigger the setup DirectSOFT32 SPO i Mode 30 Locate Parameter Table optional Select Pulse Direction Filtered Inputs LD K30 OUT V7633 LDA 03630 OUT V7630 LD K103 OUT V7632 LD K1006 OUT V7634 OUT V7635 OUT V7636 OUT V7637 Load constant K30 into the accumulator This selects Mode 30 as the HSIO mode Output this constant to V7633 the location of the HSIO Mode select register Load the octal address of the beginning of the Profile Parameter Table The LDA instruction converts this to hex number in the accumulator Output this address to V7630 the location of the pointer to the Profile Parameter Table Load the constant K103 which is required to select p
373. hapter 5 Standard RLL Instructions Accumulator Stack Load and O utput D ata Load Accumulator Indexed LD X Load Accumulator Indexed is a 16 bit instruction that specifies a source address V memory which will be offset by the value in the first stack location T his instruction LDX interprets the value in the first stack location as HEX T he A aaa value in the offset address source address offset is loaded into the lower 16 bits of the accumulator T he upper 16 bits of the accumulator are set to 0 H dpful Hint The Load Address instruction can be used to convert an octal address to a H EX address and load the value into the accumulator Operand Data Type DLO6 Range aaa aaa See memory map See memory map See memory map See memory map NOTE Two consecutive Load instructions will place the value of the first load instruction onto the accumulator stack In the following example when X1 is on the H EX equivalent for octal 25 will be loaded into the accumulator this value will be placed on the stack when the Load Accumulator Indexed instruction is executed V memory location V 1410 will be added to the value in the 1st level of the stack and the value in this location V 1435 22345 is loaded into the lower 16 bits of the accumulator using the Load Accumulator Indexed instruction T he value in the lower 16
374. he D 2 H PP H andheld Programmer or qr D irectSO FT 32 to enter a password T he following diagram shows how you can enter a password with the H andheld Programmer TES DirectSOFT32 D2 HPP DirectSOFT D2 HPP Select AUX 81 CLR CLR B i AUX ENT PASSWO R D 00000000 Enter the new 8 digit password sepe v E PASSWORD XXXXXXXX T here are three ways to lock the CPU once the password has been entered 1 If the CPU power is disconnected the CPU will be automatically locked against access 2 If you enter the password with D irectSO FT 32 the CPU will be automatically locked against access when you exit D irectSO FT 32 3 Use AU X 83 to lock the CPU W hen you use D irectSO FT 32 you will be prompted for a password if the CPU has been locked If you use the H andheld Programmer you have to use AU X 82 to unlock the CPU O nce you enter AU X 82 you will be prompted to enter the password Note The DLO6 CPUs support multi level password protection of the ladder program This allows password protection while not locking the communication port to an operator interface The multi level password can be invoked by creating a password with an upper case A followed by seven numeric characters e g A1234567 DL06 Micro PLC User Manual 1st Ed Rev A 10 02 l 4 11 Chapter 4 CPU Specifications and O peration esse CPU Operation Ach
375. he accumulator i V2300 is the starting location for the Master CPU i X where the specified data will be read from WX V2000 V2000 is the starting location in the for the Slave CPU where the specified data will be written to Handheld Programmer Keystrokes B sm gt 1 EN Ww SP B G E ANDN SHFT STRN 1 1 6 ENT L D K F C A E SHFT ANDST 3 gt SHFT JMP SHFT 5 SHFT 2 0 5 ENT L D K B A SHFT FawpST 3 gt SHFT IMP a ENT L D A C D A A SHFT anpst 3 2 3 0 p ENE Ww X Cc A A A SHFT anon ser gt 2 0 0 o Jj ENT 5 196 DLO06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions LCD LCD W hen enabled the LCD instruction causes a user defined 3 LCD Line Number Kn text message text message to be displayed on the LCD Display Pand The display is 16 characters wide by 2 rows high so a total of 32 characters can be displayed Each row is addressed separately the maximum number of characters the instruction will accept is 16 T he text message can be entered directly into the message field of the instruction set up dialog or it can belocated anywhere in user V memory If thetext is located in V memory theLCD instruction is used to point to the memory location wherethe desired text originates T he length of thetext string is also required From the D irectSO FT 32 project folder usethe Instruction
376. he accumulator to the specified outputs on the output module such as Y 30 Y 37 T his technique is useful to quickly copy an input pattern to outputs without waiting for the CPU scan Direct SOFT32 CO Location Constant X10 Lov ors on on FF on FF ov Load the value of 8 consecutive location into the Unused accumulator bits accumulator starting with are set to zero x10 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 1312 11109 8 76 5 43 2 1 0 Acc 0 0 0 0 o ojo o OJ OF OF OF OF OF OF OF OF Of OF OF OF OF OF OF 17 OF 1 1 0 1 0741 Location Constant Y37 vae 35 BEB Y31 Yao Copy the value of the lower 8 bits of the accumulator to 30 ke ON OFF ON ON OFF ON OFF ON Y30 Y37 Handheld Programmer Keystrokes ne gt NEXT NEXT NEXT next 0 ENT SHFT srl s j s s gt J o gt a J PN UT SHFT 8 5 gt 3 3 A 0 gt 8 ENT 5 38 DL06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions Timer Counter and Shift Register Instructions aaa Timer Counter and Shift Register Instructions Using Timers Timers are used to time an event for a desired length of time T he single input timer will time as long asthe input ison W hen the input changes from on to off the timer current value is reset to 0 T here is a tenth of a second and a hu
377. he accumulator stack T hecorresponding status flag will be turned on indicating the result of the comparison T his does not affect the value in the accumulator Discrete Bit Flags Description On when the value in the accumulator is less than the instruction value On when the value in the accumulator is equal to the instruction value On when the value in the accumulator is greater than the instruction value NOTE Status flags are valid only until another instruction uses the same flag In the following example when X1 is on the value in V1400 and V 1401 is loaded into the accumulator using the Load D ouble instruction T he value in V 1410 and V 1411 is loaded into the accumulator using the Load D ouble instruction T he valuethat was loaded into the accumulator from V 1400 and V 1401 is placed on top of the stack when the second Load instruction is executed T he value in the accumulator is compared with the value in the first level or the accumulator stack using the CM PS instruction T he corresponding discrete status flag will be turned on indicating the result of the comparison In this example if the value in the accumulator is less than the value in the stack SP60 will turn on energizing C 30 Direct SOFT32 V1401 V1400 x1 Load the value in V1400 and 5 5 Te To a s5 4 4 V1401 into the accumulator e 5 o o epe pep Load the value in
378. he counter will count The middle input is the dummy input and must be off for the counter to count T he bottom input isthe counter reset and must be off during counting Symptom T he counter counts in the wrong direction up instead of down and visa versa Possible causes 1 Channel A and B assignment It s possible that Channel A and B assignments of the encoder wires is backwards from the desired rotation counting orientation Just swap the X0 and X1 inputs and the counting direction will be reversed Symptom T he counter counts up and down but will not reset Possible causes 1 Check the LED status indicator for X2 to make sureit is active when you want a reset Also verify the configuration register V 7636 for X2 isset to 7 Or if you are using an internal reset use the status mode of D irectSO FT 32 to monitor the reset input to the counter N DL06 Micro PLC User Manual 1st Ed Rev A 10 02 l 3 37 Chapter 3 High speed Input and Pulse O utput Features EM UUO Mode 30 Pulse Output Purpose TheH SIO circuit in M ode 30 generates output pulse Trapezoidal Profile trains suitable for open loop control of a single axis Velocity motion positioning system It generates pulse stepper increment and direction signals which you can connect to motor drive systems and perform various types of Adsl Decel motion control U sing M ode 30 Pulse O utput you can select from three profile types detailed later in this
379. he data label area in ladder memory and the beginning of theV memory block into the first level of the stack Step 3 Load the source data label LD LBL K aaa into the accumulator when copying data from ladder memory to V memory T his is the source location of the value Step 4 Insert the M OVM C instruction which specifies destination in V memory Vaaa T his isthe copy destination Operand Data Type DLO6 Range aaa See memory map 5 142 DLO06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions Table Instructions E M 7 Copy D ata From a Data Label Area to V Memory In the example below data is copied from a D ata Label Area to V memory W hen X1 ison the constant value K 4 is loaded into the accumulator using the Load instruction T his value specifies the length of the table and is placed in the second stack location after the next Load and Load Label LD LBL instructions are executed T he constant value K 0 is loaded into the accumulator specifying the offset for the source and destination data It is placed in the first stack location after the LD LBL instruction is executed T he source address where data is being copied from is loaded into the accumulator using the LD LBL instruction T he M OVMC instruction specifies the destination starting location and executes the copying of data from the D ata Label Area to V memory Direct SOFT32
380. he instruction value i Direct SOFT32 xi On when the value in the accumulator is greater than the instruction value NOTE Status flags are valid only until another instruction uses the same flag In the following example when X1 is on the Load Formatted instruction loads the binary value 6 from C 10 C 13 into the accumulator T he CM PF instruction compares the value in the accumulator to the value in Y20 Y 23 E hex The corresponding discrete status flag will be turned on indicating the result of the comparison In this example if the value in the accumulator is less than the value specified in the Compare instruction SP60 will turn on energizing C 30 Load the value of the specified discrete locations C10 C13 into the accumulator Compare the value in the accumulator with the value of the specified discrete location Y20 Y23 C30 OUT Location OFF ON ON J OFF bits are set to zero Coustant C13 C12 C11 C10 ll The unused accumulator a a Acc LeIeleTe Lele o s Y23 Y22 Y21 Y20 ON ON ON JOFF Compared with de DL06 Micro PLC User Manual 1st Ed Rev A 5 83 Chapter 5 Standard RLL Instructions Logical Compare with Stack CM PS T he Compare with Stack instruction is a 32 bit instruction that compares the value in the accumulator with the value in the first level of t
381. he program insidetheloop will not be executed Theimmediate instructions may or may not be necessary depending on your application Also TheRSTWT instruction is not necessary if the For N ext loop does not extend the scan time larger the Watch D og T imer setting For more information on the Watch D og Timer refer to the RSTWT instruction Direct SOFT32 xi T 1 2 3 FOR RSTWT X20 Y5 OUT NEXT Handheld Programmer Keystrokes an 3s EST SHET t REN S ea ee ENT SHET PGRN us aiti ANE iis ET a sHFT gt t r A ENT su SI s ENT sHFT Na d a eer Mun ENT DL06 Micro PLC User Manual 1st Ed Rev A 5 177 Chapter 5 Standard RLL Instructions Program Control Instructions Goto Subroutine GTS SBR TheGoto Subroutine instruction allows a section of ladder logic to be placed outside the main body of the program K aaa execute only when needed T here can be a maximum of 256 GTS GTS instructions and 256 SBR instructions used in a program T he GT S instructions can be nested up to 8 levels An error E412 will occur if the maximum limits are exceeded Typically this will be used in an application where a block of program logic may be slow to execute and is not required to execute every scan T he subroutine label and all associated SBR K aaa logic is placed after
382. he same flag is executed or lE the end of the scan The pointer for this instruction starts at 0 and resets when the table length is reached At first glance it may appear that the pointer should reset to 0 However it resets to 1 not 0 5 150 DLO06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions Table Instructions i _ In the following example when X1 is on the constant value K 6 is loaded into the accumulator using the Load instruction T his value specifies the length of the table and is placed in the first stack location after the Load Address instruction is executed T he octal address 1400 V 1400 is the starting location for the source table and is loaded into the accumulator Remember V 1400 is used as the pointer location and is not actually part of the table data source T he destination location V 1500 is specified in the Table to D estination instruction T he table pointer V 1400 in this case will be increased by 1 after each execution of the TTD instruction Direct SOFT32 x1 LD Load the constant value 6 HEX into the lower 16 bits K6 of the accumulator LDA Convert octal 1400 to HEX 300 and load the value into 0 1400 the accumulator This is the table pointer location TID Copy the specified value from the table to the specified V1500 destination V1500 Handheld Programmer Keystrokes B sm 7 1 ENE E D G SHFT
383. hefollowing example when X1 ison the constant value K 6 is loaded into the accumulator using the Load instruction T his value specifies the length of the table and is placed in the first stack location after the Load Address instruction is executed T he octal address 1400 V 1400 which isthe starting location for the destination table and table pointer is loaded into the accumulator T he data source location V 1500 is specified in the Sourceto Table instruction T hetable pointer will be increased by 1 after each timethe instruction is executed DirectSOFT32 X1 LD H K6 Load the constant value 6 HEX into the the lower 16 bits of the accumulator LDA 0 1400 Convert octal 1400 to HEX 300 and load the value into the accumulator STT V1500 Copy the specified value from the source location V1500 to the table Handheld Programmer Keystrokes Som gt j o SHFT East a PREV S ENT sur sr a o gt d fa o gos ENE SHFT Saor SHFT ug l un gt oa 5 0 It isimportant to understand how the table locations are numbered If you examine the example table you ll notice that the first data storage location V1401 will be used when the pointer is equal to zero and again when the pointer is equal to six W hy Because the pointer is only equal to zero before the very first execution From then on
384. hoices as indicated below on this page To configure a port in DirectSO FT 32 choose the PLC menu then Setup then Setup Secondary C omm Port Port From the port number list box at the top choose Port 2 Protocol Click the check box to the left of N on sequence and then you ll seethe dialog box shown below Setup Communication Ports x Port Pots Close Protocol K Sequence fis M DirectNET Ji a MODBUS Help MV Non Sequence Time out ems RTS on delay time f0Oms RTS off delay time fOms Z xON XOFF flow contol Data bitsje x I RTS fow contol Baud rate s rj Stop bits hn sx Parity poa x Memory Address vano e Baud Rate Choosethe baud rate that matches your printer Stop Bits Parity Choose number of stop bits and parity setting to match your printer e Memory Address Choose a V memory address for D irectSO FT 32 to use to store the port setup information You will need to reserve 9 words in V memory for this purpose Select Always use for printing if it applies T hen dick the button indicated to send the Port 2 configuration to the CPU Iti and click Close Then see Chapter 3 for port wiring information in order to connect your printer to the D L06 DLO06 Micro PLC User Manual 1st Ed Rev A 5 189 Chapter 5 Standard RLL Instructions M essage Instructions Port 2
385. ica fidd wiring example T he AC external power connection uses four terminals asshown Inputs are organized into four banks of four Each bank has an isolated common terminal and may be wired as either sinking or sourcing inputs T he wiring example below shows all commons connected together but separate supplies and common circuits may be used fuse i J 8 BE BE HEY U 24 VDC ana elele ede elele S66 amp amp eedem e e eed G i 0v Yo 2 vi Ys Y7 Y10 Y12 V3 Y15 AC ACINY 24v vo vi Ya Ya ve va Yt vis via vt6 CO OUTPUT Sourcing Output 12 24V 1 0A PWR 100 240V 50 60Hz 40VA 350000000000 6 6 D0 06DD2 1 12 13 14 15 16 17 20 21 22 23 0000000000000000009 Aee 24V m 8 15mA amp xz GOs Direct 06 ur Koyo Points T XO t X2 H t x5 T X7 Tal T SLT xz NC d TOA yo v7 SSSSSSSSSSSSSES Y10 Y17 eleejeeeseeeeee 8 l Tb b b b 1 amie ee ea Te abe Sjelelsl elelelsl 2isisisi eielslel elelalel Ambient Temperature C
386. ications are met Encoder Output one phase Phase A or B Input 1 uu E 1 Output Input 5 Hy PES 7 sinking sourcing l 12 24 VDC Supply GP 4 Ground zh Common 1 f i i RN NNE M 4 In the next circuit an encoder has open emitter PN P transistor outputs It sources current to the PLC input point which sinksthe current back to ground Since the encoder sources current no additional power supply is required H owever notethat the encoder output must be 12 to 24 volts 5V encoder outputs will not work Encoder Output one phase 412 to 24VDC Phase A or B Input Input 4 1 sinking 4 Output sourcing Gs a Ground Common L f eee zu eel 3 26 DLO06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 3 H igh speed Input and Pulse O utput Features E M i1 Setup for Mode 20 Recall that V 7633 isthe H SIO M ode Select register Refer to the diagram below Use BCD 20 in the lower byte of V 7633 to select the H igh Speed Counter M ode Memory Location V7633 Bits 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 2 0 M ua n Miscellaneous Setup BCD HSIO Mode Setup BCD 00 Not Used default 20 Up Down Counter 10 Battery Enabled 20 Power up in RUN 30 Battery Enabled and Po
387. icro PLC User Manual 1st Ed Rev A 5 15 Chapter 5 Standard RLL Instructions Boolean Instructions o And Store AND STR TheAnd Store instruction logically ands two branches of a rung in series Both branches must begin with the Store instruction Or Store OR STR TheOr Store instruction logically ors two branches of a rung in parallel Both branches must begin with the Store instruction In thefollowing And Store example the branch consisting of contacts X2 X3 and X4 have been anded with the branch consisting of contact X1 Direct SOFT32 Y5 P our Handheld Programmer Keystrokes gt our In thefollowing O r Store example the branch consisting of X1 and X2 have been ored with the branch consisting of X3 and X4 Direct SOFT32 X1 x2 Y5 x3 X4 our 5 16 DL06 Micro PLC User Manual 1st Ed Rev A Handheld Programmer Keystrokes gt ENT ENT ENT ENT ENT Chapter 5 Standard RLL Instructions Boolean Instructions i Out OUT The Out instruction reflects the status of the rung on off and na outputs the discrete on off state to the specified image register OUT point or memory location Multiple O ut instructions referencing the same
388. idee E ERRORES 4 44 Configuring the DEDOS Comm Ports 5 ru greek ees 4 46 Connecting to MODBUS and DirectNET Networks 4 48 MODBUS Part Configuration 5 3 60ic 0 ic SE e nr mete ras 4 48 Non Sequence Protocol ASCII In Out and PRINT 4 50 Network Slave Operation o to ce Epp eidon cece roots 4 51 Network Master Operation 0 eee eee 4 56 Network Master Operation using MRX and MWX Instructions 4 60 Chapter 4 CPU Specifications and O peration ess Introduction TheCentral Processing Unit CPU is the heart of the M icro PLC Almost all PLC operations are controlled by the CPU so it isimportant that it is set up correctly T his chapter provides the information needed to understand Steps required to set up the CPU O peration of ladder programs O rganization of Variable M emory Power Input 16 Discrete Outputs Output circuit LCD monitor Power 4 Optional Supply CPU card slots Isolation boundary Y T 9 Input circuit 2 comm ports Y Y To programming device 20 discrete Inputs or Operator interface pens Note The High Speed 1 0 function HSIO consists of dedicated but configurable hardware in the DLO6 It is not considered part of the CPU because it does not execute the ladder program For more on HSIO operation see Chapter 3 DLO06 CPU Features TheDL
389. iderautomation com At the main menu select Support Services Modbus Modbus Technical Manuals PI MBUS 300 Modbus Protocol Reference Guide or search for PIMBUS300 For more information about the DirectNET protocol order our DirectNET user manual part number DA DNET M D LOG Port Specifications Port 2 Connects to HPP DirectSOFT32 operator Communications Port 1 interfaces etc Port 1 Connects to HPP DirectSOFT32 operator 15 pin multifunction port RS232C RS422 RS485 interfaces etc Communication speed ee 300 600 1200 6 pin RS232C 2400 4800 9600 19200 38400 Communication speed baud 9600 fixed Parity odd default even none Parity odd fixed Station Address 1 default Station Address 1 fixed 8 data bits 8 data bits 1 start 1 stop bit 1 start 1 stop bit Asynchronous half duplex DTE E Protocol auto select K sequence slave only AR ane eae slave only DirectNE S MODBUS master sive p aa non sequence prin in out DirectNET slave only MODBUS id ee ave only Port 2 Pin Descriptions r 1 5V Power connection D L06 Port Pinouts l I 2 TXD Transmit data RS 232C Port 1 Pin Descriptions 3 RXD Receive data RS 232C 1 OV Power connection GND 4 RTS Ready to send connection GND y PORT NESTOR 2 5V Power connection 5 CTS Clear to send 2 3 RXD Receive data RS 232C 6 RXD Receive data RS 422 485 4 TXD T
390. iece the positioning table reverses direction and injects glue into the same holes DirectSOFT32 ENI Enable interrupts Mode 20 OUT V7633 Quadrature counting absolute mode at XO and X1 OUT V7634 KO Must be zero OUT V7635 LD 107 External reset w interrupt X2 OUT V7636 LD 1006 Discrete filtered input at X3 10 ms OUT V7637 H LDD Presets for up counting 5000 This rung load i g loads the counter s presets In this case the absolute preset mode has been selected OUTD V3630 LDD 6000 OUTD V3632 LDD 7500 OUTD V3634 LDD 8000 OUTD V3636 LDD KFFFF Tell CPU that there are no more presets OUTD V3640 Continued on next page 3 34 DL06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 3 H igh speed Input and Pulse O utput Features nN Continued from previous page EN Forwarding Manual start of drilling positioning process momentary PB table X20 Y30 SET C1 Ci RST Drilling sequence Drilling sequence completed completed one hole only one hole only 1st preset Reversing actual counts Position Table Glue injection Y31 Y32 V
391. ieving the proper control for your equipment or process requires a good understanding of how DL06 CPUs control all aspects of system operation T here are four main areas to understand before you create your application program e CPU Operating System the CPU manages all aspects of system control A quick overview of all the steps is provided in the next section e CPU Operating M odes Thetwo primary modes of operation are Program M ode and Run M ode CPU Timing Thetwo important areas we discuss arethel O responsetime and the CPU scan time e CPU Memory M ap DL06 CPUsoffer a wide variety of resources such as timers counters inputs etc T he memory map section shows the organization and availability of these data types CPU Operating System At powerup the CPU initializes the internal electronic hardware M emory initialization starts with examining Power up the retentive memory settings In general the contents of retentive memory is Initialize hardware preserved and non retentive memory is initialized to um zero unless otherwise specified configuration After the one time powerup tasks the CPU beginsthe cyclical scan activity T he flowchart to the right shows Update input how the tasks differ based on the CPU mode and the EEEE existence of any errors T he scan time is defined as the average time around the task loop N ote that the CPU is Update Special Relays a
392. ifications E T 1 0 Addressing Module I O Points and Addressing Each option module has a set number of 1 0 points T his holds true for both the discrete modules and the analog modules T he following chart shows the number of O points per module when used in the D L06 DC Input Modules 1 0 Points Slot 1 1 0 Address 10 Input X100 X107 and X110 X111 16 Input X100 X107 and X110 X117 1 0 Points Slot 1 1 0 Address 10 Output Y100 Y107 and Y110 Y111 16 Output Y100 Y107 and Y110 Y117 10 Output Y100 Y107 and Y110 Y111 16 Output Y100 Y107 and Y110 Y117 Relay Output Modules 1 0 Points Slot 1 1 0 Address Combination Modules 1 0 Points Slot 1 1 0 Address D0 07CDR 4 Input 3 Output X100 X103 and Y100 Y102 D0 08CDD1 4 Input 4 Output X100 X103 and Y100 Y103 DL06 Micro PLC User Manual Ist Ed Rev A 10 02 2 5l HIGH SPEED INPUT AND PULSE OUTPUT FEATURES APTER In This Chapter Introduction 2 ie Rech eevee ed eee she ee EG E eo eae Red 3 2 Choosing the HSIO Operating Mode 42 4 or tc em 3 4 Mode 10 High Speed Counter ssl r rr tn 3 7 Mode Z0 Up Down COUNTE vua gop d e RC CI 4 Pes 3 24 Mode 30 Pulse Output 12 acea CO CER CRCCRC ERE o e 3 38 Mode 40 High Speed InterTUpls 4 3 ak acboxcca are C n 3 64 Mode 50 Pulse Catch Input s sssso mur tRR RR ERES 3 69 Mode 60 Discrete Inputs with Filter 5 ek ace tenia CI den 3 73 Chapter 3 Hig
393. ime TIME 5 172 SETBIT 5 144 Timer TMR and Timer Fast TMRF 5 40 Shift Left SHFL 5 121 Understanding Master Control Relays 5 181 Shift Register SR 5 51 Up Down Counter UDC 5 49 Shift Right SHFR 5 122 Write to Network WX 5 195 5 4 DL06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions Boolean Instructions E 71 Using Boolean Instructions D o you ever wonder why so many PLC manufacturers always quote the scan time for a 1K boolean program Simple M ost all programs utilize many boolean instructions T hese are typically very simple instructions designed to join input and output contacts in various series and parallel combinations Since the D irectSO FT 32 package allows you to use graphic symbolsto build the program you dont absolutely have to know the mnemonics of the instructions H owever it may helpful at some point especially if you ever haveto troubleshoot the program with a H andheld Programmer T he following paragraphs show how these instructions are used to build simple ladder programs END Statement All DLO6 programs require an EN D statement as the last instruction Thistellsthe CPU that thisisthe end of the program N ormally any instructions placed after the EN D statement will not be executed T here are exceptions to this such as interrupt routines etc C hapter 5 discusses the instruction set in detail YO E out Ld All programs must have X D 8 Simpl
394. iming Diagram xi Seconds 0 1 2 3 4 5 6 F 8 TMRA T6 X1 l K30 C10 C10 T6 vy TE OR Current 0 10 10 20 30 40 50 0 our Value Handheld Programmer Keystrokes Handheld Programmer Keystrokes cont B D A sm gt a ENT o ENT Cc B A T G sm gt SHT 2 1 0 E sr gt ST un 6 ENT N A G GX B A TMR SHFT 0 a 6 a our gt 1 0 EMT Accumulator Timer Example U sing C omparative C ontacts In the following example a single input timer is used with a preset of 4 5 seconds Comparative contacts are used to energized Y3 Y4 and Y5 at one second intervals respectively T he comparative contacts will turn off when the timer is reset Contacts Direct SOFTA Timing Diagram Seconds TMRA T20 0 1 2 3 4 5 6 7 8 K45 xi C10 C10 TA20 K10 Y3 Ya gt our y4 Y4 TA20 K20 7 v5 gt our E S T20 TA20 K30 Y5 ow Current 0 10 10 20 30 40 50 0 Handheld Programmer Keystrokes Handheld Programmer Keystrokes cont B GX E Ss gt y J 59 our gt 4_ LEN C B A T C A Sem gt sHFT Io i o ENT sm gt SHFT wr 2 o
395. in Pulse O utput M ode and they are available as input contacts to the ladder program e X1 behaves as an external interrupt to the pulse generator for automatic step trapezoidal profiles In other profile modes it can be used as a filtered input or pulse input just like XO registration mode configuration shown above e References YO and Y1 are used in two different ways At the discrete output connector YO and Y1 terminals deliver the pulses to the motion system T he ladder program uses logical references Y 0 and Y1 to initiate Start Profile and Load Position Value H SIO functions in M ode 30 H opefully the above discussion will explain why some I O reference names have dual meanings in Pulse O utput M ode Please read the remainder of this section with care to avoid confusion about which actual 1 0 function is being discussed DL06 Micro PLC User Manual 1st Ed Rev A 10 02 l 3 39 Chapter 3 High speed Input and Pulse O utput Features Ei MM Wiring D iagram T he generalized wiring diagram below shows pulse outputs YO and Y 1 connected to the drive amplifier inputs of a motion control system Motor Amplifier Signal Common Power Input Pulse Direction ase eleleeee See SSSSSSSSSSSSOS LLL Es cmos e e pe e nE Interfacing to D rive Inputs T he pulse signals from YO and Y 1 outputs will typically go t
396. in an error when theH SIO attempts to use the parameters to execute a move profile When an error occurs the H SIO writes an error code in V 3636 M ost errors can be corrected by rechecking the Profile Parameter Table values T he error is automatically cleared at powerup and at Program to Run M ode transitions Error Code Error Description 0000 No error 0010 Requested profile type code is invalid must use 4 to 6 or C to F 0020 Target Velocity is not in BCD 0021 Target Velocity is specified to be less than 40 pps 0022 Target Velocity is specified to be greater than 10 000 pps 0030 Target Position value is not in BCD 0032 Direction Select is not 0 or 80000000 0040 Starting Velocity is not in BCD 0041 Starting Velocity is specified to be less than 40 pps 0042 Starting Velocity is specified to be greater than 1 000 pps 0050 Acceleration Time is not in BCD 0051 Acceleration Time is zero 0052 Acceleration Time is greater than 10 seconds 0060 Deceleration Time is not in BCD 0061 Deceleration Time is zero 0062 Deceleration Time is greater than 10 seconds Troubleshooting Guide for Mode 30 If you re having trouble with M ode 30 operation please study the following symptoms and possible causes T he most common problems are listed below Symptom T he stepper motor does not rotate Possible causes 1 Configuration Verify that the H SIO actually generates pulses on outputs Y
397. into the accumulator eS M 7 decimal 4 0 E 0 00 0 0 Accumulator 15 4170 00 0 0 ADDR 2 2 Acc 4 1 B oJ o o e ADDR R150 V1401 V1400 Addthe real number 15 0 to 4I 4 1 0 0 Hex number the accumulator contents which is in real number format C6 Rela o 842 1 8 42 1 84 21 8 4 2 842 1 8 42 1 8 42118 421 981p Acc OJ 1 0 0 0 0 0 1 1 o 1 1 0 0 0 OF OJ OF O OJ OJOJOJOJO JO OF OF OJ OJ OF O V1400 Copy the result in the accumulator to V1400 and V1401 Sign Eo bits Mantissa 23 bits 128 4241 131 1 011 x 2 exp 4 10110 binary 22 decimal 131 12724 Implies 2 exp 4 NOTE The current HPP does not support real number entry with automatic conversion to the 32 bit IEEE format You must use DirectSOFT32 for this feature 5 88 DL06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions M ath a Subtract SU B Subtract is a 16 bit instruction that subtracts the BCD value ___ SUB Aaaa in a V memory location from the BCD valuein thelower Aaaa 16 bits of the accumulator T he result resides in the accumulator Operand Data Type DLOGRange aaa See memory map See memory map Description On when the result of the instruction causes the value in the accumulator to be ze
398. ion 15 Force Multiple Coils Start Slave Memory Address K1 s Start Master Memory Address C10 E Number of Elements K15 s Modbus Data Format B Exception Response Buffer V2500 Port Number must be D L06 Port 2 K2 Slave Address specify a slave station address 0 247 Function Code T hefollowing M O D BUS function codes are supported by the M W X instruction 05 Force Single coil 06 Preset Single Register 15 Force M ultiple Coils 16 Preset M ultiple Registers Start Slave M emory Address specifies the starting slave memory address where the data will be written Start M aster M emory Address specifies the starting address of the data in the master that is to written to the slave Number of Elements specifies how many consecutive coils or registers will be written to This field is only active when either function code 15 or 16 is selected MODBUS Data Format specifies M O D BU S 584 984 or 484 data format to be used Exception Response Buffer specifies the master memory address wherethe Exception Response will be placed DL06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions MODBUS MWX Slave Address Ranges MWX Slave Address Ranges Function Code MODBUS Data Format Slave Address Range s 05 Force Single Coil 484 Mode 1 999 05 Force Single Coil 584 984 Mode 1 65535 06 Preset Single Register 484 Mode 4001 4999 06
399. ions Using the Accumulator Theaccumulator in the DL06 internal CPUsisa 32 bit register which is used as a temporary storage location for data that is being copied or manipulated in some manner For example you have to use the accumulator to perform math operations such as add subtract multiply etc Since there are 32 bits you can use up to an 8 digit BCD number T he accumulator is reset to 0 at the end of every CPU scan Copying D ata to the Accumulator TheLoad and O ut instructions and their variations are used to copy data from a V memory location to the accumulator or to copy data from the accumulator to V memory T he following example copies data from V memory location V 2000 to V memory location V 2010 V2000 8 9 3 5 P LD k d V2000 Copy data from V2000 to the Unused accumulator bits are set to zero lower 16 bits of the accumu lator Ace 010 0 0 8 9 3 5 en OUT V2010 8 9 3 5 Copy data from the lower 16 bits V2010 of the accumulator to V2010 Since the accumulator is 32 bits and V memory locations are 16 bits the Load D ouble and Out D ouble or variations thereof use two consecutive V memory locations or 8 digit BCD constants to copy data either to the accumulator from a V memory address or from a V memory address to the accumulator For example if you wanted to copy data from V 2000 and V2001 to V 2010 and V 2011 the most effi
400. irection bit to the opposite state DL06 Micro PLC User Manual 1st Ed Rev A 10 02 l 3 63 Chapter 3 High speed Input and Pulse O utput Features EM Mode 40 High Speed Interrupts Purpose TheH SIO M ode 40 provides a high speed interrupt to the ladder program T his capability is provided for your choice of the following application scenarios e External events need to trigger an interrupt subroutine in the CPU Using immediate 1 0 instructions in the subroutine is typical An interrupt routine needs to occur on atimed basis which is different from the CPU scan time either faster or slower T he timed interrupt is programmable from 5 to 999 mS Functional Block Diagram TheHSIO circuit creates the high speed interrupt to the CPU T he following diagram shows the external interrupt option which uses XO In this configuration X1 X2 and X3 are external interrupts or normal filtered inputs 4 DLOG Output Circuit PLC YO Y1 Y2 Y17 HSI SIO VO data CPU Interrupt Interrupt p Interrupt Pie V memory E Or Mode select Filter r V7633 0040 X0 X1 X2 X3 X4 X23 Input Circuit Alternately you may configure the H SIO circuit to generate interrupts based on a timer as shown below In this configuration inputs XO isa filtered input A
401. irst rung s SP1 always enables the counter The Preload Input in the middle is always off The third rung s Reset input is always off because we will use the external reset continued on next page 3 16 DL06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 3 H igh speed Input and Pulse O utput Features MM i1 Program Example Contd The compare double instructions below use the current count of the H SIO counter to turn on YO and Y 1 T his technique can make more than 24 comparisons but it is scan time dependent H owever use the 24 built in presets with the interrupt routine if your application needs a very fast response time as shown in the next example continued from previous page SP1 UDC CT176 SP1 K99999999 SP1 P1 s LDD V1174 CMPD K123456 SP62 YO ouD SP1 LDD V1176 CMPD K345678 SP62 Yi f ou END CT176 always enables the counter The Preload Input in the middle is always off The third rung s Reset input is always off because we will use the external reset Load the current count of the HSIO counter in V1174 and V1175 into the accumulator Use the Compare double instruction to compare the double word in the accumulator to the constant K123456 The execution of the above CMPD instruction turns on special relay contact SP62 if the current count is grea
402. is a 1 NOTE Status flags are only valid until the end of the scan another instruction that uses the same flag is executed The example table to the right contains BCD data as shown for demonstration V3000 V3000 purposes Suppose we want to do atable shift right by 3 BCD digits 12 bits EIPEE Le 7 8 1 Converting to octal 12 bits is 14 octal Using theTable Shift Right instruction 5 e 7 8 32125 and specifying a shift by octal 14 wehave the resulting table shown at the far right Lal al 2 2 C Notice that the 2 3 4 sequence has been discarded and the 0 0 0 sequence has been shifted in at the bottom 5 6 6 3 The following ladder example assumes the data at V 3000 to V 3004 already exists as Es 5 6l 6j Lo o of 5 shown above We will use input X0 to trigger the Table Shift Right operation First we will load the table length 5 words into the accumulator stack N ext we load the starting address into the accumulator Since V 3000 is an octal number we have to convert it to hex by using the LDA command Finally we use the Table Shift Right instruction and specify the number of bits to be shifted 12 decimal which is 14 octal DirectSOFT 32 Load the constant value 5 Hex into the lower 16 bits of the accumulator X0 Convert octal 3000 to HEX and load the value into the accumulator This is the table beginning Do a table shift right by 12 bits which is 14 octal
403. is used the next available timer number is TMRA 3 Reset Operand Data Type DLO6 Range bbb 1200 7377 7400 7577 10000 17777 1200 7377 7400 7577 10000 17777 Constants preset only 0 99999999 Timer discrete status bits 0 376 or V41100 41117 Timer current values 0 376 Pointers preset only data reference DirectSOFT uses separate references such as T2 for discrete status bit for Timer T2 and NOTE With the HPP both the Timer discrete status bits and current value are accessed with the same TA2 for the current value of Timer T2 The following examples show two methods of programming timers O ne performs functions when the timer reaches the preset value using the discrete status bit or use comparative contacts to perform functions at different time intervals 5 42 DL06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions Timer Counter and Shift Register Instructions nana Accumulating Timer Example using D iscrete Status Bits In the following example a two input timer accumulating timer is used with a preset of 3 seconds T hetimer discrete status bit T 6 will turn on when the timer has timed for 3 seconds N oticein this example that the timer times for 1 second stops for one second then resumes timing T he timer will reset when C 10 turns on turning the discrete status bit off and resetting the timer current value to 0 Direct SOFT32 T
404. isa preload write and the bottom isthe reset T he enable input must be on before the counter will count T he enable input must be off during a preload Standard Counter Function HSIO Counter Function UP Count UDC CTxx Enable Input UDC CT174 DOWN Count Preload Input KXXXXXXXX KXXXXXXXX Reset Input Reset Input Counts UP and DOWN Counts UP and DOWN from XO X1 Preload counter by write to value Can use Preload Input to change count Reset input is internal only Reset may be internal or external The next figure shows the how the H SIO quadrature counter will appear in a ladder program Preload Input KXXXXXXXX Reset Input Enable Input UDC CT174 Preset Range 8388608 to 8388607 W hen the enable input is energized the counter will respond to quadrature pulses on X0 and X1 incrementing or decrementing the counter at CT 174 CT 175 The rese input contact behaves in a logical OR fashion with the physical reset input X2 T his means the quadrature counter can receive a reset from either the contact s on the reset rung in the ladder OR the external reset X2 DL06 Micro PLC User Manual 1st Ed Rev A 10 02 l 3 29 Chapter 3 High speed Input and Pulse O utput Features Bi M M Program Example 1 Quadrature Counting with an Interrupt Below is a simple example of how quadrature counting with an interrupt can be programmed
405. ister Instructions CS Accumulating Timer TM RA Enable TMRA T aaa TheAccumulating T imer is a 0 1 second two input timer that B bbb will time to a maximum of 9999999 9 Accumulating Fast Timer TM RAF TheAccumulating Fast Timer is a 0 01 second two input timer that will time to a maximum of 99999 99 Preset imer Reset Each one uses two timer registers in V memory T hese timers have two inputs an enable and a reset T he timer starts timing when the enable is on and stops when the enable is off without resetting the count T he reset will reset the timer when on and allow thetimer to time when off Enable TMRAF T aaa B bbb Instruction Specifications Timer Reference Taaa Specifies the timer number Preset Value Bbbb Constant value K or a V memory location Preset Timer Current Value Timer current values are accessed by referencing the associated V or T memory location For example the timer current value for T 3 resides in V memory location V3 Discrete Status Bit T he discrete status bit is accessed by referencing the associated T memory location O perating as a timer done bit it will beon if the current value is equal to or greater than the preset value For example the discrete status bit for timer 2 would beT 2 NOTE The accumulating type timer uses two consecutive V memory locations for the 8 digit value and therefore two consecutive timer locations For example if TMRA 1
406. isto be used you must subtract a BCD value of 76 from the converted valueto obtain the proper result For a device having a resolution of 720 counts per revolution you must subtract a BCD value of 152 In the following example when X1isON the binary value represented by X 10 X27 is loaded into the accumulator using the Load Formatted instruction T he gray code value in the accumulator is converted to BCD using the Gray Code instruction T he value in the lower 16 bits of the accumulator is copied to V 2010 Discrete Bit Flags Description SP63 On when the result of the instruction causes the value in the accumulator to be zero SP70 On anytime the value in the accumulator is negative Direct SOF Ta X27 x26 x25 x12 x11 x10 X1 OFF OFF OFF ON OFF ON Fd X10 Load the value represented by X10 X27 into the lower 16 bits of the accumulator 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 m M o Acc 0 Of Of O O OF Of OF OF Of OF OF Of OF OF 0 0 0 O O O O O O O O O O O 1 OF 1 GRAY Convert the 16 bit grey code value in the accumulator to a BCD value 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 o o z r3 m S o
407. it subtraction instruction results in a borrow On when the 32 bit subtraction instruction results in a borrow On anytime the value in the accumulator is negative On when a BCD instruction is executed and a NON BCD number was encountered NOTE The status flags are only valid until another instruction that uses the same flags is executed In the following example when X1 ison the value in V 2000 and V 2001 will be loaded into the accumulator using the Load D ouble instruction T he value in V 2006 and V 2007 is subtracted from the value in the accumulator T he value in the accumulator is copied to V 2010 and V 2011 using the O ut D ouble instruction Direct SOFT32 V2001 V2000 0 1 0 6 3 2 7 4 T LDD ra 2000 Load the value in V2000 and ee XMCNY V2001 into the accumulator 0106327 SUBD 6 723 7 V2006 ACC 0 0 3 9 0 8 9 9 The in V2006 and V2007 is Subtracted from the value in the accumulator OUTD 0 0o 3 9 o 8 o J9 V2010 Copy the value in the accumulator to V2010 and V2011 Handheld Programmer Keystrokes sta gt Ja fev sHT Janost 3 2 gt ee o o o EV SHET fs SHT Misc 2 10s E Ja o o Se 5 Sur S s 9 Pa do 2a o 0v 5 90 DL06 Micro PLC User Manual 1st Ed
408. itor several time intervals from a single timer Counters and Counter Status Bits CT D ata type Counter status bits that reflect the relationship between the current value and the preset value of a specified counter T he counter status bit will be on when the current value is equal to or greater than the preset value of a corresponding counter Each time contact X0 transitions from off to on the counter increments by one If X1 comes on the counter is reset to zero W hen the counter reaches the CT3 y2 preset of 10 counts K of 10 counter status contact our CT3 turns on When CT3 turns on output Y2 turns on Counter Current Values V D ata Type XO oar as Just like the timers the counter current values are also K10 automatically stored in V memory For example V 1000 x1 holds the current value for Counter CT 0 V 1001 holds the current value for Counter CT 1 etc T hese can also be designated as CTAO Counter Accumulated for V1003 K1 Y2 IV p Vi K50 Y3 OUT IV Vi K75 Vi K100 v4 OUT IV ES Ke CNT CT3 K10 X1 Counter 0 and CTAO1 for Timer 1 gt OUT The primary reason for this is programming flexibility oie T he example shows how you can use relational contacts E DU to monitor the counter values i V1003 K5 V1003 K8 YA gt lt OUT DL06 Micro PLC User Manual 1st Ed Rev A 10 02 4 27
409. ity of features e High speed input options are available only on D L06s with D C inputs e Pulse output options are available only on DLO6s with D C outputs Only oneH SIO feature may be in useat onetime You cannot use a high speed input feature and the pulse output at the same time Specifications DLOG Part Number Discrete Input Type Discrete Output Type High Speed Input Pulse Output D0 06AA No No D0 06AR No No D0 06DA Yes No D0 06DD1 Yes Yes D0 06DD2 Yes Yes D0 06DR Yes No D0 06DD1 D Yes Yes D0 06DR D Yes No 3 2 DLO06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 3 High speed Input and Pulse O utput Features i Dedicated H igh Speed I O Circuit The internal CPU s main task is to execute the ladder program and read write all O points during each scan In order to service high speed I O events the D L06 includes a special circuit which is dedicated to a portion of thel O points Refer to the DL06 block diagram in the figure below 16 Discrete Outputs 4 DLO6 PLC Output Circuit L T YO Y1 Y2 Y17 High Speed CPU W O Circuit ry X0 X3 X4 X23 Input Circuit 20 Discrete Inputs The high speed I O circuit H SIO is dedicated to the first four inputs X0 X3 and the first two outputs YO Y1 We might think of this asa CPU helper In the default operation called M ode 60 the H SIO circuit just p
410. j 0jo0j0j0jo0jo0joj 0 1 1 0 1 0 1 0 0 1 1 1 1 0 1 0 ES V2010 RUN Lo Copy the value in the lower 16 bits of the accumulator to V2010 V2010 Handheld Programmer Keystrokes Sem gt ENT SHFT Amer s o o ENT Pon gt S ao 2 o Mo 9g ff ENT Sur gt JS o Po o o J EV DL06 Micro PLC User Manual 1st Ed Rev A 5 73 Chapter 5 Standard RLL Instructions Logical C Or Double ORD TheOr Doubleisa 32 bit instruction that ors the value in the accumulator with the value Aaaa which is either two ORD consecutive V memory locations or an 8 digit max constant K aaa value T he result resides in the accumulator D iscrete status flags indicate if the result of the O r Doubleis zero or a negative number the most significant bit is on Operand Data Type DLO6 Range aaa See memory map See memory map O FFFFFFFF Discrete Bit Flags Description SP63 Will be on if the result in the accumulator is zero SP70 Will be on if the result in the accumulator is negative NOTE The status flags are only valid until another instruction that uses the same flags is executed In the following example when X1 is on the value in V 2000 and V 2001 will be loaded into the accumulator using the Load D ouble instruction T he value
411. jojo E D A 9 A JOfofofo fo A B C Ac a ee VERRE Shuffle the digits in the first level of the accumulator stack based on the pattern in the accumulator The result is in the accumulator SUID 8 c e F o p A o ojo o o t p A o ojo o o JA s c v2010 v2011 v2010 v2011 v2010 v2011 V2010 Copy the value in the accumulator to V2010 and v2011 Handheld Programmer Keystrokes B STR gt 1 ENT L D D c A A A SHET ANDST 3 3 gt 2 0 0 0 ENT L D D C A A G SHET ANDST 3 3 2 0 0 6 ENT s F L D G T SHET ests SPT 5 _ ANDST 3 6 mur J ENT GX D c A B A our SHFT 3 gt 2 0 1 0 ENT 5 140 DL06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions Table Instructions EM M M MM MM Table Instructions Move MOV The M ove instruction moves the values from a V memory tableto another V memory tablethe same length T he function parameters are loaded into the first level of the accumulator stack and the accumulator by two additional instructions Listed below are the steps necessary to program the M ove function Step 1 Load the number of V memory locations to be moved into the first level of the accumulator stack T his parameter isa H EX value K 40 max 100 octal Step 2 Load the starting V memory location for the locations to be moved into th
412. k the button indicated to send the Port configuration to the C PU and click Close 4 50 DLO06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 4 CPU Specifications and O peration i Network Slave Operation This section describes how other devices on a network can communicate with a CPU port that you have configured as a D irectN ETslave or M O D BUS slave D L06 A M ODBUS host must usethe M O DBUS RTU protocol to communicate with the D L06 as a slave T he host software must send a M O D BUS function code and M O D BU S address to specify a PLC memory location the D L06 comprehends T he D irectN ET host uses normal 1 0 addresses to access applicable D L06 CPU and system No CPU ladder logic is required to support either M ODBUS save or DirectN ET slave operation MODBUS Function Codes Supported TheM ODBUS function code determines whether the access is a read or a write and whether to access a single data point or a group of them The D L06 supports the M O D BUS function codes described below MODBUS Function Code Function DLO6G Data Types Available Read a group of coils Read a group of inputs Set Reset a single coil Set Reset a group of coils Y Read a value from one or more registers Write a value into a single register Write a value into a group of registers Determining the MOD BU S Address Therearetypically two ways that most host software conventions allow you to specify a PLC memory location T
413. k you need a faster scan then you can try to choose faster instructions RUN Your choice of I O type and peripheral devices can also Execute ladder program affect the scan time H owever these things are usually dictated by the application PID Equations DL250 The following paragraphs provide some general f E E Updat tput information on how much time some of the segments Satai can requi re Write output data to Specialty and Remote I O Reading Inputs NEN Thetime required during each scan to read the input status of built in inputs is 52 6 us D ont confuse this oda los with the I O response time that was discussed earlier E Writing Outputs ru Thetime required to write the output status of built in NO outputs is 41 1 uS D ont confuse this with the I O Report the error set fag response time that was discussed earlier NO Fatal error YES Force CPU into PGM mode 4 20 DL06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 4 CPU Specifications and O peration M IT Service Peripherals Communication requests can occur at any time during the scan but the CPU only logs the requests for service until the Service Peripherals portion of the scan T he CPU does not spend any time on this if there are no peripherals connected To Log Request anytime Nothing Connected Min amp Max Ous Send Mi
414. key areas For the vast majority of applications some of these execution segments Normal Run mode scan are more important than others For example you need to understand how the CPU updates Download Program Ww thel O points handles forcing operations and Read Inputs solves the application program T he remaining Y segments are not that important for most Read Inputs from Specialty I O applications Y You can use D irectSO FT 32 or the D2 H PP Service Peripherals H andheld Programmer to placethe CPU in Y Run M ode Update Clock Special Relays You can also edit the program during Run M ode The Run M ode Edits are not Solve the Application Program bumpless to the outputs Instead the CPU Y maintains the outputs in their last state while it Write Outputs accepts the new program information If an Y error is found in the new program then the Write Output epee CPU will turn all the outputs off and enter the Y Program M ode T his feature is discussed in Diagnostics more detail in Chapter 9 WARNING Only authorized personnel fully familiar with all aspects of the application should make changes to the program Changes during Run Mode become effective immediately Make N sure you thoroughly consider the impact of any changes to minimize the risk of personal injury or damage
415. l of of of of of o Convert the real number in the accumulator to binary 128 16 1 145 uL 127 18 145 Binary Value 2 exp 18 s 842 1 842 1 o o o o o o ETIN FIERE olol lokli al slatal eet atulelolels Acc o o o 1 SS NM MEC TRA noa Copy the real value in the accumulator to V1500 and V1501 V1501 V1500 o o o E 7 2 4 1 Vi pirery number copied to Handheld Programmer Keystrokes STR 1 ENT SHE ANDST 3 3 2 3 gt s 1 a 4 0 i 0 ENT SHET PORN T NE 1 ENT Sur SHET 2 3 gt i 1 r 5 i 0 i 0 ENT 5 132 DLO0G Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions Number Conversion Radian Real Conversion RAD R TheRadian Real Conversion instruction converts the real degree value stored in the accumulator to the equivalent real number in radians T he result resides in the accumulator D egree Real Conversion D EGR DECE The D egree Real instruction converts the degree real p radian value stored in the accumulator to the equivalent real number in degrees T he result residesin the accumulator Thetwo instructions described above convert real numbers into the accumulator from degree format to radian format and vis
416. l our gt s ENT E DL06 Micro PLC User Manual 1st Ed Rev A 5 2 1 Chapter 5 Standard RLL Instructions Boolean Instructions ERLA X And Positive D ifferential AND PD TheAnd Positive D ifferential instruction logically ands a normally open contact in parallel with another contact in arung T he status of the contact will be open until Aaaa the associated image register point makes an O ff to O n transition closing it for one CPU scan T hereafter it remains open until another O ff to O n transition And Negative D ifferential AND ND TheAnd N egative D ifferential instruction logically ands a normally open contact in parallel with another contact Aun in a rung T he status of the contact will be open until the ini associated image register point makes an O n to O ff 1 Lt transition closing it for one CPU scan T hereafter it remains open until another O n to O ff transition Operand Data Type DLO6 Range In the following example Y5 will energize for one CPU scan whenever X1 ison and X2 transitions from O ff to On DirectSOFT32 Handheld Programmer Keystrokes B xi x2 Y5 Sorn ica 1 ENT ri OUT Q P D C d on SHFT cy 3 gt g ENT GX F out gt 5 ENT
417. l The move ends by continuing motion a pre defined distance past the interrupt point such as a drill hole location T he deceleration ramp is applied in advance of the target position Velocity Hz Step Trapezoidal Profile 4 1000 4 Target 7000 pulses 5 sitior 800 positioning velocity 1000 Hz 600 3 L amp SET EN 400 200 m cec fus n Rod v LS I e gt gt 100 200 300 400 5000 1400 300 200 100 Time Acceleration Deceleration 0 pulses 1000 pulses 6000 pulses 7000 pulses D efine steps 1 through 4 for gradual acceleration to the target velocity and define steps 5 through 8 for gradual deceleration from the target velocity T his type of profile is appropriate for applications involving large stepper motors and or large inertia loads It can however be used to provide gradual ramping in applications involving smaller motors and loads Velocity Control D efined TheVelocity Control defines only the direction and speed of motion T here is no target position specified so the move can be of indefinite length O nly the first velocity value needs to be defined T he remaining velocity values can be created while motion is in progress Arrows in the profile shown indicate velocity changes Velocity Control Profile Velocity Hz A 800 d 600 400 200
418. l constant or a real number occupying two consecutive V memory locations T he DIVR result resides in the accumulator Both numbers must Aaaa conform to the IEEE floating point format Operand Data Type DLO6 Range aaa See memory map See memory map 3 402823E 038 to 3 402823E 038 Description On when the result of the instruction causes the value in the accumulator to be zero On anytime the value in the accumulator is negative On anytime the V memory specified by a pointer P is not valid On anytime the value in the accumulator is an invalid floating point number On when a signed addition or subtraction results in a incorrect sign bit On anytime a floating point math operation results in an underflow error On when a real number instruction is executed and a non real number was encountered NOTE Status flags are valid only until another instruction uses the same flag Direct SOFT32 Display x jT olo o o j LDR R150 Load the real number 15 0 into the accumulator Oo ane ee ee decimal 4 1 7 0 0 0 0 0 Accumulator 5 0 4 12 0 00 0 0 DNR 1 V1401 V1400 Divide the accumulator contents 3 LEL Cc ooog ojo Hex number by the real number 10 0 EE LN EE EE EE 8 4 2 1 8 42 1 84 2 1 2 1 Quip Acc EE of of of of of of of of of of ofo 0 0 V1400 Copy the result in the accumulator to V1400 and V1401 Sign x Exponent 8 bits Ma
419. l scan 1k boolean RLL Ladder style Programming Yes RLL and RLLPLUS Programming Yes Run Time Edits Yes Scan Variable fixed Handheld programmer Yes DireciSOFT32 programming for Windows Yes Built in communication ports RS232C Yes FLASH Memory Standard on CPU Local Discrete 1 0 points available 36 Local Analog input output channels maximum None High Speed 1 0 quad pulse out interrupt pulse catch etc Yes 2 1 0 Point Density 20 inputs 16 outputs Number of instructions available see Chapter 5 for details 229 Control relays 1024 Special relays system defined 512 Stages in RLLPLUS 1024 Timers 256 Counters 128 Immediate 1 0 Yes Interrupt input external timed Yes Subroutines Yes For Next Loops Yes Math Integer and floating point Yes Drum Sequencer Instruction Yes Time of Day Clock Calendar Yes Internal diagnostics Yes Password security Yes System error log Yes User error log Yes Battery backup Optional D2 BAT 1 available not included with unit DLO06 Micro PLC User Manual 1st Ed Rev A 10 02 l 4 3 Chapter 4 CPU Specifications and O peration C LLL CPU Hardware Setup Communication Port Pinout D iagrams Cables are available that allow you to quickly and easily connect a
420. l shock if you accidentally touch the connection terminals or power wiring 1 WARNING Once the power wiring is connected secure the terminal block cover in the closed position Fuse Protection for Input Power Thereare no internal fusesfor the input power circuits so external circuit protection is needed to ensure the safety of service personne and the safe operation of the equipment itself To meet U L CUL specifications the input power must be fused D epending on thetype of input power being used follow these fuse protection recommendations 208 240 VAC O peration W hen operating the unit from 208 240 VAC whether the voltage source is a step down transformer or from two phases fuse both the line L and neutral N leads The recommended fuse size is 1 0A fast blow 110 125 VAC O peration W hen operating the unit from 110 125 VAC it is only necessary to fuse the line L lead it is not necessary to fuse the neutral N lead T he recommended fuse size is 1 0A fast blow 2 10 DL06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 2 Installation Wiring and Specifications EL LLL T 12 24 VD C Operation W hen operating at these lower D C voltages wire gauge size is just as important as proper fusing techniques U sing large conductors minimizes the voltage drop in the conductor Each DL06 input power terminal can accommodate one 16 AWG wire or two 18 AWG wires A DC fail
421. lator T hen we load the address of the first table V 3000 into the accumulator using the LDA instruction converting the octal address to hex N ote that it does not matter which table we declare first because the swap results will be the same DirectSOFT 32 x0 Load the constant value 2 Hex into the lower 16 bits I of the accumulator Handheld Programmer Keystrokes P D Convertoctal3000 to HEX sre FT cv a gt o LEN and load the value into the ic D C accumulator This is the SHFT anost s gt JPP 2 ENT table beginning L D A D A A A SHFT anpst 3 0 gt 3 0 0 0 ENT Swap the contents of the S w A P D B A A table in the previous SHFT rst SHFT anon o cv gt 3 1 o o ENT instruction with the one at V3100 5 170 DLO06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions Clock Calendar Instructions Clock Calendar Instructions Date D ATE The Date instruction can be used to set the date in the CPU Theinstruction requires two consecutive V memory locations Vaaa to set the date If the values in the specified locations V aaa are not valid the date will not be set T he current date can be read from 4 consecutive V memory locations V 7771 V 7774 In the following example when C0 is on the constant value K 94010301 is loaded into
422. le x2 F Reset Input 10 20 30 40 50 0 1 10 Seconds TMRA K30 TO DL06 Micro PLC User Manual 1st Ed Rev A 5 39 Chapter 5 Standard RLL Instructions Timer Counter and Shift Register Instructions C Timer TMR and Timer Fast TM RF TheTimer instruction is a 0 1 second single input timer that times to a maximum of 999 9 seconds T he T imer Fast instruction is a 0 01 second single input timer that times up to TMR T aaa a maximum of 99 99 seconds These timers will be enabled if Bbbb V the input logic istrue on and will be reset to 0 if the input V logic is false off Instruction Specifications Kisel Tames Timer Reference Taaa Specifies the timer number Preset Value Bbbb Constant value K or a V memory location TMRF T aaa Current Value Timer current values are accessed by B bbb s referencing the associated V or T memory location For example the timer current value for T 3 physically resides in V memory location V3 Preset Timer Discrete Status Bit T he discrete status bit is referenced by the associated T memory location O perating as a timer done bit it will beon if the current valueis equal to or greater than the preset value For example the discrete status bit for Timer 2 isT 2 is in Run Mode Therefore a V memory preset is required only if the ladder program must change the ada NOTE Timer preset constants K may
423. lid floating point number On when a signed addition or subtraction results in a incorrect sign bit On anytime a floating point math operation results in an underflow error On when a real number instruction is executed and a non real number was encountered NOTE Status flags are valid only until another instruction uses the same flag DirectSOFT32 Display xi T 4 o e offo oTofo lH R70 Load the real number 7 0 into the accumulator MM 7 decimal 4 0E 0 00 0 0 Accumulator x 15 X 4 170 00 0 0 MULR Hie ace 4 2 o 2 o o o o MULR R 150 V1401 V1400 Multiply th l 4 2 2 H b Mc oriri PATATE ad 15 0 842 118 42 148 4 2 1 8 42 14 8 4 2 1 8 42 1 84 2 1 8 4 2 1 QUTD Acc o 1 0 0o o o 11 0 1 1 0o 1 o0 o 1 o OJ 0 OJ OJ OJ OJ OJ OJ OJ OF Of OJ OJ OJ OF O 1400 Copy the result in the accumulator x toVtdoQeneivi40l Sign Bit Exponent 8 bits Mantissa 23 bits 128 4 1 133 1 101001 x 2 exp 6 1101001 binary 105 decimal 133 127 6 Implies 2 exp 6 iE NOTE The current HPP does not support real number entry with automatic conversion to the 32 bit IEEE format You must use DirectSOFT32 for this feature 5 94 DLO06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions M ath ELLA Divide DIV Divideisa 16 bit instruction that dividesthe BCD value in the accumulator by a BCD value Aaaa DIV which iseither a V memory loca
424. lize the scratchpad memory In the default condition X0 X3 are filtered inputs 10 mS delay and Y0 Y1 are standard outputs DL06 Micro PLC User Manual 1st Ed Rev A 10 02 3 5 Chapter 3 High speed Input and Pulse O utput Features Bi Configuring the H SIO Mode If you have chosen a mode suited to the high speed I O needs of your application were ready to proceed to configure the PLC to operate accordingly In the block diagram below notice the V memory detail in the expanded CPU block V memory location V 7633 determinesthe functional mode of the high speed 1 0 circuit This is the most important V memory configuration value for HSIO functions 4 DLO6 Output Circuit PLC i YO Y1 Y2 Y17 VO Dat CPU 1 ata Pign eed V Memory VO Circuit Mode Selec u V7633 xxxx X0 X3 X4 X23 Input Circuit The contents of V 7633 isa 16 bit word to be entered in binary coded decimal T he figure below defines what each 4 bit BCD digit of the word represents Memory Location V7633 Bits 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 Q 0 0 0 0 0 0 0 0 0 1 0 1 0 0 0 0 0 0 5 0 d eu a Miscellaneous Setup BCD HSIO Mode Setup BCD 00 Not Used default 00 2 Not Used 10 Battery Enabled 10 High Speed Counter 20 Power up in RUN 20 Up Down Counter 30 Battery
425. local governments and state governments have additional requirements above and beyond those described in the N EC H andbook C heck with your local Electrical Inspector or Fire M arshall office for information Three Levels of Protection Thepublications mentioned provide many ideas and requirements for system safety At a minimum you should follow these regulations Also you should use the following techniques which provide three levels of system control Orderly system shutdown sequence in the PLC control program M echanical disconnect for output module power Emergency stop switch for disconnecting system power WARNING Providing a safe operating environment for personnel and equipment is your responsibility 2 2 DLO0G Micro PLC User Manual 1st Ed Rev A 10 02 Orderly System Shutdown A System Power D isconnect Chapter 2 Installation Wiring and Specifications The first level of fault detection is ideally the PLC control 5 program which can identify machine problems You must shutdown sequences that must be performed T hese types of problems are usually things such as jammed parts etc that do not pose a risk of personal injury or equipment damage WARNING The control program must not be the only form of protection for any problems that may result in a risk of personal injury or equipment damage Retract You should
426. locations T he 2 OUE ee instruction requires a starting location Aaaa for the epee destination and the number of bits K bbb to be output Operand Data Type DLO6 Range In the following example when CO is on the binary pattern of C 10 C 16 7 bits will be loaded into the accumulator using the Load Formatted instruction T helower 7 bits of the accumulator are output to YO Y 6 using the O ut Formatted instruction Direct SOFT32 fa LDF Cio Locetion Constant cie cis cia eis ei2 fen cid Fd K7 Cio K7 OFF OFF OFF ON ON ON OFF Eo 0 C16 The unused accumulator bits are set to zero By into the accumulator 31 30 29 28 27 26 25 24 23 22 21 2019 18 17 16 1514131211109 876543210 0 O O OJ OJ OF OF OF OF OF OF O OF OF OF OF OF OF OF OF OF OF OF OF OF OF OF OF TF 1 1 0 OUTF Y20 K7 Accumulator Copy the value of the rd preis Ela Y20 Y26 Location Constant Y26 Y25 Y24 Y23 Y22 Y21 Y20 YO K7 OFF OFF OFF ON ON ON OFF Handheld Programmer Keystrokes m suer E 3 r ENT Snr ANDST 3 F 5 2 SHET ur jJ gt o ENT TUE SUT J 5 gt ar gt 3 ENT Pop POP The Pop instruction moves the
427. locity of 40 pps make it unsuitable for servo motor control 3 38 DL06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 3 H igh speed Input and Pulse O utput Features n Functional Block D iagram The diagram below shows H SIO functionality in M ode 30 W hen the lower byte of H SIO M ode register V 7633 contains a BCD 30 the pulse output capability in theH SIO circuit is enabled T he pulse outputs use YO and Y1 terminals on the output connector Remember that the outputs can only be D C type to operate A DLO6 Output Circuit PLC i YO Y1 Pulse CW Direction CCW Y2 Y17 HSIO SP 104 Profile Complete CPU PULSE GEN YO Start Profile L Y1 Preload Position Value X1 Filtered I t Interrupt FILTER Herec npu gt V memory i Mode select V7633 xx30 X1 during Automatic Step 4 Trapezoidal Profile XO X1 X2 X3 X4 X23 Input Circuit IMPORTANT NOTE In Pulse Output Mode YO and Y1 references are redefined or are used differently in two ways Physical references refer to terminal screws while logical references refer to 1 0 references in the ladder program Please read the items below to understand this very crucial point Noticethel O point assignment and usage in the above diagram X0 X1 X2 and X3 can befiltered inputs or pulse inputs
428. lock Calendar Instructions 1 5 vua oer Rate o doo 2 5 171 CPU Control Instructions a3 x odore REUS ERES E ERES 5 173 Program Control Instructions nue c e reu oct ese ee 5 175 Interrupt Instructions scs odes kr ERR E ERE RR 5 183 Message IDSETUCLUDTIS 4 pans y ie qobe the send EI Ie t hr nut a p d 5 186 MODBUS RTU Instructions 2d dur RS FERRE ERRORS 5 201 ASCII Instructions mee grey nn mp ke re EROS doge ee eters 5 207 Chapter 5 Standard RLL Instructions E Introduction DLO6 M icro PLCs offer a wide variety of instructions to perform many different types of operations T his chapter shows you how to use each standard Relay Ladder Logic RLL instruction In addition to these instructions you may also need to refer to the D rum instruction in Chapter 6 or the Stage programming instructions in Chapter 7 There are two ways to quickly find the instruction you need f you know the instruction category Boolean Comparative Boolean etc just use the title at the top of the page to find the pages that discuss the instructions in that category e f you know the individual instruction name use the following table to find the page s that discusses the instruction Instruction Page Instruction Page Accumulating Fast Timer TMRAF 5 42 And Store AND STR 5 16 Accumulating Timer TMRA 5 42 And with Stack ANDS 5 72 Add ADD 5 86 Arc Cosine Re
429. logical input to ladder logic X0 correlates directly to the Start input status when velocity profiles are in use W hile the Start input is active the ladder program can command a velocity change by writing anew value to the velocity register V 3633 by default T he full speed range of 40 Hz to 10 kH z is available N otice from the drawing that there are no acceleration or deceleration ramps between velocity updates T his is how velocity profiling works with the H SIO H owever the ladder program can command more gradual velocity changes by incrementing or decrementing the velocity value more slowly A counter or timer can be useful in creating your own acceleration deceleration ramps Unless the load must do a very complex move it is easier to let theH SIO function generate the accel decel ramps by selecting the trapezoidal or registration profiles instead Unlike the trapezoidal and registration profiles you must specify the desired direction of travel with velocity profiles Load the direction select register V 3631 V 3632 by default with 8000 0000 hex for CCW direction or 0 for CW direction DL06 Micro PLC User Manual 1st Ed Rev A 10 02 l 3 59 Chapter 3 High speed Input and Pulse O utput Features Bi Program Example 5 Velocity Profile T he velocity profile we want to perform is drawn and labeled in the following figure Each velocity segment is of indefinite length T he velocity only c
430. low impedance and shunts the energy to ground T his protects the relay contacts from the high voltage arc that would occur just asthe contacts are opening Placethe diode as close to the inductive field device as possible U se a diode with a peak inverse voltage rating PIV at least 100 PIV 3A forward current or larger Use a fast recovery type such as Schottky type DO NOT usea small signal diode such as 1N 914 1N 941 etc Be sure the diode is in the circuit correctly before operation If installed backwards it short circuits the supply when the relay energizes PLC Relay Output Inductive Field Device Y ier y al Common IJE Common H DL06 Micro PLC User Manual Ist Ed Rev A 10 02 2 2 1 a Chapter 2 Installation Wiring and Specifications DC Input Wiring M ethods PLC DC Input DLO06 M icro PLCs with D C inputs are particularly Input flexible because they can be wired as either sinking or O NW sourcing T he dual diodes shown to the right allow m 10 8 26 4 VDC T he target applications are 12 VDC and 24 VDC You can actually wire each Common group of inputs associated common group of inputs as DC sinking and the other half as D C sourcing Inputs grouped by a common must be all sinking or all sourcing In the first and simplest example below all c
431. lue 2635 into the lower word of the accumulator DL06 Micro PLC User Manual 1st Ed Rev A 5 55 Chapter 5 Standard RLL Instructions Accumulator Stack Load and O utput D ata xi v2076 X X X X ci LD i P2000 v2077 X X X X v2100 2 6 3 5 2000 P2000 contains the value 440 HEX 440 HEX 2100 Octal which veter x X XE contains the value 2635 v2102 X X X X V2000 V2103 X X X X Accumulator 01414 0 v2104 X X X X 2 6 3 5 V2105 X X X X OUT V2200 M Copy the data from the lower 16 bits of the accumulator to V2200 v2200 2 6 3 5 v2200 X X X X The following example is identical to the one above with one exception The LDA Load Address instruction automatically converts the O ctal address to H ex X1 Load the lower 16 bits of the LDA a accumulator with Hexadecimal 1 I 0 2100 equivalent to Octal 2100 440 2 1 0 0 d i bi 2100 Octal is converted to Hexadecim Unused accumulator bits 440 and loaded into the accumulator are set to zero ac o o o o o 4 4 0 m OUT Copy the data from the lower 16 bits of olalalo the accumulator to V2000 V 2000 V2000 v2076 X X X X v2077
432. lue in the accumulator is copied to V 1500 and V 1501 using the O ut D ouble instruction T he handheld programmer would display the binary value in V 1500 and V 1501 asa H EX value DirectSOFT3 Display V1401 V1400 ofo o Js 7 2 4 5 Fr LDD Te Te T5 V1400 Load the value in V1400 and V1401 into the accumulator 8 4 2 1 8 42 1 84 2 1 8 4 2 1 84 2 1 of of ofo o 1 o obs bl 2 exp 18 Binary Value 127 18 145 45 128 16 1 peels cease ace of o o of of of of o of of f of of of s of of oo s Convert the binary value in the accumulator to the real number equivalent format Acc of fof ols of ofo o spol afi i o of of of of of of of o sfol of ofolo Sign Bi Exponent 8 bits Mantissa 23 bits Real Number Format OUTD V1500 4 A E Cee The real number HEX value Copy the real value in the Te Tale Lele copied to V1500 accumulator to V1500 and V1501 V1501 V1500 Handheld Programmer Keystrokes B sm gt 1 ENE L D D B E A A SHFT MANDST 3 3 gt 1 4 0 0 ENT B T o R SHET 1 MLR INST ORN ENT GX D B F A A our J SHFT 3 gt 1 5 0 0 EN DL06 Micro PLC User Manual 1st Ed Rev A 5 13 1 Chapter 5 Standard RLL Instr
433. lue into the pointer somewhere in your program 5 162 DLO06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions Table Instructions E MMMM In thefollowing example when X1 ison the constant value K 6 is loaded into the accumulator using the Load instruction T his value specifies the length of the table and is placed in the first stack location after the Load Address instruction is executed T he octal address 1400 V 1400 which isthe starting location for the destination table and table counter is loaded into the accumulator T he source location V 1500 is specified in the Add to Top instruction T hetable counter will be increased by 1 after the instruction is executed Direct SOFT32 Display xi n LD I K6 Load the constant value 6 Hex into the lower 16 bits of the accumulator LDA O 1400 Convert octal 1400 to HEX 300 and load the value into the accumulator ATT V1500 Copy the specified value from V1500 to the table Handheld Programmer Keystrokes Soa gt JP ev SHFT nerl P 3 gt prev S ENT sHT anost a o gt ios oa Nio o EV se I D un lun gt HPs s o o EN For the ATT instruction the table counter Table Counter determines the number of additions that can be made before the instru
434. lues in each 4 bit digit T hey are base 16 numbers so we need 16 different digits To extend our decimal digits 0 through 9 we useA through F as shown Decimal 0123 4 5 6 7 8 9 1011 12 13 14 15 Hexadecimal 0123 45 67 89 AB CDEF A 4 digit hexadecimal number can represent all 65536 values in a V memory word T he range is from 0000 to FFFF hex PLCs often need this full range for sensor data etc H exadecimal is just a convenient way for humansto view full binary data Hexadecimal number A 7 F 4 V memory storage T 0 T 0 0 1 1 4 1 1 1 1 0 1 0 0 4 24 DL06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 4 CPU Specifications and O peration mSS Memory Map Octal Numbering System With any PLC system you generally have many different types of information to process This includes input device status output device status various timing elements parts counts etc It isimportant to understand how the system represents and stores the various types of data For example you need to know how the system identifies input points output points data words etc T he following paragraphs discuss the various memory types used in D L06 Micro PLCs A memory map overview for the CPU follows the memory descriptions All memory locations and resources are numbered in
435. lways reading the inputs even during program mode This allows programming tools to monitor input status PGM qom at any time RUN Execute program The outputs are only updated in Run mode In program mode they are in the off state Error detection hastwo levels N on fatal errors are reported but the CPU remainsin its current mode If a _ a fatal error occurs the CPU is forced into program mode Do diagnostics and the outputs go off OK NO Report error set flag register turn on LED Force CPU nto Update output 4 12 DL06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 4 CPU Specifications and O peration Program M ode In Program M ode the CPU does not execute the application program or update the output points T he primary use for Program M ode isto enter or change an application program You also use program mode to set up the CPU parameters such as H SIO features retentive memory areas etc You can use a programming device such as DirectSO FT 32 or the D 2 H PP H andheld Programmer to place the CPU in Program M ode Run Mode In Run M ode the CPU executes the application program and updates the I O System You can perform many operations during Run M ode Some of these include Monitor and changel O point status Update timer counter preset values Update Variable memory locations Run M ode operation can be divided into several
436. m 0 0 ee eee 2 36 D0 06DD1 D I O Wiring Diagram 0 ee eee eee 2 38 DL06 Micro PLC User Manual 1st Ed Rev A 10 02 Table of Contents E r D0 06DR D I O Wiring Diagram llle III 2 40 Discrete Options Modules 64 ecce RR ERE ERE ESEE E EE EE EE s 2 42 Chapter 3 High speed Input and Pulse Output Features 3 1 Introduction 226 eb eee cus Rhe ea we ewe caw kk rye eee ERR ERE ER Re 3 2 Built in Motion Control Solution lleelee eee 3 2 Availability of HSIO Features lleeeee I 3 2 Dedicated High Speed I O Circuit 2 0 2 cee eee eee eee 3 3 Wiring Diagrams for Each HSIO Mode 0 cee eee eee 3 3 Choosing the HSIO Operating Mode cece eee eee eee 3 4 Understanding the Six Modes 0 eee eee e 3 4 Default Mode cic ke ERR ee Ue VU ware RATER RR e Seale eS ca 3 5 Configuring the HSIO Mode 2 eee eee teen eee 3 6 Configuring Inputs X0 X32 ete I s 3 6 Mode 10 High Speed Counter 0 0 0 ccc eee nh 3 7 PUD OSC ccu seh cose eas See cM MEM ULIS a 3 7 Functional Block Diagram 0 eee IA 3 7 Wiring Diagrami ate eterne rhe sn Ren ea aa e ete aed 3 8 Interfacing to Counter Inputs 2 0 0 0 ee eee 3 8 Setup fOr Mode 10 Josse eceteesk Pee tS s IC Unos aoe e ac hee rd 3 9 Presets and Special Relays seir cb bosesk dad aoe ne RR rh RERE RRE ced 3 9 Absolute and Incremental
437. m sooo2 Clamp the part Special Relays SP D ata Type GE Special relays are discrete memory locations with toda KC pre defined functionality T here are many different ld P types of special relays For example some aid in program development others provide system operating status information etc Appendix D provides a complete listing of the special relays In this example control relay C 10 will energizefor SPS C10 50 ms and de energize for 50 ms because SP5 isa our ISG S0000 Wait for Start Ly Ho Part Present pre defined relay that will be on for 50 ms and off for 50 ms SP4 1 second clock SP5 100 ms clock SP6 50 ms clock 4 28 DL06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 4 CPU Specifications and O peration E iT DLO6 System V memory System Parameters and D efault D ata Locations V D ata Type The D L06 PLCs reserve several V memory locations for storing system parameters or certain types of system data These memory locations store things like the error codes H igh Speed O data and other types of system setup information Description of Contents Sets the V memory location for option card in slot 1 Default Values Ranges N A Sets the V memory location for option card in slot 2 N A Sets the V memor
438. mal number V2000 B Print BCD datain V 2000 V2000 D Print binary number in V 2000 and V 2001 for decimal number V2000 D B Print BCD datain V 2000 and V2001 V2000 R Print floating point number in V 2000 V 2001 as real number V2000 E Print floating point number in V 2000 V 2001 as real number with exponent Thefollowing modifiers can be added to any of the modifies above to suppress or convert leading zeros or spaces T he character code must be capital letters Character code Description S Suppresses leading spaces C0 Converts leading spaces to zeros 0 Suppresses leading zeros Example with V 2000 20018 binary format V memory Register Number of Characters with Modifier V memory Register with Modifier 2000 V2000 B V2000 BS V2000 BCO DL06 Micro PLC User Manual 1st Ed Rev A 5 219 Chapter 5 Standard RLL Instructions ASCII a VPRINT V memory text element the following is used for printing to V memory text stored in registers Use the followed by the number of characters after V memory number for representing the text If you assign 0 as the number of characters the function will read the character count from the first location Then it will start at the next V memory location and read that number of ASCII codes for the text from memory Example V 2000 16 16 characters in V 2000 to V 2007 are printed V 2000 96 0 T he characters in V 20
439. mer Keystrokes anl onsen c ke gt B ENT STR 1 E D F B A E SHFT Aupsr 3 5 gt NEXT NEXT NEXT NEXT 1 ENT V F Cc A E AND SHFT 5 gt NEXT A 0 gt ENT GX F C A E Our SHFT 5 PREV PREV 2 gt ENT 5 71 DLO06 Micro PLC User Manual 1st Ed Rev A l Chapter 5 Standard RLL Instructions Logical And with Stack AND S TheAnd with Stack instruction is a 32 bit instruction that logically ands the value in the accumulator with the first level of ANDE the accumulator stack T he result resides in the accumulator T he valuein the first level of the accumulator stack is removed from the stack and all values are moved up one level D iscrete status flags indicate if the result of the And with Stack is zero or a negative number the most significant bit is on Discrete Bit Flags Description SP63 Will be on if the result in the accumulator is zero SP70 Will be on if the result in the accumulator is negative NOTE Status flags are valid only until another instruction uses the same flag In the following example when X1 is on the binary value in the accumulator will be anded with the binary value in the first level or the accumulator stack T he result resides in the accumulator T he 32 bit valueisthen output to V 1500 and V 1501 DirectSOFT32 x LDD vison 1400 Lf iano s e El elella i Loa
440. ming Diagram xi Seconds TMR T2 0 1 2 3 4 5 6 7 8 K30 T2 Yo di ow T2 Handheld Programmer Keystrokes Yo E Current B Value 0 10 20 30 40 50 60 0 sm 2 1 ENT i N C D A mr e 2 s Wo 1 10th Seconds T c str SHFT ug 2 ENT GX A our gt 0 ENT Timer Example U sing Comparative Contacts In thefollowing example a single input timer is used with a preset of 4 5 seconds Comparative contacts are used to energize Y3 Y4 and Y5 at one second intervals respectively W hen X1 isturned off the timer will be reset to 0 and the comparative contacts will turn off Y3 Y4 and Y5 Direct SOFT32 Timing Diagram xi Seconds TMR T20 K45 0 1 2 3 4 5 6 7 8 TA20 Ki10 Y3 xi gt our Y3 L TA20 K20 v4 YA gt our YS TA20 K30 Y5 gt OUT z Current 0 10 20 30 40 50 60 0 Value Handheld Programmer Keystrokes 1 10th Seconds B STR gt 1 ENT N A E F TMR 3 2 0 gt 4 5 ENT T cs A B A STR gt _ sh MLR 2 0 gt 1 0 ENT GX D OUT 3 ENT T 6 A G A STR gt s MLR 2 0 2 0 ENT GX E OUT Ei 4 ENT T c A D A STR gt HFT MLR 2 0 gt 3 0 ENT GX F OUT gt 5 ENT DL06 Micro PLC User Manual 1st Ed Rev A 5 41 Chapter 5 Standard RLL Instructions Timer Counter and Shift Reg
441. more than one bit position set to a 1 theleast significant 1 will be encoded and SP53 will be set on Discrete Bit Flags Description On when the value of the operand is larger than the accumulator can work with On when the result of the instruction causes the value in the accumulator to be zero On anytime the value in the accumulator is negative NOTE The status flags are only valid until another instruction that uses the same flags is executed In the following example when X1 is on The value in V 2000 is loaded into the accumulator using the Load instruction T he bit position set to a 1 in the accumulator is encoded to the corresponding 5 bit binary value using the Encode instruction T he value in the lower 16 bits of the accumulator is copied to V2010 using the O ut instruction 2000 m 110 00 LD pe vo c i ELS Load the value in V2000 into the lower 16 bits of the 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 accumulator Acc 0 0 0 O OJ OF Of O O OF OF OF OF OF OF OF O OF OF 1 O O OF O OF OF OF OF OF OF OF O l Bit postion 12 is converted to binary ME ENCO 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Encode the bit position set to 1 in the
442. mory Address v10000 Port 2 15 Pin Timeout Amount of time the port will wait after it sends a message to get a response before logging an error RTS On Delay Time T he amount of time between raising the RTS line and sending the data RTS Off Delay Time T he amount of time between resetting the RT S line after sending the data Data Bits Sdect either 7 bits or 8 bitsto match the number of data bits specified for the connected devices Baud Rate T he available baud rates include 300 600 900 2400 4800 9600 19200 and 38400 baud C hoose a higher baud rate initially reverting to lower baud rates if you experience data errors or noise problems on the network Important You must configure the baud rates of all devices on the network to the same value Refer to the appropriate product manual for details Stop Bits Choose 1 or 2 stop bitsto match the number of stop bits specified for the connected devices Parity Choose none even or odd parity for error checking Be sure to match the parity specified for the connected devices Echo Suppression Select the appropriate radio button based on the wiring configuration used on port 2 Xon Xoff Flow Control Choose this selection if you have port 2 wired for H ardware Flow C ontrol Xon Xoff with RT S and CTS signal connected between all devices RTS Flow Control C hoosethis selection if you have Port 2 RTS signal wired between all devices v Then clic
443. n Direct SOFT32 v2001 V2000 x IDD Constant 6 7 0 5 3 1 0 1 I 2000 Load the value in V2000 and V2001 into the accumulator 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 SHFR Acc 0 1 1 of of 1 1 1 Of Of Of Of Of 1 Of 1 Of Of 1 1 Of Of Of 1 Of Of Of O Of Of O 1 Ka XY AC The bit pattern in the V accumulator is shifted 2 bit positions to the right jov ste tm Shifted out of the VA accumulator M XN S CX AN OUTD VV V2010 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Copy the value in the Acc 0 0 0 1 1 of of 1 1 1 of of of Of of 1 f of 1 of of 1 11 of Of Of 1 of Of Of Of of o accumulator to V2010 and v2011 Ew J ea ta 1 9 C 1 4 C 4 0 v2011 V2010 Handheld Programmer Keystrokes B STR 1 ENT L D D A A A SHET anpsT 3 3 A 2 0 0 0 ENT S H F R SHFT gsr SHFT z 5 ORN gt 3 ENT GX D E A B A our SHFT 3 gt 2 0 1 0 ENT 5 122 DLO06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Sta
444. n Max 5 8 11 8 us Rec Min Max 12 5 25 2 us Send Min Max 6 2 14 3 us Rec Min Max 14 2 31 9 us Min Max 4 8 49 2 us D uring the Service Peripherals portion of the scan the CPU analyzes the communications request and responds as appropriate T he amount of time required to service the peripherals depends on the content of the request To Service Request DLO6 DL06 Minimum 9 ys Run Mode Max 412 us Program Mode Max 2 5 second CPU Bus Communication Some specialty modules can also communicate directly with the CPU viathe CPU bus D uring this portion of the cyclethe CPU completes any CPU bus communications T he actual time required depends on the type of modules installed and the type of request being processed Update Clock Calendar Special Relays Special Registers The dock calendar and special relays are updated and loaded into special V memory locations during this time T his update is performed during both Run and Program M odes Minimum Program Mode Maximum Minimum Run Mode Maximum DL06 Micro PLC User Manual 1st Ed Rev A 10 02 l u 2 1 Chapter 4 CPU Specifications and O peration C aua Application Program Execution TheCPU processes the program from address 0 to the EN D instruction The CPU executes the program left to right and top to bottom As each rung is evaluated the appropriate image register or memory location is updated
445. n Y2 through Y5 will be reset or de energized DirectSOFT32 Handheld Programmer Keystrokes x2 B E a Y5 STA gt i ENT at m C E RST gt 2 gt 5 ENT DL06 Micro PLC User Manual 1st Ed Rev A 5 23 Chapter 5 Standard RLL Instructions Boolean Instructions Set Bit of Word SETB The Set Bit of Word instruction sets or turns on a bit in a V memory location Once the bit is set it will remain on until it is Aaaa bb reset using the Reset Bit of Word instruction It is not necessary SET for the input controlling the Set Bit of Word instruction to remain on Reset Bit of Word RSTB The Reset Bit of Word instruction resets or turns off a bit in a V A aaa bb memory location O ncethe bit is reset it is not necessary for the RST input to remain on Operand Data Type DLO6 Range aaa bb See memory map BCD 0 to 15 See memory map BCD 0 to 15 In the following example when X1 turns on bit 1 in V1400 is set to the on state DirectSOFT32 a j B1400 1 ser Handheld Programmer Keystrokes STR 1 ENT SET SHFT B V 1 4 0 0 gt K 1 ENT DirectSOFT32 In the following example when X2 turns on bit 1 in V 1400 is reset to the off state x2 B1400 1 rst Handheld Programmer Keystrokes STR gt 2 ENT RST SHFT B
446. n M aster mode will access only slaves 1 to 99 Each slave must have a unique number At powerup the port is automatically a slave unless and until the D L06 executes ladder logic network instructions which use the port as a master T hereafter the port reverts back to slave mode until ladder logic uses the port again Baud Rate T he available baud rates include 300 600 1200 2400 4800 9600 19200 and 38400 baud Choose a higher baud rate initially reverting to lower baud rates if you experience data errors or noise problems on the network Important You must configure the baud rates of all devices on the network to the same value Refer to the appropriate product manual for details Stop Bits Choose 1 or 2 stop bitsfor use in the protocol Parity C hoose none even or odd parity for error checking Echo Suppression Select the appropriate radio button based on the wiring configuration used on port 2 gt Wal Then click the button indicated to send the Port configuration to the CPU and click Close 4 48 DL06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 4 CPU Specifications and O peration i DirectNET Port Configuration In DirectSO FT 32 choose the PLC menu then Setup then Secondary Comm Port Port From the port number list box choose Port 2 Protocol Click the check box to the left of D irectN ET use AU X 56 on theH PP then select DNET and then you ll see the dialog box bdow
447. n sHeT F 4 zal 2 i 0 0 f 0 3 lt OUT md Ld Ha es Aes es SENT anon gt SHFT Hane 2 o o l 2 gt C F A A 3 A N ENT Y gt SHFT AND DL06 Micro PLC User Manual 1st Ed Rev A 5 31 Chapter 5 Standard RLL Instructions Immediate Instructions E MM M Immediate Instructions Store Immediate ST RI The Store Immediate instruction begins a new rung or additional branch in a rung T he status of the X aaa contact will bethe same asthe status of the T associated input point az the time the instruction is executed T he image register is not updated Store Not Immediate STRNI The Store N ot Immediate instruction begins a new rung or additional branch in a rung T he status of X aaa the contact will be opposite the status of the associated input point az the time the instruction is executed T he image register is not updated Operand Data Type DLO6 Range In the following example when X1 is on Y2 will energize DirectSOFT32 Handheld Programmer Keystrokes x1 Y2 l B I erg SHFT 8 gt 1 ENT ES cde Gx C our gt 2 ENT In thefollowing example when X1 is off Y2 will energize DirectSOFT32 Handheld Programmer Keystrokes E Pa Fall gt ev At id GX e our gt J 2 LENT Or Immediate ORI Th
448. n the i V1500 accumulator to V1500 olololFllalz2lalo Leia X X X X X X X X i and V1501 level4 X X X X X X X X MISI MIE levels X X X X X X X X X X X XX X X X Handheld Programmer Keystrokes Lavelle Level7 X X X X X X X X B sm gt ie ENT levels X X X X X X X X L D B E A A SHFT anpst 3 gt 1 4 0 0 ENT L D B E C A SHFT anost a gt 1 4 2 o ENT M U L B S SHET ORST ISG ANDST 1 RST ENT GX D B F A A our SHFT 3 gt 1 5 0 0 ENT 5 1 16 DL06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions M ath Divide Binary by Top OF Stack DIVBS Divide Binary Top of Stack isa 32 bit instruction that divides the 32 bit binary value in the accumulator by the DIVBS 16 bit binary value in the first level of the accumulator stack T he result resides in the accumulator and the remainder resides in the first level of the accumulator stack Discrete Bit Flags Description On when the value of the operand is larger than the accumulator can work with On when the result of the instruction causes the value in the accumulator to be zero On any time the value in the accumulator is negative NOTE Status flags are valid only until another instruction uses the same flag In the following example when X1 is on the value in V 1400 will be loaded into the accumulator using the Load instruction T he value in V 1420 and V 1421 i
449. n the value in the accumulator is less than the instruction value On when the value in the accumulator is equal to the instruction value On when the value in the accumulator is greater than the instruction value NOTE The status flags are only valid until another instruction that uses the same flags is executed In the following example when X1 is on the constant 4526 will be loaded into the lower 16 bits of the accumulator using the Load instruction T he valuein the accumulator is compared with the value in V 2000 using the Compare instruction T he corresponding discrete status flag will be turned on indicating the result of the comparison In this example if the value in the accumulator is less than the value specified in the Compare instruction SP60 will turn on energizing C 30 Direct SOFT32 ail LD __CONSTANT a K4526 4 s ele Load the constant value 4526 into the lower 16 bits of The unused accumulator the accumulator bits are set to zero p E acc 0 0 0 0 4 5 2 6 Compared with CMP V2000 alelals Compare the value in the accumulator with the value V2000 in V2000 SP60 C30 Handheld Programmer Keystrokes B sm gt ie JEENE L D K E F C G SHFT lANpsr 3 gt _ sUrT JMP 4 5 2 6 ENT C M P C A A A SHFT A SHFT Srst cv gt ENT SP G A sm S4FT
450. n uses four terminals as shown Inputs are organized into five banks of four Each bank has an isolated common terminal and may be wired as sinking or sourcing T he wiring example below shows all commons connected together but separate supplies and common circuits may be used T he equivalent circuit for standard inputs is shown below and the high speed input circuit is shown to the left Outputs are organized into four banks of four triac switches Each bank has a common terminal The wiring example below shows all commons connected together but separate supplies and common circuits may be used T he equivalent output circuit shows one channel of atypical bank fuse e YO Y7 Y10 Y17 9 T T T T T 0 10 20 30 40 50 50 C 50 68 B6 104 122 122 C Ambient Temperature C F Derating Chart for AC Outputs 2 1 AC eee u Supply umen aa n nnn H i HH SO ele eje E sees 6666 eG e eo e e edo Yi2 Yis Viz 6 NC GOjic ov vo v ct jAC L JAC N 24v Co Yi Y3 vs Y7 vio va ve c2 vt C3 Yi3 Yaj yi OUTPUT 17 240V 0990000009 0 G0Hz 0 5A PWR 100 240V 50 60Hz 40VA 0000 15 16 17 20 21 22 23 99 D0 06DA 660000000000000000 ms 12 24V 7
451. nclude Extract at Index for skipping over unnecessary bytes before beginning the Extract operation Shift ASCII O ption for O ne Byte Left or One Byte Right Byte Swap and Convert data to a BCD format number Source Base Address specifies the beginning V memory register where the entire ASCII string is stored in memory Extract at Index specifies which byteto skip to with respect to the Source Base Address before extracting the data Number of Bytes specifies the number of bytes to be extracted Shift ASCII O ption shifts all extracted data one byte left or one byte right to displace unwanted characters if necessary Byte Swap swaps the high byte and the low byte within each V memory register of the extracted data Seethe SWAPB instruction for details e Convert BCD H ex ASCII to BCD Hex if enabled this will convert ASCII numerical characters to H exadecimal numerical values Destination Base Address specifies the V memory register where the extracted data will be stored See the previous page for an example using the AEX instruction Parameter DL06 Range AEX Source Base Address All V memory Extract at Index All V memory or K0 127 Source Base Address v4500 Number of Bytes Constant range V memory location Extract at Index v4200 Convert BCD HEX ASCII K1 128 containing BCD value ELM not checked 1 128 Number of Bytes ka Number of Bytes V memory location Shift
452. nd our company In Brazil http www soliton com br If you have a comment question or suggestion about any of our products services or manuals please fill out and return the Suggestions card that was included with this manual 1 2 DL06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 1 Getting Started Conventions Used LI W hen you seethe notepad icon in theleft hand margin the paragraph to its immediate right will be a special note N otes represent information that may make your work quicker or more efficient The word NOTE in boldface will mark the beginning of the text paragraph to its immediate right will be a warning T his information could prevent injury loss of property or even death in extreme cases Any warning in this manual should be regarded as critical information that should be read in its entirety T he word WARNING in boldface will mark the beginning of the text W hen you see the exclamation point icon in the left hand margin the Key Topics for Each Chapter buc M ics T he beginning of each chapter will list the key topics 1 that can be found in that chapter In This Chapter General Information Specifications ae DL06 Micro PLC User Manual 1st Ed Rev A 10 02 1 3 Chapter 1 Getting Started ees DLO6 Micro PLC Overview TheDL06 micro PLC family is a versatile product line that combines powerful features and a very compact footprint
453. nd the TEST modes are available Mode and TERM Terminal RUN program changes are alowed by the programming monitoring evice STOP CPU is forced into the STOP mode No changes are allowed by the programming monitoring device There are two ways to change the CPU mode You can use the CPU mode switch to select the operating mode or you can place the mode switch in theTERM position and use a programming device to change operating modes W ith the switch in this position the CPU can be changed between Run and Program modes You can use either D irectSO FT 32 or the H andheld Programmer to change the CPU mode of operation W ith D irectSO FT 32 you use amenu option in the PLC menu With the H andheld Programmer you usethe M ODE key M Ao un vate ne open 1 Unk Satie nfl hie FA Ras To V2000 ECO abe 840500 1 our Menu Options Mode of Operation at Power up TheDL06 CPU will normally power up in the mode that it was in just prior to the power interruption For example if the CPU wasin Program M ode when the power was disconnected the CPU will power up in Program M ode see warning note below WARNING Once the super capacitor has discharged the system memory may not retain the previous mode of operation When this occurs the PLC can power up in either Run or Program Mode if the mode switch is in the term position There is
454. nd the various system design optionsthat are available before BONEN sc cures commons wiring field devices and fidd side power ym suppliesto the M icro PLC Step 5 Understand the System O peration Before you begin to enter a program it is very helpful to understand how the DL 06 system Power Up processes information T his involves not only program execution steps but also involves the Initialize Hardware various modes of operation and memory layout characteristics 1 10 DL06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 1 Getting Started i Step 6 Review the Programming C oncepts TheDL06 PLC instruction set provides for three main approaches to solving the application program depicted in the figure below RLL diagram style programming is the best tool for solving boolean logic and general C PU register accumulator manipulation It includes dozens of instructions which will also be needed to augment drums and stages TheTimer Event Drum Sequencer features up to 16 steps and offers both time and or event based step transitions The D RUM instruction is best for a repetitive process based on a single series of steps Stage programming also called RLL Plus is based on state transition diagrams Stages divide the ladder program into sections which correspond to the states in a flow chart you draw for your proce
455. ndard RLL Instructions Bit O peration Rotate Left ROTL Rotate Left is a 32 bit instruction that rotates the ROTL bits in the accumulator a specified number Aaaa Aaaa of places to the left Operand Data Type DL06 Range aaa See memory map 1 32 In the following example when X1 is on the value in V 1400 and V 1401 will be loaded into the accumulator using the Load D ouble instruction T he bit pattern in the accumulator is rotated 2 bit positionsto the left using the Rotate Left instruction T he valuein the accumulator is copied to V 1500 and V 1501 using the O ut D ouble instruction DirectSOFT32 Display xi V1401 V1400 LDD 6 7 0 5 3 1 0 1 1 V1400 Load the value in V1400 and V1401 into the accumulator ROTL 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 K2 Acc 0 1 1 0 0 1 1 1 0 0 0 0 0 1 0 1 0 0 1 1 0 0 0 1 0 0 0 0 0 0 0 1 The bit pattern in the accumulator is rotated 2 bit positions to the left OUTD V1500 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 Copy the value in the accumulator to V1500 Ac
456. ndredth of a second timer available with a maximum time of 999 9 and 99 99 seconds respectively T here is a discrete bit associated with each timer to indicate that the current value is equal to or greater than the preset value The timing diagram below shows the relationship between the timer input associated discrete bit current value and timer preset x1 T1 Current Value Seconds Timer Preset T1 K30 T1 Timer Preset 20 30 40 50 60 0 1 10 Seconds YO our T here are those applications that need an accumulating timer meaning it has the ability to time stop and then resume from where it previously stopped T he accumulating timer works similarly to the regular timer but two inputs are required T he enable input starts and stops the timer W hen the timer stops the elapsed time is maintained W hen the timer starts again the timing continues from the elapsed time W hen the reset input is turned on the elapsed time is cleared and the timer will start at 0 when it is restarted T here is a tenth of a second and a hundredth of a second timer available with a maximum time of 9999999 9 and 999999 99 seconds respectively T hetiming diagram below showsthe relationship between thetimer input timer reset associated discrete bit current value and timer preset x1 x2 TO Current Value Seconds 3 4 5 6 7 8 xi L Enab
457. ng CO when the I VA SET preolad pulse on C1 has occurred C1 is off END END coil marks the end of the main program 3 22 DL06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 3 H igh speed Input and Pulse O utput Features H i1 Troubleshooting Guide for Mode 10 If you re having trouble with M ode 10 operation please study the following symptoms and possible causes T he most common problems are listed below Symptom T he counter does not count Possible causes 1 Field sensor and wiring Verify that the encoder proximity switch or counter actually turns on and illuminatesthe status LED for X0 counter 1 and X1 counter 2 T he problem could be due to sinking sourcing wiring problem etc Remember to check the signal ground connection Also verify that the pulse on time is long enough for the PLC to recognize it Configuration use the D ata View window to check the configuration parameters V 7633 must be set to 10 and V 7634 must be set to 1 or 101 to enable the first high speed counter V 7635 must be set to 1 or 101 to enablethe second high speed counter Stuck in reset check the input status of the reset input X2 and X3 If X2 ison the counter will not count because it is being held in reset Ladder program make sure you are using counter CT 174 and CT 176 in your program T hetop input is the enable signal for the counter It must be on before the counter will coun
458. ng an error e RTS On Delay Time T he amount of time between raising the RT S line and sending the data RTS Off Delay Time T he amount of time between resetting the RT S line after sending the data Station Number For making the CPU port a M O D BU S master choose 1 T he possible range for M O D BUS slave numbers is from 1 to 247 Each slave must have a unique number At powerup the port is automatically a slave unless and until the DL06 executes ladder logic M W X M RX network instructions which usethe port as a master T hereafter the port reverts back to slave mode until ladder logic usesthe port again Baud Rate T he available baud rates include 300 600 900 2400 4800 9600 19200 and 38400 baud Choose a higher baud rate initially reverting to lower baud rates if you experience data errors or noise problems on the network Important You must configure the baud rates of all devices on the network to the same value Refer to the appropriate product manual for details Stop Bits Choose 1 or 2 stop bits for use in the protocol Parity Choose none even or odd parity for error checking Echo Suppression Select the appropriate radio button based on the wiring configuration Used on port 2 m T hen dick the button indicated to send the Port configuration to the CPU and click Close DL06 Micro PLC User Manual 1st Ed Rev A 10 02 l 44 61 Chapter 4 CPU Specifications and O peration C
459. ng ground straps anti static floor coverings etc if you usethe equipment in low humidity environments Agency Approvals Some applications require agency approvals for particular components T heD L06 M icro PLC agency approvals are listed below UL Underwriters Laboratories Inc CUL Canadian Underwriters Laboratories Inc CE European Economic Union DL06 Micro PLC User Manual 1st Ed Rev A 10 02 l 2 9 Chapter 2 Installation Wiring and Specifications Wiring Guidelines Connect the power input wiring for the D L06 O bserve all precautions stated earlier in this manual For more details on wiring see Chapter 2 on Installation Wiring and Specifications W hen the wiring is complete close the connector covers Do not apply power at this time 2 24VDC HIJE O 110 220 VAC Power Input aIL B 12 24 VDC Power Input Beeeoeo B seesos Lrrrrrrrr SSSSSHSS cOjlez ov J yo v2 c1 Ys T vz Y7 acae 24v co v vs v4 ye T OUTPUT 17 240V 50 60Hz 0 5A PWR 100 240V 5 OUTPUT de Output 6 27V 1 0A PWR 12 24 Y090900090009990 Ye000900000806 0 1 2 7 10 11 12 13 14 0 t 2 3 Wd 5 68 10 11 12 13 t 0OO00060000600 x0000000000006 INPUT 90 120V 7 15mA INPUT 12 24V 3 15mA When the cover is open there is a risk of electrica
460. ng on your application and use of other components in the cabinet 1 Mount the PLCshorizontally as shown below to provide proper ventilation You cannot mount the DL06 units vertically upside down or on a flat horizontal surface If you place more than L Jo one unit in a cabinet there must be a minimum s of 7 2 183mm between the units N 2 Provide a minimum clearance of 1 5 39mm D between the unit and all sides of the cabinet aiias N ote remember to allow for any operator panels jAirlow or other items mounted in the door 3 T here should also be at least 3 78mm of clearance between the unit and any wiring ducts that run parallel to the terminals Note There is a minimum clearance requirement of 1 5 38mm lE between the panel door or any devices mounted in the panel door and the nearest DLO6 component s Ground braid Bow Panel cies dp dil V M innin Star Washers Star Washers Powe 4 T he ground terminal on the DL06 base must be connected to a single point ground Use copper stranded wire to achieve 0 ASER alow impedance Copper eyelugs in ICM 6j hs should be crimped and soldered to the ends of UN the stranded wireto ensure good surface contact 5 T here must bea single point ground i e copper bus bar for all devices in the panel requiring an earth ground return T he single point of ground must be connected to the panel ground termination
461. ng the O ut D ouble to move it Accumulator contents DirectSOFT32 Display viewed as real number xi LDR Load the real number 45 into Ris the accumulator 45 000000 Convert the degrees into radians RADD leaving the result in the 0 7853982 accumulator Take the sine of the number in SINR the accumulator which is in 0 7071 067 radians ui miri Va oxo71067 accumulator to V2000 071 v4 V2000 and V2001 0 707106 DL06 Micro PLC User Manual 1st Ed Rev A 5 133 ii Chapter 5 Standard RLL Instructions Number Conversion o ASCII to HEX ATH TheASCII TO HEX instruction converts a table of ASCII values to a specified table of H EX values ASCII values are two digitsand TH their H EX equivalents are one digit T his means an ASCII table of Vaaa four V memory locations would only requiretwo V memory locations for the equivalent H EX table The function parameters are loaded into the accumulator stack and the accumulator by two additional instructions Listed below are the steps necessary to program an ASCII to H EX tablefunction T he example on the following page shows a program for the ASCII to H EX table function Step 1 Load the number of V memory locations for the ASCII table into the first level of the accumulator stack Step 2 Load the starting V memory location for the ASCII table into the accumulator This parameter must bea H EX value Step 3 Specify the
462. nits with DC inputs only high speed outputs are available on units with DC outputs only Q Dol haveto buy the full Dzrec SOFT 32 programming package to program the D L06 A No We offer a version of D irectSO FT 32 just for our micro PLC products PC PGM BRICK and it s very affordable Q Is the D L06 expandable A Yes the D L06 series function as stand alone PLCs H owever option card slots allow you to expand the system without changing the footprint Q Does the D L06 have motion control capability A Yes the DL06 has limited motion control capabilities The H igh Speed O features offer either encoder inputs with high speed counting and presets with interrupt or a pulse direction output for stepper control T hree types of motion profiles are available which are explained in Chapter 3 Q Are the ladder programs stored in a removable EEPROM A No The D L06 contains a non removable FLASH memory for program storage which may be written and erased thousands of times You may transfer programs to from DirectSO FT 32 on aPC Q Does the DL06 contain fuses for its outputs A There are no output circuit fuses Therefore we recommend fusing each channel or fusing each common See Chapter 2 for I O wiring guidelines Q Is the DL06 Micro PLC U L approved A TheM icro PLC has met the requirements of UL Underwriters Laboratories Inc and CUL Canadian Underwriters Laboratories Inc Q Does the DL06 Micro PLC comply
463. nity NEMA ICS3 304 Terminal Type Removable Wire Gauge One AWG16 or two AWG18 AWG24 minimum Parameter DC Input Specifications High Speed Inputs X0 X3 Standard DC Inputs X4 X23 Min Max Voltage Range 10 8 26 4 VDC 10 8 26 4 VDC Operating Voltage Range 12 24 VDC 12 24 VDC Peak Voltage 30 VDC 7 kHz maximum frequency 30 VDC Minimum Pulse Width 70 us N A ON Voltage Level gt 10 0 VDC gt 10 0 VDC OFF Voltage Level lt 2 0 VDC lt 2 0 VDC Max Input Current 6mA Q12VDC 13mA 24VDC 4mA Q12VDC 8 5mA 24VDC Input Impedance 1 8 KQ 12 24 VDC 2 8 KO 12 24 VDC Minimum ON Current gt 5 mA gt 4mA Maximum OFF Current lt 0 5 mA lt 0 5 mA OFF to ON Response lt 70 uS 2 8 mS 4 mS typical ON to OFF Response 70 uS 2 8 mS 4 mS typical Status Indicators Logic side Logic side Commons Parameter 4 channels common x 5 banks isolated DC Output Specifications Pulse Outputs YO Y1 Standard Outputs Y2 Y17 Min Max Voltage Range 5 30 VDC 5 30 VDC Operating Voltage 6 27 VDC 6 27 VDC Peak Voltage lt 50 VDC 10 kHz max frequency lt 50 VDC On Voltage Drop 0 3 VDC 1 A 0 3 VDC 1 A Max Current resistive 0 5 A pt 1A pt as standard pt 1 0 A point M
464. ns on the CPU will stop operation and switch to the program mode DirectSOFT32 Handheld Programmer Keystrokes Cc A CO STR SHFT 5 ENT S EU o nu RST HET MLR INST CV Discrete Bit Flags Description SP16 On when the DLO6 goes into the TERM PRG mode SP53 On when the DLO6 goes into the PRG mode DLO06 Micro PLC User Manual 1st Ed Rev A 5 173 Chapter 5 Standard RLL Instructions CPU Control Reset Watch D og Timer RSTWT TheRese Watch DogT imer instruction resets the CPU scan timer T he default setting for the watch dog timer is 200ms astwt Scan times very seldom exceed 200ms but it is possible For next loops subroutines interrupt routines and table instructions can be programmed such that the scan becomes longer than 200ms W hen instructions are used in a manner that could exceed the watch dog timer setting this instruction can be used to reset the timer A software timeout error E003 will occur and the CPU will enter the program mode if the scan time exceeds the watch dog timer setting Placement of the RST WT instruction in the program is very important T he instruction has to be executed before the scan time exceeds the watch dog timer s setting If the scan timeis consistently longer than the watch dog timer s setting the timeout value may be permanently increased from the default value of 200ms by AU X 55 on the H PP or the a
465. ns the search from lower numbered V memory registers to higher numbered V memory registers Reverse does the search from higher numbered V memory registers to lower numbered V memory registers e Found Index Value specifies whether the Beginning or the End byte of the ASCII string found will be loaded into the Found Index register Found Index specifies the V memory register where the Found Index Value will be stored A value of FFFF will result if the desired string is not located in the memory registers Search for String up to 128 characters me Base Address Parameter Base Address DLO6 Range All V memory Total Number of Bytes Total Number of Bytes All V memory or K1 128 Search Starting Index Search Starting Index All V memory or K0 127 r Direction Found Index All V memory Forward C Reverse Found Index Search for String AutomationDirect 1 v2600 Found Index Value From Beginning From End A M E v2700 s NOTE Quotation marks are not required around the Search String item Quotes are valid characters that the AFIND can search for DL06 Micro PLC User Manual 1st Ed Rev A 5 213 Chapter 5 Standard RLL Instructions ASCII C LLL AFIND Search Example In thefollowing example the AFIN D instruction is used to search for the day portion of Friday in the ASCII string Today is Friday which h
466. nstants Inputs X2 and X3 can be configured as the counter resets with or without the interrupt option T heinterrupt option allows the reset input X2 and X3 to causean interrupt like presets do but there is no SP relay contact closure instead X2 and X3 will beon during the interrupt routine for 1 scan Or finally X2 and X3 may beleft simply as a filtered input Input Options Input Configuration Register Function Hex Code Required X0 V7634 Counter 1 Clock ine 0101 incremental 0001 absolute default Courter 4 eich 0101 incremental Interrupt 0004 X1 V7635 3 Pulse Input 0005 xx06 xx filter time Filtered Input 0 99 ms BCD Counter 1 Reset no interrupt eh default Counter 1 Reset with interrupt otor x V7636 Interrupt 0004 Pulse Input 0005 xx06 xx filter time Filtered Input 0 99 ms BCD Counter 2 Reset no interrupt MUR eau Counter 2 Reset with interrupt oor x3 V7637 Interrupt 0004 Pulse Input 0005 xx06 xx filter time Filtered Input 0 99 ms BCD W ith the counter reset you have the option of a normal reset or a faster reset H owever the fast reset does not recognize changed preset values during program execution W hen 0007 or 0107 are set in V 7636 or V 7637 and preset values are changed during program execution theDL06 recognizes the changed preset values at the time of the reset W hen 0207 or 0307 ar
467. nstruction Direct SOFT32 Display X17 X16 X15 X14 X13 X12 X11 X10 The unused accumulator bits are set to zero Load the value represented by discrete locations X10 X17 into the accumulator 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Acc 0 0 O OF OJ O OF OF Of OF OF OF OF OF OF OF OF OF OF OF OF OF OF OF 1 1 OF OF 1 OF 1 1 Sum the number of bits in the accumulator set to 1 OUT ofo jo s V1500 V1500 Copy the value in the lower 16 bits of the accumulator to V1500 Handheld Programmer Keystrokes Sem gt f i Lev SHT llanostl s Js JO Joi o 2 J s 5 SHFT Soer SHET Yio I aer ENT eX ir J Prev prev prev B F o ent 5 120 DL06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions Bit O peration Shift Left SH FL Shift Left is a 32 bit instruction that shifts the bits in the SHFL accumulator a specified number Aaaa of places to the left ____ T he vacant positions are filled with zeros and the bits shifted A aaa out of the accumulator are discarded
468. nstruction T he value in the accumulator is copied to V 2010 and V 2011 using the O ut D ouble instruction DirectSOFT32 V2001 V2000 x1 L J OSs Acc fof ofofo olof 7 Load the value in V2000 and V 2001 into the accumulator Acc ie lolo BBDBBH mm Takes a 10 s complement of the value in the accumulator ee eepe V2011 V2010 Copy the value in the accumulator to V2010 and v201 Handheld Programmer Keystrokes 5 130 DL06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions Number Conversion Binary to Real Conversion BTOR TheBinary to Real instruction converts a binary value in BTOR the accumulator to its equivalent real number floating EE point format T he result resides in the accumulator Both the binary and the real number may use all 32 bits of the accumulator Discrete Bit Flags Description SP63 On when the result of the instruction causes the value in the accumulator to be zero SP70 On anytime the value in the accumulator is negative In the following example when X1 is on the value in V 1400 and V 1401 is loaded into the accumulator using the Load D ouble instruction The BT OR instruction converts the binary value in the accumulator the equivalent real number format T he binary weight of the M SB is converted to the real number exponent by adding it to 127 decimal Then the remaining bits are copied to the mantissa as shown T he va
469. nstruction converts a BCD valuein the accumulator to the equivalent binary value T he result resides in the accumulator BIN Discrete Bit Flags Description On when the result of the instruction causes the value in the accumulator to be zero On anytime the value in the accumulator is negative On when a BCD instruction is executed and a NON BCD number was encountered In the following example when X1 is on the value in V 2000 and V 2001 is loaded into the accumulator using the Load D ouble instruction The BCD value in the accumulator is converted to the binary H EX equivalent using the BIN instruction T he binary valuein the accumulator is copied to V 2010 and V 2011 using the O ut D ouble instruction T he handheld programmer will display the binary value in V 2010 and V 2011 asa H EX value DirectSOFT32 V2001 V2000 xi DB e e 2 s 5 2 9 v2000 Load the value in V2000 and V2001 into the accumulator 8421 8 42 1 8 4 21 8 4 2 11 8 42 1842 1 8 4 2 1 8 4 2 1 ace fo of oJ o o oTo o oo olo o o o tfPofofofolsfof ofo sfolsfof of BCD Value 28529 16384 8192 2048 1024 512 256 6
470. nt skip it O ur circles are in an array of square containers to X 0 123 4 5 6 7 the right To access a resource our PLC instruction will address its location using the octal references shown If these were counters CT 14 would 1X o access the black circle location SN DL06 Micro PLC User Manual Ist Ed Rev A 10 02 1 23 Chapter 4 CPU Specifications and O peration C NO V memory address V memory data V M emory octal MSB binary LSB Variable memory called V V2017 011 0 0 1 1 1 0 0 0 1 0 1 0 0 1 memory stores data for the ladder program and for configuration settings V memory locations and V memory addresses are the same thing and are numbered in octal For example V 2073 is a valid location while V 1983 is not valid 9 and 8 are not valid octal digits Each V memory location is one data word wide meaning 16 bits For configuration registers our manuals will show each bit of a V memory word The least significant bit LSB will be on the right and the most significant bit M SB on the left We use the word significant referring to the relative binary weighting of the bits V memory data is 16 bit binary but we rarely program the data registers one bit at atime We use instructions or viewing tools that let us work with decimal octal and hexadecimal numbers All these are converted and stored as binary for
471. nter character Timeout Error Bit is set when the Character Timeout is exceeded See Character Timeout explanation above First Character Timeout Error Bit is set when the First Character T imeout is exceeded See First C haracter Timeout explanation above Overflow Error Bit isset when the ASCII data received exceeds the M aximum Variable Length specified DL06 Micro PLC User Manual 1st Ed Rev A 5 211 AIN Length Type Fixed Length Variable Length K2 Port Number Data Destination v2000 Data Destination Byte count Data Destination 1 Start of data Maximum Variable Length KU Interchar Timeout 100 ms First Char Timeout 2000 ms r Byte Swap 34 C None C All All but null m Termination Code Length 1 Character C 2 Characters TermCode 1 00 lh xadecimal TermCode 2 00 fhevadeci a Overflow Error Busy co Complete C1 s Interchar T O Error C2 First Char T O Error Chapter 5 Standard RLL Instructions ASCII C m mm mmm N Parameter Data Destination All V memory Fixed Length K1 128 Bits Busy Complete T Timeout Error Overflow C0 3777 AIN Variable Length Example AIN variable length example used to read barcodes on boxes PE photoelectric sensor Box present PE Scan code C5 9 C6 SET C6 AIN Port N
472. ntissa 23 bits 644 32 164 84 4 24 1 127 1 1 x 2 exp 0 1 1 binary 1 5 decimal 127 127 0 Implies 2 exp 0 1 il o o o NOTE The current HPP does not support real number entry with automatic conversion to the 32 bit IEEE format You must use DirectSOFT32 for this feature DL06 Micro PLC User Manual 1st Ed Rev A 5 97 Chapter 5 Standard RLL Instructions Math C LLL a Increment INC Thelncrement instruction increments a BCD valuein a INC specified V memory location by 1 each time the instruction A aaa is executed D ecrement DEC TheD ecrement instruction decrements a BCD value in a DEC specified V memory location by 1 each time the instruction is 4 REP executed Operand Data Type DLO6 Range aaa See memory map See memory map Discrete Bit Flags Description SP63 On when the result of the instruction causes the value in the accumulator to be zero SP75 On when a BCD instruction is executed and a NON BCD number was encountered NOTE Status flags are valid only until another instruction uses the same flag In the following increment example when C5 is on the value in V 1400 increases by one Direct SOFT32 V1400 8 o 3 5 e INC ae V1400 Increment the value in
473. nts various ways to wire relay outputs to the loads T he relay output D L06s have sixteen normally open SPST relays available T hey are organized with four relays per common T he figure below shows the relays and the internal wiring of the PLC Note that each group is isolated from the other group of outputs YO Common Y1 Y2 Y3 Y4 Common Y5 Y6 Y7 dx up cd fe mm cy e miIgm m l o In the circuit below all loads use the same AC power supply which powers the DL06 PLC In this example all commons are connected together use GOjtas ov J vo v2 ct T vs vz vio vi2 c3 vis viz Ac D Ac 24v co v1 va v4 ve c2 vi vis via vie No OUTPUT 6 240V 50 60Hz 2 0A 6 27V 2 0A PWR 100 240V 50 60Hz 40VA Y000090909090090000090 D0 06AR 5 Z 10 1 12 13 OODOOUOGOOOGOO OG OQ 0 eb 90 120V 7 15mA In the circuit on the following page loads for YO Y3 use the same AC power supply which powers the D L06 PLC Loads for Y4 Y7 use a separate D C supply In this example the commons are separated ac
474. o And If Equal ANDE TheAnd If Equal instruction connects a normally Vaaa Bbbb open comparative contact in series with another contact T he contact will be on when Vaaa Bbbb gt a And If Not Equal AND NE TheAnd If N ot Equal instruction connectsa Vaaa Bbbb normally closed comparative contact in series with another contact T he contact will be on when Vaaa does not equal Bbbb Operand Data Type DLO6 Range aaa bbb See memory map See memory map See memory map See memory map 0 9999 In the following example when the value in V memory location V2000 5000 and V2002 2345 Y3 will energize DirectSOFT32 Handheld Programmer Keystrokes 2000 K5000 V2002 K2345 Y3 E C A A A ES sm a gt e Co jo do l gt OUT I I Fa a Va Ml ext 5 0 0 0 V E C A A C anp SHFT 4 gt 2 0 0 2 2 GX D our 7 ENT In the following example when the value in V memory location V 2000 5000 and V 2002 2345 Y3 will energize DirectSOFT32 Handheld Programmer Keystrokes V2000 K5000 V2002 K2345 Y3 E C A A A f sm SHFT 4 F 2 0 0 0 gt OUT ITT l F A A A ENT 5 0 0 0 V E C A A C ano ST 4 gt 2 0 0 2 gt 5 28 DL06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instruc
475. o numbers to give a particular meaning PLC Resources PLCs offer a fixed amount of resources depending on the model and configuration We use the word resources to include variable memory V memory I O points timers counters etc M ost modular PLCs allow you to add I O points in groups of eight In fact all the resources of our PLC sare counted in octal It s easier for computers to count in groups of eight than ten because eight is an even power of 2 Octal means simply counting in groups of eight things Decimal 12 34 56 7 8 at atime In the figure to the right there are eight circles T he quantity in decimal is 8 but in octal it is 10 8 and 9 are not valid in octal In octal 10 Octal 123 45 67 10 means 1 group of 8 plus 0 no individuals In the figure below we have two groups of eight circles Counting in octal we have 20 items meaning 2 groups of eight plus 0 individuals D ont say twenty say two zero octal This makes a clear distinction between number systems 177 5 10 decimal A 7B 300124 Decimal 1 2 34 56 7 8 9 10 11 12 13 14 15 16 Octal 12345067 10 11 12 13 14 15 16 17 20 After counting PLC resources it s time to access PLC resources there s a difference T he CPU instruction set accesses resources of the PLC using octal addresses O ctal addresses are the same as octal quantities except they start counting at zero T he number zero is significant to a computer so we do
476. o subtract 5VD C and 24V DC amounts Power required by option cards N ext subtract the amount of power required by the option cards you are planning to use Again remember to subtract both 5VD C and 24VD C If your power budget analysis shows surplus power available you should have a workable configuration 4 44 DL06 Micro PLC User Manual 1st Ed Rev A 10 02 DLO6 Power Supplied by Base Units Part Number 5 VDC mA 24 VDC mA D0 06xx 1500mA 300mA 2000mA 200mA D0 06xx D 1500mA none Chapter 4 CPU Specifications and O peration M M M S DLO6 Power Consumed by Option Cards Part number If the 5VDC loading is less than 2000mA but more than 1500mA than available 24VDC supply current is 200mA If the 5VDC loading is less than 1500mA then the available 24VDC current is 300mA DLOG6 Base Unit Power Required Part Number 5 VDC mA 24 VDC mA D0 06AA 800mA none D0 06AR 900mA none D0 06DA 800mA none D0 06DD1 600mA 280mA D0 06DD2 600mA none D0 06DR 950mA none Power Source D0 06DD1 D 600mA 5VDC power mA 24VDC power mA pes D0 06DD1 D0 06DR D DLO6 Power Consumed by Other Devices Part Number 950mA 5 VDC mA none 1500mA 300mA B 2000mA 200mA
477. o drive input circuits as shown above It will be helpful to locate equivalent circuit schematics of the drive amplifier T he following diagram shows how to interface to a sourcing drive input circuit YO Y1 Pulse Output Drive Input 7 DC Power Lower mmu m Output Input d kd sinking al sourcing a Common J Ground i B c T hefollowing circuit shows how to interface to a sinking drive input using a pullup resistor Please refer to Chapter 2 to learn how to calculate and install R pullup YO Y1 Pulse Output T P DC power O pue R pullup Drive Input Stc es J sourcing sinking Output Input P mpat o XE sinking y Supply Common Ground j ANN L J ee eel 3 10 DL06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 3 H igh speed Input and Pulse O utput Features io Motion Profile Specifications The motion control profiles generated in Pulse O utput M ode have the following specifications Parameter Motion Control Profile Specifications Specification Automatic Trapezoidal Accel Slope Target Velocity Decel Slope Profiles Step Trapezoidal Step Acceleration Deceleration Velocity Control Speed and Direction only Position Range 8388608 to 8388607 Positioning Absolute relativ
478. o ensurea known starting point DL06 Micro PLC User Manual 1st Ed Rev A 10 02 l 2 3 Chapter 2 Installation Wiring and Specifications Class 1 Division 2 Approval This equipment is suitable for use in Class 1 Division 2 groups A B C and D or non hazardous locations only 1 WARNING Explosion Hazard Substitution of components may impair suitability for Class 1 Division 2 Do not disconnect equipment unless power has been switched off or area is known to be non hazardous Orientation to DL06 Front Panel M ost connections indicators and labels on the DL06 M icro PLCs are located on its front panel T he communication ports are located on front of the PLC as arethe option card slots and the mode selector switch Please refer to the drawing below Power Inputs Output Circuit Mounting Tab Discrete Outputs Output Status Power Input Status Indicators for DC output versions only Indicators O amp ES ESTE TE TESTES TES SIS S ES ESESIIE SLE EIER EIER ea fer T we HH wt THF EAR B PU OUTPUT 6 240V 50 60Hz 2 0A 6 27V 2 0A PWR 100 fP40V 50 60Hz 40VA O CPU eee eee eee eee eee nae 06DA Be xX0000000000000000000090 gl Tine INPUT 12 24V 3 15mA Communication Ports
479. oad the value in V1400 and mu A b Padi i hm V1401 into the accumulator 31 30 29 ze zr 26 25 24 29 22 21 20h19 18 17 16 15 1413 12 11 10 9 8 7 6 5 4 3 2 1 0 Acc 0 To 1 e 0 olo IE 1 1 1 iJo ofobio 1 0 ofo JEE 1 1 e 1 e XORS Acc 0 17 0 7 0 7 O 0 01 7 17 11 0 Q0 O0 10 1 0 000 11d t 1 0 1 0 Exclusive OR the value 36476A38 in the accumulator XOR istlevelofStack 0 1 1 O0 1 1 0 0 1 O O O 1 1 1 O 1 1 O 1 O 1 O O O 1 1 1 0 0 0 with the value in the first level of the Acc 0 1 1 Of OJ OF 1 OJ OF OF 17 1 1 0 OF 1 0 1 OJ OF OF OF 1 O OF 1 O OF OJ OF 1 O accumulator stack QUTD TES C aee I p V1500 Copy the value in the Le e s 9 L 2 accumulator to V1500 and V1501 V1501 V1500 Handheld Programmer Keystrokes B STR gt 1 ENT L D D B E A A SHFT anpst 3 3 gt 1 4 0 0 ENT X Q S SHFT SET OR SHFT RST ENT GX D B F A A our SHFT 3 gt 1 5 0 0 ENT 5 80 DL06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions Logical E M Compare CMP The compare instruction is a 16 bit instruction that compares the value in the lower 16 bits of the accumulator with the valuein a CMP specified V memory location Aaaa T he corresponding status Aaaa flag will beturned on indicating the result of the comparison Operand Data Type DLO6 Range aaa See memory map See memory map Description On whe
480. oder Outputs isi see ER Ry RE sad greed n ee n 3 26 setup for Mode 20 scis eee ERE eee eee ee ee ea e EIE eee Roe ae S 3 27 Presets and Special Relays sees e EE E E de det iadaa cae eee eee ee 3 27 X Input Configuration s esee ste Ge Gs Use eee eee EEG Hee en Roe rene eis 3 28 Mode 20 Up Down Counter lseeeeee II 3 28 Writing Your Control Program 00 cece eee eee 3 29 Program Example 1 Quadrature Counting with an Interrupt 3 30 Program Example 2 Up Down Counting with Standard Inputs 3 32 Program Example 3 Quadrature Counting 0 0 eee eee ee eee 3 34 Troubleshooting Guide for Mode 20 0 eee eee 3 37 Symptom The counter does not count 0 eee eee eee 3 37 Symptom The counter counts in the wrong direction 4 3 37 Symptom The counter counts up and down but will not reset LL 3 37 Mode 30 Pulse Output iseeees e wine re y ow Ree pk e dr dard Ree 3 38 PUIDOSE pcc LT 3 38 Functional Block Diagram lseleeee III 3 39 Wiring Diagram sees cece eck cee te eh E SSO EE SES naar RR E ees 3 40 Interfacing to Drive Inputs 2 2 III 3 40 Motion Profile Specifications llle RII 3 41 Physical 1 O Configuration 0 Ie 3 41 Logical I O Functions sese e re ERRRRRSRERPE RR ee RR REESE 3 41 Setup for Mode 30 ess cc bs cic ee eae RR ERE eee Fee eee E RR RR RR E E 3 42 Profile Velocity Selec
481. olid stranded Tighten terminal screws to 7 81 Ib in 0 882 N m to 9 03 Ib in 1 02 N m 2 Always use a continuous length of wire D o not splice wiresto attain a needed length 3 Usethe shortest possible wire length 4 Use wire trays for routing where possible 5 Avoid running wires near high energy wiring 6 Avoid running input wiring closeto output wiring where possible 7 To minimize voltage drops when wires must run a long distance consider using multiple wires for the return line 8 Avoid running D C wiring in close proximity to AC wiring where possible 9 Avoid creating sharp bends in the wires 10 Install the recommended powerline filter to reduce power surges and EM I RFI noise DL06 Micro PLC User Manual Ist Ed Rev A 10 02 2 ll Chapter 2 Installation Wiring and Specifications iM Fuse Protection for Input and Output Circuits Input and O utput circuits on D L06 M icro PLCsdo not have internal fuses In order to protect your Micro PLC we suggest you add external fuses to your I O wiring A fast blow fuse with a lower current rating than thel O bank s common current rating can be wired to each common Or a fuse with a rating of slightly less than the maximum current per output point can be added to each output Refer to the M icro PLC specification sheets further in this chapter to find the maximum current per output point or per output common Adding the external fuse does not
482. ommon 9 L 6 27 VDC 6 240 VAC 2 36 DLO06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 2 Installation Wiring and Specifications ie D0 06DR General Specifications External Power Requirements 100 240 VAC 40 VA maximum Communication Port 1 9600 baud Fixed 8 data bits 1 stop bit odd parity K Sequence Slave DirectNET Slave MODBUS Slave Communication Port 2 9600 baud default 8 data bits 1 stop bit odd parity K Sequence Slave DirectNET Master Slave MODBUS Master Slave Non sequence print ASCII in out Programming cable type D2 DSCBL Operating Temperature 32 to 131 F 0 to 55 C Storage Temperature 4 to 158 F 20 to 70 C Relative Humidity 5 to 95 non condensing Environmental air No corrosive gases permitted Vibration MIL STD 810C 514 2 Shock MIL STD 810C 516 2 Noise Immunity NEMA ICS3 304 Terminal Type Removable Wire Gauge One AWG16 or two AWG18 AWG24 minimum Parameter DC Input Specifications High Speed Inputs X0 X3 Standard DC Inputs X4 X23 Min Max Voltage Range 10 8 26 4 VDC 10 8 26 4 VDC Operating Voltage Range 12 24 VDC 12 24 VDC Peak Voltage 30 VDC 7 kHz maximum frequency 30 VDC Minimum Pulse Width 70 us N A ON Voltage Level 10 VDC 10 VDC OFF Voltage Level
483. ommons are connected together and all inputs are sinking soe Ee D Da oe paz Dos rr xe paz ue m eveeeenee TOIT eejeee TAI i e D ee TR bbid Pe A In the next example the first eight inputs are sinking and the last twelve are sourcing t Co X1 X3 X4 Xe C2 X11 X13 X14 X16 C4 X21 X23 NC xo x2 Ct X5 x7 X10 X12 C3 X15 X17 X20 X22 N C leeoeoocooooso amp aaa ele me le p N RAR llth ple pl 24 VDC 2 22 DL06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 2 Installation Wiring and Specifications M 43 DC OutputWiring M ethods DL06 DC output circuits are high performance transistor switches with low on resistance and fast switching times Please note the following characteristics which are unique to the D C output type e T here is only one electrical common for all sixteen outputs All sixteen outputs belong to one bank Theoutput switches are current sinking only or current sourcing only Refer to the detailed specifications in this manual to determine which type output is present on a particular model e T he output circuit inside the PLC requires external power T he supply must be connected to a common terminal and the supply connects the the right most terminal on the u
484. on relative to the current position and automatically outputs the correct direction information to the motor drive Notice that the motion accelerates immediately to the starting velocity T his segment is useful in stepper systems so we can jump past low speed areas when low torque problems or a resonant point in the motor might cause a stall W hen a stepper motor stalls we have lost the position of the load in open loop positioning systems H owever it is preferable not to make the starting velocity too large because the stepper motor will also slip some pulses due to the inertia of the system You can also set up the ending velocity for the same reason W hen you need to change the current position value use logical Y1 output coil to load a new value into the H SIO counter If the ladder program loads a new value in CT 174 CT 175 V 1174 V 1175 then energizing Y1 will copy that value into theH SIO circuit counter T his must occur before the profile begins because the H SIO ignores Y 1 during motion DL06 Micro PLC User Manual 1st Ed Rev A 10 02 l 3 47 Chapter 3 High speed Input and Pulse O utput Features Bi M Program Example 1 Automatic Trapezoidal Profile without External Interrupt The Automatic Trapezoidal Profile we want to perform is drawn and labeled in the following figure It consists of a non zero starting velocity and moderate target velocity Trapezoidal Profile
485. only until another instruction uses the same flag In the following example when X1 is on the Load instruction moves the value in V 1400 into the accumulator T he value in V 1420 is loaded into the accumulator using the Load instruction pushing the value previously loaded in the accumulator onto the stack T he binary value in the accumulator stack s first level is multiplied by the binary value in the accumulator using the M ultiply Binary Stack instruction The O ut D ouble instruction copies the value in the accumulator to V 1500 and V 1501 Direct SOFT32 Display V1400 Accumulator stack fter 1st LDD x m Load the value in V1400 into EROR s se SMS th late 1 V1400 ic bits are set to zero Level 96 98 98 COR XS eR M Level2 X X X X X X X X C135 aco e o o To e 5 so loveig X X X X X X X X Levl4 X X X X X X X X V1420 level5 X XX XX X X X n ol fe Level6 X X X XXXXX LD Load the value in V1420 into The unused accumulator V1420 the accumulator bits are set to zero i Level7 X X X X X X X X Level8 X X X X X X X X Acc C 0 o o o o 1 4 MULBS Multiply the binary value in the accumulator with the binary value in the first level Acc o o 9 F 4 2 LIe Accumulator stack of the accumulator stack ee eee after 2nd LDD Level 1 00000350 4 Level2 X X X X X X X X OUTD Copy the value i
486. onnector module or build your own cables using 24 pin Molex Micro Fit 3 0 receptacle part number 43025 or compatible 2 44 DL06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 2 Installation Wiring and Specifications D0 16TD1 16 point DC output module Equivalent input circuit D0 16TD1 Specifications Number of Outputs 16 sinking gmmg RI Operating Voltage Range 6 27VDC Output Voltage Range 5 30VDC SR ee Peak Voltage 50 0VDC 5 0 1A point Maximum Output Current oo common CO0 CO Minimum Output Current 0 5mA ola ON Voltage Drop 0 5 VDC 0 1A Maximum Leakage Current 15yA 30 0VDC 37 E Maximum Inrush Current 1A for 10ms LL h val OFF to ON Response 0 5 ms mm 16 ON to OFF Response 0 5 ms s 12 i Module activity 8 L Status Indicators one green LED z 2 isolated ME LET 8 points common 0 D0 16TD1 No fuse 0 10 20 30 40 50 55 C
487. ons which specifies destination V memory location Vaaa H dpful Hint For parameters that require H EX values when referencing memory locations the LDA instruction can be used to convert an octal address to the H EX equivalent and load the value into the accumulator H elpful Hint T he instruction will be executed every scan if the input logic is on If you do not want the instruction to execute for more than one scan a one shot PD should be used in the input logic H dpful Hint The pointer location should be set to the value where the table operation will begin T he special relay SPO or a one shot PD should be used so the value will only be set in one scan and will not affect the instruction operation Aaaa Operand Data Type DLO6 Range aaa See memory map Discrete Bit Flags Description SP56 On when the table pointer equals 0 NOTE Status flags SPs are only valid until another instruction that uses the same flag is executed or the end of the scan The pointer for this instruction can be set to start anywhere in the table It is not set automatically You have to load a value into the pointer somewhere in your program DLO06 Micro PLC User Manual Ist Ed Rev A 5 153 Chapter 5 Standard RLL Instructions Table Instructions ER 3 In thefollowing example when X1 i
488. onstant to V3635 configuring the pulse catch option for X1 Load the constant K1006 which is required to select filtered inputs with a 10 mS filter time constant Output this constant to V7636 configuring X2 Load the constant K3006 which is required to select filtered inputs with a 30 mS filter time constant Output this constant to V7637 configuring X3 Use the pulse catch input to set output YO on This will work even for a very short pulse on XO Use the pulse catch input to set output Y1 on This will work even for a very short pulse on X1 END coil marks the end of the main program 3 72 DL06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 3 H igh speed Input and Pulse O utput Features n Mode 60 Discrete Inputs with Filter Purpose Thelast mode we will discussfor the H SIO circuit is M ode 60 D iscrete Inputs with Filter The purpose of this mode isto allow theinput circuit to reject narrow pulses and accept wide ones as viewed from the ladder program T his is useful in especially noisy environments or other applications where pulse width isimportant In all other modes in this chapter X0 to X3 usually support the mode functions as special inputs O nly spare inputs operate as filtered inputs by default N ow in M ode 60 all four inputs XO through X3 function only as discrete filtered inputs Functional Block Diagram Refer to the block diagram below W
489. ontacts Address 007 V41140 027 V41141 047 V41142 067 V41143 107 V41144 127 V41145 147 V41146 167 V41147 DL06 Micro PLC User Manual 1st Ed Rev A 10 02 l 4 37 Chapter 4 CPU Specifications and O peration Remote I O Bit Map This table provides a listing of the individual remote I O points associated with each V memory address bit Remote 1 0 GX and GY Points GX Address V40000 GY Address V40001 V40002 V40200 V40201 V40202 V40003 V40203 V40004 V40204 V40005 V40205 V40006 V40206 V40007 V40207 V40010 V40210 V40011 V40211 V40012 V40212 V40013 V40213 V40004 V40214 V40015 V40215 V40016 V40216 V40007 V40020 V40217 V40220 V40021 V40221 V40022 V40222 V40023 V40223 V40024 V40224 V40025 V40225 V40026 V40226 V40027 V40227 V40030 V40031 V40230 V40231 V40032 V40232 V40033 V40233 V40034 V40234 V40035 V40235 V40036 V40236 4 38 DLO06 Micro PLC User Manual 1st Ed Rev A 10 02 V40037 V40237 Chapter 4 CPU Specifications and O peration MM KT DLO6 Remote 1 0 GX and GY Points LSB GX GY
490. or belt A that transports bottles to be inspected D uring the course of the process one sensor is keeping track of the bottles that are going onto belt A for inspection and another sensor is keeping track of how many bottles are being removed to the finished product line W hen we have reached 500 bottles in the process an over 500 light turns on and a rerouting gate is activated to channel the incoming bottles to conveyor belt B T he rerouting gate will stay activated for 30 seconds after the conveyor belt A contains less than 500 bottles The program below shows how ladder logic might be written to handle the job N ote the use of V 1174 T his memory location stores the current count for CT 174 which is used with the DLO6 DirectSOFT32 SPO K20 Mode 20 Up Down counter OUT V7633 LD K202 Standard countin Absolute preset mode at XO and X1 OUT V7634 LD KO Must be zero with mode 20 OUT V7635 LD K7 External reset without interrupt X2 OUT V7636 LD K1006 Discrete filtered input at X3 10 ms OUT V7637 SP UDC CT174 Up Down counter SP1 Only one counter is used with mode 20 The actual K500 count 32 bit is stored in V1 175 V1174 When pulses are received at point 00 the value in V1175 V1174 SP1 will decrement Actual counts 0 V1174 K450 When the pulse count reaches and exceeds 4
491. or that is released when the voltage to the inductor is suddenly removed T his release of energy is the cause of the transient voltages W hen inductive load devices motors motor starters interposing relays solenoids valves etc are controlled with relay contacts it is recommended that a surge suppression device be connected directly across the coil of the field device If the inductive device has plug type connectors the suppression device can be installed on the terminal block of the relay output Transient Voltage Suppressors TVS or transorb provide the best surge and transient suppression of AC and DC powered coils providing the fastest response with the smallest overshoot Metal Oxide Varistors MOV provide the next best surge and transient suppression of AC and DC powered coils For example the waveform in the figure below shows the energy released when opening a contact switching a 24 VDC solenoid Notice the large voltage spike 424 VDC cer 24 VDC l 24 VDC i basn Module Relay Contact 324 VDC 2 20 DLO06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 2 Installation Wiring and Specifications T his figure shows the same circuit with a transorb T VS across the coil N otice that the voltage spike is significantly reduced 424 VDC MEL 424 VDC 24 VDC a s 42 VDC o ey A Module Relay Contact Use the following table to help select a T
492. ough the immediate instruction reads the most current status from I O it only uses the instructions that follow will access the I O again to update the status DL06 Micro PLC User Manual 1st Ed Rev A 10 02 l E 19 Chapter 4 CPU Specifications and O peration CPU Scan Time Considerations Thescan time covers all the cyclical tasks that are _ Power up performed by the operating system You can use D irectSO FT 32 or theH andheld Programmer to display sas ap AE the minimum maximum and current scan times that Cheek VO meddle have occurred since the previous Program M ode to Run config and verify M ode transition T his information can be very important aiae varous GREE when evaluating the performance of a system As we ve ar ae lig shown previously there are several segments that make up the scan cycle Each of these segments requires a certain BEEN amount of time to complete Of all the segments the Update input following arethe most important Read input data from e nput U pdate Specialty and Remote 1 0 e Peripheral Service Program Execution Service peripheral Output U pdate CPU Bus Communication e Timed Interrupt Execution Theoneyou havethe most control over is the amount of Update Cloak Galghdar time it takes to execute the application program T his is because different instructions take different amounts of Pew cito time to execute So if you thin
493. ounter Reset Preset Caution The UDC uses two V memory locations for the 8 digit current value This means that the UDC uses two consecutive counter locations If UDC CT1 is used in the program the next available counter is CT3 CT memory locations T he V memory location is the counter location 1000 For example the counter current value for CT 5 residesin V memory location V1005 and V 1006 Discrete Status Bit T he discrete status bit is accessed by referencing the associated CT memory location O perating as a counter done bit it will beon if the value is equal to or greater than the preset value For example the discrete status bit for counter 2 would be CT 2 The counter discrete status bit and the current value are not specified in the counter instruction Operand Data Type DLO6 Range bbb 1200 7377 7400 7577 10000 17777 1200 7377 7400 7577 10000 17777 0 99999999 0 176 or V41140 41147 1000 1176 Pointers preset only Constants preset only Counter discrete status bits Counter current values NOTE With the HPP both the Counter discrete status bits and current value are accessed with the same data reference DirectSOFT32 uses separate references such as CT2 for discrete status bit for Counter CT2 and CTA2 for the current value of Counter CT2 DL06 Micro PLC User Manual 1st Ed Rev A 5 49 Chapter 5 Standa
494. oyo co x1 xa xa xe c2 x11 x13 x14 X16 c4 x21 x23 NC ESN x x2 er Ds xr Deo xe Ees Tx T7 oo 2 8 SN sme le EC A 5l amp amp S 5 5 amp amp E El amp e PORT PORT2 RUN STOP L CEJ E E al are 0 43 mounting tab be Enclosures Your selection of a proper enclosure is important to ensure safe and proper operation of your DL06 system Applications of D L06 systems vary and may require additional features T he minimum considerations for enclosures include Conformance to electrical standards Protection from the elements in an industrial environment Common ground reference M aintenance of specified ambient temperature Accessto equipment Security or restricted access Sufficient space for proper installation and maintenance of equipment 2 6 DLO06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 2 Installation Wiring and Specifications Panel Layout amp Clearances There are many things to consider when designing the panel layout T he following items correspond to the diagram shown N ote there may be additional requirements dependi
495. p 8 deceleration velocity of 200 Hz V3651 p 8 decel locity of LD Load the constant K10 which selects the step 8 Step 8 Distance K100 distance of 100 pulses OUT Output this constant to V3652 the location of V3652 the step 8 distance Start Profile X3 YO We use a spare filtered input to allow the operator oun to start the profile When the operator turns X3 ON then OFF logical output YO starts the profile XO Load LDD value Profile Target OUTD Output this constant to V1174 V1175 CT174 CT175 the Velocity V1174 location of the current position value Vi PD Turn on Y1 for 1 scan The off to on transition causes the HSIO to preload the current position with the value in V1174 V1175 3 58 DLO06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 3 High speed Input and Pulse O utput Features Eo Velocity Profile O peration T he velocity profile is best suited for applications which involve motion but do not require moves to specific points C onveyor speed control is a typical example Velocity z Time Start YO Profile Complete SP104 The time line of signal traces below the profile indicates the order of events Assuming the velocity is set greater than zero motion begins when the Start input YO energizes Since thereisno end position target the profile is considered in progress as long as the Start input remains active T he profile complete
496. perating Temperature 32 to 131 F 0 to 55 C Storage Temperature 4 to 158 F 20 to 70 C Relative Humidity 5 to 95 non condensing Environmental air No corrosive gases permitted Vibration MIL STD 810C 514 2 Shock MIL STD 810C 516 2 Noise Immunity NEMA ICS3 304 Terminal Type Removable Wire Gauge Parameter DC Input Specifications High Speed Inputs X0 X3 One AWG16 or two AWG18 AWG24 minimum Standard DC Inputs X4 X23 Input Voltage Range 10 8 26 4 VDC 10 8 26 4 VDC Operating Voltage Range 12 24 VDC 12 24 VDC Maximum Voltage 30 VDC 7 kHz maximum frequency 30 VDC Minimum Pulse Width 70 uS N A ON Voltage Level 10 VDC 10 VDC OFF Voltage Level 2 0 VDC 2 0 VDC Input Impedance 1 8 KQ 12 24 VDC 2 8 KQ 12 24 VDC Minimum ON Current 5 mA 4 mA Maximum OFF Current lt 0 5 mA lt 0 5 mA OFF to ON Response lt 70 uS 2 8 mS 4 mS typical ON to OFF Response lt 70 uS 2 8 mS 4 mS typical Status Indicators Logic side Logic side Commons 4 channels common x 5 bank isolated AC Output Specifications Output Voltage Range Min Max 15 264 VAC 47 63 Hz Operating Voltage 17 240 VAC 47 63 Hz On Voltage Drop 1 5 VAC gt 50mA 4 VAC lt 50mA Max
497. ple when input X1 is on or X2 is off output Y5 will energize Direct SOFT32 Handheld Programmer Keystrokes X1 Y5 B gt ENT OUT SIR R gt ORN d 2 ENT x2 GX F Vt OUT x 5 ENT 5 12 DL06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions Boolean Instructions Or Bit of Word ORB TheOr Bit of Word instruction logically ors a normally open contact in parallel with another contact in a rung Status of the contact will be the same state asthe bit referenced in the associated memory location Or Not Bit of Word ORNB The Or Not Bit of Word instruction logically ors a normally closed contact in parallel with another contact in a rung Status of the contact will be opposite the state Aaaa bb of the bit referenced in the associated memory location Vt Aaaa bb Operand Data Type DLO6 Range aaa bb See memory map BCD 0 to 15 See memory map BCD 0 to 15 In the following Or Bit of Word example when input X1 or bit 7 of V1400 ison output Y5 will energize DirectSOFT32 x1 Y OUT B1400 7 Handheld Programmer Keystrokes STR gt 1 ENT OR SHFT B gt V 1 4 0 0 K 7 ENT OUT gt 7 ENT In the following Or Bit of Word example when input X1 ison or bit 7 of V1400 is off output
498. ple above shows the use of these contacts for a network master that only reads a device RX T he Port Busy bit ison whilethe PLC communicates with the slave W hen the bit is off the program can initiate the next network request The Port Communication Error bit turns on when the PLC has detected an error U se of thisbit is optional W hen used it should be ahead of any network instruction boxes since the error bit is reset when an RX or W X instruction is executed Multiple Read and Write Interlocks If you are using multiple reads and writes in the RLL program you haveto interlock the routines to make sure all the routines are executed If you dont usethe interlocks then the CPU will only execute the first routine T his is because each port can only handle one transaction at a time In the example to the right after theRX instruction is executed CO is set W hen the port has finished the communication task the second routine is executed and CO is reset If you re using RLL ZUS Stage Programming you can put each routine in a separate program stage to ensure proper execution and switch from stage to stage allowing only one of them to be active at a time Port Communication Error SP117 y1 GED SP116 ip KF201 LD Port Busy K0003 LDA 040600 RX YO Interlocking Relay SP116 C100 LD Vr Interlocking Relay SP116 C100 KF201 L
499. points contain a dedicated H igh Speed 1 0 circuit H SIO The circuit configuration is programmable and it processes specific 1 O points independently from the CPU scan Chapter 3 discusses the programming options for HSIO WhiletheH SIO circuit has six modes we show wiring diagrams for two of the most popular modes in this chapter T he high speed input interfaces to points X0 X3 Properly configured the D L06 can count quadrature pulses at up to 7 kH z from an incremental encoder as shown below F Tr X2 H T x5 Bote a A 69eeocooocoooooG e eeoeecoeoccoocoeO Signal Common PhaeB T1171 12 24VDC PhaseA J Phase A X0 Phase B X1 DL06 versions with D C type output points can use the H igh Speed I O Pulse O utput feature It can generate high speed pulses at up to 10 kH z for specialized control such as stepper motor intelligent drive systems O utput YO and Y1 can generate pulse and direction signals or it can generate CCW and CW pulse signals respectively See C hapter 3 on high speed input and pulse output options Motor Amplifier Signal Common Power Input Pulse Direction Be eO OG OOO0Oo000 amp d GGOOoOo00G00G0d 69 cje ov J vo v2 ci vs vz vio vi ea vis vi7 A
500. ponse lt 60us Status Indicators bead r 2 non isolated N co 5 points common D0 10TD2 No fuse Base Power Required 5V tA ots On Note The DL06 must have firmware version V4 10 or later for this module to function properly Derating chart Equivalent output circuit Points 24VDC Dy Y y T T T 7 V to LED 10 0 3A i 8 1 1 pe a IE ES 4 ENTM OUTPUT L o COM i T 0 10 20 30 40 50 55C a T7LT707070707070700707077 7 7 32 50 68 86 104 122 131 F Ambient Temperature 2 46 DL06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 2 Installation Wiring and Specifications D 0 16T D 2 16 point D C output module DO 16TD2 Specifications Number of Outputs 16 sourcing Operating Voltage Range 12 24VDC OUT 12 28 Output Voltage Range 10 8 26 4VDC ACT Peak Voltage 50 0VDC Maximum Output Current D oint us Minimum Output Current 0 5mA K ON Voltage Drop 1 0 VDC 0 1A al O Maximum Leakage Current 1 5pA 26 4vDC KE Maximum Inrush Current A for 10ms vif P OFF to ON Response lt 0 5 ms he ON to OFF Response lt 0 5 ms D Status Indicators MO LED es 2 non isolated 8 points common D0 16TD2 No fuse Max 200mA All pts ON Equivalent output circuit
501. pper connector V fuse Q qeu uuum ee S 8 REIR E amp eee e SSS 6 amp G icz ov J vo v2 c1 vs Y7 vto viz cs vis viz ACON 24v co Y1 I3 Ya ve Li Yn E via vite H In the example below all sixteen outputs share a common supply In the next example below the outputs have split supplies T he first three outputs are using a 412 VDC supply and the last three are using a 24 VDC supply H owever you can split the outputs among any number of supplies as long as all supply voltages are within the specified range all output points are wired as sinking T LIE Y GRE one m poy ree ale eje lee leo l l AAYYY EE T nt xh ail TERA all source terminals are connected together DL06 Micro PLC User Manual 1st Ed Rev A 10 02 2 23 Chapter 2 Installation Wiring and Specifications Bi M M High Speed 1 0 Wiring M ethods DL06 versions with D C type input or output
502. ppropriate auxiliary function in your programming package T his eliminates the need for theRSTWT instruction In thefollowing example the C PU scan timer will bereset to 0 when theRSTWT instruction is executed See the For N ext instruction for a detailed example Direct SOFT 32 Handheld Programmer Keystrokes R S 2n Ww F Sor ORN RST MLR ANDN MLR ENG em 5 174 DLO06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions Program Control Instructions Program Control Instructions Goto Label GOTO LBL The Goto Label skips all instructions between the G oto and Kaaa the corresponding LBL instruction T he operand value for coT0 the Goto and the corresponding LBL instruction are the same T he logic between Goto and LBL instruction is not executed when the G oto instruction is enabled Up to 256 LBL K aaa Goto instructions and 256 LBL instructions can be used in the program Operand Data Type DLO6 Range In the following example when C7 ison all the program logic between the GOTO and the corresponding LBL instruction designated with the same constant K aaa value will be skipped T he instructions being skipped will not be executed by the CPU DirectS OF T32 C7 K5 0 GOTO X1 C2 Handheld Programmer Keystrokes C H SHFT 5 j ENT G Oo T Oo F sf Im GX C L L F F sff GX G DL06 Micro PL
503. program theFind function Step 1 Load the length of the table number of V memory locations into the second level of the accumulator stack T his parameter must be a H EX value 0 FF Step 2 Load the starting V memory location for thetable into the first level of the accumulator stack T his parameter must be a H EX value Step 3 Load the offset from the starting location to begin the search T his parameter must be aHEX value Step 4 Insert the Find instruction which specifies the first valueto be found in the table Results T he offset from the starting address to the first V memory location which contains the search value is returned to the accumulator SP53 will be set on if an address outside the table is specified in the offset or the value is not found If the value is not found 0 will be returned in the accumulator H dpful Hint For parameters that require H EX values when referencing memory locations the LDA instruction can be used to convert an octal address to the H EX equivalent and load the value into the accumulator Operand Data Type DLO6 Range aaa See memory map O FFFF Discrete Bit Flags Description SP53 On if there is no value in the table that is equal to the search value NOTE Status flags are only valid until another instruction that uses the same flags is executed The pointer for this instruction starts at 0 and resides in the accumulator In the following example when X1 is on th
504. provide protection for any part of the system that may cause personal injury or damage Every automation application is different so there may be special requirements for your particular application Make sure you follow all national state and local government requirements for the proper installation and use of your equipment Plan for Safety The best way to provide a safe operating environment is to make personne and equipment safety part of the planning process You should examine every aspect of the system to determine which areas are critical to operator or machine safety If you are not familiar with PLC system installation practices or your company does not have established installation guidelines you should obtain additional information from the following sources e NEMA TheNational Electrical M anufacturers Association located in Washington D C publishes many different documents that discuss standards for industrial control systems You can order these publications directly from N EM A Some of these include ICS 1 General Standards for Industrial C ontrol and Systems ICS 3 Industrial Systems ICS 6 Enclosures for Industrial Control Systems NEC TheNational Electrical Code provides regulations concerning the installation and use of various types of electrical equipment Copies of the N EC H andbook can often be obtained from your local electrical equipment distributor or your local library Local and State Agencies many
505. pt If the interrupt feature is selected for the Automatic Trapezoidal profile or the Step Trapezoidal Profile the DLO6 keeps outputting pulses until X1 turns on After it is on the unit outputs the pulses that are defined as the Target YO Start Profile the ladder program turns on YO to start motion If turned off before the move completes motion stops Turning it on again will start another profile unless the current position equals the target position Yi Preload Position Value if motion is stopped and Start Profile is off you can load a new value in CT174 CT175 and turn on Y1 At that transition the value in CT174 CT175 becomes the current position DLO0G Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 3 High speed Input and Pulse O utput Features B M Setup for Mode 30 Recall that V 7633 isthe H SIO M ode Select register Refer to the diagram below Use BCD 30 in the lower byte of V 7633 to select the High Speed Counter M ode Memory Location V7633 Bits 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 3 0 X d Miscellaneous Setup BCD HSIO Mode Setup BCD 00 Not Used default 30 Pulse Output 10 Battery Enabled 20 Power up in RUN 30 Battery Enabled and Power up in RUN Choose the most convenient method of programming V 7633 from the following e Include load and out
506. put 0005 default Filtered Input xx06 xx filter time 0 99 ms BCD Interrupt 0004 Pulse Catch Input 0005 default Filtered Input xx06 xx filter time 0 99 ms BCD Interrupt 0004 Pulse Catch Input 0005 default Filtered Input Xx06 xx filter time 0 99 ms BCD DL06 Micro PLC User Manual 1st Ed Rev A 10 02 l 3 71 Chapter 3 High speed Input and Pulse O utput Features Bi H Program Example 1 Pulse Catch The following program selects M ode 50 then programs the pulse catch code for X0 and X1 Inputs X2 and X3 are configured as filtered inputs with 10 and 30 mS time constants respectively T he program is otherwise generic and may be adapted to your application Direct SOFT32 Mode 50 Pulse Catch Filtered Inputs Main Program SP100 LD K50 OUT V7633 LD K5 OUT V7634 OUT V7635 LD K1006 OUT V7636 LD K3006 OUT V7637 YO SP101 SET Y1 CSET GND Load constant K50 into the accumulator This selects Mode 50 as the HSIO mode Output this constant to V7633 the location of the HSIO Mode select register Load the constant K5 which is required to configure XO as the pulse catch input Output this constant to V7634 configuring the pulse catch option for X0 Output this c
507. q 12 24VDC On Voltage Level 10 0 VDC Off Voltage Level 2 0 VDC Minimum ON Current 3 5mA Minimum OFF Current 0 5mA Off to On Response 2 8ms Typ 4ms On to Off Response 2 8ms Typ 4ms Status Indicators Module activity one green LED 2 non isolated Vo fuse Base Power Required Note The DLO6 must have firmware version V4 10 or later for this module to function properly Typical 35mA all pts ON Equivalent input circuit N 12 24V 3 5 11mA ACT 12 24 VDC JE uz CO o o 51 0 t1 9 0 S lt 1 oo 5 2 t1 9 6 BX 3 oo 4 Eq NC 12 24 VDC ae 1 ZN C1 KC lt lt ous 0 C lj 5 eR a o Oo j 6 1 9 o _ 7 E o o B 10 9 11 D0 10ND3 Derating chart Points 12 24VDC 0 10 20 30 40 50 55 C 32 50 68 86 104 122 131 F Ambient Temperature 2 42 DL06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 2 Installation Wiring and Specifications D 0 16ND 316 point D C input module D0 16ND3 Specifications Equivalent input circuit Number of Inputs 16 sink source n Input Voltag
508. qual Relay Numbers The following table lists all 24 preset register default locations for each high speed counter Each occupies two 16 bit V memory registers T he corresponding special relay contact number is in the next column We might also call these equal relay contacts because they aretrue closed when the present high speed counter value is equal to the preset value Each contact remains closed until the counter value equals the next preset value Preset Register Table Counter 1 Preset V memory Special Relay Counter 2 Preset V memory Special Relay Preset Register Number Preset Register Number 1 V3631 V3630 SP540 1 V3711N3710 SP570 2 V3633 V3632 SP541 2 V3713N3712 SP571 3 V3635 V3634 SP542 3 V3715N3714 SP572 4 V3637 V3636 SP543 4 V3717N3716 SP573 5 V3641 V3640 SP544 5 V3721 N3720 SP574 6 V3643 V3642 SP545 6 V37233722 SP575 7 V3645 V3644 SP546 7 V3725 N3724 SP576 8 V3647 V3646 SP547 8 V3727N3126 SP577 9 V3651 V3650 SP550 9 V3731 V3730 SP600 10 V3653 V3652 SP551 10 V3733N3732 SP601 11 V3655 V3654 SP552 11 V3735 N3734 SP602 12 V3657 V3656 SP553 12 V3737N3736 SP603 13 V3661 V3660 SP554 13 V3741N3740 SP604 14 V3663 V3662 SP555 14 V3743N3742 SP605 15 V3665 V3664 SP556 15 V37453744 SP606 16 V3667 V3666 SP557 16 V3747N3746 SP607 17 V3671 V3670 SP560 17 V3751 N3750 SP610 18 V3673 V3672 SP561 18 V3753 V3752 SP611 19 V3675 V3674
509. r X2 SP1 UDC CT174 CT174 is the HSIO quadrature counter The first rung s SP1 P1 always enables the counter The dummy input is used by 5 Kami the built in compiler SP1 END END coil mark i E coil marks the end of the main program continued on next page 3 30 DLO06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 3 H igh speed Input and Pulse O utput Features E MH i1 continued from last page INT OO SP540 Y10 Set YO to ON when the counter reaches or exceeds i OUT our comparison value while COUNTING UP SP541 Y11 EN D Set Y1 to ON when the counter reaches or goes below OUT our comparison value while COUNTING DOWN CIRT The Load Accumulator instructions have set up the V memory as required i e 20 in V 7633 for the mode and 0202 in V 7634 to designate the standard up down with the absolute preset mode By placing 0107 in V 7636 an external reset for counter CT 174 is selected and it will execute interrupt 0 on the rising edge of the reset Presets for up down counting have been stored in memory locations V 3630 through V 3635 T henext even numbered location following this has FFFF to indicate we have no more presets DL06 Micro PLC User Manual 1st Ed Rev A 10 02 l 3 31 Chapter 3 High speed Input and Pulse O utput Features Bi M Program Example 2 U p D own Counting with Standard Inputs In this example there is a convey
510. r turns in the wrong direction 0 0000 3 63 Mode 40 High Speed Interrupts lllleleeeee n 3 64 PULDOSe 5 x5 05 Gos to wees ws we ahi SERE DNE seer 3 64 Functional Block Diagram 0 eee eee tees 3 64 Setup for Mode 40 seek eee eee EUER UE Ga e DER RO UR RR RR RR Rs 3 65 Interrupts and the Ladder Program 00 ee eee ee eee 3 65 External Interrupt Timing Parameters 0 0 0 eee eee ee eee 3 66 Timed Interrupt Parameters 0 0 0 eect eee EEE AiE 3 66 X Input Timed INT Configuration 0 0 0 0 cee ee eee 3 66 Program Example 1 External Interrupt 0 0 eee eee eee 3 67 Program Example 2 Timed Interrupt 0 2 0 eee eee eee 3 68 Mode 50 Pulse Catch Input 0 ccc cee hn 3 69 PULpOSe 555 os 55 vo yo wo oo wage ce tc Ss wy wash ha ee ee eae 3 69 Functional Block Diagram 0 0c eee tees 3 69 Pulse Catch Timing Parameters 0 0 0 eee eee eee eee ee 3 69 When to use Pulse Catch Mode 0 0 eee eee eee eee 3 70 Setup for Mod 50 uss sss ewete wee eel ws vee ees eee aes eee sa Ses 3 70 X Input Configuration 0 eee teen ene 3 71 Program Example 1 Pulse Catch 0 ee eee eee 3 72 Mode 60 Discrete Inputs with Filter 0 0 0c cece I 3 73 PU OSC 25 es past ops a ace aera LII cx aia ear aaron eaten LOL Pe ed 3 73 Functional Block Diagram 0 eee ee eee eee 3 73 Input Filter Timing Parameters
511. ransmit data RS 232C 7 OV X Power connection GND 58 5V Power connection 8 OV Power connection GND pee 6 OV Power connection GND 9 TXD Transmit data RS 422 485 6 1 s5 0o 60 m 10 TXD Transmit data RS 422 485 2 ke e o os 11 RTS Ready to send RS 422 485 12 RTS Ready to send RS 422 485 PORT1 PORT2 13 RXD Receive data RS 422 485 14 CTS Clear to send RS 422 485 15 CTS Clear to send RS 422 485 4 46 DL06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 4 CPU Specifications and O peration Choosing a Network Specification TheDL06 PLC s multi function port gives you the option of using RS 232C RS 422 or RS 485 specifications First determine whether the network will be a 2 wire RS 232C type a 4 wire RS 422 type or a 2 wire 4 wire RS 485 type TheRS 232C specification is simpleto implement for networks of shorter distances 15 meters max and where communication is only required between two devices The RS 422 and RS 485 signals are for networks that cover longer distances 1000 meters max and for multi drop networks from 2 to 247 devices Note Termination resistors are required at both ends of R 422 and RS 485 networks It is necessary to select resistors that match the impedance rating of the cable between 100 and 500 ohms RS 232 Network Normally the RS 232 signals are used for shorter distances 15 meters maximum for communic
512. ration and addressing W ith D irectSO FT 32 the PLC Configurel O menu option would be used vA Slot 1 Slot 2 Slot 3 Slot 4 8pt Input 16pt Output 16pt Input 8pt Input X100 X107 Y100 Y117 X110 X127 X130 X137 M anual Sio 1 Slot Slot 3 Slot 4 8pt Input 16pt Output 16pt Input 8pt Input X100 X107 Y100 Y117 X200 X217 X110 X117 Automatic Manual 1 0 Configuration AN It may never become necessary but DLO6 CPUs allow manual I O address assignments for any I O slot s You can manually modify an auto configuration to match arbitrary 1 0 numbering For example two adjacent input modules can have starting addresses at X 100 and X200 U se DirectSO FT 32 PLC Configurel O menu option to assign manual 1 0 address In automatic configuration the addresses are assigned on 8 point boundaries M anual configuration however assumes that all modules areat least 16 points so you can only assign addresses that are a multiple of 20 octal For example X130 and Y 150 are not valid addresses You can still use 8 point modules but 16 addresses will be assigned and the upper eight addresses will be unused WARNING If you manually configure an 1 0 slot the 1 0 addressing for the other modules may change This is because the DLO6 CPUs do not allow you to assign duplicate 1 0 addresses You must always correct any 1 0 configuration errors before you place the CPU in RUN mode Uncorrected errors can cause unpredicta
513. rd RLL Instructions Timer Counter and Shift Register Instructions OC Up Down Counter Example Using Discrete Status Bits In the following example if X2 and X3 are off when X1 toggles from off to on the counter will increment by one If X1 and X3 are off the counter will decrement by one when X2 toggles from off to on W hen the count value reaches the preset value of 3 the counter status bit will turn on When the reset X3 turns on the counter status bit will turn off and the current value will be 0 DirectSOFT32 Counting Diagram xi UDC CT2 K3 xi x2 x2 xa Ins xa gia CT2 Y7 Current 1 2 1 2 3 0 our Value Handheld Programmer Keystrokes Handheld Programmer Keystrokes cont B D sm gt i ENT gt ENT C C T c sim gt 8 ENT gm gt SHFT SHFT Fu a ENT D Gx B A STR gt 3 ENT OUT gt 1 0 ENT U D c 6 SHFT isa 3 2 gt 2 Up Down Counter Example Using Comparative C ontacts In thefollowing example when X1 makes an off to on transition counter CT 2 will increment by one Comparative contacts are used to energize Y3 and Y4 at different counts W hen the reset X3 turns on the counter status bit will turn off the current value will be 0 and the comparative contacts will turn off
514. rect SOFT32 K3 GTS RENE o END SBR K3 X20 Y5 II out X21 Y10 I our m RT Handheld Programmer Keystrokes B sm J 1 ENT G T S SHFT MLR BST gt ENT ey E N D SH 4 TMR 3 ENT er S B R D SH ast SHFT 1 ORN gt 3 ENT C erg SHFT 8 gt 2 ENT GX F our 7 5 ma C erg SHFT 8 gt 2 ENT GX B A our 7 1 0 ENT er R T SH orn utn ENT 5 180 DL06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions Program Control Instructions N Master Line Set MLS The M aster Line Set instruction allows the program to control sections of ladder logic by forming a new power rail controlled Kaaa by the main left power rail T he main left rail is always master MeS line 0 When aM LS K1 instruction is used a new power rail is created at level 1 M aster Line Sets and M aster Line Resets can be used to nest power rails up to seven levels deep Operand Data Type DLO6 Range M aster Line Reset MLR The M aster Line Reset instruction marks the end of control for the corresponding M LS instruction The M LR reference K aaa is one lessthan the corresponding M LS MLR Operand Data Type DLO6 Range Understanding M aster Control Relays TheM
515. reset input to the counter N 99 A N 99 DLO06 Micro PLC User Manual 1st Ed Rev A 10 02 l 3 23 Chapter 3 High speed Input and Pulse O utput Features ee Mode 20 Up Down Counter Purpose Thecounter in theH SIO circuit can count up down signals from two separate sources i e two single channel encoders or two quadrature signal pulses Q uadrature signals are commonly generated from incremental encoders which may be rotary or linear T he up down counter has a range from 8388608 to 8388607 Using CT 174 and CT 175 the quadrature counter can count at up to a 7 kH z rate Functional Block Diagram Thediagram below shows H SIO functionality in M ode 20 W hen the lower byte of H SIO M ode register V 7633 contains a BCD 20 the up down counter in theH SIO circuit is enabled For quadrature counting input X0 is dedicated to the Phase A quadrature signal and input X1 receives Phase B signal X2 is dedicated to reset the counter to zero value when energized 4 DLO6 Output Circuit PLC ry YO Y1 uv HSIO CPU VO data Counter V memory Mode Select Phase A PhaseB Reset Filter 7999 PC l vz633T 9939 ry XO X1 X2 x3 X4 X23 Input Circuit 1 For standard up down counting input X0 is dedicated to the up counting signal and input X1 is dedicated to the down counting signal T he X
516. rete on off state to the specified bit in the referenced memory location M ultiple O ut Bit of Word instructions referencing the same bit of the same word generally should not be used since only the last O ut instruction in the program will control the status of the bit Operand Data Type DLO6 Range A aaa Aaaa bb OUT bb B See memory map BCD 0 to 15 PB See memory map BCD 0 to 15 In the following O ut Bit of Word example when input X1 is on bit 3 of V1400 and bit 6 of V 1401 will turn on DirectSOFT32 xi B1400 3 OUT B1401 6 Handheld Programmer Keystrokes OUT STR gt 1 ENT OUT SHFT B V 1 4 0 0 gt K 3 ENT OUT SHFT B V 1 4 0 1 gt K 6 ENT The following O ut Bit of Word example contains two O ut Bit of Word instructions using the same bit in the same memory word T he final state bit 3 of V 1400 is ultimately controlled by the last rung of logic referencing it X1 will override the logic state controlled by X0 To avoid this situation multiple outputs using the same location must not be used in programming B1400 3 ou B1400 3 UT Qov 5 18 DL06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions Boolean Instructions Not NOT TheNot instruction inverts the status of the rung 256 at the point
517. rete status flags indicate if the result of the Or with Stack is zero or a negative number the most significant bit is on Discrete Bit Flags Description SP63 Will be on if the result in the accumulator is zero SP70 on when the value loaded into the accumulator by any instruction is zero In the following example when X1 is on the binary value in the accumulator will be ored with the binary value in the first level of the stack T he result resides in the accumulator DirectSOFT32 x Vi401 V1400 s 7 2 s 7 Load the value in V1400 and ae 4 Y ud ES V1401 in the accumulator 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Acc nupnnnpnppnHEDRD Dnpn npnbpDHEDRE Acc 0 707 07 0002130 111110 00170100001 1 1 1 0 1 O0 ORS OR the value in the 36476A38 accumulator withthevaue OR topofsieck 0 O 1 1 0 1 1 00 10 00 111 0110101000111 000 in the first level of the accumulator stack Ac 0 1 1 1 Of 1 1 o o 1 1 1 1 1 1 1 o 1 1 o 1 o 1 o o 1 1 1 1 0 1 O OUTD B m ri m d Us A V d V1500 Copy the value in the Lz Je eee to V1500 and V1501 V1500 Handheld Programmer Keystrokes Sem gt Pa ENT SHFT D Anost 3 3 gt WP a Fa g ENT E SHFT SEE ENT ur SHFT s gt Ja Es fo e J 5 76 DL06 Micro PLC User Manual 1s
518. ro On when the 16 bit subtraction instruction results in a borrow On when the 32 bit subtraction instruction results in a borrow On anytime the value in the accumulator is negative On when a BCD instruction is executed and a NON BCD number was encountered NOTE The status flags are only valid until another instruction that uses the same flags is executed In the following example when X1 is on the value in V2000 will be loaded into the accumulator using the Load instruction T he value in V2006 is subtracted from the value in the accumulator using the Subtract instruction T he value in the accumulator is copied to V 2010 using the O ut instruction Dira De X1 Loma irs em e iri ROC aed VEE inis Fe ncrum ais amp 18 5 8 J E Dmi 0 0 8 4 NB 4 E eed i pp pps n pg Ld vaa MEE Cop pike un m ka H Tm nct in YTE E rad X DL06 Micro PLC User Manual 1st Ed Rev A 5 89 Chapter 5 Standard RLL Instructions Math C LLL Subtract D ouble SU BD Subtract D ouble is a 32 bit instruction that subtractsthe BCD value SUBD Aaaa which is either two consecutive V memory locations or an 8 A aaa digit max constant from the BCD valuein the accumulator Operand Data Type DLO6 Range aaa See memory map See memory map 0 99999999 Description On when the result of the instruction causes the value in the accumulator to be zero On when the 16 b
519. rrent Values V 256 V0 V377 0 255 3001 Regi sfer V1000 Input Counter Current Values V 128 V1177 512 639 3001 Register V1200 Holding 3200 V7377 640 3839 bos Register V10000 Holding 4096 V17777 4096 8191 Register DLO6 Memory Type V Memory user data V V Memory non volatile V 1128 V400 3840 3967 4001 ee 4 54 DL06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 4 CPU Specifications and O peration Thefollowing examples show how to generate the M O D BU S addresses for hosts which require this format Example 1 V2100 584 984 Mode Find the M O DBUS address for User V location V 2100 1 Find V memory in thetable 2 Convert V2100 into decimal 1088 3 Add the M O D BUS starting address for the mode 40001 V Memory system V v1200 v7377 3480 3735 4001 40001 Holding Register Example 2 Y20 584 984 Mode Find theM O D BUS address for output Y 20 1 Find Y outputs in the table 2 Convert Y20 into decimal 16 3 Add the starting address for the range 2048 4 Add the M O D BU S address for the mode 1 Example 3 T 10 Current Value 484 Mode Find theM ODBUS addressto obtain the current value from Timer T 10 1 Find Timer Current Values in the table 2 Convert T 10 into decimal 8 3 Add the M O D BUS starting address for the mode 3001 Timer Current Values V V0 V177 0 127 3001 3001 Input
520. rresponding word location which contains 16 consecutive discrete locations In this example memory location C5 will energize when input X6 turns on T he second rung shows a simple example of how to use a control relay as an input Timers and Timer Status Bits T Data Type Timer status bits reflect the relationship between the current value and the prese value of a specified timer The timer status bit will be on when the current value is equal or greater than the preset XO TMR TI value of a corresponding timer K30 W hen input X0 turns on timer T 1 will start W hen the timer reaches the preset of 3 seconds K of 30 timer status contact T 1 turns on When T1 our turns on output Y12 turns on Turning off X0 resets the timer X6 C5 4 26 DL06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 4 CPU Specifications and O peration E M M IT Timer Current Values V D ata Type As mentioned earlier some information is automatically stored in V memory T his is true for the current values i TMR Ti associated with timers For example VO holds the d K1000 current value for Timer 0 V 1 holds the current value for Timer 1 etc T hese can also be designated as Vi K30 Y2 TAO Timer Accumulated for T imer 0 and OUT TA for Timer 1 T he primary reason for this is programming flexibility The example shows how you can use relational contacts to mon
521. rs suscite dira erect recede ede Dodo foe S ER EQ Ro Sls ees 5 39 Timer Example Using Discrete Status Bits llle 5 41 Timer Example Using Comparative Contacts lille 5 41 Accumulating Timer Example using Discrete Status Bits 0 5 43 Accumulator Timer Example Using Comparative Contacts 04 5 43 Using COUMTES iege dez e trees eene Rec dee UR EUR P PR RR a E REOR Rr Rods 5 44 Counter Example Using Discrete Status Bits llle eese 5 46 Counter Example Using Comparative Contacts 0 0 0 0 cece eee eee eee 5 46 Stage Counter Example Using Discrete Status Bits 00 5 48 Stage Counter Example Using Comparative Contacts 0 000 5 48 Up Down Counter Example Using Discrete Status Bits 5 50 Up Down Counter Example Using Comparative Contacts 5 50 Accumulator Stack Load and Output Data Instructions 5 52 Using the Acc rm lator ss uuo attente neri ee RR OR RON CROCO ee See Ra 5 52 Copying Data to the Accumulator 0 2 0 2 eee ee 5 52 Changing the Accumulator Data 0 2 0 0 eee eee 5 53 Using the Accumulator Stack esc iiciin s ein i S eee ee 5 54 Using Polnters suse itt tee eed ede edo RU RUR ous Sa RR E E RR ER Rn 5 55 Logical Instructions Accumulator 2 eee eee eee eee eens 5 69 Math Instructions 2 2 60 0 60 ccc rons he eed ee eae CER a ee ee ee 5 86 Transcend
522. rst level of the accumulator stack is removed and all stack values are moved up one level Discrete Bit Flags Description On when the result of the instruction causes the value in the accumulator to be zero On when the 16 bit addition instruction results in a carry On when the 32 bit addition instruction results in a carry On anytime the value in the accumulator is negative On when a BCD instruction is executed and a NON BCD number was encountered NOTE Status flags are valid only until another instruction uses the same flag In the following example when X1 ison the value in V 1400 and V 1401 will be loaded into the accumulator using the Load D ouble instruction T he value in V 1420 and V 1421 is loaded into the accumulator using the Load D ouble instruction pushing the value previously loaded in the accumulator onto the accumulator stack T he valuein the first level of the accumulator stack is added with the value in the accumulator using the Add Stack instruction T he value in the accumulator is copied to V 1500 and V 1501 using the O ut D ouble instruction DirectS OF T32 Display v1401 v1400 xi ibe Load the value in V1400 and ojoj3 9 s o 2 6 Accumulator stack V1401 into the accumulator after Ist LDD 1 V1400 l l _ Levelt X X X X X X X X Acc 019 3 s o 2 s L
523. ructions MM M1 Or Positive D ifferential O RPD TheOr Positive Differential instruction logically orsa contact in parallel with another contact in a rung T he status of the contact will be open until the associated image register point makes an O ff to O n transition dosing it for one CPU scan T hereafter it remains open J until another O ff to O n transition Or Negative D ifferential ORND The Or Negative D ifferential instruction logically orsa contact in parallel with another contact in a rung T he status of the contact will be open until the associated Aaaa image register point makes an O n to O ff transition 1 closing it for one CPU scan T hereafter it remains open until another O n to O ff transition Operand Data Type DL06 Range In thefollowing example Y 5 will energize whenever X1 is on or for one CPU scan when X2 transitions from O ff to On DirectSOFT32 Handheld Programmer Keystrokes xi Y5 Sen P 4 ENT DUE Beg BE Peg Es gt C ent T SONT gt i 5 ENT In the following example Y 5 will energize whenever X1 ison or for one CPU scan when X2 transitions from On to Off DirectSOFT32 Handheld Programmer Keystrokes B xi YS STR gt 1 ENT OUT Q N D C on SFT run 3 gt ENT x2 GX F a
524. rupt input Output this constant to V7634 configuring the external interrupt option for XO Output this constant to V7635 configuring the external interrupt option for X1 Load the constant K1006 which is required to select filtered inputs with a 10 mS filter time constant Output this constant to V7636 configuring X2 Output this constant to V7637 configuring X3 Reset output Y5 Reset output Y6 Enable Interrupts at the beginning of the program Insert Main Program rungs here for your application END coil marks the end of the main program The INT label marks the beginning of the interrupt service routine program Insert interrupt service routine rungs here for your application Set output Y5 Return to the main ladder program Insert interrupt service routine rungs here for your application Set output Y6 Return to the main ladder program DL06 Micro PLC User Manual 1st Ed Rev A 10 02 l 3 67 Chapter 3 High speed Input and Pulse O utput Features Bi M Program Example 2 Timed Interrupt Thefollowing program selects M ode 40 then selectsthe timed interrupt option with an interrupt period of 100 mS F 100 mS Timed Interrupt Time Inputs X0 X1 X2 and X3 are configured as filtered inputs with a 10 mS time constant N ote that X0 uses the time constant from X1 T he program is otherwise generic and may be adap
525. ry Area 4 0 6 0 O octal Thethird instruction in theRX or WX sequenceisa Load Address LDA instruction Its purpose is to load the starting address of the memory area to be Starting address of master transfer area transferred Entered as an octal number the LD A instruction converts it to hex and places the result in the accumulator o eat For aW X instruction the D L06 CPU sends the number of bytes previously specified from its memory 40600 area beginning at the LDA address specified mee SB For an RX instruction theDL06 CPU reads the 15 0 number of bytes previously specified from the slave T V40601 E placing the received data into its memory area beginning at the LD A address specified 15 0 NOTE Since V memory words are always 16 bits you may not always use the whole word For example if you only specify 3 bytes and you are reading Y outputs from the slave you will only get 24 bits of data In this case only the 8 least significant bits of the last word location will be modified The remaining 8 bits are not affected Step 4 Specify Slave M emory Area Thelast instruction in our sequence istheW X or RX SP116 instruction itself Use W X to writeto the slave and RX VA LD to read from the slave All four of our instructions are Kezo shown to the right In the last instruction you must LD specify the st
526. ry address where the data will be written Start Master Memory Address specifies the starting address of the data in the master that is to written to the slave Number of Elements specifies how many consecutive coils or registers will be written to This field is only active when either function code 15 or 16 is selected e MODBUS Data Format specifies M O D BU S 584 984 or 484 data format to be used Exception Response Buffer specifies the master memory address where the Exception Response will be placed 4 64 DL06 Micro PLC User Manual 1st Ed Rev A 10 02 Function Code Chapter 4 CPU Specifications and O peration M Jf MWX Slave M emory Address MWX Slave Address Ranges MODBUS Data Format Slave Address Range s 05 Force Single Coil 484 Mode 1 999 05 Force Single Coil 584 984 Mode 1765535 06 Preset Single Register 484 Mode 4001 4999 06 Preset Single Register 84 984 Mode 40001 49999 5 digit or 400001 465535 6 digit 08 Diagnostics 484 and 584 984 Mode 0 65535 15 Force Multiple Coils 484 1 999 15 Force Multiple Coils 585 984 Mode 1765535 16 Preset Multiple Registers 484 Mode 4001 4999 16 Preset Multiple Registers 584 984 Mode MWX Master Memory Addresses MRX Master Memory Address Ranges Operand Data Type DL06 Range 40001 49999 5 digit or 400000
527. s the counter location 1000 For example the counter current value for CT 3 resides in V memory location V 1003 Counter Count CNT B bbb Reset Preset Discrete Status Bit T he discrete status bit is accessed by referencing the associated CT memory location It will be on if the value is equal to or greater than the preset value For example the discrete status bit for counter 2 would be CT 2 NOTE Counter preset constants K may be changed by using a programming device even when the CPU is in Run Mode Therefore a V memory preset is required only if the ladder program must change the preset Operand Data Type DLO6 Range bbb 1200 7377 7400 7577 10000 17777 Pointers preset only 1200 7377 7400 7577 10000 17777 Constants preset only 0 9999 Counter discrete status bits 0 177 or V41140 41147 Counter current values 1000 1177 NOTE With the HPP both the Counter discrete status bits and current value are accessed with the same data reference DirectSOFT uses separate references such as CT2 for discrete status bit for Counter CT2 and CTA2 for the current value of Counter CT2 DL06 Micro PLC User Manual 1st Ed Rev A 5 45 Chapter 5 Standard RLL Instructions Timer Counter and Shift Register Instructions oenn Counter Example U sing D iscrete Status Bits In the following example when X1 makes an off to on transition coun
528. s ASCII characters to be added to the end of the string for devices that require specific termination characters e Byte Swap swaps the high byte and low byte within each V memory register of thestring while printing Seethe SWAPB instruction for details e Busy Bit will beON while the instruction is printing ASCII data Complete Bit will be set oncethe ASCII data has been printed and reset when the PRINTV instruction permissive bits are disabled Seethe previous page for an example using the PRINTV instruction Parameter Port Number FIESES o PRINTY Port Number K2 5 Start Address Y4000 Number of Bytes m Append character s C None 11 Character Eme 2 Characters Character Code 1 hexadecimal Character Code 2 hexadecimal Byte Swap Busy co Ed Mone Complete C1 C Al EM 1 C All but Null DLO6 Range port 2 K2 Start Address All V memory Number of Bytes All V memory or k1 128 Bits Busy Complete C0 3777 DL06 Micro PLC User Manual 1st Ed Rev A 5 223 Chapter 5 Standard RLL Instructions ASCII ASCII Swap Bytes SWAPB TheASCII Swap Bytes instruction swaps byte positions high byte to low byte and low byte to high byte within each V memory register of a series of V memory registers for a specified number of bytes Starting Address specifies the beginning of a series of V memory registers the
529. s equal to the table length Plus although our example does not show it we are assuming that there is another part of the program that changes the value in V 1500 data source prior to the execution of the ATT instruction Example of Execution Scan N Before ATT Execution After ATT Execution Table counter Table counter Automatically Incremented bloo avo vin 1 oToToT3 vao 2 V1402 3 Data Source 2 4 Data Source 3 V1403 4 1Tz s 4 visoo V1404 EE s 4 V1500 5 V1405 6 SP56 V1406 SP56 sss ore ss OFF V1407 Discard Bucket 2046 VY After ATT Execution S can N F 1 Table counter Table counter Table Automatically Incremented 0 0 0 3 V1400 V1401 2 5 0 0 0 4 V1400 6 V1402 7 Data Source 8 Data Source V1403 5 6 7 8 V1500 5 6 7 8 V1500 V1404 P V1405 SP56 2 SP56 srss OFF v1406 l L ss orr V1407 Y Discard Bucket 1010 NS S can N 42 Table counter Table counter Automatically Incremented V1401 1 o 0j 0 4 vi400 V1401 2 4 3 eT 0 o 5 V1400 V1402 2 V1402 J uc Diis Data Source ata Source V1403 3 V1403 4 3 3 4 4 4 3 ek eee EEk ne 9 EEE V1405 5 V1405 V1406 6 SP56 V1406 SP56 V4407 sess OFF Vo Shes On Discard Bucket 8989 Se S can N 3 After ATT Execution Table counter
530. s executed by this instruction 35 36 V1403 Handheld Programmer Keystrokes Soe gt ta ENT SHFT HA stl 3 gt suet ve m ENT sur Dpsrl 5 o gt ids o o v sur ul o gt Pa Hea Woe g ENT Thetable below lists valid ASCII valuesfor H TA conversion ASCII Values Valid for HTA Conversion Hex Value ASCII Value Hex Value ASCII Value 0 30 8 38 31 39 32 41 33 42 34 43 35 44 36 45 37 46 5 136 DLO0G Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions Number Conversion Segment SEG TheBCD Segment instruction converts a four digit H EX SEG value in the accumulator to seven segment display format The result resides in the accumulator In the following example when X1 is on the value in V 1400 is loaded into the lower 16 bits of the accumulator using the Load instruction T he binary H EX valuein the accumulator is converted to seven segment format using the Segment instruction T he bit pattern in the accumulator is copied to Y20 Y57 using the O ut Formatted instruction Direct SOFT32 Display V1400 D epe p Segment Labels V1400 is Sell Load the value in V1400 nto the lower 16 bits of the accumulator benessere 109 8 7 6 5 als ai o _ fegecesgeeeseeece Ett pp EE he SEG Convert the binar
531. s loaded into the accumulator using the Load D ouble instruction also pushing the value previously loaded in the accumulator onto the accumulator stack T he binary value in the accumulator is divided by the binary value in the first level of the accumulator stack using theD ivide Binary Stack instruction T he value in the accumulator is copied to V 1500 and V 1501 using the Out D ouble instruction Direct SOFT32 Display V1400 Accumulator stack after 1st LDD xi LD Load the value in V1400 into 0 0 14 K the accumulator The unused accumulator Levelt X X X X X XX X V1400 bits are set to zero Level2 X XX XX XX X ace o Te Te Teo To T4 tela X X X X X X X X Level4 X X X X X X X X V1421 V1420 Level 5 X XX X X XX X v e v c s s v Levele X X X X X X X X LDD Load the value in V1420 and V1421 into the accumulator l l level7 X X X X X X X X ve gt levels X X X X X X X X Acc o o o c 3 5 0 Accumulator stack after 2nd LDD DIVBS Divide the binary value in the accumulator by the Level 1 9 0 9 0 9 0 f 4 binary value in the first level Acc 9 o o o o 9 C 4 Level2 X X X X X XX X of the accumulator stack Level 3 X XX X X XX X Level4 X X X X X X X X 4 Level 5 X XX XX XX X Copy the value in the QUID accumulator to V1500 ST T
532. s starting address will be stored in the accumulator If the block is not found flag SP53 will be set Operand Data Type DLO6 Range aaa See memory map See memory map Discrete Bit Flags Description SP53 On when the Find Block instruction was executed but did not find the block of data in table specified The steps listed below are the steps necessary to program the Find Block function Step 1 Load the number of bytes in the block to be located T his parameter must bea H EX value 0 to FF Step 2 Load the length of a table number of words to be searched The Find Block will search multiple tables that are adjacent in V memory T his parameter must bea H EX value 0 to FF Step 3 Load the ending location for all the tables into the accumulator T his parameter must be aH EX value You can use the LDA instruction to convert an octal address to hex Step 4 Load the table starting location for all the tables into the accumulator T his parameter must be a H EX value You can usetheLD A instruction to convert an octal address to hex Step 5 Insert the Find Block instruction T his specifies the starting location of the block of data you are trying to locate Start Addr Table 1 Number of words Start Add Table 3 Block Number of bytes DLO06 Micro PLC User Manual Ist Ed Rev A 5 169 Chapter 5 Standard RLL Instructions Table Instructions Swap SWAP TT TheSwap instruction exchanges the
533. s to 1 not 0 ojo6 0 0 0 6 v1400 v1401 0 5 0 0 0 6 0 0 jO 1 Vi400 9 1 vi402 9 9 9 9 1 m 4 2 Destination viu 3 o 7 4 2 Destination 0 4 vi405 1 O 1 O 4 6 5 SP56 vi4o6 2 0 4 6 5 SP56 x sess ore viaoz De eT xe se ps6 OFF 5 152 DLO06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions Table Instructions Remove from Bottom RFB The Remove From Bottom instruction moves a value from the bottom of a V memory tableto a V memory location and decrements a table pointer by 1 T hefirst V memory location in thetable contains thetable pointer which indicates the next location in the table to be moved T he instruction will be executed once per scan provided the input remains on T he instruction will stop operation when the pointer equals 0 T he function parameters are loaded into the first level of the accumulator stack and the accumulator by two additional instructions Listed below arethe steps necessary to program the Remove From Bottom function Step 1 Load the length of thetable number of V memory locations into the first level of the accumulator stack T his parameter must be aH EX value 0 to FF Step 2 Load the starting V memory location for the table into the accumulator Remember the starting location of the table blank is used as the table pointer T his parameter must be a H EX value Step 3 Insert theRFB instructi
534. scan Bit Override holdsthel O point or other bit in the current state Valid bits are X Y C T CT and S T hese memory types are discussed in more detail later in this chapter Regular Forcing T his type of forcing can temporarily change the status of a discrete bit For example you may want to forcean input on even though it is really off T his allows you to change the point status that was stored in the image register T his value will be valid until the image register location is written to during the next scan T his is primarily useful during testing situations when you need to force a bit on to trigger another event Bit Override Bit override can be enabled on a point by point basis by using AU X 59 from the H andheld Programmer or by a menu option from within DirectSO FT 32 Bit override basically disables any changes to the discrete point by the CPU For example if you enable bit override for X1 and X1 is off at the time then the CPU will not change the state of X1 This means that even if X1 comes on the CPU will not acknowledge the change So if you used X1 in the program it would always be evaluated as off in this case Of course if X1 was on when the bit override was enabled then X1 would always be evaluated as on There is an advantage available when you use the bit override feature T he regular forcing is not disabled because the bit override is enabled For example if you enabled the Bit O verride
535. se cee eae EERE NOL eee a eee eae aes ee ae ees 4 20 Writing Outputs ues exse e eee e Gad ve eel eR be Oe ae ew x Knee 4 20 Service Peripherals sess tre e hr Rh Rh RR a eee ee 4 21 CPU Bus Communication sess senrenessansen sewa E EEE n 4 21 Update Clock Calendar Special Relays Special Registers 4 21 Application Program Execution 0 0 eee eee eee 4 22 PLC Numbering Systems ss ss ssssrsccessressss essa soas Kia I 4 23 PLCE RESOUICES cuc sx gx E tis dia UP E EENE E EEEE S 4 23 V Memiory iue oe xe Mab E AE eI e SEED E E ew dece e EE EN 4 24 Binary Coded Decimal Numbers llsseeeeee eee eens 4 24 Hexadecimal Numbers 2 0 0 0 cece eee eee teen ene ee 4 24 Memory Map s sea trat 55556 4 o e ia bib RO RR RRE UR RU EE Ra ER RR we ER RES 4 25 Octal Numbering System 0 0 cee cee ete ene nee 4 25 Discrete and Word Locations 0 eee eee eee ee 4 25 V Memory Locations for Discrete Memory Areas 6 0 0 0 e cee eee eee 4 25 Input Points X Data Type sss 2 eee eee I 4 26 Output Points Y Data Type 2 eee eee 4 26 Control Relays C Data Type s sss 2 2 0 eee ee eee ene 4 26 Timers and Timer Status Bits T Data Type 0 0 0 eee eee eee 4 26 Timer Current Values V Data Type 2 2 0 eee eee eee 4 27 Counters and Counter Status Bits CT Data type lesse 4 27 Counter Current Values V Data Type 0 0 00 e eee eee ene 4 27
536. ses x10 multiplier OUT Output this constant to V3633 the location of the velocity V3633 parameter register After the program is running we can write here again using discrete input switches Start Profile X1 YO our We use a spare filtered input to allow the operator to start the profile When the operator turns XI ON Go Slow and leaves it on logical output YO starts the profile x2 LD Load the constant K50 which is required to select a K50 velocity of 500 pps when the operator closes X2 OUT Output this constant to V3633 the location of the velocity V3633 parameter register The speed will change immediately Go Moderately x3 LD Load the constant K200 which is required to select a l K200 velocity of 2000 pps when the operator closes X3 OUT Output this constant to V3633 the location of the velocity V3633 parameter register The speed will change immediately Go Fast X4 LD Load the constant K600 which is required to select a m K600 velocity of 6000 pps when the operator closes X4 OUT Output this constant to V3633 the location of the velocity V3633 parameter register The speed will change immediately DLO06 Micro PLC User Manual 1st Ed Rev A 10 02 l 3 61 Chapter 3 High speed Input and Pulse O utput Features Bi M MM Automatic Trapezoidal Profile Error C odes TheProfile Parameter Table starting at V 3630 default location defines the profile C ertain numbers will result
537. sing the Subtract Binary instruction T he valuein the accumulator is copied to V 1500 using the O ut instruction DirectS OF T32 Display V1400 xi LELI ms Pee PUER m re The unused accumulator ower its of the accumulator bits are setto zero 0 0 0 O 1 02 4 Accumulator 0 A0 B V1420 The binary value in V1420 is AEE ogg subtracted from the value in the accumulator elsk fs V1500 Copy the value in the lower 16 bits of the accumulator to V1500 Handheld Programmer Keystrokes STR E X IN 1 ENT Lo Le JLo V 1 4 2 0 ENT our ser o JL gt iL ILCs J o JL Ile DLO06 Micro PLC User Manual 1st Ed Rev A 5 101 Chapter 5 Standard RLL Instructions Math Subtract Binary D ouble SU BBD Subtract Binary D ouble is a 32 bit instruction that subtracts the unsigned 2 s complement binary value Aaaa which is either two consecutive V memory locations or a 32 bit Pang unsigned 2 s complement binary constant from the binary value in the accumulator T he result resides in the accumulator Operand Data Type DLO6 Range aaa See memory map See memory map 0 FFFF FFFF Description SP63 On when the result of the instruction causes the value in the accumulator to be zero SP64 On when the 16 bit subtraction instruction results in a borrow SP65 On when the 32 bit subtraction instruction results in a borrow SP70 On anytime the value in the accumulator is negative
538. son the constant value K 6 is loaded into the accumulator using the Load instruction T his value specifies the length of thetable and is placed in the first stack location after the Load Address instruction is executed T he octal address 1400 V 1400 isthe starting location for the source table and is loaded into the accumulator Remember V 1400 is used asthe pointer location and is not actually part of the table data source T he destination location V 1500 is specified in the Remove From Bottom Thetable pointer V 1400 in this case will be decremented by 1 after each execution of the RFB instruction xi LD K6 Load the constant value 6 EX into the lower 16 bits of the accumulator E LDA 0 1400 Convert octal 1400 to HEX 300 and load the value into the accumulator This is the table pointer location d value from the table to the specified destination V1500 Handheld Programmer Keystrokes B sm gt 1 ENT L D G SHFT ANostil 3 PREV 5 ENT L D A B E A A SHFT ANpsr 3 0 gt 1 4 0 0 ENT R F B B F A A SHFT opn 5 1 2 1 5 0 0 ENT Table Pointer It isimportant to understand how the table locations are numbered If you examine the poy eel paseo example table you ll notice that the first data Destination location V 1401 will be used when the pointer is EEEE equal to one T he second da
539. specify the order contains a 0 or 9 F the corresponding position I will be set to 0 Discrete Bit Flags Description SP63 On when the result of the instruction causes the value in the accumulator to be zero SP70 On anytime the value in the accumulator is negative Shuffle D igits Block Diagram Digits to be f T here are a maximum of 8 digits that can be a shuffled T he bit positions in the first level of 9 ABCDEF 0 the accumulator stack defines the digits to be shuffled T hey correspond to the bit positions in 4144411 the accumulator that define the order the digits ashes an aay will be shuffled T he digits are shuffled and the result resi des in the accumulator Specified order accumulator Bit Positions 8 7 6 5 4 32 1 BCE FO0ODA 9 Result accumulator DL06 Micro PLC User Manual 1st Ed Rev A 5 139 Chapter 5 Standard RLL Instructions Number Conversion en In the following example when X1 is on T he value in the first level of the accumulator stack will be reorganized in the order specified by the value in the accumulator Example A shows how the shuffle digits works when 0 or 9 F is not used when specifying the order the digits are to be shuffled Also there are no duplicate numbers in the specified order Example B shows how the shuffle digits works when a 0 or 9 F is used when specifying the order the digits are to be shuffled N otice when the Shuffle D i
540. ss Standard RLL Programming Timer Event Drum Sequencer Stage Programming see Chapter 5 see iid 2 see Chapter 7 xo GDE LDD N Vi076 Padoue2 Chen DEN D SP62 Yo our Crowe Cai After reviewing the programming concepts above you ll be equipped with a variety of tools to write your application program Step 7 Choose the Instructions O nce you have installed the M icro PLC and TMR Ti understand the main programming concepts you K30 can begin writing your application program At LL CNT CT3 that time you will begin to use one of the most S19 powerful instruction sets available in a small PLC Step 8 Understand the M aintenance and Troubleshooting Procedures Sometimes equipment failures occur when we least expect it Switches fail loads short and need to be replaced etc In most cases the majority of the troubleshooting and maintenance time is spent trying to locate the problem TheDL06 M icro PLC has many built in features such as error codes that can help you quickly identify problems DL06 Micro PLC User Manual 1st Ed Rev A 10 02 l 1 11 Chapter 1 Getting Started ee Questions and Answers about DL06 Micro PLCs Q What is the instruction set like A Theinstruction set is very close to that of our D L260 CPU The DLO6 instructions include the drum sequencing instruction networking ASCII M O D BUS LCD and High Speed I O capabilities H igh Speed inputs are available on u
541. starting V memory location Vaaa for the H EX tablein the ATH instruction Helpful Hint For parameters that require H EX values when referencing memory locations the LDA instruction can be used to convert an octal address to the H EX equivalent and load the value into the accumulator Operand Data Type DLO6 Range aaa See memory map Discrete Bit Flags Description In the example on the following page when X1 isON the constant K 4 isloaded into the accumulator using the Load instruction and will be placed in the first level of the accumulator stack when the next Load instruction is executed T he starting location for the ASCII table V 1400 is loaded into the accumulator using the Load Address instruction T he starting location for the H EX table V 1600 is specified in the ASCII to H EX instruction T hetable below lists valid ASCII values for ATH conversion ASCII Values Valid for ATH Conversion ASCII Value Hex Value ASCII Value Hex Value 0 8 5 134 DL06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions Number Conversion EM M ET Direct SOFT32 Hexadecimal ASCII T ABLE Equivalents xi iD Load the constant value L into the lower 16 bits of the K4 accumulator This value defines the num
542. starting point if necessary Default V3710 Range V0 V3710 Setup Register for Pulse Output N A Sets the desired function code for the high speed counter interrupt pulse catch pulse train and input filter Location can also be used to set the power up in Run Mode option Default 0060 Lower Byte Range Range 10 Counter 20 Quadrature 30 Pulse Out 40 Interrupt 50 Pulse Catch 60 Filtered discrete In Upper Byte Range Bits 8 11 14 15 Unused Bit 13 Power up in RUN only if Mode Switch is inTERM position Bit 12 is used to enable the battery X0 Setup Register for High Speed 1 0 functions Default 1006 X1 Setup Register for High Speed 1 0 functions Default 1006 X2 Setup Register for High Speed 1 0 functions Default 1006 X3 Setup Register for High Speed 1 0 functions Default 1006 PID Loop table beginning address V1200 V7377 V10000 V17777 DL06 Micro PLC User Manual 1st Ed Rev A 10 02 1 29 Chapter 4 CPU Specifications and O peration C NO System V memory V7641 Description of Contents Number of Loops Default Values Ranges 1 8 V7642 Error Code V memory Error location for Loop Table V7643 V7647 Reserved V7650 Port 2 Setup for V memory address for Non procedure protocol V1200 V7377 V10000 V17777 V7653 Port 2 Setup for terminate code for Non procedure protocol V7655 Port 2
543. structions Listed below are the steps necessary to program the TableTo D estination function Step 1 Load the length of the data table number of V memory locations into the first level of the accumulator stack T his parameter must be aH EX value 0 to FF Step 2 Load the starting V memory location for thetable into the accumulator Remember the starting location of the table is used as the table pointer T his parameter must be a H EX value Step 3 Insert theT TD instruction which specifies destination V memory location Vaaa Helpful Hint For parameters that require H EX values when referencing memory locations the LDA instruction can be used to convert an octal address to the H EX equivalent and load the value into the accumulator H elpful H int T heinstruction will be executed every scan if the input logic is on If you do not want the instruction to execute for more than one scan a one shot PD should be used in the input logic Helpful Hint The pointer location should be set to the value where the table operation will begin T he special relay SPO or a one shot PD should be used so the value will only be set in one scan and will not affect the instruction operation Aaaa Operand Data Type DLO6 Range aaa See memory map Discrete Bit Flags Description SP56 On when the table pointer equals the table length NOTE Status flags SPs are only valid until another instruction that uses t
544. surr E ENT n the lower X 16 bits of the accumulator to OUT V7633 OUT Copy the value in the lower sur E N 1 ENT 16 bits of the accumulator to 4 TMR 8 V7634 D 1 E 1 ET SHFT D T Em i ENT x4 os E N D R SHFT nd 3 ENT I T A SHFT gt ENT END 8 TMR MLR 0 1 c sm SHET gt ENT INT o0 x 1 F ser SHFT 8 gt 5 ENT sp 1 D Y5 sre PT 8 gt 3 a omo T SETI x 1 A H ser SHFT r gt gt ENT 1 R T x Yo Y SHFT n orN Mi ENT m RSTI IRT Independent Timed Interrupt Interrupt O 0 is also available as an interrupt T his interrupt is independent of the H SIO features Interrupt O 0 uses an internal timer that is configured in V memory location V 7647 Theinterrupt period can be adjusted from 5 to 9999 mS O ncethe interrupt period is set and the interrupt is enabled in the program the CPU will continuously call the interrupt routine based on thetime setting in V 7647 Note Independent timed interrupt must be Int 0 Input Configuration Function Hex Code Required Register V7647 High Speed e Xxxx timer setting Timed Interrupt 9999 mS BCD DLO06 Micro PLC User Manual 1st Ed Rev A 5 185
545. switch isin theT ERM position RUN and STOP mode changes will not be allowed by any interface device handheld programmer D irectSO FT 32 programming package or operator interface Programs may be viewed or monitored but no changes may be made If the switch isin theT ERM position and no program password is in effect all operating modes as well as program access will be allowed through the connected programming or monitoring device Indicator Status Meaning ON Power good OFF Power failure ON CPU is in Run Mode OFF CPU is in Stop or program Mode Blinking CPU is in firmware update mode ON CPU self diagnostics error OFF CPU self diagnostics good Blinking Low battery ON Data is being transmitted by the CPU Port 1 OFF No data is being transmitted by the CPU Port 1 ON Data is being received by the CPU Port 1 OFF No data is being received by the CPU Port 1 ON Data is being transmitted by the CPU Port 2 OFF No data is being transmitted by the CPU Port 2 ON Data is being received by the CPU Port 2 OFF No data is being received by the CPU Port 2 4 6 DL06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 4 CPU Specifications and O peration nn Changing M odes in the D L06 PLC Mode Switch Position CPU Action CPU is forced into the RUN mode if no errors are encountered RUN Run Program No changes are allowed by the attached programming monitoring device PROGRAM a
546. switches single channel encoders magnetic or optical sensors etc D evices with sinking outputs N PN open collector are probably the best choice for interfacing If the counter sources to the inputs it must output 12 to 24 VD C Note that devices with 5V sourcing outputs will not work with D L06 inputs CO L LIH mT Te eee T D Sl lele ES S S S E e eu PORT2 s IM ES ES ERU SIUS SIUS SLE L T O Counter Input Wiring JN Signal T Signal Common 12 24 VDC Supply Interfacing to Counter Inputs TheDLO6 sDC inputs are flexible in that they detect current flow in either direction so they can be wired to a counter with either sourcing or sinking outputs In the following circuit a counter has open collector N PN transistor outputs It sinks current from the PLC input point which sources current T he power supply can be the FA 24PS or another supply 12VDC or 24VD C as long as the input specifications are met Counter Output XO X3 Input d Output Input AN CIEN sinking sourcing E 12 24 VDC Supply Gs A Ground F i Common l d a b jl ep 4
547. t NOT 5 19 Find Block FINDB 5 169 Numerical Constant NCON 5 187 Find Greater Than FDGT 5 148 Or OR 5 73 For Next FOR NEXT 5 176 Or OR 5 30 Goto Label GOTO LBL 5 175 Or OR 5 12 Goto Subroutine GTS SBR 5 178 Or Bit of Word ORB 5 13 Gray Code GRAY 5 138 Or Double ORD 5 74 HEX to ASCII HTA 5 135 Or Formatted ORF 5 75 Increment INC 5 98 Or If Equal ORE 5 27 Increment Binary INCB 5 105 Or Immediate ORI 5 32 Interrupt INT 5 183 OR Move ORMOV 5 167 Interrupt Return IRT 5 183 Or Negative Differential ORND 5 21 Interrupt Return Conditional IRTC 5 183 Or Not ORN 5 30 Invert INV 5 129 Or Not ORN 5 12 LCD 5 197 Or Not Bit of Word ORNB 5 13 Load LD 5 57 Or Not Immediate ORNI 5 32 DL06 Micro PLC User Manual 1st Ed Rev A 5 3 Chapter 5 Standard RLL Instructions Bi Instruction Page Instruction Page OR Not Immediate Instructions Cont d 5 33 Shuffle Digits SFLDGT 5 139 Or Out OR OUT 5 17 Sine Real SINR 5 118 Or Out Immediate OROUTI 5 34 Source to Table STT 5 156 Or Positive Differential ORPD 5 21 Square Root Real SQRTR 5 119 Or Store OR STR 5 16 Stage Counter SGCNT 5 47 Or with Stack ORS 5 76 Stop STOP 5 173 Out OUT 5 64 Store STR 5 29 Out OUT 5 17 Store STR 5 10 Out Bit of Word OUTB 5 18 Store Bit of Word STRB 5 11 Out Double OUTD 5
548. t T he middle input isthe dummy input T he bottom input is the counter reset and must be off during counting Symptom T he counter counts but the presets do not function Possible causes 1 Configuration Ensure the preset values are correct T he presets are 32 bit BCD values having a range of 0 to 99999999 M ake sure you write all 32 bits to the reserved locations by using the LDD and OUTD instructions Use only even numbered addresses from V 3630 to V 3767 If using less than 24 presets be sure to place OOOOFFFF 0000FF00 or OOOOOOFF in the location after the last preset used Interrupt routine Only use Interrupt 0 M ake sure the interrupt has been enabled by executing an ENI instruction prior to needing the interrupt T he interrupt routine must be placed after the main program using the INT label and ending with an interrupt return IRT Special relays Check the special relay numbers in your program Use SP540 for Preset 1 SP541 for Preset 2 etc Remember that only one special equal relay contact is on at a time When the counter value reaches the next preset the SP contact which is on now goes off and the next one turnson Symptom T he counter counts up but will not reset Possible causes 1 Check the LED status indicator for X2 counter 1 and X3 counter 2 to make sureit is active when you want a reset O r if you are using an internal reset use the status mode of D irectSO FT 32 to monitor the
549. t Y Points X Input Y Output Address Address V40400 V40500 V40401 V40501 V40402 V40502 V40403 V40503 V40404 V40504 V40405 V40505 V40406 V40506 V40407 V40507 V40410 V40510 V40411 V40511 V40412 V40512 V40413 V40513 V40414 V40514 V40415 V40515 V40416 V40516 V40417 V40517 V40420 V40520 V40421 V40521 V40422 V40522 V40423 V40523 V40424 V40524 V40425 V40525 V40426 V40526 V40427 V40527 V40430 V40530 V40481 V40531 V40432 V40532 V40433 V40533 V40434 V40534 V40435 V40535 V40436 V40536 V40437 V40537 4 32 DL06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 4 CPU Specifications and O peration KT Stage Control Status Bit Map This table provides a listing of individual Stage control bits associated with each V memory address bit DLO6 Stage S Control Bits Address V41000 V41001 V41002 V41003 V41004 V41005 V41006 V41007 V41010 V41011 V41012 V41013 V41014 V41015 V41016 V41017 V41020 V41021 V41022 V41023 DL06 Micro PLC User Manual 1st Ed Rev A 10 02 l 4 33 Chapter 4 CPU Specifications and O peration 17 16 15 14 13 12 11 10 DLO6 Stage S Control Bits 51
550. t CW CCW Filtered Inputs Profile Target Velocity Target Position K30 OUT V7633 LDA 03630 OUT V7630 LD K3 OUT V7632 LD K1006 OUT V3634 LD K1006 OUT V7635 LD K1006 OUT V7636 LD K1006 OUT V7637 LD K8100 OUT V3630 LDD K30000 OUTD V3631 Load the constant K30 which is required to select Mode 30 as the HSIO mode Output this constant to V7633 the location of the HSIO mode selection register Load the octal address O3630 of the beginning of the Profile Parameter Table Output this constant to V7630 the location of the pointer to the Profile Parameter Table Load the constant K3 which is required to select CW and CCW for physical YO and Y1 functions Output this constant to V7632 configuring pulse output type Load the constant K1006 which is required to select XO as a filtered input with a 20ms filter time constant Output this constant to V3634 configuring XO Load the constant K1006 which is required to select X1 as a filtered input with a 20ms filter time constant Output this constant to V7635 configuring X1 Load the constant K1006 which is required to select X2 as a filtered input with a 20ms filter time constant Output this constant to V7636 configuring X2 Load the constant
551. t Ed Rev A Chapter 5 Standard RLL Instructions Logical m ASA Exclusive Or XOR Direct SOFT32 The Exclusive Or instruction is a 16 bit instruction that performs an exclusive or of the value in the lower 16 bits of the accumulator and a specified V memory location Aaaa T he result resides in the in the accumulator T he discrete status flag indicates if the result of the XOR is zero XOR Aaaa Operand Data Type DLO6 Range aaa See memory map See memory map Discrete Bit Flags SP63 Description Will be on if the result in the accumulator is zero SP70 on when the value loaded into the accumulator by any instruction is zero NOTE The status flags are only valid until another instruction that uses the same flags is executed In the following example when X1 is on the value in V 2000 will be loaded into the accumulator using the Load instruction T he value in the accumulator is exclusive ored with V 2006 using the Exclusive Or instruction T he value in the lower 16 bits of the accumulator are output to V2010 using the O ut instruction LD V2000 2 8 7 A ee 2000 Load the value in V2000 into the lower 16 bits of the accumulator The upper 16 bits of the accumulator will be set to 0 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 c 10 0 0 0 0 0 0 0 0 0 0 0 0 0 0
552. t Register 2 0 eee eee eee eee 3 43 Profile Parameter Table 20 0 eee eee eee tenes 3 43 Automatic Trapezoidal Profile 0 2 0 0 0 eee eee eee 3 43 Step Trapezoidal Profile 0 ce II 3 44 Choosing the Profile Type sees 3 45 Automatic Trapezoidal Profile Defined 0 00 eee eee eee 3 45 Step Trapezoidal Profiles Defined 0 0 0 eee ee eee eee ee 3 46 Velocity Control Defined 2 eee eee eee eee 3 46 Automatic Trapezoidal Profile Operation 0 0 eee eee eee 3 47 Program Example 1 Automatic Trapezoidal Profile leeren 3 48 iv DL06 Micro PLC User Manual 1st Ed Rev A 10 02 Table of Contents M Ift Preload Position Value 12e es ra eR a Me wale baled pa ea ed ea es 3 49 Program Example 2 Automatic Trapezoidal Profile llle 3 50 Program Example 3 Home Search Automatic Trapezoidal Profile 3 53 Step Trapezoidal Profile Operation lisse 3 55 Program Example 4 Step Trapezoidal Profile licis 3 56 Velocity Profile Operation ssrssriiewestest sess rs voke III 3 59 Program Example 5 Velocity Profile cce 3 60 Automatic Trapezoidal Profile Error Codes 0 0 0 eee eee eee 3 62 Troubleshooting Guide for Mode 30 eee eee teen ee 3 62 Symptom The stepper motor does not rotate 0 0 0 eee ee eee 3 62 Symptom The moto
553. t for the input circuit to operate reliably in the OFF state OFF to ON Response Thetimethe module requiresto process an OFF to ON statetransition ON to OFF Response Thetimethe module requires to process an ON to OFF statetransition Status Indicators TheLEDs that indicate the ON OFF status of an input or output point All LED son DL06 Micro PLCs are electrically located on the logic side of the input or output circuit DL06 Micro PLC User Manual 1st Ed Rev A 10 02 2 25 Chapter 2 Installation Wiring and Specifications B MM Wiring Diagrams and Specifications The remainder of this chapter provides detailed technical information for the D L06 PLCs A basic wiring diagram equivalent I O circuits and specification tables are laid out for each PLC D 0 06AA 1 0 Wiring Diagram TheD 0 06AA PLC hastwenty AC inputs and sixteen AC outputs The following diagram shows atypical fidd wiring example T heAC external power connection uses four terminals as shown Inputs are organized into five banks of four Each bank has an isolated common terminal T he wiring example below shows all commons connected together but separate supplies and common circuits may be used T he equivalent input circuit shows one channel of a typical bank Outputs are organized into four banks of four triac switches Each bank has a common terminal The wiring example below shows all commons connected together but separate s
554. t register will be read See the tableon the following page e MODBUS Data Format specifies M O D BU S 584 984 or 484 data format to be used Exception Response Buffer specifies the master memory address where the Exception Response will be placed See thetable on the following page 4 62 DL06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 4 CPU Specifications and O peration M IT MRX Slave M emory Address MRX Slave Address Ranges Function Code MODBUS Data Format Slave Address Range s 01 Read Coil 484 Mode 1 999 01 Read Coil 584 984 Mode 1 65535 02 Read Input Status 484 Mode 1001 1999 02 Read Input Status 584 984 Mode 10001 19999 5 digit or 100001 165535 6 digit 03 Read Holding Register 484 Mode 4001 4999 03 Read Holding Register 584 984 40001 49999 5 digit or 4000001 465535 6 digit 04 Read Input Register 484 Mode 3001 3999 04 Read Input Register 584 984 Mode 30001 39999 5 digit or 3000001 365535 6 digit 07 Read Exception Status 484 and 584 984 Mode n a 08 Diagnostics 484 and 584 984 Mode 0 65535 MRX Master Memory Addresses MRX Master Memory Address Ranges Operand Data Type DLO6 Range Inputs X 0 1777 Outputs Y 0 1777 Control Relays C 0 3777 Stage Bits S 0 1777 Timer Bits T 0 377 Counter Bits CT 0 377 Special Relays SP 0
555. t value K or a V memory location Current Values Counter current values are accessed by referencing the associated V or CT memory locations T he V memory location is the counter location 1000 For example the counter current value for CT 3 resides in V memory location V 1003 Discrete Status Bit T he discrete status bit is accessed by referencing the associated CT memory location It will be on if the value is equal to or greater than the preset value For example the discrete status bit for counter 2 would be CT 2 Operand Data Type DLO6 Range bbb 1200 7377 7400 7577 10000 17777 1200 7377 Pointers preset only E EUM Constants preset only 0 9999 Counter discrete status bits 0 177 or V41140 41147 Counter current values 1000 1177 data reference DirectSOFT uses separate references such as CT2 for discrete status bit for Counter CT2 NOTE With the HPP both the Counter discrete status bits and current value are accessed with the same and CTA2 for the current value of Counter CT2 DL06 Micro PLC User Manual 1st Ed Rev A 5 47 Chapter 5 Standard RLL Instructions Timer Counter and Shift Register Instructions ER u B 3 Stage Counter Example Using Discrete Status Bits In thefollowing example when X1 makes an off to on transition stage counter CT 7 will increment by one W hen the current value reaches 3 the counter status bit CT 7 will turn on and energize Y 7 T he co
556. ta Ei M M M MM M Load Accumulator Indexed from D ata C onstants LD SX TheLoad Accumulator Indexed from D ata C onstants is a 16 bit instruction T heinstruction specifies a D ata Label LDSX Area D LBL where numerical or ASCII constants are K aaa stored T his value will be loaded into the lower 16 bits TheLD SX instruction usesthe valuein the first level of the accumulator stack as an offset to determine which numerical or ASCII constant within the D ata Label Area will be loaded into the accumulator T he LD SX instruction interpretsthe valuein the first level of the accumulator stack as a H EX value Helpful Hint T he Load Address instruction can be used to convert octal to H EX and load the value into the accumulator Operand Data Type DLO6 Range NOTE Two consecutive Load instructions will place the value of the first load instruction onto the accumulator stack In the following example when X1 is on the offset of 1 is loaded into the accumulator T his value will be placed into the first level of the accumulator stack when the LD SX instruction is executed T he LD SX instruction specifies the D ata Label D LBL K 2 where the numerical constant s are located in the program and loads the constant value indicated by the offset in the stack into the lower 16 bits of the accumulator Hexadecimal xi E Value in 1st level of stack is
557. ta location V 1402 will be used when the pointer is equal to two etc Direct SOFT32 Display optional one shot method Also our example uses a normal input contact xi o X1 to control the execution Since the CPU scan e is extremely fast and the pointer decrements co D automatically the table would cycle through the ke locations very quickly If this is a problem for your HO ime ice AB Dis application you have an option of using a one band shot PD to remove one value each time the LDA input contact transitions from low to high SAN Convert octal 1400 to HEX 300 and load the value into the accumulator This is the table pointer location 5 154 DL06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions Table Instructions n The following diagram shows the scan by scan results of the execution for our example program N otice how the pointer automatically decrements from 6 0 Also notice how SP56 isonly on until the end of the scan Example of Execution Scan N Before RFB Execution After RFB Execution Table Pointer Table Table Pointer Automatically Decremented V1401 1 0 0 0 6 v1400 vi401 0 5
558. tarting V memory location for thetable into the accumulator T his parameter must be a H EX value You can use the LDA instruction to convert an octal address to hex Step 3 Load the BCD hex bit pattern into the accumulator which will be logically combined with the table contents as they are copied Step 4 Insert the AN D M ove OR M ove or XOR M oveinstruction T his specifies the starting location of the copy of the original table T his new table will automatically be the same length as the original table Operand Data Type DLO6 Range aaa See memory map The example table to the right contains V3000 V3100 BCD data as shown for demonstration ANDMOV purposes Suppose we want to move a K 6666 table of two words at V 3000 and AND it with K 6666 T he copy of the table at 16 6 6 6 V 3100 shows the result of the AN D operation for each word The program on the next page performs the AN D M OV operation example above It assumes that the data in thetable at V 3000 V 3001 already exists First weload thetable length two words into the accumulator N ext we load the starting address of the source table using the LDA instruction T hen we load the data into the accumulator to be AN D ed with the table In theANDM OV command we specify the table destination V 3100 DLO06 Micro PLC User Manual 1st Ed Rev A 5 167 Chapter 5 Standard RLL Instructions Table Instructions DirectSOFT 32
559. te of H SIO M ode register V 7633 contains a BCD 10 the high speed up counter in the H SIO circuit is enabled X0 and X1 automatically become the clock inputs for the high speed counters incrementing them upon each off to on transition T he external reset input on X2 and X3 arethe default configuration for M ode 10 ry DLO6 Output Circuit PLC vovi IE HSIO CPU VO data Counter 1 Counter 2 V memory Filter Mode Select V7633 0010 CLK Reset CLK Reset ry ry XO x2 X1 X3 X4 X23 nput Circuit Instead of using X2 and X3 as dedicated reset inputs you can configure X2 and X3 as normal filtered inputs In this way the counter reset must be generated in ladder logic 4 DLO6 Output Circuit PLC YO Y1 Y2 Y17 HSIO CPU VO data Counter 1 Counter 2 V memory Filter Mode Select CLK Reset j CLK Reset je V7633 0010 ry ry X0 X1 X2 X3 X4 X23 Input Circuit ry DL06 Micro PLC User Manual Ist Ed Rev A 10 02 3 7 Chapter 3 High speed Input and Pulse O utput Features Wiring D iagram A general wiring diagram for counters encodersto the D L06 in H SIO M ode 10 is shown below M any types of pulse generating devices may be used such as proximity
560. te of V 7633 to select the High Speed Counter M ode Memory Location V7633 Bits 15 14 13 12 11 10 9 8 7 6 5 4 E 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 Oo X 0 0 6 0 Miscellaneous Setup BCD HSIO Mode Setup BCD 00 Not Used default 60 Filtered Inputs 10 Battery Enabled 20 Power up in RUN 30 Battery Enabled and Power up in RUN Choose the most convenient method of programming V 7633 from the following Include load and out instructions in your ladder program DirectSOFT 32 s memory editor e Usethe H andheld Programmer D 2 H PP We recommend using the first method above so that the H SIO setup becomes an integral AR of your application program An example program later in this section shows how to to this X Input Configuration Theconfigurable discrete input options for D iscrete Filtered Inputs M ode are listed in the table below T hefilter time constant delay is programmable from 0 to 99 mS the input acts as a normal discrete input when the time constant is set to 0 T he code for this selection occupies the upper byte of the configuration register in BCD Wecombinethis number with the required 06 in the lower byte to get xx06 where xx 0 to 99 Input X0 X1 X2 and X3 can only be filtered inputs Each input has its own configuration register and filter time constant Input Configuration Register Function Hex Code Required
561. ted to your application Direct SOFT32 SPO Load constant K40 into the accumulator This LD5 selects Mode 40 as the HSIO mode Output this constant to V7633 the location of the Mode 40 S HSIO Mode select register Load the constant K1004 which is required to select Timed Interrupt LP j the timed interrrupt option with a period of 100 mS OUT Output this constant to V7634 configuring the timed V7634 interrupt for 100 mS period Load the constant K1006 which is required to select Filtered Inputs ID de filtered inputs with a 10 mS filter time constant OUT Output this constant to V7635 configuring X1 and XO V7635 OUT Output this constant to V7636 configuring X2 V7636 OUT Output this constant to V7637 configuring X3 V7637 INT Enable ____ En Enable Interrupts at the beginning of the program Insert Main Program rungs here for your application Main Program END END coil marks the end of the main program INT OO The INT label marks the beginning of the interrupt service routine program Interrupt Routine Insert interrupt service routine rungs here for your application SPI I LD Load constant K1 into the accumulator H K1 ADD Add the value in the accumulator with the value in V2000 memory location V2000 OUT Output the result into memory location V2000 V2000 IRT Return to
562. tegral part of your application program An example program later in this section shows how to do this Presets and Special Relays Presets are used to cause a particular action to occur when the count reaches the preset value Refer to the figure below Each counter features 24 presets which you can program Presets are double word numbers so they occupy two V memory registers T he user selects the preset values and the counter continuously compares the current count with the preset W hen the two are equal a special relay contact is energized and program execution jumpsto the interrupt routine Werecommend usingthe specia rday s in theinterrupt service routine to cause any immediate action you desire After theinterrupt serviceroutineiscomplde the CPU returnsto the ladder program resuming program execution from the point of interruption T he comparefunction is ready for the next preset event XO clock ees Counter 1 Current CPU Scan X2 external reset Fr Reset 1 Value Input Update X1 up counter clock gt Counter 2 Current INT Ladd X3 external reset m Reset2 Value ad Program Counter 2 Preset Data Execution HSIO V3710 0000 1500 Interrupt V3712 0000 T 2500 Does S cement Routine Counter 1 Preset Data Count 2 P 301 0000 000 Preset Instruction rogram V3632 00
563. ter CT 2 will increment by one W hen the current value reaches the preset value of 3 the counter status bit CT2 will turn on and energize Y7 W hen the reset C 10 turns on the counter status bit will turn off and the current value will be 0 T he current value for counter CT 2 will be held in V memory location V 1002 DirectSOFT32 Counting diagram x1 CNT CT2 xi K3 C10 C10 CT2 or CT2 A Y7 OUT Current Value 1 2 3 4 0 Handheld Programmer Keystrokes Handheld Programmer Keystrokes cont B C T C em gt ENT sem SHFT 2 SHFT un ENT Cc B A GX B A sm gt _ SFr 2 1 0 ENT our 7 1 0 END GY Cc D cnt 7 2 3 ENT Counter Example Using C omparative C ontacts In the following example when X1 makes an off to on transition counter CT 2 will increment by one Comparative contacts are used to energize Y3 Y4 and Y5 at different counts W hen the reset C10 turns on the counter status bit will turn off and the counter current value will be 0 and the comparative contacts will turn off DirectSOFT32 Counting diagram x CN
564. ter than the comparison number K123456 Load the current count of the HSIO counter in V1176 and V1177 into the accumulator Use the Compare double instruction to compare the double word in the accumulator to the constant K345678 The execution of the above CMPD instruction turns on special relay contact SP62 if the current count is greater than the comparison number K345678 END coil marks the end of the main program DL06 Micro PLC User Manual 1st Ed Rev A 10 02 l 3 17 Chapter 3 High speed Input and Pulse O utput Features Bi M M Program Example 2 Counter W ith Presets T hefollowing example shows how to program the H SIO circuit to trigger on three preset values You may recall the industrial lathe example from the beginning of this chapter T his example program shows how to control the lathe cutter head to make three grooves in the work piece at precise positions W hen the lead screw turns the counter device generates pulses which the D L06 can count T he three preset variables A B and C represent the positions number of pulses corresponding to each of the three grooves In this example only one high speed counter is used T he second counter could be used in the same manner Industrial Lathe A v3630 0000 1500 Preset Data B v3632 0000 3780 C v3634 oo00 4850 V3636 0000 FFFF vO X3 Cutter h
565. th the value in V1420 and V1421 Y Y V1501 V1500 Copy the value in the accumulator to V 1500 and V1501 Handheld Programmer Keystrokes B sm gt 1 END L D D B E A A SHFT fU anpst 3 3 m 1 4 0 0 ENT A D D B D B E C A Sher 0 3 3 1 3 gt 1 4 2 0 ENT GX D B F A A our SHFT 3 gt 1 5 0 o ENE 5 100 DL06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions M ath Subtract Binary SU BB Subtract Binary is a 16 bit instruction that subtracts the unsigned SUBB 2 scomplement binary value Aaaa which is either a V memory location or a 16 bit 2 s complement binary value from the binary value in the accumulator T he result resides in the accumulator Operand Data Type DLO6 Range aaa See memory map See memory map 0 FFFF Description SP63 On when the result of the instruction causes the value in the accumulator to be zero SP64 On when the 16 bit subtraction instruction results in a borrow SP65 On when the 32 bit subtraction instruction results in a borrow SP70 On anytime the value in the accumulator is negative NOTE Status flags are valid only until another instruction uses the same flag In the following example when X1 is on the value in V 1400 will be loaded into the accumulator using the Load instruction T he binary value in V 1420 is subtracted from the binary value in the accumulator u
566. the accumulator T his O aaa instruction is useful when an address parameter is required since all addresses for the D L06 system are in octal Operand Data Type DLO6 Range aaa See memory map Description On anytime the value in the accumulator is negative On when any instruction loads a value of zero into the accumulator NOTE Two consecutive Load instructions will place the value of the first load instruction onto the accumulator stack In thefollowing example when X1 is on the octal number 40400 will be converted to aH EX 4100 and loaded into the accumulator using the Load Address instruction T he valuein the lower 16 bits of the accumulator is copied to V 2000 using the O ut instruction Direct SOFT32 MW LDA Octal Hexadecimal ed O 40400 4 0 4 o0 0 4 olo Load The HEX equivalent to Th F the octal number into the ve unused accumulator lower 16 bits of the bits are set to zero accumulator ace o To o o 4 mE OUT 4 0 0 NEUE V2000 Copy the value in lower 16 bits of the accumulator to V2000 Handheld Programmer Keystrokes B sm gt 1 ENT ii D A SHFT ANDST 3 0 2 E A E A A 4 0 4 0 0 END GX V C A A A OUT suet AND 2 0 0 0 ENT 5 60 DL06 Micro PLC User Manual 1st Ed Rev A C
567. the execution of the STT instruction This is not required but it makes it easier to see how the data source is copied into thetable Scan N Before STT Execution After STT Execution Table Pointer Table Table Pointer Automatically Incremented V1401 06 0510 0 0 v1400 6 0 0 O 1 Vv1400 V1402 1 wW Vi408 2 Source Source Vina o s o o visoo o 5 o o viso V1405 4 SP56 SP56 V1406 5 j SP56 OFF SP56 OFF V1407 Scan N 1 Before STT Execution After STT Execution Table Table Pointer Table Table Pointer Automatically Incremented V1401 o6 o o o 1 v o vit o s o o o 6 o o o 2 viao V1402 1 I Vi408 2 Source Source ME 3 9 9 J9 J 9 v1i500 o o o 9 v1500 V1405 4 V1406 5 SP56 SP56 SP56 OFF SP56 OFF V1407 S S S S S Scan N 5 Before STT Execution After STT Execution Table Pointer Table Table Pointer Automatically Incremented vigor 6 Ies vo Lele o s jv V1402 1 Source Source V1403 2 V1404 s L2Lels1 viooo 2 o 4 e visoo V1405 4 V1406 5 SP56 SP56 SP56 OFF I SP56 ON Vi407 until end of scan or next instruction that uses SP56 Scan N 6 Before STT Execution After STT Execution Table Pointer Table Table Pointer Resets to 1 not 0 V1401 e o o o e vi4o v1401 6 ee v4 V1402 1 via 9 o 9 1 o Source Sour
568. the first counter and X1 is the counter clock input for the second counter It uses the Compare double CM PD instruction to cause action at certain count values N ote that this allows you to have more than 24 presets T hen it configures X2 and X3 to bethe external reset of the counter Direct SOFT32 First Scan Only Mode 10 Configure Inputs SP1 LD K10 OUT V7633 LD K1 OUT V7634 LD K1 OUT V7635 LD K7 OUT V7636 LD K7 OUT V7637 SP1 sy UDC CT174 K99999999 Load constant K10 into the accumulator This selects Mode 10 as the HSIO mode Output the constant K10 to V7633 the location of HSIO Mode select register Load the constant required to configure XO as the counter 1 clock Output the constant K1 to V7634 the location of the setup parameter for XO Load the constant required to configure X1 as the counter 2 clock Output the constant K1 to V7635 the location of setup parameter for X1 Load the constant required to configure X2 as an external reset without interrupt Output the constant K7 to V7636 the location of the setup parameter for X2 Load the constant required to configure X3 as an external reset without interrupt Output the constant K7 to V7637 the location of the setup parameter for X3 CT174 is the HSIO counter The f
569. the interrupt routine only if theinterrupt was caused by the external reset X2 input 3 20 DLO06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 3 H igh speed Input and Pulse O utput Features i Program Example 3 Counter With Preload Thefollowing example shows how you can preload the current count with another value W hen the preload command input X4 in this example is energized we disable the counter from counting with C0 Then we write the value K 3000 to the count register V 1076 V1077 We preload the current count of the counter with K 3000 W hen the preload command X4 is turned off the counter resumes counting any pulses but now starting from K 3000 In this example only one high speed counter is used T he second counter could be used in the same manner DirectSOFT32 LD Select Mode 10 co K10 OUT V7633 LD K1 OUT V7634 LD K1006 OUT V7635 LD K1006 OUT V7636 LD K1006 OUT V7637 L X C1 C2 UDC CT174 K99999999 SPO Load constant K10 into the accumulator This selects Mode 10 as the HSIO mode Output this address to V7633 the location of HSIO Mode select register Load the constant required to configure XO as the counter clock Output the constant K1 to V7634
570. the location of the setup parameter for X0 Load the constant required to configure X1 as a filtered input Output the constant to V7635 the location of the setup parameter for X1 Load the constant required to configure X2 as a filtered input Output the constant to V7636 the location of the setup parameter for X2 Load the constant required to configure X3 as a filtered input Output the constant to V7637 the location of the setup parameter for X3 Set CO on at powerup to enable counting CT174 is the HSIO counter The first rung s CO contact enables the counter The dummy input is in the middle The third rung s Reset input is normally off because we will use the external reset You can optionally reset the counter value on each powerup using the SPO contact continued on next page DL06 Micro PLC User Manual 1st Ed Rev A 10 02 l 3 2 1 Chapter 3 High speed Input and Pulse O utput Features E H M M continued from last page X4 CO When the preload request is made the user turns on X4 First we disable counting by resetting CO el QSD the counter s enable input Load the BCD value K3000 into the LDD a accumulator OUTD Output the constant to V1174 V1175 the location V1174 of the accumulated count for CT76 C1 C PD Generate a preload counter input pulse which causes the counter to preload from V1174 V1175 CO C1 CO A f Enable the counter by setti
571. the main ladder program 3 68 DL06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 3 H igh speed Input and Pulse O utput Features nA Mode 50 Pulse Catch Input Purpose TheH SIO circuit has a pulse catch mode of operation It monitors the signal on inputs X0 X3 preserving the occurrence of a narrow pulse T he purpose of the pulse catch mode is to enable the ladder program to see an input pulse which is shorter in duration than the current scan time T heH SIO circuit latches the input event on input X0 X3 for one scan This contact automatically goes off after one scan Functional Block Diagram Refer to the block diagram below W hen the lower byte of H SIO M ode register V 7633 contains a BCD 50 the pulse catch modein the H SIO circuit is enabled X0 X3 automatically become the pulse catch inputs which set the latch on each rising edge T he H SIO resets the latch at the end of the next CPU scan Inputs X1 X2 and X3 can be filtered discrete inputs also 4 DLO6 Output Circuit PLC YO Y1 Y2 Y17 HSIO VO data CPU Latch V memory V7633 0050 Latch or Mode select e Set Reset Filter Ly ry j X0 scan X1 X2 X3 X4 X23 Input Circuit i Pulse Catch Timing Parameters Signal pulses at X0 X3 must meet certain timing criteria to guarantee a pulse capture will res
572. tion causes the value in the accumulator to be zero SP70 On any time the value in the accumulator is negative SP75 On when a BCD instruction is executed and a NON BCD number was encountered NOTE Status flags are valid only until another instruction uses the same flag i In the following example when X1 is on the Load instruction loads the value in V 1400 into the accumulator T he value in V 1420 is loaded into the accumulator using the Load D ouble instruction pushing the value previously loaded in the accumulator onto the accumulator stack The BCD value in the accumulator is divided by the BCD value in the first level of the accumulator stack using the D ivide Stack instruction T he O ut D ouble instruction copies the value in the accumulator to V 1500 and V 1501 Direct SOFT32 Display 1400 Accumulator stack after 1st LDD x1 LD Load the value in V1400 into ojo e fi the accumulator The unused accumulator Lawei XX X X XX X X IT 1400 bits are set to zero i Level 2 XX X XX Acc LO 0 0 0 0 0 2 0 Level3 X X XXX Level 4 XX X XX V1421 V1420 Level 5 XX X XX LDD Load the value in V1420 and 5jo 5joj o ojoJo Level6 X X xxx Vi420 V1421 into the accumulator Level7 X X XXX 4 e ee Level 8 XX X XX Accumulator stack after 2nd LDD Divide the value in the DIVS accumulator by the value in the first level of the Acc LO ofo 2 E O21 00 accumulator stack o o o
573. tion disables this feature First Character Timeout if the amount of time from when the AIN is enabled to thetime the first character is received exceeds the set time the specified First C haracter T imeout bit will be set Thebit will reset when the AIN instruction permissive bits are disabled Oms selection disables this feature e Byte Swap swaps the high byte and low byte within each V memory register of the Fixed Length ASCII string Seethe SWAPB instruction for details e Busy Bit isON whiletheAIN instruction is receiving ASCII data e Complete Bit is set once the ASCII data has been received for the specified fixed length and reset when the AIN instruction permissive bits are disabled Inter character Timeout Error Bit is set when the Character Timeout is exceeded See Character Timeout explanation above DLO06 Micro PLC User Manual 1st Ed Rev A 5 209 AIN Length Type Fixed Length C Variable Length Port Number v2000 D M Data Destination Data Destination Byte count Data Destination 1 Start of data Fixed Length K32 Interchar Timeout 20 ms First Char Timeout None r Byte Swap C None All C All but null r Termination Code Lenath 7 Character C 2 Character Tenmode 7 Jresadecima Termtbode 2 __ hexadecimel Busy co M Complete C1 Interchar T 0 Error C2 s First Char T O
574. tion or a 4 digit EN max constant T he first part of the quotient resides in the accumulator and the remainder resides in the first stack location Operand Data Type DLO6 Range aaa See memory map See memory map 0 9999 Aaaa Description On when the value of the operand is larger than the accumulator can work with On when the result of the instruction causes the value in the accumulator to be zero On anytime the value in the accumulator is negative On when a BCD instruction is executed and a NON BCD number was encountered NOTE The status flags are only valid until another instruction that uses the same flags is executed In the following example when X1 is on the value in V 2000 will be loaded into the accumulator using the Load instruction T he value in the accumulator will be divided by the value in V 2006 using theD ivide instruction The valuein the accumulator is copied to V 2010 using the O ut instruction Direct SOFT32 V2000 s o o o a LD Fd V2000 Load the value in V2000 into thelower 16 bits of the The unused accumulator bits are set to zero 00005000 Accumulater accumulator DW E 4 9 V2006 V2006 Acc 1 0 2 0 0 0 0 0 O jO 2 The value in the accumulator is divided by First stak location contains the valu
575. tion which contains the beginning of the Preset D ata Tables T he default starting location for the Prese D ata Tables is V 3630 default after initializing scratchpad H owever you may change this by programming a different value in V7630 UsetheLDA and OUT instructions as shown Load the octal address Preset Table Pointer LDA convert to hex leave O2000 result in accumulator V7630 2000 Output this address to a Preset Table ae V7630 the location of the pointer to the Preset data V2001 V2000 0000 1000 V2003 V2002 0000 2000 Using Fewer than 24 Presets V2005 V2004 0000 2500 W hen all 24 available presets are used the CPU i V2007 V2006 0000 3175 knows automatically when it reaches the end of the preset table W hen using fewer than 24 presets LDD Load 0000 FFFF V3631 V3630 0000 1000 into accumulator Kf V3633 V3632 0000 2000 O tputthisv lueto V3635 V3634 0000 2500 NUM V3640 the register V3637 V3636 0000 3175 beyond the Preset Table V3641 v3640 0000 FFFF however it is necessary to signal the CPU that it has reached the last preset T he way to signal the end of V2077 N2076 9000 1 990 the block of presets isto insert one of thefollowing table end codes into the next available register pair Table end Code Applicable Mode Meaning 0000 FFFF Absolute and Incremental Signals end of presets Sign
576. tions Comparative Boolean MM i71 Store STR The Comparative Store instruction begins a new rung or Aaaa Bbbb additional branch in a rung with a normally open comparative contact T he contact will be on when Aaaa is equal to or greater than Bbbb gt Store Not STRN The Comparative Store N ot instruction begins a new rung or Aaaa B bbb additional branch in a rung with a normally closed comparative B contact T he contact will be on when Aaaa lt Bbbb Operand Data Type DLO6 Range aaa bbb See memory map See memory map See memory map See memory map 0 9999 0 377 0 177 energize DirectSOFT32 In the following example when the value in V memory location V 2000 1000 Y3 will V2000 K1000 Handheld Programmer Keystrokes V C A A A NE Ya sm S4FT anp 2 0 0 0 OUT gt A A A ENT 1 0 0 0 GX D OUT gt 3 ENT In the following example when the value in V memory location V2000 4050 Y3 will energize DirectSOFT32 V2000 K4050 Handheld Programmer Keystrokes Y3 SP V C A A A sten S4FT ano 2 0 0 0 lt OUT e A F A Em 4 0 5 0 GX D our 7 3 E DL06 Micro PLC User Manual 1st Ed Rev A 5 29 Chapter 5 Standard RLL Instructions Comparative Boolean L
577. to equipment DL06 Micro PLC User Manual 1st Ed Rev A 10 02 l E 13 Chapter 4 CPU Specifications and O peration C Read Inputs TheCPU reads the status of all inputs then stores it in the image register Input image register locations are designated with an X followed by a memory location mage register data is used by the CPU when it solves the application program Of course an input may change after the CPU has just read the inputs Generally the CPU scan time is measured in milliseconds If you have an application that cannot wait until the next I O update you can use mmediate Instructions T hese do not use the status of the input image register to solve the application program T hel mmediate instructions immediately read the input status directly from thel O modules H owever this lengthens the program scan sincethe CPU hasto read thel O point status again A complete list of the Immediate instructions is included in Chapter 5 Service Peripherals and Force 1 0 After the CPU readsthe inputs from the input modules it reads any attached peripheral devices T his is primarily a communications service for any attached devices For example it would read a programming device to see if any input output or other memory type status needs to be modified T here are two basic types of forcing available with the D L06 CPUs Forcing from a peripheral not a permanent force good only for one
578. to lower baud rates if you experience data errors or noise problems on the network Important You must configure the baud rates of all devices on the network to the same value Stop Bits Choose 1 or 2 stop bits for use in the protocol Parity Choose none even or odd parity for error checking Format C hoose between hex or ASCII formats gt Qi T hen click the button indicated to send the Port configuration to the CPU and click Close DL06 Micro PLC User Manual Ist Ed Rev A 10 02 l EL ALO Chapter 4 CPU Specifications and O peration C mmm N Non Sequence Protocol ASCII In Out and PRINT MODBUS Port Configuration Configuring port 2 on the D L06 for N on Sequence allows the CPU to use port 2 to either read or write raw ASCII strings using the ASCII instructions Seethe ASCII In O ut instructions and the PRINT instruction in chapter 5 In DirectSO FT 32 choose the PLC menu then Setup then Secondary Comm Port Port From the port number list box at the top choose Port 2 Protocol Click the check box to the left of N on Sequence Setup Communication Ports M Non Sequence Remote 1 0 Time out 800 ms ha RTS on delay time 0 ha Echo Suppression RS 422 485 4 wire RS 232C 2 wire C RS 485 2 wire RTS off delay time 0 m T XON XOFF flow control Data bis S E as T RTS flow control Baud rate 13200 faa lilii Stop bits 1 Party 04d Me
579. trol Relays CRs as retentive these changes are stored in system memory AU X 54 resetsthe system memory to the default values DL06 Micro PLC User Manual 1st Ed Rev A 10 02 l RI Chapter 4 CPU Specifications and O peration that is stored in system memory Usually you ll only need to initialize the system memory if you are changing programs and the old program required a special system WARNING You may never have to use this feature unless you want to clear any setup information AN setup You can usually load in new programs without ever initializing system memory Remember this AU X function will reset all system memory If you have set special parameters Such as retentive ranges etc they will be erased when AU X 54 is used M ake sure that you have considered all ramifications of this operation before you select it Setting Retentive M emory Ranges TheDL06 PLCs provide certain ranges of retentive memory by default T he default ranges are suitable for many applications but you can change then if your application requires additional retentive ranges or no retentive ranges at all T he default settings are Memory Area Default Range Available Range Control Relays C1000 C1777 C0 C1777 V Memory V400 V37777 V0 V37777 Timers None by default TO 1377 Counters CTO CT177 CTO C1177 Stages None by default S0 1777 You can use AU X 57 to set the retentive ranges You can also use D irectSO
580. truction to be active for just one scan N ote the N at the end of the message which produces a carriage return line feed on the printer T his preparesthe printer to print the next line starting from the left margin SL PRINT K2 Print the message to Port 2 when Hello this is a PLC message N X1 makes an off to on transition 5 190 DL06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions M essage Instructions V memory element this is used for printing V memory contents in the integer format or real format Use V memory number or V memory number with and data type T he data types are shown in the table below T he C haracter code must be capital letters NOTE There must be a space entered before and after the V memory address to separate it from the text string Failure to do this will result in an error code 499 Character code Description 16 bit binary decimal number 4 digit BCD 32 bit binary decimal number 8 digit BCD Example V 2000 Print binary data in V 2000 for decimal number V 2000 B Print BCD datain V2000 V 2000 D Print binary number in V2000 and V 2001 for decimal number V2000 D B Print BCD datain V 2000 and V 2001 Example The following example prints a message containing text and a variable T he reactor temperature labels the data which is at V 2000 You can use the B qualifier after the V 2000 if the data isin BCD format
581. ts a single bit to zero Asa within a range of V memory locations Thefollowing description applies to both the Set Bit and Reset Bit table instructions Step 1 Load the length of the table number of V memory locations into the first level of the accumulator stack T his parameter must be aH EX value 0 to FF Step 2 Load the starting V memory location for the table into the accumulator T his parameter must be aH EX value You can use the LDA instruction to convert an octal address to hex Step 3 Insert the Set Bit or Reset Bit instruction T his specifies the reference for the bit number of the bit you want to set or reset T he bit number isin octal and the first bit in the table is number 0 H elpful hint Remember that each V memory location contains 16 bits So the bits of the first word of the table are numbered from 0 to 17 octal For example if the table length is six words then 6 words 6 x 16 bits 296 bits decimal or 140 octal T he permissible range of bit reference numbers would be 0 to 137 octal SP 53 will be set if the bit specified is outside the range of the table Operand Data Type DLO6 Range aaa See Memory Map Discrete Bit Flags Description SP53 on aen the bit number which is referenced in the Set Bit or Reset Bit exceeds the range of the table NOTE Status flags are only valid until the end of the scan or until another instruction that uses the same flag is executed For ex
582. ttery circuit SET B7633 12 In this mode the CPU will maintain the data in C S T CT and V memory when power is removed from the CPU provided the battery is good T he use of a battery can also determine which operating mode is entered when the system power is connected W henever you have installed a battery the battery always backs up the memory H owever the low battery indication can be disabled by turning off bit 12 in V 7633 4 8 DL06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 4 CPU Specifications and O peration MM MM i ET Auxiliary Functions M any CPU setup tasks involve the use of Auxiliary AU X Functions T he AU X Functions perform many different operations ranging from clearing ladder memory displaying the scan time copying programs to EEPROM in the handheld programmer etc T hey are divided into categories that affect different system parameters Appendix A provides a description of the AUX functions You can accessthe AU X Functions from D irectSO FT 32 or from the D 2 H PP H andheld Programmer T he manualsfor those products provide step by step procedures for accessing the AU X Functions Some of these AU X Functions are designed specifically for the H andheld Programmer setup so they will not be needed or available with the D irectSO FT 32 package Thefollowing table shows a list of the Auxiliary functionsfor the H andheld Programmer AUX 2 RLL Operations 21 Check Program Test Operations 2
583. u can count 4 timesm 4x counting os 2 3 A Normal counting gt Phase A xx06 xx filter time 0 99ms BCD default ore with the same encoder 5 6 7 8 9 10 11 12 13 14 15 16 2 3 4 Phase B With the counter reset you have the optio n of a normal rese or a faster reset H owever the fast reset does not recognize changed preset values during program execution W hen 0007 or 0107 are set in V7636 and preset values are changed during program execution the D L06 recognizes the changed preset values at the time of the reset W hen 0207 or 0307 are set in V7636 the CPU does not check for changed preset values so the D L06 has a faster reset time 3 28 DL06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 3 H igh speed Input and Pulse O utput Features EU Writing Your Control Program The mnemonic for the counter is U DC up down counter T he D L06 can have up to 128 counters labeled CT 0 through CT 177 T he quadrature counter in the H SIO circuit is accessed in ladder logic by using UD C CT 174 It uses counter registers CT 174 and CT 175 exclusively when the H SIO mode 20 is active otherwise CT 174 and CT 175 are available for standard counter use TheH SIO counter needs two registers because it is a double word counter It has three inputs as shown T he first input is the enable signal the middle
584. ual Ist Ed Rev A 5 171 Chapter 5 Standard RLL Instructions Clock Calendar Instructions Time TIME TheTimeinstruction can be used to set thetime 24 hour clock in the CPU T heinstruction requires two consecutive TIME V memory locations Vaaa which are used to set the time If V aaa the values in the specified locations are not valid the time will not be set The current time can be read from memory locations V 7747 and V7766 V 7770 VMemory Location BCD READ Only 1 100 seconds 10ms Seconds Operand Data Type DL06 Range aaa See memory map In the following example when C0 is on the constant value K 73000 is loaded into the accumulator using the Load D ouble instruction CO should be a contact from a one shot PD instruction The value in the accumulator is output to V 2000 using the O ut D ouble instruction T heTime instruction uses the value in V 2000 to set the time in the CPU DirectSOFT 32 Constant K E oToTo v s o Jo o The TIME instruction uses the r3 zm value set in V2000 and V2001 to K7300 aM apu set the time in the appropriate V 0 o o 7 7 LEI 0 ree Lele efe memory locations V7766 V7770 OUTD Acc o o o V2000 ofofo 7 ofo 0 v2001 V2000 Format V2001 V2000 TIME o o Jo fe o o o V2000 Handheld Programmer Keystrokes Not Hour Minutes Seconds A Used str
585. uction T helower 7 bits of the accumulator are output to YO Y 6 using the O ut Formatted instruction Direct SOFT32 Co ra LDF C10 Location Constant cie cis era crs ei cuf cio Ff K7 cio K7 OFF OFF OFF ON ON ON OFF Load the status of 7 consecutive bits C10 C16 The unused accumulator bits are set to zero b into the accumulator 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 1514131211109 8 7 6 5 4 3 2 1 Acc 0 0 0 0 OJ OJ OF OF Of 0 0 0 0 0 0 0 0 O OO O O O o o o o OUTF Yo d K7 Li ti Cc stant Copy the value from the ocon aleat Y6 Y5 Ye NS Y2 NT YO specified number of bits in Yo K7 OFF OFF OFF oN oN ON OFF the accumulator to YO Y6 Handheld Programmer Keystrokes Soe sm TS y mr SHT finos 5 s gt sur E IB 6 gt i ENT Mor suet 5s gt gt ENT DL06 Micro PLC User Manual 1st Ed Rev A 5 59 Chapter 5 Standard RLL Instructions Accumulator Stack Load and O utput D ata Ei M M X Load Address LD A TheLoad Address instruction is a 16 bit instruction It converts any octal value or address to the H EX equivalent LDA value and loadsthe H EX value into
586. uctions Number Conversion Real to Binary Conversion RTOB TheReal to Binary instruction converts the real number in the RTOB accumulator to a binary value T he result resides in the accumulator Both the binary and the real number may use all 32 bits of the accumulator Discrete Bit Flags Description On when the result of the instruction causes the value in the accumulator to be zero On anytime the value in the accumulator is negative On anytime the value in the accumulator is a valid floating point number On when a signed addition or subtraction results in an incorrect sign bit On when a number cannot be converted to binary In the following example when X1 ison the value in V 1400 and V 1401 is loaded into the accumulator using the Load D ouble instruction The RT OB instruction converts the real value in the accumulator the equivalent binary number format T he value in the accumulator is copied to V 1500 and V 1501 using the O ut D ouble instruction T he handheld programmer would display the binary value in V 1500 and V 1501 asaH EX value Direct SOFT32 Display x1 LDD 4 8 A E 4j8j 2 0 Real Number Format V1400 V1401 V1400 Load the value in V1400 and i n n V1401 into the accumulator Sign Bit Exponent 8 bits Mantissa 23 bits oli lolol lololo Acc 1 1TelleDoDi To
587. uit operates in one of 6 basic modes as listed in the table below T he number in the left column is the mode number later well use these numbers to configure the PLC Choose one of thefollowing modes according to the primary function you want from the dedicated H igh Speed 1 0 circuit You can simply use all twenty inputs and sixteen outputs as regular O points with M ode 60 High Speed 1 0 Basic Modes Mode Mode Features Two 7 kHz counters with 24 presets and reset input counts up only cause High Speed Counter interrupt on preset 7 kHz up down counter with 24 presets and reset causes interrupt on reset Up Down Counter E Channel A Channel B 7 kHz quadrature input counts up and down Stepper control pulse and direction signals programmable motion Pulse Output profile TOkHz max High Speed Interrupt Generates an interrupt based on input transition or time Pulse Catch Captures narrow pulses on a selected input Filtered Input Rejects narrow pulses on selected inputs In choosing one of the six high speed I O modes thel O points listed in the table below operate only as the function listed If an input point is not specifically used to support a particular mode it usually operates as a filtered input by default Similarly output points operate normally unless Pulse O utput mode is selected 3 4 DL06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 3 H igh speed Input and Pulse
588. ulse and direction for physical YO and Y1 functions respectively Use K3 if your application needs CW and CCW Output this constant to V7632 configuring the pulse output type Load the constant K1006 which is required to select filtered inputs with a 10 mS filter time constant Output this constant to V7634 configuring XO Output this constant to V7635 configuring X1 Output this constant to V7636 configuring X2 Output this constant to V7637 configuring X3 3 60 DL06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 3 H igh speed Input and Pulse O utput Features M i1 Program Example C ontd Y SPO Load the constant K2000 which is required to select H LD Velocity Profile This data word contains no velocity I K2000 information in the case of velocity mode Profile Target OUT Output this constant to V3630 the location of the Profile velocity V3630 Select setup register Load the constant K80000000 which selects CCW Select Direction LDD direction for Velocity Profiles Don t forget to use double K80000000 word size 8 digit BCD position value OUTD Output this constant to V3631 and V3632 the location of V3631 the Target Position double word register i Load the constant K10 which is required to select an Set Velocity E initial velocity of 100 pps u
589. ult Refer to the timing diagram below T he input characteristics of X0 are fixed it is not a programmable filtered input T he minimum pulse width is 0 1 mS T here must be some delay before the next pulse arrives such that the pulse period cannot be smaller than 0 5 mS If the pulse period is smaller than 0 5 mS the next pulse will be considered part of the current pulse r 0 5 mS minimum 0 1 mS minimum Pulse Input XO d lil Time Note that the pulse catch and filtered input functions are opposite in nature The pulse catch feature seeks to capture narrow pulses while the filter input feature seeks to reject narrow pulses DL06 Micro PLC User Manual 1st Ed Rev A 10 02 l 3 69 Chapter 3 High speed Input and Pulse O utput Features Bi HM When to use Pulse Catch Mode Use the pulse catch mode for applications where the input e g X0 can not be used in the user program because the pulse width is very narrow U se SP 100 instead of X0 T he SP 100 contact stays on through the next scan as shown above FL PLC Scan X Hbf PLC Scan X 1 je PLC Scan X 2 EL Output Input Output Update Update Update Output Input Update Update Solve User Logic Solve User Logic Input n Update Solve User Logic X0 SP100 T he status relay for XO is SP100 T heother status relays are shown in th
590. umber K2 Data Destination V2000 10 Fixed Length K40 Interchar Timeout 100ms First Char Timeout 2000ms Byte Swap All but Null Termination Code s oD Overflow Error C4 Busy co Complete C1 Interchar Timeout Error c2 First Char Timeout Error C3 AIN Complete Scan code C1 C6 H RST Intercharacter Timeout C2 Firstcharacter Timeout C3 AIN Overflow error C4 AIN Complete Data Read C1 C100 12 our 5 212 DLO06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions ASCII ASCII Find AFIND TheASCII Find instruction locates a specific ASCII string or portion of an ASCII string within a range of V memory registers and places the string s Found Index number byte number where desired string is found in H ex into a specified V memory register O ther features include Search Starting Index number for skipping over unnecessary bytes before beginning the FIN D operation Forward or Reverse direction search and From Beginning and From End selectionsto reference the Found Index Value Base Address specifies the beginning V memory register wherethe entire ASCII string is stored in memory e Total N umber of Bytes specifies the total number of bytes to search for the desired ASCII string Search Starting Index specifies which byteto skip to with respect to the Base Address before beginning the search Direction Forward begi
591. ung with anormally open Vaaa Bbbb comparative contact T he contact will be on when Vaaa equals Bbbb Store If Not Equal STRNE The Store If N ot Equal instruction begins a new rung or additional branch in a rung with a normally closed V aaa B bbb comparative contact T he contact will be on when Vaaa does not equal Bbbb Operand Data Type DLO6 Range aaa bbb See memory map See memory map 0 9999 In the following example when the value in V memory location V 2000 4933 Y3 will energize See memory map See memory map DirectSOFT32 Handheld Programmer Keystrokes V2000 4933 Y3 E C A A A str SHET 4 2 0 0 0 OUT gt E J D D ENT 4 9 3 3 GX D OUT gt 3 ENT In the following example when the value in V memory location V 2000 5060 Y3 will energize DirectSOFT32 Handheld Programmer Keystrokes iibi K5060 x S EN surr E gt t A g A g A J UT 5 Jt I Ie f er Sur 2 s eT 5 26 DL06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions Comparative Boolean rj Or If Equal ORE TheOr If Equal instruction connects a normally open comparative contact in
592. unter status bit CT 7 will remain on until the counter is reset using the RST instruction W hen the counter is reset the counter status bit will turn off and the counter current value will be 0 T he current value for counter CT 7 will beheld in V memory DirectSOFT32 Counting diagram xi SGCNT CT7 xi K3 CT Y Y m our curren 1 2 3 4 0 Value em ER RST RST CT7 Handheld Programmer Keystrokes Handheld Programmer Keystrokes cont B Gx B A sm gt 1 ENT our gt 1 0 ENT G GY c F SHFT as SHFT amp SHET l Snr str gt SHET 2 5 ENT H D S C T H 7 gt 3 ENT ast SHFT 2 SHET ua ENT c T H STR gt SHFT 2 SHFT uin F ENT Stage Counter Example U sing C omparative Contacts In thefollowing example when X1 makes an off to on transition counter CT 2 will increment by one Comparative contacts are used to energize Y3 Y4 and Y5 at different counts Although this is not shown in the example when the counter is reset using the Reset instruction the counter status bit will turn off and the current value will be 0 T he current value for counter CT 2 will be held in V memory location V 1002
593. upplies and common circuits may be used T he equivalent output circuit shows one channel of atypical bank Tusc j Power Input e L La J E Output Point Wiring Wiring Lis E u n m E TIIILIIIIIIE 6o o o o o o o ages ov vo ve c1 vs vz vio vi2 c3 T vis viz Aci Ac 24v co Y1 va va J ve c2 yn vis via vie Nc OUTPUT 17 240V 50 60Hz 0 5A PWR 100 240V 50 60Hz 40VA vooeoeoooooooQgQooGQeQ D0 06AA 4 5 6 7 10 11 12 13 14 15 16 17 20 21 22 23 00000000000000000 INPUT 90 120V 7 15mA a or 06 Koyo E X0 x2 a i x5 X7 TEI x T Es E Q Q OG e O6 O0 0 0000009 eleleeeieeejeeee LLL e alololol olololol olololal olololol lolol Supply o o olo o lolo I dii ee to LL dii ete Input Point Wiring Equivalent Input Circuit Equivalent Output Circuit Derating Chart for AC Outputs Vv intemalimodule circuitry 7 7 Points e i 1 V 16 9 o w MEI s NM Ocal 05A YO Y7 Input AN 1 sail Pet 12 r Y10 Y1
594. ure can maintain an arc for much longer time and distance than AC failures Typically the main busis fused at a higher level than the branch device which in this case is the D L06 The recommended fuse size for the branch circuit to the D L06 is 1 5A for example a Littlefuse 312 001 or equivalent External Power Source The power source must be capable of suppling voltage and current complying with individual Micro PLC specifications according to the following specifications Power Source Specifications Item DL06 VAC Powered Units DL06 VDC Powered Units Input Voltage Range 110 220 VAC 95 240 VAC 12 24 VDC 10 8 26 4 VDC 13 A 1ms 95 240 VAC Maximum Inrush Current 15 A 1ms 240 264 VAC 10A Maximum Power 30 VA 20W Voltage Withstand dielectric 1 minute 1500 VAC between primary secondary field ground Insulation Resistance gt 10 MQ at 500 VDC NOTE The rating between all internal circuits is BASIC INSULATION ONLY Planning the Wiring Routes Thefollowing guidelines provide general information on how to wirethel O connections to DL06 Micro PLCs For specific information on wiring a particular PLC refer to the corresponding specification sheet which appears later in this chapter 1 Each terminal connection of the D L06 PLC can accept one 16 AWG wireor two 18 AWG size wires D o not exceed this recommended capacity NOTE Recommended wire size for field devices is 16 22 AWG s
595. us A frequently asked question is H ow do tell if a number is octal BCD or hex T he answer is that we usually cannot tell just by looking at the data but it does not really matter W hat matters is the source or mechanism which writes data into aV memory location and the thing which later reads it must both use the same data type i e octal hex binary or whatever T he V memory location is just a storage box that s all It does not convert or move the data on its own Binary Coded Decimal Numbers 3 6 Since humans naturally count in V memory storage 0 1 0 0 1 o o 1 ofo 1 1 o 1 1 0 decimal 10 fingers 10 toes we prefer to enter and view PLC data in decimal as well H owever computers are more efficient in using pure binary numbers A compromise solution between the two is Binary Coded D ecimal BCD representation A BCD digit ranges from 0 to 9 and is stored as four binary bits a nibble T his permits each V memory location to store four BCD digits with a range of decimal numbers from 0000 to 9999 In a pure binary sense a 16 bit word can represent numbers from 0 to 65535 In storing BCD numbers the range is reduced to only 0 to 9999 M any math instructions use Binary Coded Decimal BCD data and DirectSO FT 32 and the handheld programmer allow usto enter and view data in BCD H exadecimal Numbers H exadecimal numbers are similar to BCD numbers except they utilize all possible binary va
596. usefirst scan contact SPO to trigger the setup DirectSOFT32 SPO LD I Mode 30 Locate Parameter Table optional Select Pulse Direction Filtered Inputs K30 OUT V7633 LDA 03630 OUT V7630 LD K103 OUT V7632 LD K2006 OUT V7634 OUT V7635 LD K1006 OUT V7636 OUT V7637 Load constant K30 into the accumulator This selects Mode 30 as the HSIO mode Output this constant to V7633 the location of the HSIO Mode select register Load the octal address of the beginning of the Profile Parameter Table The LDA instruction converts this to a hex number in the accumulator Output this address to V7630 the location of the pointer to the Profile Parameter Table Load the constant K103 which is required to select pulse and direction for physical YO and Y1 functions respectively Use K3 if your application requires CCW and CW Output this constant to V7637 configuring the pulse output type Load the constant K2006 which is required to select XO and X1 as a filtered input with a 20 mS filter time constant Output this constant to V7634 configuring XO Output this constant to V7635 configuring X1 Load the constant K1006 which is required to select X2 and X3 as a filtered input with a 10 ms filter time constant Output this constant to V76
597. ut You can choose instructions with faster execution times You can use immediate I O instructions which update the I O points during the program execution e You can use the H SIO M ode 50 Pulse Catch features designed to operate in high speed environments See Chapter 3 for details on using this feature Of these three thingstheImmediatel O instructions are probably the most important and most useful T hefollowing example shows how an immediate input instruction and immediate output instruction would affect the response time Scan Solve Solve Solve Solve Scan Program Program Program Program Normal Read N write 7M Normal Read Input Output Write Input Immediate Immediate Outputs Field Input Input Off On Delay Output Off On Delay lt lt H I O Response Time In this case you can calculate the response time by simply adding the following items Input D day Instruction Execution Time O utput D day Response Time The instruction execution time would be calculated by adding the time for the immediate input instruction the immediate output instruction and any other instructionsin between the two results to solve that one instruction It does not use the new status to update the image register Therefore any regular instructions that follow will still use the image register values Any immediate NOTE Even th
598. v1420 Y gt Level 7 o o 1 z 8 0 5 F Ace Level 8 ADDBS Add the binary value in the accumulator with the binary PPE ST ET value in the first level of the ace 910 5 2 0 1 2 5 accumulator stack Accumulator stack after 2nd LDD OUTD Copy the value in the Level 1 003 A5 0 L accumulator to V1500 SS Level2 X X X X X X V1500 andV1501 o0 0 5 2 0 1 2 5 Level3 X X X X X X Level4 X X X X X X Handheld Programmer Keystrokes Levels X X X Xxx gt P ENT Level6 X X X X X X STR 1 Level X X X X X X SHFT eri a Pa gt 24 4 o go EN Levels X X X X X X L D D B E C A SHFT lANpsr s 3 gt 1 4 2 o J ENT A D D B S SHET 0 3 3 1 Rer ENT GX D B F A A SHFT ENT OUT 3 gt 1 5 0 0 5 1 14 DLO06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions M ath Subtract Binary Top of Stack SU BBS Subtract Binary Top of Stack is a 32 bit instruction that subtracts the binary value in the first level of the accumulator SUBBS stack from the binary value in the accumulator T he result resides in the accumulator T he valuein the first level of the accumulator stack is removed and all stack locations are moved up one level Discrete Bit Flags Description On when the result of the instruction causes the value in the accumulator to be zero On when the 16 bit subtraction instruction results in a borrow
599. wer 16 bits of the accumulator L D G SHFT aDsT 3 PREV ENT L D A B E A FIND SHFT ANDST 3 o gt 1 4 0 K8989 L D C SHFT PREV ENT F ind the location in the table ANDST 3 2 where the value 8989 resides F i N D i J i J SHFT 5 s md s gt XT e 9 8 s J T Find Greater Than FD GT TheFind Greater T han instruction is used to search for the first occurrence of a valuein a V memory table that is greater than the specified value Aaaa which can be either a V FDGT memory location or a 4 digit constant T he function parameters are loaded into the first level of the accumulator stack and the accumulator by two additional instructions Listed below arethe steps necessary to program the Find Greater T han function Step 1 Load the length of the table up to 255 locations into the first level of the accumulator stack T his parameter must be a H EX value 0 FF Step 2 Load the starting V memory location for thetable into the accumulator T his parameter must be a H EX value Step 3 Insert the FD GT instructions which specifies the greater than search value Results T he offset from the starting addressto the first V memory location which contains the greater than search value is returned to the accumulator SP53 will be set on if the valueis not found and 0 will be returned in the accumulator Helpful Hint For parameters that require H EX values
600. wer up in RUN Choose the most convenient method of programming V 7633 from the following e Include load and out instructions in your ladder program DirectSO FT s memory editor Use the H andheld Programmer D 2 H PP We recommend using the first method above so that the H SIO setup becomes an integral part of your application program An example program later in this section shows how to do this Presets and Special Relays T he goal of counting is to cause a particular action to occur when the count reaches a preset value Refer to the figure below Each counter features 24 presets which you can program A preset is a number you select and store so that the counter will continuously compare the current count with the preset W hen the two are equal a special relay contact is energized and program execution jumpsto the interrupt routine We recommend using the special relay s in the interrupt service routine to cause any immediate action you desire After the interrupt service routine is complete the CPU returns to the ladder program resuming program execution from the point of interruption T he compare function is ready for the next preset event XO up counter clock CPU Scan Input Update Current Counter 1 X eemalt t Reset 1 Lila Does Count 1 Preset Counter 2 Current X3 external reset m Reset 2 Value Ladder INT Program
601. x3 X4 X6 C2 X11 X13 X14 X16 C4 X21 X23 N C X0 X2 C1 X5 X7 X10 X12 C3 X15 X17 X20 X22 N C This set of labels is for DC sinking output versions such as the D 0 06D D 1 and D 0 06D D 1 D One common is provided for each group of four outputs and one designated terminal on the output side accepts power for the output stage G jie2 ov yo v2 c1 Ys vz vto va es vis v7 AC L AC N 24v co v1 vs y4 Ye c2 vt vi3 via vie v co X1 X3 X4 X6 C2 X11 X13 X14 X16 C4 X21 X23 NC XO X2 C1 X5 X7 X10 X12 C3 X15 X17 X20 X22 N C 2 16 DL06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 2 Installation Wiring and Specifications EL L B Connecting DC 1 0 to Solid State Field D evices In the previous section on sinking and sourcing concepts we discussed D C 1 0 circuits that only allow current to flow one way T his is also true for many of the field devices which have solid state transistor interfaces In other words field devices can also be sourcing or sinking When connecting two devices in a series DC circuit as is the case when wiring a field device to a PLC DC input or output one must be wired as sourcing and the other as sinking Solid State Input Sensors TheDLOG sDC inputs are flexible in that they detect current flow
602. xample 4 C54 584 984 Mode 0 cece eee ee een ees 4 55 Determining the DirectNET Address senssa nerion raain a eee 4 55 Network Master Operation 0 0 ccc cee n 4 56 Step 1 Identify Master Port and Slave 2 eee eee 4 57 viii DL06 Micro PLC User Manual 1st Ed Rev A 10 02 Table of Contents E Step 2 Load Number of Bytes to Transfer lisse 4 57 Step 3 Specify Master Memory Area iliis nen 4 58 Step 4 Specify Slave Memory Area iis en 4 58 Communications from a Ladder Program 2 eee eee eee eee nee 4 59 Multiple Read and Write Interlocks 2 1 0 0 eee ee eee 4 59 Network Master Operation using MRX and MWX Instructions 4 60 MODBUS Function Codes Supported 0 0 e eee eee 4 60 MODBUS Port Configuration 2 0 0 cee cee Ih 4 61 MODBUS Read from Network MRX 0 eee eee eee eens 4 62 MRX Slave Memory Address 1 1 0 0 0c ccc cece e 4 63 MRX Master Memory Addresses 0 0 ccc cece eee eee 4 63 MRX Number of Elements 0 0 4 63 MRX Exception Response Buffer 0 0 eee eee eh 4 63 MODBUS Write to Network MWX 2 eee eee eens 4 64 MWX Slave Memory Address llle 4 65 MWX Master Memory Addresses llle 4 65 MWX Number of Elements 0 0 e eee eee eee eee eee 4 65 MWX Exception Response Buffer 0 0 0c eee ee eee eee 4 65 MRX
603. y HEX value in the accumulator to seven segment display format OUTF Y20 K32 Copy the value in the Lasse 30 29 als 26 25 al 28 22 21 mem 18 17 sepalis 14 18 1al 11 10 9 al 765 321 ol acoumuleior tay20Y57 acc ofalalalalalolilolalililolololillolololololilililolololololililo gf edcba gfedcba g ftedchba g edc ba Segment Labels Y57 OFF Y56 Y55 Y54 ON ON ON A c o gt m N Y53 ON Y23 Y22 OFF OFF ON Y21 Y20 ON OFF Handheld Programmer Keystrokes LA s c A Sem gt Pa e anost s gt Ea Wo o e sHFT Sg SHFT 8 a 8g ENT Sur er Es Eo So o gt Ja S e DL06 Micro PLC User Manual 1st Ed Rev A 5 13 7 Chapter 5 Standard RLL Instructions Number Conversion EIU X Gray Code GRAY TheGray code instruction converts a 16 bit gray code valueto a BCD value TheBCD conversion requires 10 bits of the accumulator T he upper 22 bits are set to 0 This instruction is designed for use with devices typically encoders that usethe grey code numbering scheme T he Gray Code instruction will directly convert GRAY a gray code number to a BCD number for devices having a resolution of 512 or 1024 counts per revolution If a device having a resolution of 360 counts per revolution
604. y location for option card in slot 3 N A Sets the V memory location for option card in slot 4 N A The default location for multiple preset values for UP DWN and UP Counter 1 or pulse catch function N A The default location for multiple preset values for UP DWN and UP Counter 2 N A Locations for DV 1000 operator interface parameters Sets the V memory location that contains the value Sets the V memory location that contains the message Sets the total number 1 32 of V memory locations to be displayed Sets the V memory location that contains the numbers to be displayed Sets the V memory location that contains the character code to be displayed Contains the function number that can be assigned to each key Powerup operational mode Change preset value V0 V3760 VO V37601 32 V0 V3760 V0 V3760 V memory for X Y or CO 1 2 3 12Default 0000 Starting location for the multi step presets for channel 1 The default value is 3630 which indicates the first value should be obtained from V3630 Since there are 24 presets available the default range is V3630 V3707 You can change the starting point if necessary Default V3630 Range V0 V3710 Starting location for the multi step presets for channel 2 The default value is 3710 which indicates the first value should be obtained from V3710 Since there are 24 presets available the default range is V3710 V3767 You can change the
605. y the specified table Mas M2032 MOV locations to a table 3 0 7 4 v2003 9 3 0 7 4 v2033 V2030 beginning at location V2030 8 9 8 9 v2004 0OC 8 9 8 9 v2034 Fs Handheld Programmer Keystrokes 110 1 0 v2005 1 0 1 0 v2035 x x x x v2006 X x x x v2036 gt ie ENT STR 1 X X X X 1v2007 X X X X 1v2037 L D K G i SHFT inst E gt surr IMP 6 ENT L D A C A A A SHET ANDst 3 0 gt 2 0 0 0 ENE M o v A D A SHFT Srst inste ano gt 2 0 3 0 ENT DL06 Micro PLC User Manual 1st Ed Rev A 5 141 Chapter 5 Standard RLL Instructions Table Instructions se Move Memory Cartridge MOVMC Load Label LDLBL TheM ove M emory Cartridge and the Load Label instructions are used to copy data from program ladder memory to V memory The MOVMC Load Label instruction is used with the M OVM C instruction when vaad copying data from program ladder memory to V memory To copy data from the program ladder memory to V memory the function parameters are loaded into the first two levels of the accumulator stack and the accumulator by two additional LDLBL instructions Listed below are the steps necessary to program the Kaaa M ove M emory Cartridge and Load Label functions Step 1 Load the number of words to be copied into the second level of the accumulator stack Step 2 Load the offset for t
606. y value in BCD Equivalent Value the accumulator to the BCD equivalent value tien glee sale a ailes le adds oodles 5 Acc 0 oJ of of of of of of of of of of of o 3 o 1 oJ of of Jo a of of ols of of OUTD v2010 Copy the BCD value in the ofofo 2 e s 2 o AE value accumulator to V2010 and V2011 v2011 V2010 V2010 and V2011 Handheld Programmer Keystrokes ss gt Ja ENT SHET ANDST d 3 E 3 il sur P SS P ENT Sur JD J s gt S o Pa o ENT 5 128 DL06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions Number Conversion E P MET Invert INV The Invert instruction inverts or takes the one s INV complement of the 32 bit valuein the accumulator T he 7 result resides in the accumulator In the following example when X1 is on the value in V 2000 and V 2001 will be loaded into the accumulator using the Load D ouble instruction T he value in the accumulator is inverted using the Invert instruction The value in the accumulator is copied to V 2010 and V 2011 using the O ut D ouble instruction
607. ypical 4 ms Base power required 5V Max 200 mA all points ON 2 non isolated Commons 4points common External DC power 20 28 VDC maximum 80 mA required 24V all pts ON Note The DL06 must have firmware version V4 10 or later for this module to function properly Equivalent output circuit Equivalent input circuit V See eed mee Ss INPUT d 1 Ls mi V 12 24V to LED i iM c OUTPUT din gt V i l P QA nor O 20 tT 1y 12 24 VDC A 19 LED F4 1H0 SUN Hd T 3 co H COM X i Som i WT 1 23 7o internally ue ZN connected w2avoe oHe 1 4 5 9 2 oo 3 6 27 VDC i H erp Output Derating chart Input Derating Chart SAT n 9 Points EN eir internal Points ii y 6 T ZN 9 connected 6 T E eA 1 12 24VDC L 2 0 3A A L 3 E s N 24 VDC OUT 2 0 D0 08CDD1 2 pe 5 pod 0 0 0 10 20 30 40 50 55 C 0 10 20 30 40 50 55 C 32 50 68 86 104 122 131 F 32 50 68 86 104 122 131 F Ambient Temperature Ambient Temperature 2 50 DLO06 Micro PLC User Manual 1st Ed Rev A 10 02 Chapter 2 Installation Wiring and Spec
608. zing C 30 Direct SOFT32 xi V2001 V2000 b LDD 4 5 2 6 7 2 9 9 M V2000 Load the value in V2000 and V2001 into the accumulator Rum men A Acc 5 2 6 7 2 9 9 Compared CMPD with V2010 Compare the value in the 7 3 9 15 o 2 6 accumulator with the value V2011 V2010 in V2010 and V2011 SP60 C30 Handheld Programmer Keystrokes B STR gt 1 END k D D c A A A SHFT anpsT 3 3 ue 2 0 0 0 ENT C M P D C A B A PHP 2 SHFT l orst cv 3 gt 2 0 i 0 ENT SP G A sra gt S4FT Stan 6 0 ENT GX C D A OUT gt SHFT 2 ENT 5 82 DL06 Micro PLC User Manual 1st Ed Rev A Chapter 5 Standard RLL Instructions Logical Compare Formatted CM PF The Compare Formatted compares the value in the accumulator with a specified number of discrete locations 1 32 Theinstruction requires a starting location Aaaa and the number of bits Kbbb to be compared T he corresponding status flag will be turned on indicating the result of the comparison Operand Data Type P lt cB CMPF Aaaa K bbb DLO6 Range 4 s K XM c H oA o lt Xx Description On when the value in the accumulator is less than the instruction value On when the value in the accumulator is equal to t

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