Programmable Logic Controller

MasterLogic-50

MLU series Hardware User’s Manual

MLU-DN32HP

10-23-421-19-EN

Jan 2019

Last Revision Date: 13 April 2019

Version: Rev. 1.0
 Notices and Trademarks
Copyright 2007-2019 by Honeywell
Revision 1 April 2019

Warranty/Remedy
Honeywell warrants goods of its manufacture as being free of defective materials and faulty
workmanship. Contact your local sales office for warranty information. If warranted goods are
returned to Honeywell during the period of coverage, Honeywell will repair or replace without
charge those items it finds defective. The foregoing is Buyer's sole remedy and is in lieu of all
other warranties, expressed or implied, including those of merchantability and
fitness for a particular purpose. Specifications may change without notice. The information
we supply is believed to be accurate and reliable as of this printing. However, we assume no
responsibility for its use.
While we provide application assistance personally, through our literature and the Honeywell
web site, it is up to the customer to determine the suitability of the product in the application.

Honeywell Field Solution

Honeywell Pte LTD
Honeywell Building
17 Changi Business Park Central 1,
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Before using the product …

For your safety and effective operation, please read the safety instructions thoroughly before using the
product.

► Safety Instructions should always be observed in order to prevent accident or risk with the safe and
proper use the product.

► Instructions are separated into “Warning” and “Caution”, and the meaning of the terms is as follows;

This symbol indicates the possibility of serious injury or death if

Warning some applicable instruction is violated

This symbol indicates the possibility of slight injury or damage to

Caution products if some applicable instruction is violated

► The marks displayed on the product and in the user’s manual have the following meanings.

Be careful! Danger may be expected.

Be careful! Electric shock may occur.

► The user’s manual even after read shall be kept available and accessible to any user of the product.
Safety Instructions when designing

Warning

 Please, install protection circuit on the exterior of PLC to protect

the whole control system from any error in external power or PLC
module. Any abnormal output or operation may cause serious problem in safety of the
whole system.
- Install applicable protection unit on the exterior of PLC to protect the system from
physical damage such as emergent stop switch, protection circuit, the upper/lowest
limit switch, forward/reverse operation interlock circuit, etc.
- If any system error (watch-dog timer error, module installation error, etc.) is
detected during CPU operation in PLC, the whole output is designed to be turned
off and stopped for system safety. However, in case CPU error if caused on output
device itself such as relay or TR can not be detected, the output may be kept on,
which may cause serious problems. Thus, you are recommended to install an
addition circuit to monitor the output status.

 Never connect the overload than rated to the output module nor allow the output
allow the output circuit to have a short circuit, which may cause a fire.

 Never let the external power of the output circuit be designed to be on earlier
than PLC power, which may cause abnormal output or operation.

 In case of data exchange between computer or other external equipment and

PLC through communication or any operation of PLC (e.g. operation mode
change), please install interlock in the sequence program to protect the system
from any error. If not, it may cause abnormal output or operation.
Safety Instructions when designing

Caution
 I/O signal or communication line shall be wired at least 100mm away from
a high-voltage cable or power line. If not, it may cause abnormal output or operation.

Safety Instructions when designing

Caution
 Use PLC only in the environment specified in PLC manual or general standard
of data sheet. If not, electric shock, fire, abnormal operation of the product or flames
may be caused.

 Before installing the module, be sure PLC power is off. If not, electric shock or
damage on the product may be caused.

 Be sure that each module of PLC is correctly secured. If the product is installed
loosely or incorrectly, abnormal operation, error or dropping may be caused.

 Be sure that I/O or extension connecter is correctly secured. If not, electric

shock, fire or abnormal operation may be caused.

 If lots of vibration is expected in the installation environment, don’t let PLC

directly vibrated. Electric shock, fire or abnormal operation may be caused.

 Don’t let any metallic foreign materials inside the product, which may cause
electric shock, fire or abnormal operation.
Safety Instructions when wiring

Warning
 Prior to wiring, be sure that power of PLC and external power is turned off. If not,
electric shock or damage on the product may be caused.

 Before PLC system is powered on, be sure that all the covers of the terminal are
securely closed. If not, electric shock may be caused.

Caution
 Let the wiring installed correctly after checking the voltage rated of each product
and the arrangement of terminals. If not, fire, electric shock or abnormal operation
may be caused.

 Secure the screws of terminals tightly with specified torque when wiring. If the
screws of terminals get loose, short circuit, fire or abnormal operation may be caused.
*
 Surely use the ground wire of Class 3 for FG terminals, which is exclusively
used for PLC. If the terminals not grounded correctly, abnormal operation may be
caused.

 Don’t let any foreign materials such as wiring waste inside the module while
wiring, which may cause fire, damage on the product or abnormal operation.
 Safety Instructions for test-operation or repair

Warning
 Don’t touch the terminal when powered. Electric shock or abnormal operation may
occur.

 Prior to cleaning or tightening the terminal screws, let all the external power off
including PLC power. If not, electric shock or abnormal operation may occur.

 Don’t let the battery recharged, disassembled, heated, short or soldered. Heat,
explosion or ignition may cause injuries or fire.

Caution
 Don’t remove PCB from the module case nor remodel the module. Fire, electric
shock or abnormal operation may occur.

 Prior to installing or disassembling the module, let all the external

power off including PLC power. If not, electric shock or abnormal operation may
occur.

 Keep any wireless installations or cell phone at least 30cm away from PLC. If not,
abnormal operation may be caused.

Safety Instructions for waste disposal

Caution
 Product or battery waste shall be processed as industrial waste. The waste may
discharge toxic materials or explode itself.
About User’s Manual
Congratulations on purchasing PLC of Honeywell.
Before use, make sure to carefully read and understand the User’s Manual about the functions, performances, installation and
programming of the product you purchased in order for correct use and importantly, let the end user and maintenance
administrator to be provided with the User’s Manual.

The User’s Manual describes the product. If necessary, you may refer to the following description and order accordingly. In
addition, you may connect our website(http://www.honeywellprocess.com/) and download the information as a PDF file.
 Revision History
Version Date Remark Part Page

V 1.0 2019.01 1. First Edition - -

※ The number of User’s manual is indicated the right side of the back cover.
 ◎ Contents ◎

1: System

Chapter 1 Introduction ..................................................................................... 1-1~1-17

1.1 Guide to Use This Manual ...................................................................................... 1-1

1.2 Features ................................................................................................................ 1-3
1.3 Terminology ........................................................................................................... 1-5

Chapter 2 System Configuration ......................................................................... 2-1~2-13

2.1 Table of Products Configuration ............................................................................. 2-1

2.2 Classification and Type of Product Name ............................................................. 2-3
2.3 MLU ‘H(P)’ Type’s System Configuration................................................................ 2-8

Chapter 3 Specifications ..................................................................................... 3-1~3-9

3.1 Names and Functions of Each Part ........................................................................ 3-1

3.2 General specifications ............................................................................................ 3-3
3.3 Power specifications .............................................................................................. 3-4
3.4 Battery ................................................................................................................... 3-7
3.5 Performance specifications .................................................................................... 3-8

Chapter 4 Installation and wiring ............................................................................ 4-1~4-18

4.1 Parameter & Operation data .................................................................................. 4-1

4.2 Attachment/Detachment of Modules ....................................................................... 4-7
4.3 Wire ..................................................................................................................... 4-13
Chapter 5 Maintenance ........................................................................................... 5-1~5-2

5.1 Maintenance and Inspection .................................................................................. 5-1

5.2 Daily Inspection ..................................................................................................... 5-1
5.3 Periodic Inspection................................................................................................. 5-2

Chapter 6 Troubleshooting .................................................................................... 6-1~6-13

6.1 Basic Procedure of Troubleshooting....................................................................... 6-1

6.2 Troubleshooting .................................................................................................... 6-1
6.3 Troubleshooting Questionnaire .............................................................................. 6-7
6.4 Troubleshooting Examples ..................................................................................... 6-8
6.5 Error Code List ..................................................................................................... 6-12

Chapter 7 EMC Standard ........................................................................................ 7-1~7-4

7.1 Requirements for Conformance to EMC Directive ................................................ 7-1

7.2 Requirement to Conform to the Low-voltage Directive ........................................... 7-4
 2: Basic Functions

Chapter 1 Program Configuration and Operation Method ......................................... 1-1~1-34

1.1 Programming Basics .............................................................................................. 1-1

1.2 Operation Mode ................................................................................................... 1-24
1.3 Memory................................................................................................................ 1-30

Chapter 2 CPU Function ....................................................................................... 2-1~2-36

2.1 Type Setting ........................................................................................................... 2-1

2.2 Parameter Setting .................................................................................................. 2-2
2.3 Self-Diagnosis Function ......................................................................................... 2-5
2.4 RTC Function ....................................................................................................... 2-12
2.5 Time Counter Function ......................................................................................... 2-14
2.6 Remote Function.................................................................................................. 2-19
2.7 I/O forced On/Off Function ................................................................................... 2-20
2.8 Direct I/O Function ............................................................................................... 2-21
2.9 Function saving the operation history ................................................................... 2-22
2.10 How to allocate I/O No. ...................................................................................... 2-23
2.10 Modification procedures during RUN.................................................................. 2-24
2.12 Read I/O information .......................................................................................... 2-27
2.13 Monitoring Functions .......................................................................................... 2-28
2.14 PLC’s Read-Protect Function ............................................................................. 2-33
2.15 Function to delete all of the PLC ........................................................................ 2-34

Chapter 3 Input/Output Specifications ..................................................................... 3-1~3-28

3.1 Introduction ............................................................................................................ 3-1

3.2 Main Unit Digital Input Specifications ..................................................................... 3-4
3.3 Main Unit Digital Output Specifications................................................................... 3-5
3.4 Digital Input Specifications ..................................................................................... 3-6
3.5 Digital Output Specifications................................................................................... 3-9
3.6 Combined Digital I/O module Input Specification .................................................. 3-18
3.7 Combined Digital I/O module Output Specification ............................................... 3-20
3.8 I/O modules’ Functions ........................................................................................ 3-22

Chapter 4 Built-in High-speed Counter Function ....................................................... 4-1~4-29

4.1 High-speed Counter Specifications ........................................................................ 4-1

4.2 Installation and Wiring .......................................................................................... 4-21
4.3 Internal Memory ................................................................................................... 4-22
4.4 Examples: Using High-speed Counter ................................................................. 4-26

Chapter 5 Built-in PID Function ........................................................................... 5-1~5-50

5.1 Features of Built-in PID Function ........................................................................... 5-1

5.2 Basic Theory of PID Control ................................................................................... 5-2
5.3 Functional Specifications of PID Control ................................................................ 5-9
5.4 Usage of PID Control Functions ........................................................................... 5-10
5.5 PID Instructions ................................................................................................... 5-26
5.6 PID Auto-tuning .................................................................................................... 5-28
5.7 Example Programs .............................................................................................. 5-37
5.8 Error / Warning Codes ......................................................................................... 5-48
 3: Positioning

Chapter 1 Overview ............................................................................................ 1-1~1-12

1.1 General .................................................................................................................. 1-1

1.2 Purpose of Positioning Control ............................................................................... 1-3
1.3 Operation Sequence of Positioning ........................................................................ 1-3
1.4 Function overview of embedded positioning........................................................... 1-5

Chapter 2 Specifications ......................................................................................... 2-1~2-5

2.1 Performance Specifications.................................................................................... 2-1

2.2 2.2 External Interface I/O Specifications................................................................. 2-3

Chapter 3 Operation Order and Installation ........................................................... 3-1~3-4

3.1 Operation Order ..................................................................................................... 3-1

3.2 Installation.............................................................................................................. 3-2
3.3 Notices in Wiring .................................................................................................... 3-3

Chapter 4 Positioning Control .................................................................................. 4-1~4-3

4.1 Positioning task ...................................................................................................... 4-1

Chapter 5 Positioning Parameter & Operation Data ............................................ 5-1~5-46

5.1 Parameter & Operation data .................................................................................. 5-1

5.2 Basic Parameter .................................................................................................... 5-2
5.3 Extended Parameter .............................................................................................. 5-6
5.4 Manual Parameter ............................................................................................... 5-18
5.5 Homing Parameter ............................................................................................... 5-19
5.6 I/O Signal Parameter ........................................................................................... 5-23
5.7 Common Parameter ............................................................................................. 5-24
5.8 Operation Data..................................................................................................... 5-26

Chapter 6 Positioning Monitoring Package ......................................................... 6-1~6-17

6.1 Internal Memory ..................................................................................................... 6-1
6.2 K area Signal ......................................................................................................... 6-9

Chapter 7 Positioning Monitoring Package ......................................................... 7-1~7-63

7.1 System Composition and Setting of Input and Output ............................................ 7-1
7.2 Dedicated Commands ........................................................................................... 7-7
7.3 Use of Dedicated Command ................................................................................ 7-63

Chapter 8 Program ............................................................................................. 8-1~8-47

8.1 Example of Programming....................................................................................... 8-1

Chapter 9 Functions ........................................................................................... 9-1~9-12

9.1 Homing .................................................................................................................. 9-1

9.2 Positioning Control ............................................................................................... 9-12
9.3 Manual Operation Control .................................................................................. 9-101
9.4 Synchronous Control ......................................................................................... 9-108
9.5 Modification Function of Control ......................................................................... 9-127
9.6 Auxiliary Function of Control .............................................................................. 9-145
9.7 Data Modification Function ................................................................................. 9-151

Chapter 10 Positioning Error Information & Solutions ..................................... 10-1~10-15

10.1 Positioning Error Information & Solutions ........................................................... 10-1

Chapter 11 Internal Memory Address of “ReadWrite Variable Data” command.doc11-1~10-15

11.1 Parameter memory address ............................................................................... 11-1

11.2 Axis1 operation data memory address................................................................ 11-6
11.3 Axis2 operation data memory address.............................................................. 11-15
11.4 Axis3 operation data memory address.............................................................. 11-24
11.5 Axis4 operation data memory address.............................................................. 11-33
11.6 Axis5 operation data memory address.............................................................. 11-42
11.7 Axis6 operation data memory address.............................................................. 11-51
11.8 CAM data memory address .............................................................................. 11-60
11.9 user CAM data memory address .....................................................................11-153

Chapter 12 Motor Wiring Example .................................................................... 12-1~12-4

12.1 Stepping Motor Wiring Example ......................................................................... 12-1

12.2 Servo Motor Wiring Example.............................................................................. 12-2

4: Communication

Chapter 1 Built-in FEnet Communication .......................................................... 1-1~1-100

1.1 Outline ................................................................................................................... 1-1

1.2 Specifications ......................................................................................................... 1-2
1.3 Specifications of installation and a trial run ............................................................. 1-8
1.4 Configuration of FEnet communication system .................................................... 1-12
1.5 Protocols for each service .................................................................................... 1-14
1.6 Dedicated services............................................................................................... 1-29
1.7 P2P services ........................................................................................................ 1-35
1.8 High speed link .................................................................................................... 1-60
1.9 Remote communication ....................................................................................... 1-68
1.10 E-mail Transfer(SMTP) ...................................................................................... 1-74
1.11 Time synchronization(SNTP) .............................................................................. 1-89
1.12 Trouble Shooting ................................................................................................ 1-95
Chapter 2 Built-in Snet Communication ............................................................ 2-1~2-122

2.1 General .................................................................................................................. 2-1

2.2 Specification........................................................................................................... 2-2
2.3 Snet Communication System Configuration ........................................................... 2-8
2.4 Basic Setting for Communication ......................................................................... 2-16
2.5 Remote Connection ............................................................................................. 2-24
2.6 Server Function and P2P service ......................................................................... 2-37
2.7 ML Dedicated Protocol ......................................................................................... 2-57
2.8 MODBus Protocol ................................................................................................ 2-77
2.9 Diagnosis Function .............................................................................................. 2-92
2.10 Example Program ............................................................................................ 2-101
2.11 Error Code ....................................................................................................... 2-126

Appendix

Appendix 1 Flag List ........................................................................... App. 1-1~App.1-11

Appendix 1.1 Special Relay (F) List ..................................................................... App. 1-1

Appendix 1.2 Communication Relay (L) List ........................................................ App. 1-6
Appendix 1.3 Network Register (N) List ............................................................ App. 1-10

Appendix 2 Dimension ........................................................................... App.2-1~App.2-4

Appendix 3 Instruction List ....................................................................App.3-1~App.3-41

Appendix 3.1 Classification of Instructions ............................................................ App.4-1

Appendix 3.2 Basic Instructions .......................................................................... App.4-2
Appendix 3.3 Application Instruction .................................................................... App.4-5
Appendix 3.4 Special/Communication Instruction.............................................. App.4-38
 Chapter 1 Introduction

Part 1. System

Chapter 1 Introduction
1.1 Guide to this Manual
This manual includes specifications, functions and handling instructions for ML50 series PLC. This manual is divided up into
chapters as follows
No. Title Contents
Describes configuration of this manual, unit’s features and
Chapter 1 Introduction
terminology.
Describes available units and system configuration in the
Chapter 2 System Configurations
ML50 series.
Describes general specifications of units used in the
Chapter 3 Specifications
ML50 series.
1.System

Chapter 4 CPU Specifications Describes performances, specifications and operations.

Describes the check items and method for long-term

Chapter 5 Maintenance
normal operation of the PLC system.

Chapter 6 Troubleshooting Describes various operation errors and corrective actions.

Describes system configuration following EMC

Chapter 7 EMC Specifications
specification.
Program Configuration and Operation
Chapter 1
Method
Describes performances, specifications and operations.
Chapter 2 CPU Specifications
2.Main

Chapter 3 Input/Output Specifications Describes operation of basic and input/output.

Chapter 4 Built-in High-speed Counter Function Describes built-in high-speed counter functions.

Chapter 5 Built-in PID Function Describes Built-in PID Function

Describes the specification, method to use each

Chapter 1 Overview positioning function, programming and the wiring with
external equipment of embedded positioning function.
3.Positioning

Chapter 2 Specifications Describes general specifications of Positing function.

Describes the Operation order in case of positioning

Chapter 3 Before Positioning
operation by embedded positioning.
Describes parameter and operation data to be set by
Chapter 4 Positioning Check
software package with embedded positioning.

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 Chapter 1 Introduction

Chapter 5 Positioning Instructions

Introduction to Positioning Monitoring

Chapter 6 Describes Positioning Monitoring Package
Package

Chapter 7 Program Examples of Programming Describes Examples of Programming

3.Positioning

Chapter 8 Troubleshooting Procedure Describes errors and Troubleshooting

Describes the Operation order in case of positioning

Chapter 9 Positioning Instruction and K area List
operation by embedded positioning.

Chapter 10 Motor Wiring Example Describes wiringexamples.

Chapter 1 Built-in FEnet Communication Describes Ethernet communications.

ications
4.Commun

Chapter 2 Built-in Snet Communication Describes serial(232/485) communications.

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 Chapter 1 Introduction

1.2 Features
The features of ML50 system are as follows.

1.2.1 Advanced Performances

(1) Rapid Processing Speed
The processing speed has been improved up to more than 75% compared to the existing MLM PLC.

Items MLM ‘S' Type MLU ‘H2/HP’ Type Remarks

Sequence Based on
160 ㎱ 40 ㎱
MLOAD command
command
Data command 3.52 ㎲ 1.22 ㎲ Based on MOV command
10.3 ㎲ 2.0 ㎲ RADD command
Real 10.6 ㎲ 2.0 ㎲ RMUL command
11.8 ㎲ 3.7 ㎲ LADD command
Long Real 16.9 ㎲ 3.7 ㎲ LMUL command

Items MLM ‘S' Type MLU ‘H2/HP’ Type Remarks

Program capacity 10KStep 64KStep

Data capacity 5120word 32,768 word Based on D area

(3) Advanced functions

-Built -in 10/100 BASE-TX Ethernet(max 16 channel P2P service)
- provide EtherCAT expansion module

(4) Permanent data back up : permanent data back up is available by implementing MRAM.

1.2.2 Flexibility of System Configuration

(1) The small and medium-sized system can be established, which controls up to 256 points I/O through 7-
stage expansion.
(2) Compact size
Compared to the existing ML50 basic unit, this product has various embedded functions to enhance
functionality and has a reduced size so you can install it even in a small space. (Unit : ㎜)
Type Model Size (W * H * D) Remarks
MLU-DN32HP/MLU-DN32H2 42 * 90 * 64
Basic unit
MLF-,MLE-,MLL- 20* 90 * 60 Based on mimimum size

(3) Securing compatibility of the existing expansion/special/communication module

All types of the existing ML50 expansion/special/communication modules are available.
(4) Expanding the applications through various expansion modules
- It provides 8 points, 16 points, 32 points module I/O expansion module (In the case of relay output, 8/16
points module) with single input, single output, mixed I/O module.
- It supports various special modules such as positioning, high-speed counter, analog I/O, temperature
input, temperature control.
- It provides various communication I/F modules such as Snet, FEnet, CANOpen, Profibus-DP,
DeviceNet.

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Chapter 1 Introduction

1.2.3 Powerful Embedded Functions

(1) Embedded high-speed counter function
- The high-speed counter with up to 100kpps 4 channels(based on 1 phase 1 input 1 multiplication) is
embedded.
- Various additional functions such as comparative readout, comparative task, frequency measurement,
revolutions per hour, etc. are provided.
- Parameter setting using SoftMaster, various monitoring and diagnosis functions are provided.
- You can conduct a trial run through SoftMaster’s monitoring without the program so you can easily check
of abnormalities of external wirings and data setting.

(2) Embedded communication function

- It has embedded Cnet 2 channels and Enet 1 channel at the same time.
- It can communicate with other devices very easily without the special communication I/F module by using the
embedded communication function.
- It enhances convenience by providing various protocols such as dedicated communication, customization,
etc.
-You can check the communication state very easily thanks to the diagnosis function and
-Transmitting receiving frame monitoring function.

(3) Embedded PID function

- It supports the embedded PID control function up to 16 loops.
- It provides parameter setting using SoftMaster, convenient loop state monitoring through trend monitor.
- You can get the control constant easily by the improved automatic synchronization function.
- You can improve control accuracy by using various additional functions such as PWM output, ∆MV, ∆PV,
SV Ramp, etc.
- It provides various control modes such as forward/reverse mixed operation, 2-stage SV PID control,
cascade control, etc.
-You can secure stability through various alarm functions such as PV MAX, PV change warning, etc.
(4) Embedded position control function(ML50-MLUH2: 2axis, ML50-MLUH P: 6axis)
- The open collector output positioning function with up to 200kpps 2-axis is embedded.
- It provides parameter setting using SM-NM which support operation data edition, diverse
monitoring and diagnosis functions.
- You can conduct a trial run through SM-NM monitoring without the program so you can easily check the
external wirings and operation data.

1.2.4 Easy maintenance

(1) Program modularize for Multi-programing and multi tasks for maintenance are available.
(2) Built-in RTC(real time clock) function make it possible to control schedule maintenance and history.
(3) Integrated program environment
-Separated SoftMaster(ladder programming, parameter setting, monitoring ) and SM-NM(communication and
network parameter setting, frame monitoring) have combined in one SoftMaster. It is possible to control PLC in
one programming.

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 Chapter 1 Introduction

1.3 Terminology
1.3.1 General term
The following table gives definition of terms used in this manual.
Terms Definition Remark
Example)
Expansion
A standard element that has a specified function which configures
module,
Module the system. Devices such as I/O board, which inserted onto the
Specialmodule,
mother board.
Communication
module
Example)
A single module or group of modules that perform an independent
Unit Main unit,
operation as a part of PLC systems.
Expansion unit
A system which consists of the PLC and peripheral devices.
PLC System -
A user program can control the system.

A program and debugging tool for the MASTER-K series.

SoftMaster It executes program creation, edit, compile and debugging. -
(PADT: Programming Added Debugging Tool)
Exclusive tool for modifying position parameter like Built-in position,
SM-NM
network type position
Internal memory area of the CPU module which used to hold I/O
I/O image area
status.
Snet Computer Network -
FEnet Fast Ethernet Network -
EIPT Ethernet/IP network
CANopen Controller Area Network -
Pnet Profibus-DP Network -
Dnet DeviceNet Network -
Abbreviation of ‘Real Time Clock’. It is used to call general IC that
RTC -
contains clock function.

Watchdog Supervisors the pre-set execution times of programs and warns if a

-
Timer program is not competed within the pre-set time.

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Chapter 1 Introduction

Terms Definition Remark

It refers to the program start condition. There are 6 types such as
Task initialization, constant cycle, internal contact, external contact, high-speed
counter task, and positioning task.
Current flows from the switch to the PLC input terminal if a input signal
turns on.

Z: Input
Sink Input
impedance


Current flows from the PLC input terminal to the switch after a input signal
turns on.

Z: Input
Source Input
impedance

Current flows from the load to the output terminal and the PLC output
turn on.

Sink Output -

Current flows from the output terminal to the load and the PLC output
turn on.

Source Output -

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 Chapter 1 Introduction

1.3.2 Serial communication term

(1) Communication type

(a) Simplex
This is the communication type that data is transferred in a constant direction. Information can not be transferred in the
reverse direction.
(b) Half-Duplex
Data is transferred in two ways with one cable if time interval provided, though it can’t be transferred simultaneously.
(c) Full-Duplex
Data is simultaneously transferred and received in two ways with two cables.

(2) Transmission type

(a) Serial transmission
This type transmits bit by bit via 1 cable. The speed of transmission is slow, but the cost of installation is low and the
software is simplified.

7 6 5 4 3 2 1 0

0 1 0 0 1 1 0 1

TX
송신 RX
수신

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

RS-232C, RS-422 and RS-485 are the examples

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Chapter 1 Introduction

(b) Parallel transmission

This type is used in printer, etc., which transmits data in unit of 1 byte, so the speed is high and the accuracy of data
is reliable. However, the longer the transmission distance is, the higher the cost of installation is geometrically.

7 6 5 4 3 2 1 0

0 1 0 0 1 1 0 1

1
송신
TX 수신
RX
0

(3) Asynchronous Communication

This communication type transmits characters one by one synchronously in serial transmission. At this time,
synchronous signal (Clock, etc.) is not transmitted. Character code is transmitted with a start bit attached to the head of 1
character, and it is finished with a stop bit attached to the tail.

※ For transmitting KOREA

Transmission Direction

P S P S P S P S P S P S P S
S A E T
S A T
S A T
S A T
S A T
S A T
S A E T
T R O T R T R T R T R T R T R N
O I
T T
A
R
O I
T
A A
R
O I
T
E A
R
O I
T
R A
R
O I
T
O A
R
O I
T
K A
R
O I
T Q
A
R
P P P P P P P
Y
(04H)
T Y T Y T Y T Y T Y T Y
(05H)
T

Stop Bit Parity Bit Data Bits Start Bit

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 Chapter 1 Introduction

(4) Protocol
This is communication rule established in relation between the transmission side and the receiving side of information in
order to send and accept information between two computers/terminals or more without error, effectively, and reliably. In
general, this specifies call establishment, connection, structure of message exchange form, re-transmission of error
message, procedure of line inversion, and character synchronization between terminals, etc.

(5) BPS(Bits Per Second) and CPS(Characters Per Second)

BPS is a unit of transfer rate that represents how many bits are transferred per second. CPS is the number of the
characters transferred for a second. Generally, one character is 1Byte (8Bits), so CPS is the number of bytes which can
be transferred per second.

(6) Node
Node is a term that means the connected nodes of the data in the network tree structure, generally network is composed
of a great number of nodes, and is also expressed as the station number.

(7) Packet
Packet, a compound term of package and bucket used for packet exchange type to send information as divided in a unit
of packet, separates transferred data into the defined length to add a header that presents the correspondent addresses
(station No., etc.) thereto.

(8) Port
Port is meant to be the part of the data process device which sends or receives the data from a remote control terminal in
data communications, but in Cnet serial communication is meant to be the RS-232C or RS-422 port.

(9) RS-232C
RS-232C is the interface to link a modem with a terminal and to link a modem with a computer, and is also the serial
communications specification established by EIA according to the recommendations of the CCITT. This is also used to
link the null modem directly as well as the modem linkage. The disadvantage is that the transfer length is short and that
only 1 : 1 communication is available, and the specifications which have overcome this disadvantage are RS-422 and
RS-485.

(10) RS-422/RS-485
As one of the serial transmission specifications, its transferring length is long with 1 : N connection available compared to
RS-232C. The difference of these two specifications is that RS-422 uses 4 signals of TX(+), TX(-), RX(+) and RX(-),
while RS-485 has 2 signals of (+) & (-), where data is sent and received through the same signal line. Accordingly,
RS-422 executes the full-duplex type of communication and RS-485 executes the half-duplex type of communication.

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(11) Half Duplex Communication

Two-way communication is available, however simultaneous communication of transmission & receiving isn’t available.
This communication type is applied to RS-485 for instance. It is used a lot for multi-drop communication type which
communicates via one signal line by several stations. Half Duplex Communication results from the transmission
characteristic performed by stations one by one not allowing simultaneous transmission by multi stations due to the data
damage of data impact caused by the simultaneous multi-transmission of the stations. The figure below shows an
example of structure based on Half Duplex Communication. Each station in communication with the terminal as linked
with each other can send or receive data via one line so to execute communication with all stations, where multi-sever is
advantageously available.

Client
RX TX

RX TX RX TX RX TX RX TX
Server Server Server Server

(12) Full Duplex Communication

Two way-communications of simultaneous transmission & receiving is available. This communication type is applied to
RS-232C & RS-422. Since the transmission line is separated from the receiving line, simultaneous transmission &
receiving is available without data impact, so called as Full Duplex Communication. The figure shows an example of
structure based on RS-422 of Full Duplex Communication. Since transmission terminal of the client station and receiving
terminals of the sever stations are connected to one line, and transmission terminals of the sever stations are linked with
receiving terminal of the client station, the communication between sever stations is unavailable with the restricted
function of multi-sever.

Client
RX TX

RX TX RX TX RX TX RX TX
Server Server Server Server

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(13) BCC (Block Check Character)

As serial transmission may have signals distorted due to undesirable noise in transmission line, BCC is used as data to
help receiving side to check the signals if normal or distorted and to detect errors in signals as compared with the
received BCC after calculating BCC by receiving side itself using the data input to the front terminal of BCC.

(14) SoftMaster service

This is the function to remotely perform programming, reading/writing user’s program, debugging, and monitoring, etc.
without moving the physical connection of SoftMaster in the network system where PLC is connected to Cnet I/F module.
Especially, it is convenient to control a remote PLC via modem.

Public network Public network

line Relay station line
* SoftMaster : Programming software of XGT PLC for Windows

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(15) Frame
Frame is composed of transmitted and received data as in a specified form in data communication including additional
information of segments [station No., command, parameter by command], control characters [ENQ, ACK, EOT, ETX] for
synchronization, parity for detecting error, and BCC. The structure of frame used for serial communication of Cnet is as
follows.

Request Frame

E Station Comm E B Head Segment Tail

N No. and Parameter by Commend O C
Q T C

A Station Comm Proces E B

C No. and sing T C
Head Segment Tail K Result X C

Response Frame

[Structure of general Tx/Rx frame]

- Head: ASCII value indicating frame start.

- Tail: ASCII value indicating frame end.
- BCC (Block Check Character)
 Check data for Tx/Rx frame
 Used to inspect reliability of data with such various methods as ADD, OR, Exclusive OR, MULTPLY, etc

(16) Reset
This function is used to initialize the communication module with errors.
Use SM-NM to select [On-Line] → [Reset] so to execute Reset, which will restart PLC.

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1.3.3 Ethernet term

This chapter describes about the general terminology of FEnet I/F module. For more detail, refer to professional book on the
Ethernet

(1) IEEE 802.3

IEEE 802.3 specifies standards for CSMA/CD based Ethernet. Exactly it is a LAN based on CSMA/CD (Carrier
Sense Multiple Access with Collision Detection) Ethernet designed by IEEE 802.3 group, which is classified into
detailed projects as specified below;

A) IEEE P802.3 - 10G Base T study Group

B) IEEE P802.3ah - Ethernet in the First Mile Task Force
C) IEEE P802.3ak - 10G Base-CX4 Task Force
※ Ethernet and IEEE 802.3 are standardized at RFC894 and RFC1042 so each should process another frame.

(2) ARP (Address Resolution Protocol)

Protocol to search for MAC address by means of correspondent IP address on the Ethernet LAN

(3) Bridge
A device used to connect two networks so to be operated as one network. Bridge is used not only to connect two
different types of networks but also to divide one big network into two small networks in order to increase the
performance

(4) Client
A user of the network service, or a computer or program (mainly the one requesting services) using other
computer’s resource.

(5) CSMA/CD(Carrier Sense Multiple Access with Collision Detection)

Each client checks if there is any sign prior to transmission of data to the network (Carrier Sense) and then sends
its data when the network is empty. At this time, all the clients have the equal right to send (Multiple Access). If two
or more clients send data, collision may occur. The client who detects the collision tries to send again in a specific
time.

(6) DNS (Domain Name System)

A method used to convert alphabetic Domain Name on the Internet to its identical Internet number (namely, IP
address)

(7) Dot Address

Shows IP address of ‘100.100.100.100’, where each figure is displayed in decimal with 1 byte occupied
respectively for 4 bytes in total.

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(8) E-mail Address

The address of the user with login account for the specific machine connected via the Internet. Usually user’s ID @
domain name (machine name) is assigned. In other words, it will be like [email protected], where @ is called
as ‘at’ displayed with shift+2 pressed on the keyboard. The letters at the back of @ are for the domain name of
specific company (school, institute,..) connected with the Internet, and the letters in front of @ are for the user ID
registered in the machine. The last letters of the domain name are for the highest level. USA generally uses the
following abbreviation as specified below, and Korea uses .kr to stand for Korea. .com : usually for companies)
/ .edu : usually for educational organizations such as universities. / .ac(academy) is mostly used in Korea / .gov : for
governmental organizations. For example, nasa.gov is for NASA (government) / .mil : military related sites. For
example, af.mil is for USA air force (military)/ .org : private organizations / .au : Australia / .uk : the United Kingdom
/ .ca : Canada / .kr : Korea / .jp : Japan / .fr : France / .tw : Taiwan, etc.

(9) Ethernet
A representative LAN connection system (IEEE 802.3) developed by Xerox, Intel and DEC of America which can
send about 10Mbps and use the packet of 1.5kB. Since Ethernet can allow various types of computers to be
connected as one via the network, it has been called a pronoun of LAN as a universal standard with various
products available, not limited to some specific companies.

(10) FTP (File Transfer Protocol)

An application program used to transfer files between computers among application programs providing TCP/IP
protocol. If an account is allowed to the computer to log in, fast log in the computer is available wherever the
computer is so to copy files.

(11) Gateway
Software/Hardware used to translate for two different protocols to work together, which is equivalent to the
gateway necessary to exchange information with the different system.

(12) Header
Part of the packet including self station number, correspondent station number and error checking area.

(13) HTML
Hypertext Markup Language, standard language of WWW. In other words, it is a language system to prepare
Hypertext documents. The document made of HTML can be viewed through the web browser

(14) HTTP
Hypertext Transfer Protocol, standard protocol of WWW. It is a protocol supporting the hypermedia system.

(15) ICMP (Internet Control Message Protocol)

An extended protocol of IP address used to create error messages and test packets to control the Internet.

(16) IP (Internet Protocol)

Protocol of network layers for the Internet

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(17) IP Address
Address of respective computers on the Internet made of figures binary of 32 bits (4 bytes) to distinguish the
applicable machine on the Internet. Classified into 2 sections, network distinguishing address and host
distinguishing address. The network address and the host address is respectively divided into class A, B and C
based on the bits allotted. IP address since it shall be unique all over the world, shall be decided not optionally but
as assigned by NIC(Network Information Center) of the applicable district when joining the Internet. In Korea,
KRNIC(Korea Network Information Center) is in charge of this work. Ex.) 165.244.149.190

(18) ISO (International Organization for Standardization)

A subsidiary organization of UN establishing and managing the international standards

(19) LAN (Local Area Network)

Called also as local area communication network or district information communication network, which allows lots
of computers to exchange data with each other as connected though communication cable within a limited area
such as in an office or a building

(20) MAC (Medium Access Control)

A method used to decide which device should use the network during given time on the broadcast network

(21) Node
Each computer connected with the network is called Node

(22) Packet
A package of data which is the basic unit used to send through the network. Usually the package is made of
several tens or hundreds of bytes with the header attached in front to which its destination and other necessary
information are added

(23) PORT number

Used to classify the applications on TCP/UDP.
Ex.) 21/tcp : Telet

(24) PPP (Point-to-Point Protocol)

Phone communication protocol which allows packet transmission in connecting with the Internet. In other words,
normal phone cable and modem can be used for the computer to connect through TCP/IP with this most general
Internet protocol.
Similar to SLIP, however with modern communication protocol factors such as error detection and data
compression, it demonstrates more excellent performance than SLIP.

(25) Protocol
Contains regulations related with mutual information transmission method between computers connected with each
other through the network. The protocol may specify detailed interface between machines in Low level (for example,

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which bit/byte should go out through the line) or high level of message exchange regulations as files are
transferred through the Internet.

(26) Router
A device used to transfer the data packet between the networks. It sends the data packet to its final destination,
waits if the network is congested, or decides which LAN is good to connect to at the LAN junction. Namely, it is a
special computer/software used to control the two or more networks connected.

(27) Server
The side which passively responds to the client’s request and shares its resources.

(28) TCP (Transmission Control Protocol)

A transport layer protocol for the Internet
- Data Tx/Rx through connection
- Multiplexing
- Transmission reliable
- Emergent data transmission supported

(29) TCP/IP (Transmission Control Protocol/Internet Protocol)

Transmission protocol used for communication among different kinds of computers, which makes the
communication available between general PC and medium host, IBM PC and MAC, and medium or large-sized
different types of computer. It is also used as a general term for information transmission protocol between
computer networks including FTP, Telnet, SMTP, etc. TCP divides data into packets to send through IP and the
packets sent will be united back together through TCP.

(30) Telnet
It means remote login via Internet. To login to remote host via TELNET, account of that host is necessary.
But for some hosts providing public service, you can connect without account

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(31) Token Ring

As short-distance network using Token to connect to network having physical ring structure, one of the
Node connection methods at network. If node sending data gets Token, then node gets right to send
message packet. Realistically structured examples are IEEE 802.5, ProNet-1080 and FDDI. Terms called
Token is used as IEEE 802.5

Token passing

Token
Ring

Dual Token passing

(32) UDP(User Datagram Protocol)

A transport layer protocol for the Internet
- High speed communication because of communication without connection
- Multiplexing
- Lower reliability than TCP in transmission (Tough data doesn’t arrive, it doesn’t send data again)

(33) Auto-Negotiation
Fast Ethernet is that Ethernet exchanges information like operation speed, duplex mode.
1. Detect disconnection
2. Decide the specification of network device
3. Change connection speed

(34) FDDI (Fiber Distributed Data Interface)

Based on optical cable, provides 100Mbps, Shared Media Network as Dual Ring method, Token Passing
is done in two-way.
Max 200Km distance for entire network, Max 2Km between Nodes, Max 500 nodes. Generally, this used
as Backbone Network.

(35) Reset
This is function used when you want to initialize the communication module to clear the error
Select [Online]  [Rest] in the SM-NM
If you execute this function, PLC will restart.

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 Chapter 2 System Configuration

Chapter 2 System Congifuration

You can configure various systems by using the MLU ‘HP’ Type basic unit and expansion· special communication I/F modules.
This chapter describes how to configure the system through the MLU ‘HP’ Type basic unit

2.1 Table of Products Configuration

The available configurations of for the MLU ‘HP’ Type PLC system are as below table.

Types Model Description Remark

H/W : V2.0
Main Unit DC24V power supply, DC24V input 16 point, Transistor output 16 point(sink) O/S:V2.0 or
MLU-DN32HP
Built-in position 6 axis above
MLE-DC08A DC24V Input 8 point
MLE-DC16A/B DC24V Input 16 point Input
MLE-DC32A DC24V Input 32 point
MLE-RY08A Relay output 8 point
MLE-RY08B Relay output 8 point(isolated ouput)
Expansion Unit

MLE-RY16A Relay output 16 point

MLE-TN08A Transistor output 8 point (sink type)
MLE-TN16A Transistor output 16 point (sink type) Output
MLE-TN32A Transistor output 32 point (sink type)
MLE-TP08A Transistor output 8 point (source type)
MLE-TP16A Transistor output 16 point (source type)
MLE-TP32A Transistor output 32 point (source type)
MLE-DR16A DC24V Input 8 point, Relay output 8 point
In/Output
MLE-DN32A DC24V Input 8 point, Transistor output 16 point (sink type)
MLF-AD04A Current/Voltage input 4 channel, 1/4000 resolution
MLF-AD04C Current/Voltage input 4 channell, 1/16000 resolution
MLF-AD08A Current/Voltage input 8 channel, 1/4000 resolution
MLF-DC04A Current output 4 channell, 1/4000 resolution Analog
MLF-DC04C Current output 4 channel, High resolutionl, 1/16000 resolution ln/Out
MLF-DV04A Voltage output 4 channell, 1/4000 resolution
MLF-DV04C Voltage output 4 channel, 1/16000 resolution
MLF-AH04A Current/Voltage input 2 channel, Current/Voltage output 2 channel, 1/4000 resolution
Special Module

MLF-RD04A RTD (Resistance Temperature Detector) input 4 channel, Pt100, Jpt100

MLF-RD01A RTD (Resistance Temperature Detector) input 1 channel, Pt100, Jpt100 Temperature
MLF-TC04S TC (Thermocouple) input 4 channel
MLF-PD02A Position 2Axis, Line Drive type, Max 2Mpps Positioning
MLF-HD02A High Speed Counter 2 channel, Line Drive Type
Counter
MLF-HO02A High Speed Counter 2 channel, Open Collector Type
MLF-TC04RT Temperature controller module (RTD input, 4 roof)
MLF-TC04TT Temperature controller module (TC input, 4 roof)
MLF-PN04B Network position (Open type Ethercat ) 4 Axis
MLF-PN08B Network position (Open type Ethercat ) 8 Axis
MLF-LD02S Loadcell input, insulation type

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Types Model Description Remark

MLL-C21A Cnet (RS-232C/Modem) I/F -

MLL-C41A Cnet (RS-422/485) I/F -

MLL-EMTA Enet I/F -

-
Communication

MLL-EIPT EtherNet I/P Module -

Module

MLL-CMEA CANopen MasterI/F -

MLL-CSEA CANopen Slave I/F -

MLL-PMEC Profibus-DP, Master -

MLL-PSEA Profibus-DP, Slave

MLL-DSEA DeviceNet, Slave

USB-301A Connection cable (PC to PLC), USB

Notice

For new products that are not included to this manual, please contact a nearby exclusive agency.

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2.2 Classification and Type of Product Name

2.2.1 Classification and type of basic unit

Standard (S)
Name of basic unit is classified as follows. Standard with usb loader (SU)
High-end type (H)
M L M - D N 32 H H : 2 aixs with APM

HP : 6aixs with XPM

Ultimate Performance type (U)
ML50 PLC Ultimate Analog type (UA)
Ultimate Position type (UP)
No. of I/O point
MK language supported (B)
Ultimate Positioning type (UP)
IEC language supported (E)
Relay output (R)
Sink type transistor output (N)
Module type basic unit (M) Source type transistor output (P)
Compact type basic unit(C)

DC input
AC input

Classification Name DC input Relay output Transistor output Power

MLM-DR16S 8 point 8point None
MLM-DN16S 8point None 8point
MLM-DN32S 16 point None 16 point
DC24V

Main unit
MLU-DN32HP 16 point None 16 point
MLC-DR32H 16 point 16 point None
MLC-DN32H 16 point None 16 point AC110V-220V
MLC-DR64H 32 point 32 point None
MLC-DN64H 32 point None 32 point

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2.2.2 Classification and type of expansion module

Name of expansion module is classified as follows.

M L E - DC XX A

ML50 series No. of I/O point

Relay output(RY)
Transistor output (TN/TP)
I/O expansion module(E)
Digital input (DC)
Expansion special module(F)
Digital input+ sink type transistor output (DN)
Expansion communication
Digital input+ source type transistor output (DP)
module(L)
Digital input+ Relay output (DR)
Option module(O)

Name DC input Relay output Transistor output Reference

MLE-DC08A 8 point None None

MLE-DC16A/B 16 point None None Input

MLE-DC32A 32 point None None

MLE-RY08A/B None 8 point None

Relay Output
MLE-RY16A None 16 point None
8 point
MLE-TN08A None None
(sink type)
16 point
MLE-TN16A None None Sink type Output
(sink type)
32 point
MLE-TN32A None None
(sink type)
8 point
MLE-TP08A None None
(source type)
16 point
MLE-TP16A None None Source type Output
(source type)
32 point
MLE-TP32A None None
(source type)
MLE-DR16A 8 point 8 point None
16 point In/Output
MLE-DN32A 16 point None
(sink type)

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2.2.3 Classification and type of special module

Special module is classified as follows.

M L F - AD XX A

Non-insulation type (A/C)

Insulation type (S)
ML50 series
RTD input (RT)
TC input(TT)

No. of IO point

Analog input (AD)

Analog voltage output (DC)
I/O expansion module(E) Analog current output (DV)
Expansion special module(F) Analog inout (AH)
Expansion communication RTD input (RD)
module(L) Thermocouple input (TC)
Option module(O) High Speed Counter(HD/HO)
Lindriver Positioning Module(PD)
EtherCAT Positioning Module(PN)

No. of input No. of output

Classification Name Input type Output type
ch. ch.
MLF-AD04A/C 4 Voltage/Current None -
Analog input
MLF-AD08A 8 Voltage/Current None
MLF-DC04A/C None - 4 Current
Analog output
MLF-DV04A/C None - 4 Voltage
Analog In/Output MLF-AH04A 2 Voltage/Current 2 Voltage/Current
MLF-RD04A 4 PT100/JPT100 None -
RTD input
MLF-RD01A 1 PT100/JPT100 None -
MLF-TC04S 4 K, J, T, R None -
TC input MLF-TC04RT 4 PT100/JPT100 4 Transister
MLF-TC04TT 4 K, J, T, R 4 Transister
MLF-PD02A - Line Driver 2 Voltage
Positioning MLF-PN04B - Line Driver 4 EtherCAT
MLF-PN08B - Line Driver 8 EtherCAT
MLF-HD02A 2 Line Driver - Voltage
High Speed Counter
MLF-HO02A 2 Open Collector - Voltage
Loadcell MLF-LD02A 2 Voltage -

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2.2.4 Classification and type of communication module

Name of communication module is classified as follows.

M L L - C21A

C21A : Cnet 1 channel (RS-232C)

ML50 series C41A : Cnet 1 channel (RS-422/485)
EMTA : Fast Ethernet 1chnnel

CMEA: CANopen Master

CSEA: CANopen Slave
PMEC: Profibus DP Master
I/O expansion module(E)
PSEA: Profibus DP Slave
Expansion special module(F)
DSEA: DeveiceNet Slave
Expansion communication
module(L)
Option module(O)

Classification Name Type

MLL-C21A RS-232C, 1 channel
Cnet Comm. Module
MLL-C41A RS-422/485, 1 channel
FEnet Comm. Module MLL-EMTA Electricity, open type Ethernet

EtherNet Comm. Module MLL-EIPT Open EtherNet I/P

MLL-CMEA CANopen Master

CANopen Comm. Module
MLL-CSEA CANopen Slave

MLL-PMEC Profibus-DP Master

Pnet Comm. Module
MLL-PSEA Profibus-DP Slave

DeviceNet Comm. Module MLL-DSEA DeviceNet Slave

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2.3 MLU ‘HP’ Type’s System Configuration

2.3.1 How to configure the System
You can configure thesystem by using the MLU ‘HP’ Type PLC as below.
You can connect to the expansion modules up to 7EA.

Basic unit I/O module Special module Communication

module

Items Description
• MLC-DN32H : 32 points~256 points
Number of I/O configuration points
• MLC-DN32HP : 32 points~256 points
Digital I/O
• Up to 7 EA
module
Number of
Special module • Up to 7 EA
accessible
Communication module • Up to 2 EA
expansion
High speed expansion
modules • Up to 2 EA (Can be expanded for 2 slots just behind the basic unit)
module
Option module • Cannot be installed.
Main • MLM-DN16S • MLM-DR16S • MLM-DN32S
MLM/MLC/MLU series
Unit • MLU-DN32H2 • MLU-DN32HP
•MLE-DC08/16/32A •MLE-TN08/16/32A •MLE-RY08/16A
Digital I/O
•MLE-DC16B • MLE-TP08/16/32A •MLE-RY08B
module
• MLE-DR16A • MLE-DN32A
Configuration of products

• MLF-AD04A • MLF-DC04A • MLF-HO02A

• MLF-AD04C • MLF-DC04C • MLF-HD02A
Expansion module

• MLF-AD08A • MLF-DV04A • MLF-TC04RT

Special module
• MLF-AH04A • MLF-DV04C • MLF-TC04TT
• MLF-RD04A • MLF-TC04S
• MLF-PD02A
• MLL-C41A • MLL-C21A • MLL-PSEA
• MLL-EMTA • MLL-EIMT/F/H • MLL-CMEA/CSEA
Communication module
• MLL-PMEC • MLL-EIPT • MLL-DSEA

High speed I/F module • MLF-PN04B • MLF-PN08B

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2.3.2 Instructions for System Configuration

(1) high speed expansion I/F module
MLU ‘HP’ Type PLC supports the high speed expansion I/F to enhance the expansion module processing
speed. This section describes the instructions to configure the system by using the high speed expansion I/F
modules and the existing expansion modules.

- The existing ML50 expansion· communication· special modules can be commonly used and the high speed
expansion I/F module that cannot be supported by the ML50 basic unit are available.
- In the case of expansion communication modules, a total of 4 expansion communication modules can be
mounted in the order of installation; 2EA of high speed I/F communication modules, 2EA of the existing
communication I/F modules.
- In the case of the high speed expansion module, it acts as the high speed expansion I/O only when it is
installed in 1-stage or 2-stage.
- When more than two high speed expansion modules are installed, only the modules mounted in 1-stage, 2-
stage act as the high speed I/F; for the modules mounted in 3-stage or more, they work equally to the existing
expansion modules or do not work depending on the corresponding modules.
- The high speed expansion I/F modules cannot be installed behind the normal expansion modules. Accordingly,
when using the high speed expansion modules and the existing normal expansion modules by mixture, the
existing ones should be installed behind the high speed ones.
- The below table represents the example of the system configuration using the high speed expansion modules
and the existing normal expansion modules.
(◎ : High speed expansion communication modules, ○: Existing communication modules,
◈ : High speed expansion special, I/O modules, ◇ : Existing special, I/O modules)
Expansion modules
Basic Unit Definitions of Operations Remarks
1-stage 2-stage 3-stage 4-stage 5-stage
1,2-stage : Using the high speed I/F, 3~5- 3 communication
◎ ◎ ◈ ○ ◇
stage : Using the existing I/F modules works
1,2-stage : Using the high speed I/F, 3~5- 4 communication
◎ ◎ ○ ○ ◇
stage : Using the existing I/F modules works
1-stage : Using the high speed I/F, 2~5- 2 communication
◈ ○ ○ ◇ ◇
stage : Using the existing I/F modules works
MLU ‘HP’ Type ◇ ◎ ◈ ◇ ◇ System Configuration is impossible.
(The high speed expansion modules
◈ ◎ ◇ ◈ ◇ cannot be applied to the further stage of
the existing expansion modules)
1,2 -stage : Using the high speed I/F, 3 communication
◎ ◎ ◎ ◇ ◇
3~5-stage : Using the existing I/F modules works
Using 10-stage of the existing expansion
◇ ◇ ◇ ◇ ◇
modules
2 communication
◎ ◎ ◇ ◇ ◇
modules works
1~5-stage: Operated by the existing I/F
2 communication
◎ ◎ ◈ ◇ ◇
modules works
System Configuration is impossible. (The
Existing ML50 ◎ ◎ ○ ◇ ◇ number of communication modules is
exceeded)
System Configuration is impossible. (The
high speed expansion modules cannot
○ ◈ ◈ ◇ ◇
be applied to the further stage of the
existing expansion modules)

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(2) How to allocate slots for expansion modules

-In the case of the MLU ‘HP’, built-in Ethernet occupies No.1 slot. Accordingly, No.2 slot is allocated for the first
expansion module.
-In the case of the MLU ’HP’ type, empty slot is allocated for No.1.

0~1 slot 2 slot

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2.3.3 Embedded Communication System Configuration

2.3.3.1 Embedded Cnet I/F System Configuration
The Cnet I/F system is the system to transmit·receive external devices including PC and data through RS-232C/RS-
422 I/F. In the case of Built-in Cnet, RS-232C and RS-485 communication I/F are respectively embedded. Moreover,
you can additionally install the Cnet I/F module (MLL-C21A) for RS-232C only that is the expansion module and
Cnet I/F module (MLL-C41A) for 485 only so it is possible to build up various communication systems for the
purposes.
Some examples of communication systems are represented here, which can be configured by the Cnet I/F
embedded in ML50 basic unit.
(1) 1:1 connection with the HMI by using the basic unit’s embedded RS-232C or RS-485 port

(2) Communication with the other PLC through the basic unit’s embedded RS-485 port/ 1:1 connection with the HMI
through the embedded RS-232C port

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(3) Configuring 1:N communication system with the maximum 32 stations by using the basic unit’s embedded RS-
485port

Notice

For detailed specificaitons of the embedded Snet communication, refer to Part4 Communication in this manual.
For detailed specificaitons of the expansion Snet communication module, refer to “ML50 Snet I/F” manual.

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2.3.3.2 Embedded Ethernet I/F System Configuration

The Ethernet is the typical LAN interface (IEEE802.3) developed commonly by Xerox, Intel, DEC of U.S.A. It is the
network connection system with the transfer capacity of 100Mbps and packets of 1.5kB. The Ethernet can integrate
different types of computers through network so it is regarded as the representative LAN interface. It is not the standard
for a specific company but the common standard so you can find various products. In addition, it can control
communication through CSMA/CD and builds up the network easily, furthermore, can collect high-capacity data.

(1) Ethernet system’s block diagram

Notice

For more details on how to the above network system configuration and Enet system configuration, refer to Chap.5
Embedded Communication and “ML50 FEnet I/F ” of this manual.

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Chapter 3 Specifications
3.1 Names and Functions of Each Part

No Names Purposes
① LED for displaying input, output ■ Displays the On/Off status of input, output contacts
② Input connector ■ Terminal block receiving the actual input signal
③ Output connector ■ Terminal block outputting the actual output signal
Built-in serial communication
④ ■ Built-in RS-232C/485 connecting connector
connecting connector
Built-in ethernet
⑤ ■ Built-in Enet connecting connector
connecting connector
⑥ PADT connecting connector ■ PADT connecting connector
■ Sets the basic unit’s operation mode.
• STOP → RUN : Program’s operation is executed.
⑦ RUN/STOP mode switch
• RUN → STOP : Program’s operation is stopped.
(In case of STOP, the remote operation is available.)
■ Displays the basic unit’s operation status.
• PWR(Red light On) : The power is supplied.
⑧ Status display LED
• RUN(Green light On) : During RUN mode
• ERR(Flickering red light) : Occurrence of errors during operation

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③ ②

No Names Purposes
① Power terminal ■ Power supply terminal (DC24V)
② Expansion module hook ■ Fix hook when installing extension module
■ Terminating resistance selector switch for built-in RS-485
Terminating resistance selector
③ • Switch 2ea On : Use of Terminating resistance
switch
• Switch 2ea Off : Not use of Terminating resistance

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3.2 General specifications

No. Items Specification Reference
1 Ambient Temp. 0 ~ 55 C
2 Storage Temp. 25 ~ 70 C
3 Ambient humidity 5 ~ 95%RH (Non-condensing) -
4 Storage humidity 5 ~ 95%RH (Non-condensing)
Occasional vibration -
Frequency Acceleration Pulse width Times
5≤f< 8.4㎐  3.5mm
8.4≤f≤150㎐ 9.8m/s (1G)
2  10 times
5 Vibration
Continuous vibration each
Frequency Acceleration Pulse width direction
IEC61131-2
5≤f< 8.4㎐  1.75mm (X,Y and Z)
8.4≤f≤150㎐ 4.9m/s (0.5G)
2 
• Peak acceleration : 147 m/s (15G)
2

6 Shocks • Duration : 11ms

• Pulse wave type : Half-sine (3 times each direction per each axis)
Square wave AC: 1,500 V
LSIS standard
impulse noise DC: 900 V
Electrostatic IEC61131-2
Voltage: 4kV (Contact discharge)
discharge IEC61000-4-2
Radiated
7 Impulse noise IEC61131-2,
electromagnetic 80 ~ 1,000MHz, 10 V/m
IEC61000-4-3
field noise
Classifi- Power Digital/Analog Input/Output,
Fast transient IEC61131-2
cation supply Communication Interface
/Burst noise IEC61000-4-4
Voltage 2kV 1kV
Operation
8 Free from corrosive gases and excessive dust
ambience
9 Altitude Less than 2,000m -
10 Pollution degree Less than 2
11 Cooling method Air-cooling

Notes

1) IEC (International Electrotechnical Commission)

: An international civil community that promotes international cooperation for standardization of electric/ electro
technology, publishes international standard and operates suitability assessment system related to the above.
2) Pollution Degree
: An index to indicate the pollution degree of used environment that determines the insulation performance of the
device. For example, pollution degree 2 means the state to occur the pollution of non-electric conductivity
generally, but the state to occur temporary electric conduction according to the formation of dew.

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3.3 Power specifications

This section describes XBM ‘H(P)’ PLC basic unit’s power specifications.
Items Specification condition
Input volatage range DC20.4~28.8V(-15%, + 20%) -15%, + 20% of rated voltage
Rated input voltage DC24V

Input current 1A or less Input max +DC28.8V load

Input
Inrush current 70 Apeak or less Input max +DC28.8V load
Efficiency 60% or more Input max +DC28.8V load
Permitted momentary
1ms or less Input max +DC28.8V load
power failure
Rated output voltage DC 5V(±2%)
Ouput
Output current 2.0A
Power supply status indication LED On when power supply is normal
Cable specification 0.75 ~ 2 mm2
* For protection of the power supply, you are recommended to use the power supply with the maximum of 4A fuse.

Notice

(1) Allowable instantaneous interruption time

It is the time to maintain the normal output voltage(normal operation) on the condition that the input voltage(DC24V) is
lower than the lowest rated input voltage (DC20.4V).
(2) Use UL certified power supply
- Device, Power supply, should meet Class 2 or LVLC(Limited voltage Limited circuit).

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3.3.1 Consumption current

Type Model Consumption current (Unit : ㎃)
MLU-DN32H2 540
Main unit
MLU-DN32HP 540
MLE-DC32A 50
MLE-DC16A/B 40
MLE-DC08A 20
MLE-RY16A 440
Expansion I/O module
MLE-RY08A/B 240
MLE-TN32/16/08A 80/50/40
MLE-DR16A 250
MLE-TP32/16/08A 80/50/40
MLF-AD04A 120
MLF-AD08A 105
MLF-AH04A 120
MLF-DV04A 110
MLF-DC04A 110
MLF-RD04A 100
MLF-RD01A 100
MLF-TC04S 100
Expansion Special module MLF-PD02A 500
MLF-HO02A 270
MLF-HD02A 330
MLF-AD04C 105
MLF-DC04C 70
MLF-DV04C 70
MLF-TC04RT 120
MLF-TC04TT 120
MLF-LD02S 110
MLL-C21A 110
MLL-C41A 110
MLL-EMTA 190
MLL-EIMT/F/H 280/670/480
MLL-EIPT 400
Expansion Communication module MLL-CMEA 150
MLL-CSEA 150
MLL-PMEC 300
MLL-PSEA 230
MLL-DSEA 100
MLL-RMEA 250

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3.3.2 Calculation Example of Consumption Current/Voltage

Calculate the consumption current and configure the system not to exceed the output current capacity of main unit.
Refer to 3.3.1 for each module’s consumption current

(1) XGB PLC configuration example 1

Consumption of current/voltage is calculated as follows.
Internal 5V
consumption
Type Model Unit No. Remark
current
(Unit : ㎃)
Main unit MLU-DN32HP 1 540
In case all contact points are On.
MLE-DC32A 2 50
(Maximum consumption current)
MLE-TN32A 2 80
Expansion module MLF-AD04A 1 120
All channel is used.
MLF-DC04A 1 110
(Maximum consumption current)
MLL-C21A 1 110
Consumption
1140mA -
current
Consumption
5.7W 1.14A ⅹ 5V = 5.7W
voltage

In case system is configured as above, since 5V consumption current is total 1,140 mA and 5V output of main unit is maximum
2A, normal system configuration is available.

(2) XGB PLC configuration example 2

Internal 5V
consumption
Type Model Unit No. Remark
current
(Unit : ㎃)
Main unit MLU-DN32HP 1 540
In case all contact points are On.
MLE-DR16A 2 250
(Maximum consumption current)
MLE-RY16A 2 440
Expansion module
MLF-AD04A 2 120 All channel is used.
MLL-C21A 1 110 (Maximum consumption current)
Consumption
2,150mA -
current
Consumption
10.75W 2.15 * 5V = 10.75W
voltage

In case system is configured as above, since 5V consumption current is total 2,150 mA and 5V output of ML50 32 points main
unit is maximum 2A, configuration is not available. This total consumption current is calculated when all input/output points are on.
For safety for system, it is recommened to use higher specification of main unit.

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3.4 Battery
3.4.1 Battery specifications
Items Specifications
Nominal voltage / current DC 3.0V / 6.5 mAh
Warranty term 3 years(at room temperature)
Purpose RTC operation during the blackout

Charging time

About 6 months(25℃)
surrounding
Back-up time
temperature
Backup time 70℃ about 195 days
25℃ about 183 days
-25℃ about 133 days

3.4.2 Instruction for Use

(1) It is impossible to exchange inner battery
(2) Do not apply heat or solder electrode (It may cause a battery’s life-shortening)
(3) Do not measure voltage with a tester or short-circuit (It may be the cause of a fire.)
(4) Do not disassemble the battery.
(5) Do not change the battery on purpose.

3.4.3 Battery Life

Battery’s life may be different depending on the conditions of blackout time, service temperature, etc.
Battery can be charged when power is on, and be used for RTC function.
Battery can be discharged when PLC power have been off for a long time. When you put power on PLC, it will be
charged automatically. Program and data backup should be preserved with no regard to battery discharge.

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3.5 Performance specifications

The MLU-DN32H2/P unit’s common performance specifications for CPU are as below.
Specifications
Items Remark
MLU-DN32H2/MLU-DN32HP
Cyclic execution of stored program, Time-driven interrupt,
Program control metho
Process-driven interrupt
Batch processing by simultaneous scan (Refresh method),
I/O control method
Directed by program instruction
LD(Ladder Diagram), Instruction List, SFC (Sequential Function Chart)
Program language
ST (Structured Text)
Number of Basic 28
instructions Application 677
Processing speed
40ns/step
(Basic instruction)
Program capacity 64kStep
Max. I/O points 256 points (Main + Expansion 7 stages)
P P0000 ~ P2047F (32,768 points) Input/Ouput
M M0000 ~ M2047F (32,768 points)
K K0000 ~ K4095F (65,536 points)
L L0000 ~ L4095F (65,536 points) Link
F F0000 ~ F2047F (32,768 points)
T 100㎳, 10㎳, 1㎳: T0000 ~ T2047 (set by parameter) Timer
Data area
C C0000 ~ C2047 Counter
S S00.00 ~ S127.99 Step
D D0000 ~ D32767 Data register
U U0.0 ~ U08.31 Analog Data
Z Z000 ~ Z127 (128word)
N N0000 ~ N10239 (10,240 word)
File resister R RAM area 8block (R00000 ~ R32,767)
Total program 256
Initial task 1
Cyclic task Max 16
I/O task Max 8
Initial Internal device
Max 16
task task
High Speed
Max 4
Counter task
Positioning task 1
Operation mode RUN, STOP, DEBUG
Self-diagnosis function Detects errors of scan time, memory, I/O and power supply
Program port USB 1 channel
Back-up method Latch area setting in basic parameter
Internal consumption
540mA
current
Weight 134g

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Specifications
Items Remark
MLU-DN32H2/MLU-DN32HP
Control by instruction, auto-tuning,
PWM output, Forced output,
PID control
Operation scan time setting,Antiwindup, Delta MV, SV lamp,
Hybrid operation, Cascade operation
Dedicated protocol(ML)
Modbus protocol
PID control
Cnet User defined protocol ,
inverter protocol
Channel RS-232C 1 port and RS-485 1 port
Transfer spec Cable: 100Base-TX, Speed: 100Mbps, Auto-MDIX*1, IEEE 802.3
Topology Star
Enet Diagnosis Module information, Service condition
Protocol MLDP(dedicated), Modbus TCP/IP, user define frame
Service P2P, High Speed link, Remote connection,SMTP,SNTP, Auto scan
Performance 1 phase: 200㎑(2 phase: 100㎑)
channels 1phase 4 channels, 2 phase 2 channels
4 counter modes are supported based on input pulse and INC/DEC
method
High
• 1 pulse operation Mode : INC/DEC count by program
Speed Counter mode
• 1 pulse operation Mode : INC/DEC count by phase B pulse input
Counter
Built-in Function

• 2 pulse operation Mode : INC/DEC count by input pulse

• 2 pulse operation Mode : INC/DEC count by difference of phase
• Internal/external preset • Latch counter
Function
• Compare output • No. of rotation per unit time
No. of control axis: 6axis(MLU H2 or MLI: 2 axis)
Control method : Position control, Speed control, Speed/Position control,
Position/Speed control
Basic function Control Unit: Pulse, mm, inch, degree
Position data: 400 steps for each axis(1~400)
Operation mode: end, keep, continuous
Operation method: single, repeat
▪ 2/3/4/5/6 axis linear interpolation(MLU H2: 2 axis linear interpolation )
Interpolation ▪2 axis circular interpolation
Position function
▪3 axis helical interpolation( not supported in MLU H2)
Absolute method / Incremental method
Position address range: -2,147,483,648 ∼ 2,147,483,647(Pulse)
Position
Speed: max. 200kpps
Acc/dec processing: Trapezoid-shaped , S-curve
Origin return DOG + HOME (Off), DOG + HOME(On),
method Upper/Lower limit + HOME, DOG, High speed, Upper/Lower limit, HOME
Jog operation Jog Operation, MPG Operation, Inching Operation
Pulse catch 10㎲ 4point(P0000 ~ P0003), 50㎲ 4point(P0004 ~ P0007)
External point Interrupt 10㎲ 4point(P0000 ~ P0003), 50㎲ 4point(P0004 ~ P0007)
Input filter 1,3,5,10,20,70,100㎳
*1 Auto-MDIX(Automatic medium-dependent interface crossover) : It is the function to automatically detect whether the cable connected
to the Ethernet port is peer-to-peer(straight) or cross cable

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Chapter 4 Installation and wiring

4.1 Parameter & Operation data

Danger
 Please design protection circuit at the external of PLC for entire system to operate safely because an abnormal

output or an malfunction may cause accident when any error of external power or malfunction of PLC module.

(1) It should be installed at the external side of PLC to emergency stop circuit, protection circuit, interlock circuit of

opposition action such as forward /reverse operation and interlock circuit for protecting machine damage such as

upper/lower limit of positioning.

(2) If PLC detects the following error, all operation stops and all output is off.

(Available to hold output according to parameter setting)

(a) When over current protection equipment or over voltage protection operates

(b) When self diagnosis function error such as WDT error in PLC CPU occurs

 When error about IO control part that is not detected by PLC CPU, all output is off.

Design Fail Safe circuit at the external of PLC for machine to operate safely. Refer to 4.1.1 Fail Safe circuit.

(1) Because of error of output device, Relay, TR, etc., output may not be normal. About output signal that may cause

the heavy accident, design supervisory circuit to external.

When load current is more than rating or over current by load short flows continuously, danger of heat, fire may occur

so design safety circuit to external such as fuse.

Design for external power supply to be done first after PLC power supply is done. If external power supply is done

first, it may cause accident by misoutput, misoperation.

In case communication error occurs, for operation status of each station, refer to each communication manual.

In case of controlling the PLC while peripheral is connected to CPU module, configure the interlock circuit for system

to operate safely. During operation, in case of executing program change, operation status change, familiarize the

manual and check the safety status. Especially, in case of controlling long distance PLC, user may not response to

error of PLC promptly because of communication error or etc.

Limit how to take action in case of data communication error between PLC CPU and external device adding installing

interlock circuit at the PLC program.

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Danger

Don’t close the control line or communication cable to main circuit or power line. Distance should be more than 100mm.

It may cause malfunction by noise.

In case of controlling lamp load, heater, solenoid valve, etc. in case of Off -> On, large current (10 times of normal

current) may flows, so consider changing the module to module that has margin at rated current.

Process output may not work properly according to difference of delay of PLC main power and external power for

process (especially DC in case of PLC power On-Off and of start time.

For example, in case of turning on PLC main power after supplying external power for process, DC output module may

malfunction when PLC is on, so configure the circuit to turn on the PLC main power first

Or in case of external power error or PLC error, it may cause the malfunction.

Not to lead above error to entire system, part causing breakdown of machine or accident should be configured at the

external of PLC

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4.1.1 fail safe circuit

(1) example of system design (When ERR contact point of power module is not used)

In case of AC In case of AC . DC
Power

Power

Check direct Trans Trans

Trans
current Fuse Fuse
Fuse
Signal input

DC power
F0045
Pm
Pm 9
Fuse
F009C
F009C Pm Timer setting
Pm

Start
PLC RUN output Pm which DC input
Program
switch
Start available as RA1 Tm signal is
configured.
Stop
SW Input module
Start Program
switch

Output module Stop Voltage relay

SW
Output for warning equipped
Pm
(Lamp or buzzer)

Pn
RUN by F009C Pm

Power off to output

Output module device Output module Output for warning
(Lamp or buzzer)

Run by F009C
Emergency stop,
Stop by limit
Output module
Configure part that lead
opposite operation or
breakdown such as Power Off to
interlock circuit forward, output device
reverse revolution by (Emergency stop,
external interlock circuit stop by limit
Start sequence of power. In case of AC switch)
(1) Turn on power
(2) Run CPU.
(3) Turn on start switch
Start sequence of power. In case of AC DC
(4) Output device runs by program through
(1) Run CPU after power is on
magnetic contactor (MC) [On]
(2) Turn on RA2 as DC power on
(3) Turn on timer after DC power is stable.
(4) Turn on start switch
(5) Output device runs by program through magnetic contactor (MC) [On]

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(2) Fail Safe Measures in case of PLC failures

Failures of the PLC CPU and memory are detected by self-diagnosis but if there are some problems with I/O control part,
etc, the failure may not be detected from the CPU. In this case, it can be different depending on the failure status, all
contacts may be On or Off so normal operation or safety of the controlled subject cannot be guaranteed.
We have done our best to assure quality but in case there are some problems with the PLC, please configure the fail safe
circuit on the outside to prevent damage of the equipment or accident due to some cause. The below is the example of
system configuration with the fail sage circuit.

<System example>

* Equip output module for fail safe to last slot of system.

[Fail safe circuit example]

On delay timer
P200 T1
F0093 Off delay timer
P200 T2
External load MC
P201 L
~
P20F L
P200
24V

- +
0.5s 0.5s 0V
T1 T2 DC24V

MC
CPU unit Output module

Since P200 turn on/off every 0.5s, use TR output.

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4.1.2 PLC heat calculation

(1) Power consumption of each part

(a) Power consumption of module

The power conversion efficiency of power module is about 70% and the other 30% is gone with heat; 3/7 of the output power
is the pure power consumption. Therefore, the calculation is as follows.
• Wpw = 3/7 {(I5V X 5) + (I24V X 24)} (W)
I5V : power consumption of each module DC5V circuit(internal current consumption)
I24V: the average current consumption of DC24V used for output module
(current consumption of simultaneous On point)
If DC24V is externally supplied or a power module without DC24V is used, it is not applicable.

(b) Sum of DC5V circuit current consumption

The DC5V output circuit power of the power module is the sum of power consumption used by each module.
• W5V = I5V X 5 (W)

(c) DC24V average power consumption(power consumption of simultaneous On point)

The DC24V output circuit’s average power of the power module is the sum of power consumption used by each module.
• W24V = I24V X 24 (W)

(d) Average power consumption by output voltage drop of the output module(power consumption of simultaneous On point)
• Wout = Iout X Vdrop X output point X simultaneous On rate (W)
Iout : output current (actually used current) (A)
Vdrop: voltage drop of each output module (V)

I24V

DC24V
Main unit Comm. Comm. output input Special input
AC power
100V~240V DC5V I5V
constant
Voltage
transformer
Iout Iin

load
AC power
DC 100V~240V
power
24V

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(e) Input average power consumption of input module

(power consumption of simultaneous On point)
• Win = lin X E X input point X simultaneous On rate (W)
Iin: input current (root mean square value in case of AC) (A)
E : input voltage (actually used voltage) (V)

(f) Power consumption of special module power assembly

• WS = I5V X 5 + I24V X 24 + I100V X 100 (W)
The sum of power consumption calculated by each block is the power consumption of the entire PLC system.
• W = WPW + W5V + W24V + Wout + Win + Ws (W)
Calculate the heats according to the entire power consumption(W) and review the temperature increase within the control
panel.

The calculation of temperature rise within the control panel is displayed as follows.
T = W / UA [C]
W : power consumption of the entire PLC system (the above calculated value)
A : surface area of control panel [m2]
U : if equalizing the temperature of the control panel by using a fan and others : 6
If the air inside the panel is not ventilated : 4

If installing the PLC in an air-tight control panel, it needs heat-protective(control) design considering the heat from the PLC as well
as other devices. If ventilating by vent or fan, inflow of dust or gas may affect the performance of the PLC system.

2 기본 파라미

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4.2 Attachment/Detachment of Modules

Here describes about basic parameter of embedded positioning.

4.2.1 Attachment/Detachment of modules

Caution in handling
Use PLC in the range of general specification specified by manual.
In case of usage out of range, it may cause electric shock, fire, malfunction, damage of product.

Remark
 Module must be mounted to hook for fixation properly before its fixation.
The module may be damaged from over-applied force. If module is not mounted properly, it may cause malfunction.

 Do not drop or impact the module case, terminal block connector.

 Do not separate PCB from case.

(1) Equipment of module

• Eliminate the Extension Cover at the product.
• Push the product and connect it in agreement with Hook For Fixation of four edges and Hook For Connection at the bottom.
• After connection, push down the Hook For Fixation and fix it completely.

(2) Detachment of module

•Push up the Hook For Disconnection, and then detach the product with two hands.
(Do not detach the product by force)

Remark
 When separating module, do not apply excessive force. If so, hook may be damaged.
-If used outside the range, electric shock, fire, malfunction, or damage to the product may cause damage.

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(3) Installation of module

MLM and MLU PLC has a hook for DIN rail (rail width: 35mm) so that cab be installed at DIN rail.

(a) In case of installing at DIN rail

• Pull the hook as shown below for DIN rail at the bottom of module and install it at DIN rail
• Push the hook to fix the module at DIN rail after installing module at DIN rail

HOOK for DIN rail

(b) In case of installing at panel

• You can install ML50 compact type main unit onto a panel directly using screw hole
• Use M4 type screw to install the product onto a panel.

Panel

2-Ø4.5 screw hole

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(4) Module equipment location

Keep the following distance between module and structure or part for ventilation, easy detachment and attachment.

30㎜ or above *1

Panel
PLC

20㎜or above*3

30㎜or above*1

5㎜ or above*1 5㎜ or above

*1 : In case height of wiring duct is less than 50 mm (except this 40mm or more)
*2 : In case of equipping cable without removing near module, 20mm or more
*3 : In case of connector type, 20mm or above

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(5) Module equipment direction

(a) For easy ventilation, install as shown below.

(b) Don’t install as shown below.

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(6) Distance with other device

To avoid radiation noise or heat, keep the distance between PLC and device (connector and relay) as far as the following figure.
Device installed in front of PLC: 100 ㎜ or more
Device installed beside PLC: 50 ㎜ or more

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4.2.2 Caution in handling

Here describes caution from open to install
• Don’t drop or impact product.
• Don’t disassemble the PCB from case. It may cause an error.
• In case of wiring, make sure foreign substance not to enter upper part of module. If it enters, eliminate it.

(1) Caution in handling IO module

It describes caution in handling IO module.

(a) Recheck of IO module specification

For input module, be cautious about input voltage, for output module, if voltage that exceeds the max. open/close voltage is
induced, it may cause the malfunction, breakdown or fire.

(b) Used wire

When selecting wire, consider ambient temp, allowed current and minimum size of wire is AWG22(0.3mm2) or above.

(c) Environment
In case of wiring IO module, if device or material that induce high heat is too close or oil contacts wire too long time, it may
cause short, malfunction or error.

(d) Polarity
Before supplying power of module which has terminal block, check the polarity.

(e) Wiring
• In case of wiring IO with high voltage line or power line, induced obstacle may cause error.
• Let no cable pass the IO operation indication part (LED).
(You can’t discriminate the IO indication.)
• In case induced load is connected with output module, connect the surge killer or diode load in parallel. Connect cathode of
diode to + side of power.

OUT Induced load

Output module
Surge killer
COM

OUT Induced load

+
Output module
Diode -
COM

(f) Terminal block

Check close adhesion status. Let no foreign material enter into PLC when wring terminal block or processing screw hole as it
may cause malfunction, it may cause malfunction.

(g) Don’t impact IO module or don’t disassemble the PCB from case.

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4.3 Wire
In case using system, it describes caution about wiring.

Danger
When wiring, cut off the external power.
If all power is cut, it may cause electric shock or damage of product.
In case of flowing electric or testing after wiring, equip terminal cover included in product. It not, it may cause electric shock.

Remark
 Do D type ground (type 3 ground) or above dedicated for PLC for FG and LG terminal. It may cause electric shock or
malfunction.
 When wiring module, check the rated voltage and terminal array and do properly.
If rating is different, it may cause fire, malfunction.
 For external connecting connector, use designated device and solder.
If connecting is not safe, it may cause short, fire, malfunction.
For screwing, use designated torque range. If it is not fit, it may cause short, fire, malfunction.
Let no foreign material enter such as garbage or disconnection part into module. It may cause fire, malfunction, error.

4.3.1 Power wiring

(1) AC110V/AC220V/DC24V cables should be compactly twisted and connected in the shortest distance

(2)DC Power supply capacity should be 1A or more

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 Chapter 4 Installation and wiring

(3) Isolate the PLC power, I/O devices and power devices as follows.

(4) AC110V/AC220V cable should be as thick as possible(2mm2) to reduce voltage drop

(5) AC110V/ DC24V cables should not be installed close to main circuit cable(high voltage/high current) and I/O signal cable. They
should be 100mm away from such cables

(6) When noise may be intruded inside it, use an insulated shielding transformer or noise filter.
(7) To prevent surge from lightning, use the lightning surge absorber as presented below.

(8) Wiring of each input power should be twisted as short as possible and the wiring of shielding transformer or noise filter should not
be arranged via a duct.

PLC
I/O device

E1 E2
Surge absorber to prevent lighting

Remark
(1) Isolate the grounding(E1) of lightning surge absorber from the grounding(E2) of the PLC.
(2) Select a lightning surge absorber type so that the max. voltage may not the specified allowable voltage
of the absorber.

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4.3.2 I/O Device wiring

(1) The size of I/O device cable is limited to 0.3~2 mm2 but it is recommended to select a size(0.3 mm2) to use conveniently.

(2) Please isolate input signal line from output signal line.

(3) I/O signal lines should be wired 100mm and more away from high voltage/high current main circuit cable.

(4) Batch shield cable should be used and the PLC side should be grounded unless the main circuit cable and power cable can not
be isolated.

PLC Shield cable

Input
RA

Output DC

(5) When applying pipe-wiring, make sure to firmly ground the piping.

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(6) Example of input module.

(7) Example of output module.

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Notes
1) For reducing noise and improving system safety, add Dummy resistor to increase load current

PLC Dummy Load

resistor
P20

P2B

DC12/24V
P
DC24V

OUT
COM

When using Positioning instruction, out current should be 10mA~100mA

List Description
Load Voltage DC12V / DC24V
Range of Load current 10mA ~100mA
Output frequency 200kpps or below

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 Chapter 4 Installation and wiring

4.3.3 Grounding wiring

(1) The PLC contains a proper noise measure, so it can be used without any separate grounding if there is a large noise. However, if
grounding is required, please refer to the followings.

(2) For grounding, please make sure to use the exclusive grounding.
For grounding construction, apply type 3 grounding(grounding resistance lower than 100 )

(3) If the exclusive grounding is not possible, use the common grounding as presented in B) of the figure below.

PLC Otherdevices PLC Otherdevices PLC Otherdevices

Type 3 Grounding Type 3 Grounding

제3종 접지
A) Exclusive grounding : best B) common grounding : good C) common grounding: defective

(4) Use the grounding cable more than 2 mm2. To shorten the length of the grounding cable, place the grounding point as close to
the PLC as possible.

(5) If any malfunction from grounding is detected, separate the FG of the base from the grounding.

4.3.4 Specifications of wiring cable

The specifications of cable used for wiring are as follows.

Types of external Cable specification (mm2)

connection Lower limit Upper limit
Digital input 0.18 (AWG24) 1.5 (AWG16)
Digital output 0.18 (AWG24) 2.0 (AWG14)
Analog I/O 0.18 (AWG24) 1.5 (AWG16)
Communication 0.18 (AWG24) 1.5 (AWG16)
Main power 1.5 (AWG16) 2.5 (AWG12)
Protective grounding 1.5 (AWG16) 2.5 (AWG12)

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 Chapter 5 Maintenance

Chapter 5 Maintenance
Be sure to perform daily and periodic maintenance and inspection in order to maintain the PLC in the best conditions.

5.1 Maintenance and Inspection

The I/O module mainly consist of semiconductor devices and its service life is semi-permanent. However, periodic inspection is
requested for ambient environment may cause damage to the devices. When inspecting one or two times per six months, check
the following items.
Check Items Judgment Corrective Actions

Within change rate of input

Change rate of input voltage Hold it with the allowable range.
voltage
Input/Output specification of each
Power supply for input/output Hold it with the allowable range of each module.
module
Temperature 0 ~ + 55℃ Adjust the operating temperature and humidity with the defined
Ambient Humidity 5 ~ 95%RH range.
environment
Use vibration resisting rubber or the vibration prevention
Vibration No vibration
method.
Play of modules No play allowed Securely enrage the hook.
Connecting conditions of
No loose allowed Retighten terminal screws.
terminal screws
Check the number of
Spare parts Spare parts and their Cover the shortage and improve the conditions.
Store conditions

5.2 Daily Inspection

The following table shows the inspection and items which are to be checked daily.
Corrective
Check Items Check Points Judgment
Actions
PLC Panel Attachment Retighten
Check the loosening of mounting screws Must be securely attached
Status Screws.
Connection conditions of Retighten
Check Hook for fixation Placed in CLOSE
Input/Output module Screws.
Retighten
Check for loose mounting screws. Screws should not be loose.
Connecting conditions of Screws.
terminal block or extension Check the distance between solderless Proper clearance should be
Correct.
cable terminals. provided.
Connecting of expansion cable. Connector should not be loose. Correct.
PWR LED Check that the LED is On. On (Off indicates an error)
On (flickering or Off indicates an
Run LED Check that the LED is On during Run.
error)
LED ERR LED Check that the LED is Off during Run. Flickering indicates an error
indicator On when input is On,
Input LED Check that the LED turns On and Off.
Off when input is off.
On when output is On,
Output LED Check that the LED turns On and Off
Off when output is off

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5.3 Periodic Inspection

Check the following items once or twice every six months, and perform corrective actions as needed.
Check Items Checking Methods Judgment Corrective Actions
Ambient Adjust to general
0 ~ 55 C
temperature -. Measure with thermometer and standard
Ambient
Ambient Humidity hygrometer 5 ~ 95%RH (Internal environmental
environment
Ambient pollution -. measure corrosive gas There should be no standard of control
level corrosive gases section)
Looseness, The module should be
Move each modiule
PLC Ingress mounted securely.
Retighten screws
Conditions dust or foreign
Visual check No dust or foreign material
material
Loose terminal
Re-tighten screws Screws should not be loose Retighten
screws
Distance between
Connecting Visual check Proper clearance Correct
terminals
conditions
Retighten connector
Connectors should not be
Loose connectors Visual check mounting
loose.
screws
Measure voltage between
Line voltage check 3.3 Power specifications Change supply power
input terminals

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 Chapter 6 Troubleshooting

Chapter 6 Troubleshooting
The following explains contents, diagnosis and corrective actions for various errors that can occur during system operation.

6.1 Basic Procedure of Troubleshooting

System reliability not only depends on reliable equipment but also on short downtimes in the event of fault. The short discovery and corrective
action are needed for speedy operation of system. The following shows the basic instructions for troubleshooting.

(1) Visual checks

Check the following points.
• Machine operating condition (in stop and operation status)
• Power On/Off
• Status of I/O devices
• Condition of wiring (I/O wires, extension and communications cables)
• Display states of various indicators (such as POWER LED, RUN LED, ERR LED and I/O LED)
After checking them, connect peripheral devices and check the operation status of the PLC and the program contents.

(2) Trouble Check

Observe any change in the error conditions during the following.
• Switch to the STOP position, and then turn the power on and off.

(3) Narrow down the possible causes of the trouble where the fault lies, i.e.:
• Inside or outside of the PLC ?
• I/O module or another module?
• PLC program?

6.2 Troubleshooting
This section explains the procedure for determining the cause of troubles as well as the errors and corrective actions.

Symptoms

Is the power LED turned Flowchart used when the POWER LED is turned Off.
Off ?

Is the ERR LED flickering ? Flowchart used when the ERR LED is flickering.

Are the RUN, STOP Flowchart used when the RUN, STOP turned Off.
LED turned
Off ?
I/O module doesn’t operate flowchart used when the I/O part doesn’t operate normally.
properly.

Program cannot be written. Flowchart used when a program can’t be written to the PLC.

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 Chapter 6 Trouble Shooting

6.2.1 Troubleshooting flowchart used when the PWR (Power) LED turns Off
The following flowchart explains corrective action procedure used when the power is supplied or the power
LED turns Off during operation.

Power LED is turned Off.

Is the power supply No

operating? Supply the power.

No Yes
Yes Does the power LED
turns On?

No
Is the voltage within the rated Supply the power properly.
power?

Yes

Yes Yes
Does the power LED
turns On?

Over current protection

device activated?

1) Eliminate the excess current

2) Switch the input power Off then On.

No

No Yes
Does the power LED
turns On?

Write down the troubleshooting

Questionnaire and contact
the nearest service center.

Complete

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6.2.2 Troubleshooting flowchart used with when the ERR (Error) LED is flickering
The following flowchart explains corrective action procedure used when the power is supplied starts or the ERR LED
is flickering during operation.

STOP LED goes flickering

Check the error code, with

connected XG5000.

No

See Appendix 1 Flag list and

Warning error?
remove the cause of the
error.
Yes

No
Is ERR LED still
flicking ?

Complete Yes

Write down the Troubleshooting

Questionnaires and contact the nearest
service center.

Warning
Though warning error appears, PLC system doesn’t stop but corrective action is needed promptly. If not, it
may cause the system failure.

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6.2.3 Troubleshooting flowchart used with when the RUN , STOP LED turns Off.

The following flowchart explains corrective action procedure to treat the lights-out of RUN LED when the
power is supplied, operation starts or is in the process.

RUN, STOP LED is Off.

Turn the power unit Off and On.

No
Is RUN/ STOP LED Off?

Yes

Write down the Troubleshooting

Questionnaires and contact the nearest Complete
service center.

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6.2.4 Troubleshooting flowchart used when the I/O part doesn’t operate normally.
The following flowchart explains corrective action procedure used when the I/O module doesn’t operate normally.

When the I/O module doesn’t work normally.

No
Is the output LED of SOL1
On?

Yes

Measure the voltage of Correct wiring. Replace the connector of Check the status of SOL1
the terminal block.
terminal in SOL1 by Tester. by XG5000.

No No

Is the No
Yes Yes
Is the output terminal connector Is it normal condition?
Is the measured value
normal? wiring correct? appropriate?
Yes
Yes
Yes

Separate the external

wiring than check the
condition of output Continue
module.

Yes No
Is it normal condition?

Check the status of Replace the Unit

SOL1.

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Continue

No
Are the indicator LED of the
switch 1 and 2 on?

Yes

Check voltage of switch 1,2 by Check voltage of switch 1,2 by

tester tester

Is the
Yes
Is the measured value Is the measured value terminal screw tighten
normal? normal? securely?
No No
Yes No Yes

Yes Is the condition

Is input wiring correct? of the terminal board connector
appropriate?

Separate the external No No

wiring witch then check
the status by forced
input

Correct wiring Retighten the Replace the

Is the measured value terminal screw. Terminal board
No normal? connector.
Yes .

Input unit Check the status of the Check from the beginning. Input unit
replacement is switch 1 and 2. replacement is
Needed. Needed.

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6.3 Troubleshooting Examples

Possible troubles with various circuits and their corrective actions are explained.

6.3.1 Input circuit troubles and corrective actions

The followings describe possible troubles with input circuits, as well as corrective actions.

Condition Cause Corrective Actions

Leakage current of external device  Connect an appropriate register and capacity,
Input signal (Such as a drive by non-contact switch) which will make the voltage lower across the
doesn’t turn off. terminals of the input module.
AC input
C Leakage current AC input
R
C
~
External device R
~
Input signal Leakage current of external device
doesn’t turn off. (Drive by a limit switch with neon lamp)  CR values are determined by the leakage
(Neon lamp current value.
may be still on) AC input  Recommended value C : 0.1 ~ 0.47㎌
C Leakage current R: 47 ~ 120  (1/2W)
R
Or make up another independent display circuit.
~
External device

Input signal Leakage current due to line capacity of wiring cable.

doesn’t turn off.  Locate the power supply on the external device side
as shown below.
AC input AC input
Leakage current

~ ~
External device External device

 Connect an appropriate register, which will make the

Input signal Leakage current of external device (Drive by switch voltage higher than the OFF voltage across the input module
doesn’t turn off. with LED indicator) terminal and common terminal.

DC input
DC input
Leakage current
R R

External device

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 Use only one power supply.

Input signal  Sneak current due to the use of two different power  Connect a sneak current prevention diode.
doesn’t turn off. supplies.
DC input
DC input
E L
1 L E1 E
E 2
2

 E1 > E2, sneaked.

6.4.2 Output circuit and corrective actions

The following describes possible troubles with output circuits, as well as their corrective actions.
Condition Cause Corrective Action

When the output is Load is half-wave rectified inside (in some cases,  Connect registers of tens to hundreds KΩ across the
off, excessive it is true of a solenoid) load in parallel.
voltage is applied When the polarity of the power supply is as shown
R
to the load. in ①, C is charged. When the polarity is as shown in
②, the voltage charged in C plus the line voltage are
D
applied across D. Max. voltage is approx. 2√2.
C
R ~
Load

C D
~
R Load


*) If a resistor is used in this way, it does not pose a

problem to the output element. But it may make the
performance of the diode (D), which is built in the
load, drop to cause problems.
The load doesn’t  Leakage current by surge absorbing circuit, which  Connect C and R across the load, which are of
turn off. is connected to output element in parallel. registers of tens KΩ. When the wiring distance from the
output module to the load is long, there may be a
Output Load
leakage current due to the line capacity.
C C
R Leakage current ~ R R

Load Load

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When the load is C-  Leakage current by surge absorbing circuit, which  Drive the relay using a contact and drive the C-R type
R type timer, time is connected to output element in parallel. timer using the since contact.
constant fluctuates.  Use other timer than the CR contact some timers
Output
have half-ware rectified internal circuits therefore, be
Load
C cautious. Timer
R ~ T
Leakage current

Output X
~

The load does not  Sneak current due to the use of two different  Use only one power supply.
turn off. power supplies.  Connect a sneak current prevention diode.

Output Output

Load
Load
E1 E
E2 E 1
2
If the load is the relay, etc, connect a counter-
E1<E2, sneaks. E1 is off (E2 is on), sneaks. electromotive voltage absorbing code as shown by the
dot line.
;
Output circuit troubles and corrective actions (continued).
Condition Cause Corrective actions
The load off  Over current at off state [The large solenoid  Insert a small L/R magnetic contact and drive the
response current fluidic load (L/R is large) such as is load using the same contact.
time is long. directly driven with the transistor output.

Output Output

Off current

Load
E1 Load

 The off response time can be delayed by one or

more second as some loads make the current
flow across the diode at the off time of the
transistor output.

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Output Surge current of the white lamp on.  To suppress the surge current make the dark
transistor is current of 1/3 to 1/5 rated current flow.
destroyed.
Output

Output

R E
1
E1
Sink type transistor output

Output

A surge current of 10 times or more when turned

on. R

E
1

Source type transistor output

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 Chapter 6 Troubleshooting

6.4 Error Code List

Error
code Action Operation LED Diagnosis
Error cause
(restart mode after taking an action) status status point
(Dec)
Program to execute is 0.5 second
23 Start after reloading the program Warning RUN mode
abnormal Flicker
Start after reloading I/O parameter,
Reset
Battery change if battery has a problem. 0.5 second
24 I/O parameter error Warning RUN mode
Check the preservation status after I/O parameter Flicker
switching
reloading and if error occurs, change the unit.
Start after reloading Basic parameter,
Change battery if it has a problem. Reset
0.5 second
25 Basic parameter error Check the preservation status after Basic Warning RUN mode
Flicker
parameter reloading and if error occurs, change switching
the unit.
RUN
0.5 second
26 Compile error exceed Reduce the program and down. Warning mode
Flicker
switching

RUN
0.5 second
27 Compile error Check the program Warning mode
Flicker
switching

Module set in parameter

0.5 second RUN mode
30 and the installed module modify the module or parameter and then restart. Warning
Flicker switching
does not match
Module falling during After checking the position of
0.1 second
31 operation or additional attachment/detachment of expansion module Heavy error Every scan
Flicker
setup during Run mode

Data of I/O module does After checking the position of slot where the
0.1 second
33 not access normally during access error occurs by XG5000, change the Heavy error Scan end
Flicker
operation. module and restar (acc.to parameter.)

Normal access of
After checking the position of slot that access error
special/link module 0.1 second
34 occurred by XG5000, change the module and Heavy error Scan end
data during operation not Flicker
restart (acc.to parameter).
available

RUN
Extension Extension module is attached over 10 slot or 0.1 second
38 Heavy error mode
Module exceed communication module is attached over 3 slot Flicker
switching

Abnormal system end by noise or hard ware error.

Abnormal stop of 1) If it occurs repeatedly when power 0.1 second Ordinary
39 Heavy error
CPU or malfunction reinput, request service center Flicker time
2) Noise measures
Scan time of program
during operation
After checking the scan watchdog time designated While
exceeds the scan 0.5 second
40 by parameter, modify the parameter or the Warning running the
watchdog time Flicker
program and then restart. program
designated by
parameter.

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Error
code Action Operation LED Diagnosis
Error cause
(restart mode after taking an action) status status point
(Dec)
Operation error
Remove operation error → reload the program While
occurs while 0.5 second
41 and restart. Warning running the
running the user Flicker
program
program.
Timer index user After reloading a timer index program modification, 0.5 second
44 Warning Scan end
error start Flicker

Heavy error of Refer to Heavy error detection flag and modifies 0.5 second
50 Warning Scan end
external device the device and restart. (Acc. Parameter) Flicker

1 second
55 Task confliction Check task occurrence Warning Every time
Flicker

While
E_STOP function After removing error causes which starts E_STOP 1 second
60 Warning running the
executed function in program, power reinput Flicker
program
Data memory backup not If not error in battery, power reinput 1 second
500 Warning Reset
possible Remote mode is switched to STOP mode. Flicker
1second Ordinary
501 Abnormal clock data Setting the time by XG5000 if there is no error Warning
Flicker time

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 Chapter 7 EMC Standard

Chapter 7 EMC Standard

The following explains contents, diagnosis and corrective actions for various errors that can occur during system operation.

7.1 Requirements for Conformance to EMC Directive

The EMC Directive specifies the products must “be so constructed that they do not cause excessive electromagnetic
interference (emissions) and are not unduly affected by electromagnetic interference (immunity)”. The applicable products
are requested to meet these requirements.
This section summarizes the precautions on conformance to the EMC Directive of the machinery assembled using PLC
ML50 series. The details of these precautions are based on the requirements and the applicable standards control.
However, Honeywell will not guarantee that the overall machinery manufactured according to the these details conforms
to the below-described directives. The method of conformance to the EMC directive and the judgment on whether or not
the machinery conforms to the EMC Directive must be determined finally by the manufacturer of the machinery.

7.1.1 EMC Standard

The standards applicable to the EMC Directive are listed below.

Table13-1

Specification Test item Test details Standard value

EN50081-2 EN55011 Electromagnetic emissions from the 30~230 ㎒ QP : 50 ㏈㎶/m ＊1
Radiated noise product are measured 230~1000 ㎒ QP : 57 ㏈㎶/m
＊2
EN55011 Electromagnetic emissions from the 150~500 ㎑ QP : 79 ㏈ Mean: 66 ㏈
Conducted noise product to the power line is measured 500~230 ㎒ QP : 73 ㏈ Mean: 60 ㏈
EN61131-2 EN61000-4-2 Immunity test in which static electricity is 15 ㎸ Aerial discharge
Electrostatic applied to the case of the equipment 8 ㎸ Contact discharge
immunity
EN61000-4-4 Immunity test in which burst noise is Power line: 2 ㎸
Fast transient applied to the power line and signal lines Digital /O : 1 ㎸
burst noise Analog I/O, signal lines: 1 ㎸
EN61000-4-3 Immunity test in which field is irradiated to 10Vm,26~1000 ㎒
Radiated field AM the product 80%AM modulation@ 1 ㎑
modulation
EN61000-4-12 Immunity Testing of Fluctuating Damped Power line: 1 ㎸
Damped oscillatory Oscillation in Electric Power Line Digital I/O (24V or higher): 1 ㎸
wave immunity

＊1) QP: Quasi-peak value, Mean: Average value

＊2) The PLC is an open type device (device installed to another device) and must be installed in a conductive control
panel. The tests for the corresponding items were performed while the PLC was installed inside a control panel.

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7.1.2 Control Panel

The PLC is an open type device (device installed to another device) and must be installed in a control panel. This is
needed to prevent electric shock by touching ML50 PLC and reduce the PLC-generated noise. Install the ML50 PLC
in a metallic panel to reduce PLC-generated EMI (Electro-magnetic interference),
The specifications for the control panel are as follows:

(1) Control panel

The PLC control panel must have the following features:

(a) Use SPCC (Cold Rolled Mild Steel) for the control panel.
(b) The steel plate should be thicker than 1.6mm.
(c) Use isolating transformers to protect the power supply from external surge voltage.
(d) The control panel must have a structure which the radio waves does not leak out.

For example, make the door as a box-structure so that the panel body and the door are overlapped each other. This
structure reduces the surge voltage generate by PLC.
Panel body

Door

Seal

(e) To ensure good electrical contact with the control panel or base plate, mask painting and weld so that good
surface contact can be made between the panel and plate.

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(2) Connection of power and earth wires

Earthing and power supply wires for the PLC system must be connected as described below.

ferrite core

(a) Earth the control panel with a thick wire so that a low impedance connection to ground can be ensured even at high frequencies.
(b) The function of LG (Line Ground) and FG (Frame Ground) terminals is to pass the noise generated in the PLC system to the ground,
so an impedance that is as low as possible must be ensured.
(c) The earthing wire itself can generate the noise, so wire as short and thick to prevent from acting as an antenna.
(d) Attach ferrite core under the power cable to satisfy CE specification.

[ ferrite core]
External Dimension (mm) maximum
cable
manufacture name address
A B C D diameter
(mm)
Laird 28A3851-0A2 30.00 13.00 33.70 30.00 12.85 www.lairdtech.com
Laird 28A5776-0A2 29.20 20.00 42.00 42.00 19.40 www.lairdtech.com
Coilmaster C2L RU130B 31.50 13.00 33.00 31.50 13.00 www.coilmaster.com.tw
TDK ZCAT3035-1330 30.00 13.00 34.00 30.00 13.00 www.tdk.com

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7.2 Requirement to Conform to the Low-voltage Directive

The low-voltage directive requires each device that operates with the power supply ranging from 50V to 1000VAC and 75V to 1500VDC to satisfy
the safety requirements. Cautions and installation and wiring of the PLC ML50 series to conform to the low-voltage directive are described in this
section.
The described contents in this manual are based on the requirements and the applicable standards control. However, Honeywell will not
guarantee that the overall machinery manufactured according to the these details conforms to the above regulation. The method of conformance
to the EMC directive and the judgment on whether or not the machinery conforms to the EMC Directive must be determined finally by the
manufacturer of the machinery.

7.2.1 Standard Applied for ML50 Series

The ML50 PLC complies with EN6100-1 (safety of equipment used in measurement and control laboratories.
ML50 series PLCs have been developed in accordance with the above standards for modules operating at rated voltage of AC50V / DC75V
or higher.

7.2.2 ML50 Series PLC Selection

(1) Power and CPU
Since the rated voltage of the main unit is less than the DC24V rating, it is outside the scope of the low voltage command.

(2) I/O module

There are dangerous voltages (voltages higher than 42.4V peak) inside the I/O modules of the
AC110/220V rated I/O voltages. Therefore, the CE mark-compliant models are enhanced in insulation internally between the primary and
secondary.
The I/O modules of DC24V or less rating are out of the low-voltage directive application range.

(3) Special module, Communication module

The special module and communication modules are DC24V or less in rated voltage, therefore they are out of the low-voltage directive
application range.

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Part 2.Basic Fuctions

This Chapter covers the details of programming and operations, monitoring of basic unit

Chapter 1 Program Configuration and Operation Method

1.1 Programming Basics
1.1.1 Programming Method
The basic unit supports programming method of repetitive operation interrupt operation, fixed operation.

(1) Repetitive operation mode (Scan)

It means the basic programming method of the PLC.
It is the method that performs the written program repetitively from the first step to the last one and a series of such procedures is
called ‘program scan’. A series of such processing is called the repetitive operation mode and it can be divided as below.

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(2) Interrupt operation mode

(fixed cycle, external interrupt, internal device start, high speed counter, positioning control)
It is the mode that suspends the currently executed scan program operation and handles the interrupt program
immediately when urgent priority matter occurs during execution of the PLC scan program. The signals that inform
the CPU of such interrupt occurrence is called ‘interrupt signal’ and there are 4 kinds as below. For more details on
each interrupt operation, refer to Section 1.1.5 ~ 1.1.10.
(For the positioning interrupt operation method, refer to Chapter 3 Built-in Positioning)

• Fixed cycle signal: Interrupt signal occurring at the fixed interval

• External input signal: External contact (%ix0.0.0~%ix0.0.7) input signal
• Internal device: In case the internal device value is matched with the set occurrence condition
• High speed counter: In case the high speed counter current value is matched with the set value
• Position : An interrupt signal generated at a predetermined time interval

(3) Fixed Cycle Operation mode

It is the mode that executes the scan program every fixed time.
After executing all scan programs, it stands by until the fixed cycle time and then, the next scan will resume at the
specified time.
At this time, the current scan time displayed in F area indicates the net program processing time except waiting time.
If the actual scan program processing time is longer than the fixed cycle, fixed cycle error flag will be turned On. The
flags related to fixed cycle operation are as below.

Bit
Flag Name Name Description

In case the actual scan time is longer than the fixed

F005C _CONSTANT_ER Fixed cycle error
cycle set value
Fixed cycle operation is
F0080 _CONSTANT_RUN Turned ON during fixed cycle operation
running

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1.1.2 Execution processing in case of instantaneous interruption

If the input power voltage supplied to basic unit is lower than the specification, the PLC will detect instantaneous
interruption.
When the PLC detects instantaneous interruption, the following execution processing will run.
Blackout time Execution processing
(1) Execution is interrupted, maintaining output state of when
instantaneous interruption occurred.
(2) If instantaneous interruption is canceled, execution will
resume.
(3) In case execution is suspended due to instantaneous
interruption, timer measurement and one for fixed cycle
interrupt will be continuously run.

(1) If instantaneous interruption exceeds 1ms, the PLC will

execute restart like the time when power is supplied.

The below figure shows the PLC’s execution processing flow chart when instantaneous interruption occurs.

Notice
Instantaneous interruption means the state that the PLC exceeds the allowable variation rage of the specified power
and is lower than the range. The brief (several ms ~ dozens of ms) blackout is called instantaneous interruption.

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1.1.3 Scan Time

The scan time is the time that takes to complete a single control operation from step 0 of the full scan program to
step 0 of the next scan; it is directly connected to the system’s control performance.

(1) Scan time formula

The scan time is the sum of the process time of the scan program and interrupt program written by a user and
the PLC’s internal END processing time; it can be calculated by the below formula.

(a) Scan time = scan program processing time＋interrupt program processing time＋PLC internal processing
time
 Scan program processing time = Processing time of the user program excluding the interrupt program
 Interrupt program processing time = Sum of the interrupt program running time processed for 1 scan
 PLC internal processing time = Self-diagnosis time ＋ I/O refresh time ＋ internal data processing time
＋ communication service processing time (processing SoftMaster service and embedded
communication)
MPU processing time Expansion interface processing time
PLC
Analog module
Model Scan program internal Digital I/O module Communication module
(8 channels,
running (32K) Processing (32 points, 1 EA) (200 byte, 1 block)
1EA)
time
MLU-DN32HP 7.2 ㎳ 0.8㎳ 0.3㎳ 2.0㎳ 0.8㎳

MLU ’HP’ unit performs the control operation based on the below sequence. Accordingly, you can estimate the rough control
performance of the system to be designed by using the below calculation method.

I/O processingI/O처리시간
time
Communication
통신 모듈 서비스 module service

System
시스템processing
처리
XG5000 서비스
태스크처리 SoftMaster, Service
Task processing

Basic
기본유닛 unit 래더수행시간
Ladder processing time Ladder processing
래더수행시간
time 스캔시간
Scan time
통신데이터
Comm. data
Output
Input

Expansion
module
증설 모듈 Self-processing
자체처리

입출력모듈
Exchange of I/O module데이터교환
data 통신모듈
Exchange
데이터교환of communication module data

Scan time = Ladder running time + system processing time + digital module I/O processing time + analog I/O
processing time + communication module processing time + SoftMaster Service processing time

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(2) Example of calculating the scan time

The example of the PLC’s system configuration and the calculation result of the scan time are as follows.

System Configuration
Items
Basic unit SLOT2 SLOT3 SLOT4 SLOT5 SLOT6 SLOT7 SLOT8
Product
MLU-DN32HP MLE-DC32A * 3EA MLF-AD04A * 2EA MLL-C41A MLL-EMTA
name
Operating 200 Byte per module,
20kStep - -
conditions 1 block

Scan time= Ladder running time + system processing time + digital I/O processing time + analog I/O
processing time + communication module processing time + SoftMaster Service processing time = 7.2 +
0.8 + 0.3*3 + 2.0*2 + 0.8*2 +0.1= 14.6㎳

However, in the event of changing during RUN or writing communication parameters with SoftMaster, it
requires converting the program changed during RUN into executable machine code in the PLC or other
internal processing operations for changed communication parameters so the scan time may be temporarily
increased by several ms or more.

(3) Verification of the scan time

The PLC’s scan time can be verified by using SoftMaster or flag as below.
(a) How to use SoftMaster: Click『Online』-『Diagnosis』-『PLC information』-『Performance』.

(b) How to use flag : The scan time is saved in the below system flag (F) area.
WORD Flag Name Name Description
The longest scan time
F0050 _SCAN_MAX Maximum scan time
(update in case of occurrence only), in 0.1ms
The shortest scan time
F0051 _SCAN_MIX Minimum scan time
(update in case of occurrence only), in 0.1ms
F0052 _SCAN_MAX Current scan time Running time of this scan (scan update), in 0.1ms

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1.1.4 Program Composition

The program is composed of all function factors required to perform a specific control and they are saved in the
basic unit’s RAM or flash memory. The function factors to execute the program can be generally divided as below.
Function factors Executing details
• After applying power, it is the program that is firstly executed after completing the self-
initialization operations required to operate the PLC. It should run until the INIT_DONE
command executes.
•When the initialization program runs, only the initialization program is available until the
Initialization program INIT_DONE command runs; the scan program and fixed cycle, external interrupt, internal
device task program are not executed. All other embedded functions such as I/O refresh, high
speed counter, communication are normally executed.
• It is used to program various operations required for the initial settings of the system
configured with the high performance ML50 PLC.
•Repeated regularly at every scan. It performs the operation repetitively from the first step to
the last step in order of being written.
Scan program •If the fixed cycle interrupt, external contact interrupt, high speed counter interrupt occur
during execution of the scan program, it will stop the scan program and return to the
scan program after executing the relevant interrupt program.
•Executed at every set cycle regardless of the scan program. It can be applied to execute the
following time conditions.
Fixed cycle interrupt
 Execution at the shorter time interval than 1 scan processing time
program
 Execution at the longer time interval than 1 scan processing time
 Execution at the fixed time interval
• Executed every time the input conditions (rising edge, falling edge, transition) of the set
External contact
external input signal occur. It can be applied when immediate execution is required for external
interrupt program
input conditions.
High speed counter
•Executed when the high speed counter’s current value is matched with the set value.
interrupt program
positioning interrupt
•refer to Part 3 Built-in Positioning
program
•Executed when the set internal device is matched with relational conditions.
Internal device
•Detects whether starting conditions of the internal device interrupt occurs during END after
interrupt program
executing the scan program
Subroutine program • Executed only when the input condition of the CALL command is On.

Notice
1) Make the interrupt program as shortly as possible. In case the same interrupt occurs repeatedly during
executing the interrupt program, O/S watchdog error may occur with non-execution of the scan program.
(In case the self-interrupt occurs during executing the interrupt program, task conflict error may occur.)
2)Although interrupts with low priority occur several times during executing the one with high priority, the interrupt
will run just once so you should pay attention to set up the priority.

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1.1.5 Interrupt
(1) Interrupt processing flow chart
It describes the PLC’s operation flow chart, giving you the example of setting the interrupt program as below.
• Interrupt setting
Interrupt type Interrupt Name Priority Task No. Program Name Remarks
Initialization Interrupt0 - - Initialization program
Fixed cycle 1 Interrupt1 2 0 Fixed cycle 1
External Interrupt2 2 16 External
Internal device Interrupt3 3 24 Internal device
High speed
Interrupt4 4 40 High speed counter
counter
Fixed cycle 2 Interrupt5 3 1 Fixed cycle 2

Scan program
Initializing
(Before INIT_DONE instruction)

Interrupt 1_Cycle time Cycle time 1 execution

occur

Cycle time 1/ Cycle time 1 execution

external occur
simultaneously
External I/O execution

Internal device
Interrupt occur

Cycle time 2 Cycle time 2 execution

occur

Internal device interrupt

END execution
Cycle time 1 Timed-driven 1
execution execution

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Notice
1) If the interrupt with the same priority occur at the same time, the early set interrupt will be executed first. (In
case ‘interrupt 1’and‘interrupt 2’occur at the same time, ‘interrupt1’will be executed first.)
2) If the interrupt with higher priority occurs during execution of interrupts, the interrupt with higher priority will be
executed first.
3) All interrupts are allowable (Enable) when the power is On. If you want to run by interrupt program or prohibit
them, you can use EI, DI command.
4) The internal device interrupt will run after getting the END command.

(2) Types and operation standards of tasks

The types and operation standards of tasks that are available for the high performance small-sized PLC are as
below.
Type External contact Internal contact High speed counter positioning task
Fixed cycle task
Spec. task task task

Maximum
16 EA 8 EA 16 EA 4 EA 1EA
number

Rising or falling edge of

Fixed cycle (Can be High speed counter
the basic unit Fixed cycle (can be set
Start set up to Internal device’s comparative output 0 /
P000~P007 up to 10ms in 1ms
conditions 4,294,967.295 designated conditions The minimum set value
input contacts increments)
seconds, in 1ms ) is matched

Executed when the

Executed immediately Executed with current counter value is
Detection
Executed cyclically at when the edge of the searching conditions matched with the Executed cyclically at
and
every setting time basic unit P008~P00F after completing the minimum set value of every setting time
Execution
input contacts occur scan program the comparative output
0
Detection
Delayed for the Within the maximum of Delayed as much as the Within the maximum of Delayed for the
delay
maximum of 1ms 0.05㎳ maximum scan time 0.25㎳ maximum of 1ms
Time
Priority of 2 ~ 7 level setting Cannot set priority
execution (2 level has the Same as the left Same as the left Same as the left (Has a higher priority
s highest priority) than other tasks)
Designated without Designated without Designated without Designated without
Task No. overlapped users in overlapped users in the overlapped users in the overlapped users in the 44
the range of 0~15 range of 16~23 range of 24~39 range of 40~43

(3) Processing method of the task program

It describes the common processing methods and instructions for the task program.
(a) Characteristics of the task program
 In contrast with the scan program, the task program runs only when the execution conditions occur
without repetition processing. When writing the task program, consider this point.
For example, if the timer and counter are applied to the task program with the fixed cycle of 10 seconds,
the maxim error of 10 seconds may occur in the timer. The counter reflects the input state every 10
seconds so the input that changed within 10 seconds is not counted.

(b) Execution priority

 In case several tasks to be executed stand by, the task program with high priority should be processed

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first. If the tasks with the same priority stand by, they should be processed in order of occurrence.
 When the fixed cycle task and external contact task occur at the same time, the task set early by
SOFTMASTER will be executed by priority.
 Set up the priority of the task programs in consideration of characteristics, importance of the programs
and urgency of required executions.
(c)Processing delay time
The delay of task program processing is caused by the below causes. Consider these factors when setting
up tasks and writing programs.
 Delayed detection of tasks (Refer to the detailed description of each task.)
 Program execution delay due to execution of the preceding task program
 Input/output data refresh of expansion special module
(d) Relation between the initialization, scan program and the task program
 When executing the initialization task program, the fixed cycle, external contact, high speed counter,
internal contact task cannot be started.
The scan program has the lowest priority so when the task occurs, the scan program will be suspended
and the task program will be executed preemptively. Accordingly, in case the tasks occur frequently during
one scan or they converge intermittently, the scan time may be extended abnormally. You should consider
this point when setting tasks.
(e) Protection of the currently running scan program by prohibiting tasks execution
 If you do not want the scan program to be suspended by the task program with high priority during
executing the scan program, you can partially prohibit the execution of task programs by using the below
DI, EI command in order to protect the scan program.
(When the power is supplied to the PLC, the initial values of all tasks are EI (allowable) state.)

Command Use Description

EI Allows the start of all tasks.

DI Prohibits the start of all tasks.

EIN Allows the start of the task designated as n.

DIN Prohibits the start of the task designated as n.

(4)Verification of task program

After writing the task program, verify it based on the following instructions.
(a) Are the occurrence conditions of tasks proper?
If tasks occur frequently beyond necessity or if several tasks occur in one scan, the scan time may be
extended or become irregular. / If you cannot change task settings, check the maximum scan time.
(b) Are the priorities of tasks arranged well?
The task program with low priority may be delayed and fail to be executed in time due to the task program
with high priority, in some cases, the pending tasks occur redundantly during execution of the preceding
tasks so it may lead to tasks conflicts.
Set up the priority in consideration of urgency, running time, etc. of tasks.
(c) Are task programs made as shortly as possible?
Long running time of the task program can cause the long or irregular scan time or may lead to the conflict of task
programs. Make the task programs as shortly as possible.
Especially, when attaching expansion special module, or using PUT,GET instructions, program processing might
be delayed.( More than 10ms task cycle is recommended).

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When making the task program with fixed cycle, the task program should be executed within 10% of the operation
cycle of the shortest task among several tasks.
Ex.) When the task program’s running time is 1ms, the fixed cycle time should be more than 10ms.
(d) Is the protection of the program needed for the task with high priority during execution of the program?
If the other task interrupts during execution of the task program, after the executing task is completed, among
pending tasks, the one will run in order of priority. If you do not want interruption of other tasks during
execution of the task program, protect the program with DI, EI applied commands.

(5)Example of program configuration and processing

The example of the program execution sequence is given under the registered tasks and programs as below.
• Registered task programs
Interrupt source Interrupt Name Priority Task No. Program Name running time
Fixed cycle 10㎳_fixed cycle 3 0 Program1 2ms
Internal contact Internalcontact_M00 5 24 Program2 7ms
External contact Externalcontact_P08 2 16 Program3 2ms
- - - - Scan program 17ms

Scan startup End of Scan program

(Initial operation setup) New scan startup

Execution of
Scan program

Execution of program 1
Occurrence
of 10ms_fixed cycle

Execution of program 2
Occurrence of
Internal contact M000

Execution of program 3
Occurrence of
external contact P000

Time
0 6 7 8 10 12 20 22 24 25 30 32 34

Time (㎳) Executed details

0~6 The scan program starts and is executed.
Request on running the external contact interrupt is entered and the scan program is interrupted and
6~8
the program 3 runs. There is the request on rerun at 7[㎳] but it is ignored since the program is running.
8~10 The execution of the program 3 is completed and the scan program will run continuously.
There is the request on running 10㎳_fixed cycle interrupt so the scan program is interrupted and the
10~12
program 1 runs.
The execution of the program 1 is completed and the scan program that was interrupted runs
12~20
continuously.

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time (㎳) Executed details

Although there are the requests on 10㎳_fixed cycle interrupt and the external contact interrupt at the
20 same time, the external contact interrupt has higher priority so the program 3 runs and the program 1
stands by for execution.
20~22 The scan program is interrupted and the program 3 runs.
The execution of the program 3 is completed and the pending 10㎳_fixed cycle interrupt program 1
22~24
runs.
24~25 The execution of the program 1 is completed and the scan program is finished.
The program 2 is executed by checking the interrupt request on internal contact_M0 of P2 at the time
25
of completion of the scan program.
25~30 The program 2 runs.
The request on 10㎳_fixed cycle interrupt occurs and the 10㎳_fixed cycle has higher priority so the
30~32
program 2 is interrupted and the program 1 runs.
32~34 The execution of the program 1 is completed and the program 2 that was interrupted is finished.
34 The new scan starts (startup of executing the scan program)

1.1.6 Initialization task

(1) How to set up the task

You can add initialization tasks in the project window of SOFTMASTER as below and add the programs to be
executed. For more details, refer to the SOFTMASTER manual. (You cannot add tasks on online. After
disconnecting the PLC, add tasks.)

(a) Adding task: Select 『Project』–『Add Items』–『Task』 or after clicking with the right mouse button on
the project name of the project tree, select 『Add Items』-『Task』 as shown in the below figure.

(b) The screen for registering the task will be displayed. Click 『Initialization』 in the execution conditions
and enter the task name.

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(c) Click on the right mouse button on the registered task and click 『Add Items』-『Program』.

(d) Make the necessary initialization program and make sure to include the INIT_DONE command to the
initialization task program.
(If the operation conditions of INIT_DONE runs, the initialization task is ended and the scan program runs.)

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1.1.7 Fixed cycle task

(1) How to set up the task
(a) Adding tasks: Select 『Project』–『Add Items』–『Task』 or after clicking with the right mouse button on
the project name of the project tree, select 『Add Items』-『Task』 as shown in the below figure.

(b) The screen for registering the task will be displayed. Click 『Fixed cycle』in the execution conditions and
after entering the task name, input the items required for setting as below

Items Input range Description

priority 2~7 Designates the priority of tasks.
Designates the task number.
Task No. 0~15
The numbers overlapped with are not available.
cycle 1~4,294,967,295 (㎳) Designates the task’s running cycle.

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(c) Click on the right mouse button on the registered task and click 『Add Items』-『Program』.

(d) Register the task program name and comment.

(e) If the program window for writing the task program is displayed, you can make the task program here.

(2) Instructions to use the fixed cycle task

The corresponding task program with fixed cycle runs at every set time interval (running cycle) and keep
the below instructions in mind.

• When the specific task program with the fixed cycle runs currently or stands by for execution, if the request
on running the same task program occurs, the newly occurred task will be ignored.
• The timer generating the request on running the task program with fixed cycle works only when the
operation mode is RUN mode. Ignore all the blackout time.
• When setting up the running cycle of the task program with fixed cycle, the request on running several task
programs should not occur.
If you apply 4 task programs with the fixed cycle of 2 seconds, 4 seconds, 10 seconds, 20 seconds, 4

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execution requests occur simultaneously every 20 seconds and 4 tasks runs at once so the scan time
may be longer momentarily.

1.1.8 External contact task

(1) How to set up the task

(a) Adding tasks: Select 『Project』–『Add Items』–『Task』 or after clicking with the right mouse button on
the project name of the project tree, select 『Add Items』-『Task』 as shown in the below figure.

(b) The screen for registering the task will be displayed. Click 『External contact』in the execution conditions
and after entering the task name, input the items required for setting as below.

Items Input range Description

Priority 2~7 Designates the priority of tasks.
Designates the task number.
Task No. 16~23
The numbers overlapped with are not available.
Contact No. 0~7 Designates the task start contact number.
Starting
rising, falling, transition Sets up starting conditions of tasks.
conditions

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(c) Click on the right mouse button on the registered task and click 『Add Items』-『Program』.

(d) Register the task program name and comment.

(e) If the program window for writing the task program is displayed, you can make the task program here.

(3) Instructions to use the external contact task

When the rising, falling or transition conditions occur in the set input contact, the corresponding external contact task
program runs and keep the below instructions in mind.

• 8 external contacts are available in the range of P0000~P0007.

• When the specific external contact task program runs currently or stands by for execution, if the request on

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running the same input task program occurs, the newly occurred task will be ignored.
• The input contact monitoring for the external contact tasks is executed only when the operation mode is
RUN mode. The input contact monitoring for task startup is not executed in STOP mode.
• The detection delay time of the external contact task is approximately 50us.
• When designing the system, several external contact tasks should not start at the same time. If P0000 ~
P0007 contacts are ON at the same time under all the external contacts of P0000 ~ P0007 are set as the
external contact tasks, 8 external contact task programs run at one so the scan time may be longer
momentarily.

1.1.9 Internal device task

(1) How to set up the task

(a) Adding tasks: Select 『Project』–『Add Items』–『Task』 or after clicking with the right mouse button on
the project name of the project tree, select 『Add Items』-『Task』 as shown in the below figure.

(b) The screen for registering the task will be displayed. Click 『Internal device』in the execution conditions and after
entering the task name, input the items required for setting as below.

Items Input range Description

Priority 2~7 Designates the priority of tasks..
Designates the task number.
Task No. 24~39
The numbers overlapped with are not available.
Internal device BIT, WORD Selects the device type that will start the task.
Input directly the device that will start the task and set the startup
Device Direct input
conditions.
Rising Starts the task in case of rising edge.
Falling Starts the task in case of falling edge.
Rising, falling, transition, On,
Bit Transition Starts the task in case of rising or falling edge.
Off
On Starts every scan task during ON.
Startup
Off Starts every scan task during OFF.
conditio
Starts the task when the word is less than the set
ns <
value.
Word <, <=, ==, >=, > Starts the task when the word is less than or equal
<=
to the set value.
== Starts the task when the word is the same as the

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set value.
Starts the task when the word is more than or equal
>=
to the set value.
Starts the task when the word is more than the set
>
value.

(c) Click on the right mouse button on the registered task and click 『Add Items』-『Program』.

(d) Register the task program name and comment.

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(e) If the program window for writing the task program is displayed, you can make the task program here.

(2) Instructions to use the internal device task

The internal contact task detects the startup conditions of the internal device set by the scan END and runs the
relevant internal device task program. Keep the below instructions in mind.

•The internal device task program runs when the scan program is completed. Accordingly, although the
execution conditions of the internal device task program occur in the scan programs or task programs (fixed
cycle, external contact, high speed counter), it will run at the time of completing the scan program instead of
running immediately.
• In the case of the internal device task, the execution conditions are searched when the scan program is
completed. Accordingly, if the execution conditions of the internal device task occur and dissipate by the scan
program or other task programs, the task will not run since the execution conditions cannot detected at the
time of searching the conditions.

1.1.10 High speed counter task

(1) How to set up the task

(a) Adding tasks: Select 『Project』–『Add Items』–『Task』 or after clicking with the right mouse button on
the project name of the project tree, select 『Add Items』-『Task』 as shown in the below figure.

(b) The screen for registering the task will be displayed. Click 『High speed counter』 in the execution conditions
and after entering the task name, select the channel.

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(c) Click on the right mouse button on the registered task and click 『Add Items』-『Program』.

(d) Register the task program name and comment.

(e) If the program window for writing the task program is displayed, you can make the task program here.

(2) Instructions to use the high speed counter task

• When the high speed counter’s current value in the selected channel becomes equal to the comparative output
set value of 0 of the relevant channel in the below Fig., the high speed counter task will be detected and the task
program will run.

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• You can check whether the conditions of the high speed counter task occur at every 250us cycle so detection
delay may occur up to 250us.
• The operations of the high speed counter task are performed only when the operation mode is RUN
mode.

1.1.11 Positioning control task

(1) How to set up the task

(c) Adding tasks: Select 『Project』–『Add Items』–『Task』 or after clicking with the right mouse button on
the project name of the project tree, select 『Add Items』-『Task』 as shown in the below figure.

(d) The screen for registering the task will be displayed. Click 『Position control task』 in the execution conditions
and after entering the task name, select the channel.

(c) Click on the right mouse button on the registered task and click 『Add Items』-『Program』.

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(d) Register the task program name and comment.

(e) Details of Positioning control task: refer to Part3 Ch04 Positioning Control

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1.2 Operation mode

The ML50 PLC has 3 operation modes; RUN mode, STOP mode, DEBUG mode.
This section describes the execution processing of each operation mode.

1.2.1 RUN mode

It is the mode executing the program normally.

First scan of
RUN mode

Data area initializat ion

Program validat ion check

excute? No

Refresh the input image

ERROR mode
area

Keep Program exe cut ion

RUN mode Inte rrupt exe cut ion

Che ck the opera ting s tate

and failure of ex pansion
modules

Refresh the output ima ge

area

Change
operation mode?

Mode change

(1) When changing the mode from other into RUN

Initialize the data area at the beginning stage and check the validity of the program to determine whether it can
be executed or not.

(2) Execution processing details

I/O Refresh and program operation are executed.
(a) The interrupt program is executed by detecting the startup conditions of the interrupt program.
(b) Normal operation or fail of the equipped module is checked.
(c) Communication services are executed with other internal processing.

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1.2.2 STOP Mode

It is the mode of block state without operations of the program. In STOP mode, you can write the programs and
parameters through SOFTMASTER.

(1) When changing the mode from other into STOP

Eliminate the output image area and execute Output Refresh.

(2) Execution processing details

(a) I/O Refresh is executed.
(b) Normal operation or fail of the equipped module is checked.
(c) Communication services are executed with other internal processing.

1.2.3 DEBUG Mode

This is the mode to detect Program error or trace the operation process and the conversion to this mode is available only
in STOP mode. This is the mode to check the program execution state and the contents of each data and verify the
program.

(1) Processing at mode change

(a) Initializes the data area at the beginning of mode change.
(b) Clears the output image area and execute input refresh.

(2) Operation processing contents

(a) Executes I/O refresh.
(b) Debug operation according to setting state.
(c) After finishing Debug operation by the end of Program, execute output refresh.
(d) Examine the normal operation or missing of module.
(e) Executes communication service or other service.

(3) Debug operation

 It describes debug mode.

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Item Description Remark

Start/Stop Debugging Change the debug ↔ stop mode
Go It starts debug operation.
Step Over It operates by 1 step.
Step Into It starts the subroutine program. Other operation is
Step Out It finished the subroutine program. identical to Step Over.

Go to Cursor It operates to current cursor position.

Set/Remove Breakpoints Set/Removes current cursor position to break points.
Breakpoints List It displays list of breakpoints.
Breakpoint Conditions It specifies device value and number of scan.

(a) Set/Remove Breakpoints

▪ Sets breakpoint at current cursor position. After breakpoint setting, (breakpoint setting indicator) is displayed.

(b) Go
▪ Run the program to breakpoint. At break-pointer (stop indicator) is displayed.

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(c) Step Over

▪ Run the program to next step. Step over indicator is displayed.

(d) Breakpoint List

▪ It displays current Breakpoint List. It supports Select All, Reset All, Goto, Remove, Remove All.

(e) Break condition

▪ It sets Device Break and Scan Break.

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Notice

1) Refer to SOFTMASTER Users Manual ‘Chapter 12 Debugging’ for detailed information.

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1.2.4 Change of operation modes

(1) How to change operation modes

You can change the operation mode with the below methods.
(a) Change by the mode key of the basic unit
(b) Change by connecting the programming tool (SOFTMASTER) to the PLC
(c) Changing the operation mode of the other basic unit connected to network with SOFTMASTER accessed
to the
basic unit 1 (remote access)
(d) Change by using SOFTMASTER, HMI, communication module connected to the network
(e) Change by the ‘STOP’ command during execution of the program

(2) Kinds of operation modes

The following operation modes are set by the mode setting key of the basic unit and SOFTMASTER’s commands.
SOFTMASTER
Operation mode switch Operation mode Remarks
command
When the operation mode switch is
located in RUN position, the mode
RUN Unchangeable Local RUN
change by SOFTMASTER is
impossible.
RUN remote RUN
STOP STOP remote STOP
Debug Debug
RUN STOP - STOP

(a) The mode change by SOFTMASTER is available only when the operation mode switch is in STOP state.
(b) If you want to change the mode into ‘STOP’ with a switch in the remote RUN state by SOFTMASTER,
operate
the switch as STOP RUN  STOP.

Notice

▪In case the mode is changed into RUN by a switch in the remote RUN mode, the PLC is operates continuously
without intermission.
▪ Modificaiton is possible during run in the RUN mode by a switch but the mode change operaitons through SOFTMASTER
are
restricted. Only when mode change is not allowable in a remote site, set the mode switch in RUN position.

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1.3 Memory
1.3.1 Data memory

(1) Bit device area

Various bit devices are provided by function. In terms of designation method, the first digit indicates the device
type; the middle digit indicates the decimal word position; the last digit indicates the hexadecimal bit position in
word.
Displaying areas Characteristics of
Purpose
by device devices
It is the image area saving the state of I/O contacts. The device reads the
P0000 ~ P2047F I/O contact input module state and saves it to the P area.
The P area data saving operation results is saved to the output module.
M0000 ~ M2047F Internal contact It is the internal memory to save bit or word data in the program.
Communication The device displays the state information of high speed link/P2P service
L0000 ~ L4095F
contact in the communication module.
It is the device area maintaining the data during blackout. It can be used
Contacts against
without setting the parameters against blackout separately. (Among K
blackout for
K00000~K4095F areas, some areas are used by the embedded high speed counter, data
embedded special
log, PID function. If ‘Write’ is executed in the relevant area, the
functions
embedded function will not work normally so be careful about this.
It is the system flag area managing the flags required to operate the
F0000~F2047F Special contacts
system in the PLC.
It is the area saving the state of the timer contacts/current values/set
T0000~T2047 Timer contacts
values.
It is the area saving the state of the counter contacts/current values/set
C0000~C2047 Counter contacts
values.
Step controller
S00.00~S127.99 It is the relay for step control.
128 x 100 Step

(2) Word device area

Displaying areas Characteristics of

Purpose
by device devices

It is the area keeping the internal data. It also can be expressed as

D0000~D32767 Data register
bit. (Ex.: D0000.0 No.0 bit of D0)
It is the register used to read the data from the special module
U00.00~U08.31 Analog data register
equipped to the slot. (It can be expressed as bit)
Communication data Area saving the P2P service of the communication module.
N0000~N10239
register (It cannot be expressed as bit)
Dedicated device to use index functions
Z000~Z127 Index register
(It cannot be expressed as bit)
Timer’s current value
T0000~T2047 Area indicating the timer’s current value.
register
Counter’s current value
C0000~C2047 Area indicating the counter’s current value.
register
R0000~R32767 File register File saving register, consists of 8 banks

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1.3.2 Memory block diagram

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1.3.3 Setup of the data latch area

If you want to keep and use the data required for operations or data generated during operations even when the
PLC restarts after the stoppage, ‘data latch’ can be applied. You can use the certain areas of some data devices as
the latch areas by setting parameters.
•You can set up the latch range for the below devices by parameters.

Device Latch area 1 Latch area 2 Characteristics

P X X Image area saving the I/O contacts state
M O O Internal contact area
K X X Contacts that keep the contact state during blackout.
F X X System flag area
T O O Area related to the timer ( For both bit/word )
C O O Area related to the counter (For both bit/word)
S O O Relay for step control
D O O Area saving general word data
U X X Analog data register (Not latched)
High speed link/P2P service state contacts of the communication
L X X
module (Not latched)
N X X Communication module’s P2P service address area (latched)
Z X X Register for index only (Not latched)
R X X File register (latched)

Notice

▪K, N, R devices can be basically latched without setting parameters.

▪ P, U, Z devices cannot be latched.

(1) How to set up the latch area

(a) After clicking the ‘Device Area Setup’ of the basic parameter, select the latch to be used and input the initial
address and end address.

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(2) Operation of the data latch area

(a) The device set as the latch area keeps the previous data without initialization when the power is recovered
after cutting the power supply of the PLC.

(b) You can delete the latched data in the following ways.
- Deleting latch1, latch 2 with SOFTMASTER
- Writing with the program (The initialization program is recommended)
- Inputting 0 in the window of SOFTMASTER monitor

Refer to the below table for Maintaining or Reset (clear) operation of the latch area data depending on the
PLC operations.
No. Operations Detailed operations latch1 latch2 Remarks
1 Power On/Off On / Off Maintain Maintain
2 Reset by SOFTMASTER Overall Reset Reset Maintain
3 Write program (online) - Maintain Maintain
Broken SRAM due to (breakdown of a
Reset Reset
4 Broken backup data battery, etc.)
Broken data due to other reasons Reset Reset
Latch 1 Clear Reset Maintain
5 SOFTMASTER online
Latch 2 Clear Reset Reset

(c) If you click『Online』-『 Reset/Clear 』-『 Reset PLC 』-『Overall Reset』, the latch 1 area will be
cleared.

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(d) After selecting 『Online』-『 Reset/Clear 』-『Clear PLC 』latch area 1,2, if you click “Delete”, it will be
cleared.

(3) Deletion of data at once

If you click ‘Delete’ in the memory area, the memory of all devices will be deleted as ‘0’. So this function can be
used when you want to delete the certain area of the device at once.

(a) After selecting 『Online』-『 Reset/Clear 』-『Clear PLC 』-『 Clear Memory 』, if you set up the
area to be deleted and click “Delete”, the device area will be cleared.

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Chapter 2 CPU Function

2.1 Type Setting
This section descries setting ML50 PLC models.

PLC
CPU Type Language Description Remarks
Name
Economic : MLI-DR10/14/20/30E
ML50-MLIE IEC language MLI-DN10/14/20/30E, Compact type
MLI-DP10/14/20/30E
Compact type
Deluxe: MLI-DR32/64H, MLI-DN32/64H
ML50-MLIH IEC language (DC power PLC
MLI-DP32/64H
included)
Standard : MLI-DR20/30/40/60SU,
ML50-MLISU IEC language Compact type
ML50 MLI-DN20/30/40/60SU
IEC61131 High performance :
Compact type
MLI-DN32U, MLI-DN32UP, MLI-DN32UA
ML50-MLIU IEC language (DC power PLC
MLI-DP32U, MLI-DP32UP, MLI-DP32UA
included)
MLI-DR28U, MLI-DR28UP, MLI-DR28UA

ML50-MLUH2 IEC language Deluxe 2axis XPM positioning: MLU-DN32H2

Modular type
ML50-MLUHP IEC language Deluxe 6axis XPM positioning : MLU-DN32HP

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2.2 Parameter Setting

This section describes ML50 PLC’s parameter setting.

2.2.1 Basic parameter setting

If you click the basic parameter in the project window, the below screen will be displayed.

You can set up 3 items; ‘Basic operation setting’, ‘Device area setting’, ‘Error operation setting’.

Classification Items Descriptions Set values

Fixed cycle operation Set the fixed cycle operation time. 1~999㎳
Watchdog timer Set the scan Watch Dog’s time. 10~1000㎳
Standard input filter Set the standard input filter’s time. 1,3,5,10,20,70,100㎳
Basic Restart Mode Set restart mode Cold, Warm
operations Output during Set whether allowing the actual output during
Allowable/Prohibited
debugging debug operation.
Output Hold when errors Determine whether allowing the Output Hold
Allowable/Prohibited
occur function set in I/O parameters when errors occur
Device
Selection of latch area Set each device’s latch area. %MW0~%MW16383
area setting

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2.2.2 I/O parameters Setting

It is the function to set up and reserve the information for each I/O. If you click 『I/O Parameter』in the project window,
the below setting window will be displayed.

If you click the 『Module』in the 『slot』 position, the list of each module will be displayed. Then, choose the module
that is matched with the actual system to be configured. The selected slot will be displayed as below.

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If you press 『In Detail』button on the slot image or the relevant slot position in the base window as below, the
window for setting the filter, emergency output will be displayed.

Notice

• In case each set details are different from the actually accessed I/O module, ‘Module Type Mismatch Error’ occur and
the error will be displayed.
• If there is no setting, the CPU reads each I/O module’s information for operation.

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2.3 Self-Diagnosis Function

The Self-Diagnosis function is the function for the CPU part to diagnose the PLC system for defects. In case errors occur
during supplying the power to the PLC system or during operation, it detects errors to prevent malfunction of the system and
preventive maintenance.

2.3.1 Scan Watchdog timer (Scan Watchdog Timer)

The WDT (Watchdog Timer) is the function to detect the congestion of programs caused by PLC module’s hardware or
software.

(1) The Watchdog timer is the timer to be used to detect operation delay caused by the user program error. You can
set up the Watchdog timer’s detection time in SoftMaster’s basic parameters as below (Initial value: 500ms).

(2) The Watchdog timer monitors the scanning time during operation and when set detection time is exceeded, it
stops the PLC’s operations immediately. At this time, the output status is maintained or cleared based on the
details of ‘Output Hold when errors occur’.
(3) If it is expected that the Scan Watchdog Time is exceeded since it takes more time to process the specific part of
the user programs (in case of using FOR ~ NEXT command, CALL command, etc.), clear the Watchdog timer
through the ‘WDT_RST’ command.
The ‘WDT_RST’ command initializes the scan Watchdog time and restarts measuring time from 0.

WDT
Set value
WDT Count value WDT Count value

Set by 0

Execute WDT
Scan END
1 Scan

(Example of initializing scan Watchdog timer through the WDT command )

(4) In case the Watchdog error occurs, you can clear the error by resupplying the power or converting the mode into
STOP.

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2.3.2 Function to save error history

When errors occur, ML50 basic unit records the error history to clean up causes easily. If you click 『Online』-『Error/Warning』,
you can see the current errors and the history. Remove the causes of errors referring to the details and corrective measures of
each error item.

Items Description Remarks

Error/Warning Displays the current Error/Warning. -
Error history Displays Error/Warning occurred in order of time. Saving up to 100

Notice
If you click ‘Delete’ in the Error/Warning window, all the saved error history will be deleted.
In case the error histories exceed 100EA, the histories are deleted in order from the one that occurred first and the
100EA recent histories are saved

2.3.3 Failure Management

(1) Failure Types
The troubles are caused by failure of the PLC itself, system configuration’s error, error detection of operational results, etc. They
can be divided into the failure mode stopping the operation for system safety; minor failure mode that informs a user of failure
warning and resumes the operation.
The failures of the PLC system are mainly caused by the below.
• PLC hardware’s problems
• System configuration’s error
• Operational error during execution of user programs
• Detection of errors caused by external device failure

(2) Operation mode in case of failures

In case failures occur, the PLC system records the failure details in the special flag (F area) and determines whether
resuming the operation based on the failure mode.

• In case of the PLC hardware’s failure

In case there are problems with the CPU, power, etc. that the PLC cannot works normally, the system will be

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stopped; In case of minor failures such as a battery’s low voltage, the warning is displayed and the operation will be
resumed.

• In case of system configuration’s error

It is the failure occurred when the actual PLC’s module configuration is not matched with the module configuration
set in SoftMaster. The system will be stopped.

• Computational error during execution of user programs

In case of the numeric operation error (Ex.: in case the denominator of division operation is 0) occurred during
execution of user programs, the details will be displayed in the error flag and the system will resume the operation. If
the operational time exceeds the operation delay monitoring set time during operation or equipped I/O modules
cannot be normally controlled, the system will be stopped.
Notice
• When operational errors occur during executing programs, you can determine whether resuming the operation based
on the settings of “Basic parameter -> Error operations setting -> Resume the operation in case of operational errors” of
the SoftMaster project.
• This parameter’s default value is set as “Resume the operation in case of operational errors”.

• Detection of errors caused by external device failure

The failure of the external control device can be detected by the PLC’s user program; in case of detecting failures,
the system will be stopped; in case of detecting minor failures, only the detection status will be displayed and the
operation will be continued. (For the detailed use of the function to detect external device’s failures, refer to the
2.3.5 Failure Diagnosis Function for the External Device.)

The information on failures occurrence is saved in the special relay (F area). Among F area flags, the information
related to the failures are as below.
Word Bit Flag Name Function Description
%FW0 %FX2 _ERROR ERROR ERROR status
- _CNF_ER System error Reports the failure status of the system.
%FX33 _IO_TYER Module type error The module type is not matched.
%FX34 _IO_DEER Module separation error The module is separated.
There are some problems with the module
%FX36 _IO_RWER Module I/O error
I/O.
There are some problems with the special /
%FX37 _IP_IFER Module interface error
communication module interface.
Failures are detected from the external
%FX38 _ANNUM_ER External device failure
device.
There are some problems with the basic
%FX40 _BPRM_ER Basic parameters
parameters.
%FW2~3
There are some problems with I/O
%FX41 _IOPRM_ER IO parameters
parameters.
Special module
%FX42 _SPPRM_ER Abnormal special module parameters
parameters
Communication module Abnormal communication module
%FX43 _CPPRM_ER
parameters parameters
%FX44 _PGM_ER Program error There are some errors with the program.
There are some errors with the program
%FX45 _CODE_ER Code error
code.
%FX46 _SWDT_ER System Watch dog The system Watchdog works.
%FX48 _WDT_ER Scan Watch dog The scan Watchdog works.

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Word Bit Flag Name Function Description

Reports the minor failure status of the
- _CNF_WAR System warning
system.
There are some problems with data
%FX65 _DBCK_ER Backup error
backup.
Shutdown cased by
%FX67 _ABSD_ER Stoppage caused by abnormal operation.
abnormal operation
%FX68 _TASK_ER Task collision
Task collision
- _BAT_ER Battery error
Battery error
%FW4
Minor failures are detected from the
%FX70 _ANNUM_WAR External device failure
external device.
%FX72 _HS_WAR1 High speed link1 High speed link – more than parameter1
%FX73 _HS_WAR2 High speed link2 High speed link – more than parameter2
%FX84 _P2P_WAR1 P2P parameter1 P2P – more than parameter1
%FX85 _P2P_WAR2 P2P parameter2 P2P – more than parameter2
%FX86 _P2P_WAR3 P2P parameter3 P2P – more than parameter3
%FX92 _CONSTANT_ER Fixed cycle error Fixed cycle error
- _LOGIC_RESULT Logic result Displays the logic result.
It Is On during 1 scan in case of
%FX176 _EER Operational error
%FW11 operational error.
%FX179 _ALL_Off All outputs Off It is On when all outputs are Off.
%FX181 _LER Operational error latch It maintains 0 in case of operational error.
%FW15 - _PUTGET_ERR0 PUT/GET error 0 main base PUT / GET error
%FW23 - _PUTGET_NDR0 PUT/GET completion 0 main base PUT / GET completion
Increases when executing module
%FD30 - _REF_COUNT Refresh
REFRESH
Increases when module REFRESH is
%FD31 - _REF_OK_CNT Refresh OK
normal.
Increases when module REFRESH is
%FD32 - _REF_NG_CNT Refresh NG
abnormal.
Displays the slot number with the
%FW90 - _IO_TYER_N Mismatch slot
mismatch module type.
Slot with separated Displays the slot number with the
%FW91 - _IO_DEER_N
module separated module.
Displays the slot number with module
%FW93 - _IO_RWER_N RW error slot
Read/Write error
Displays the slot number with module
%FW95 - _IP_IFER_N IF error slot
interface error
%FW96 - _IO_TYER0 Module type 0 error Main base’s module type error
%FW104 - _IO_DEER0 Module separation 0 error Main base’s module separation error
%FW120 - _IO_RWER0 Module RW 0 error Main base’s module Read/Write error
%FW128 - _IP_IFER_0 Module IF 0 error Main base’s module interface error
Information on the Displays the information on the external
%FW202 - _ANC_ERR
external device’s failure device’s failure
Information on the
Displays the information on the external
%FW203 - _ANC_WAR external device’s minor
device’s minor failure
failure

Notice

• For more details on the whole flags, refer to the Appendix 1 Flag Table of the Outline of this manual.

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2.3.4 Function to check the expansion module

It is the function to check whether I/O modules work normally during startup and operation. It checks the status of every scan
expansion module and the PLC checks whether the following situations occur.

• In case the module that is different from the set parameter is installed at the time of initial operation or failure is suspected
• In case expansion modules are detached or failure is suspected.

If abnormal conditions are detected, the basic unit’s ERR LED will be flickering and the PLC will be stopped.

2.3.5 Failure Diagnosis Function for the External Device

It is the function to detect the failure of the external device, which connected to the PLC to realize stoppage of the system and
warning easily. Through this function, you can detect the external device’s failure without complex programming and can monitor
the failure position without special devices (SoftMaster, etc.) or programs.
You can use the failure diagnosis function for the external devices as below.

(1)Failure types of external devices

• The failures of external devices are divided into the two types; failure (error) detected by combination of user
programs and special relay (F area) requires stoppage of the PLC operation; minor failure (warning) that
continues the PLC’s operation and displays the detection status only.

(2) Flag to detect failures of external devices

The following flag types are used to diagnose failures of external devices.

Word Bit Flag Name

Function Description
Information on the external Input the error code of user-defined
%FW202 - _ANC_ERR
device’s failures serious failure of external device.
Information on the external Input the error code of user-defined
%FW203 - _ANC_WAR
device’s MINOR failures minor failure of external device.
detection of external serious It is On when the external device’s
- %FX38 _ANNUM_ER
error serious failure occurs.
detection of external slight It is On when the external device’s
- %FX70 _ANNUM_WAR
error minor failure occurs.
_CHK_ANC_ER Request detection of external It is the command flag asking to detect
- %FX3202
R serious error the external device’s serious failure.
_CHK_ANC_WA Request detection of external It is the command flag asking to detect
- %FX3203
R slight error minor failure the external device’s minor failure.

(3) Detecting the external device’s serious failures

The following programs are detecting the external device’s serious failures.
(a) Save the error code that can be distinguished by external device’s serious failures in %FW202
(_ANC_ERR) through the FWRITE command as below. (Input the values excluding 0)
(b) In case the external device’s serious failures occur, %FX3202 (_CHK_ANC_ERR)flag will be On.
(c) When the scan program is completed, the PLC checks whether %FX3202 (_CHK_ANC_ERR) is ON and
detects serious failures.
(d) If the external device’s serious failures occur, the PLC will be in error status and will stop the operation.
Then, %FX38 (_ANNUM_ER) is ON and %FX3202 flag is automatically Off. All outputs works based on
IO parameter’s emergency output settings.
(e) When failures occur, through SoftMaster, a user can figure out the causes of failures by
monitoring %FW202 (_ANC_ERR)flag.

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(f) The below figure describes the example of the program detecting the external device’s serious failures with
operation details.

<Example of the system configuration and program >

• In this example, assume that the input signal to detect the external device’s failures is connected to the
input module of No.5 slot in the system configuration as below.
- In case of the sensor failure, %IX0.5.0 is ON. The error code is the value saved in auto variable device
‘Sensor_ERR’.
- In case of the motor failure, %IX0.5.1 is ON. The error code is the value saved in auto variable device
‘Motor1_ERR’.
- When the device 1 is disconnected, %IX0.5.2 is ON. The error code is the value saved in auto variable
device ‘Device1_Discon’.
• In the above programming, when %IX0.5.0 is On (In case of sensor failure), the value of ‘Sensor_ERR’ is
saved in %FW202 (_ANC_ERR) and %FX3202 (_CHK_ANC_ERR) will be On.
• If %FX3202 is ON, it is detected by the scan end and the external device’s serious failures are generated.
• You can detect the failure of motor 1, disconnection of device 1 in the same way.
• After accessing to SoftMaster, a user can check which external devices have failures by verifying
the %FW202 value and can take follow-up measures.

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(4) How to detect the external device’s minor failures

The following programming is used to detect the external device’s minor failures.
(a) Save the warning code that can be distinguished by external device’s minor failures in %FW203
(_ANC_WAR) through the FWRITE command as below. (Input the values excluding 0)
(b) In case the external device’s minor failures occur, %FX3203 (_CHK_ANC_WAR)flag will be On.
(c) When the scan program is completed, the PLC checks whether %FX3203 (_CHK_ANC_WAR) is ON and
detects minor failures.
(d) If the external device’s minor failures occur, the ERR LED will be flickering at 2 seconds interval and the
PLC will run continuously. Then, %FX70 (_ANNUM_WAR) is ON and %FX3203 flag is automatically Off.
All outputs works based on IO parameter’s emergency output settings.
(e) When minor failures occur, through SoftMaster, a user can figure out the causes of failures by
monitoring %FW203 (_ANC_WAR)flag.
(f) If you input 0 again to %FW203 (_ANC_WAR) after removing the causes of failures and turn
ON %FW3203 (_CHK_ANC_WAR) again, detection of minor failures is canceled.
(g) The below figure describes the example of the program detecting the external device’s minor failures with
operation details.

< Example of the system configuration and program >

• In this example, assume that the input signal to detect the external device’s minor failures is connected

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to the input module of No.5 slot in the system configuration as below.

- In case of the sensor warning, %IX0.5.0 is ON. The warning code is the value saved in auto variable
device ‘Sensor_WAR’.
- In case of the motor warning, %IX0.5.1 is ON. The warning code is the value saved in auto variable
device ‘Motor1_WAR’.
- When the device is warned, %IX0.5.0\2 is ON. The warning code is the value saved in auto variable
device ‘Device1_WAR’.
• In the above programming, when %IX0.5.0 is On (in case of sensor failure), the value of ‘Sense_WAR’ is
saved in% FW203 (_ANC_WAR) and %FX3203 (_CHK_ANC_WAR) will be On.
• If %FX3203 is ON, it is detected by the scan end and the external device’s serious failures are generated.
• You can detect the warnings on motor 1 and device 1 in the same way.
• After accessing to SoftMaster, a user can check which external devices have minor failures by verifying
the %FW203 value and can take follow-up measures.

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2.4 RTC Function

MLU-H2/HP unit has the clock (RTC) function and the clock keeps working thanks to the battery backup even when the power
is Off. You can use the embedded RTC’s time data for time management such as the system’s operating history or failure
history, etc. The RTC’s current time is updated every scan based on the operation status information flag of the system.

2.4.1 How to use the RTC Function

(1) Read/Set clock data
(a) Read/Set from SoftMaster
1) Click 『Online』-『Diagnosis』- 『PLC information』.
2) Click the PLC clock tab of 『PLC information』.

3) If you want to transfer the PLC’s time to the PLC, click the PC clock and synchronization button.
4) If you want to set up your preferred time, after changing the set values of the data and time box, click them to the
PLC.
(b) Read with the special relay
You can monitor the data with the special relay as below.
Word Flag Name Name Data Description
%FW53 _MON_YEAR Clock data (month/year) 16#0709 July, xx09
%FW54 _TIME_DAY Clock data (hour/day) 16#1214 14h.12th
%FW55 _SEC_MIN Clock data (second/minute) 16#2040 20 min. 40 sec.
%FW56 _HUND_WK Clock data (Year/week) 16#2003 20xx,Wed.

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(c) Example of changing the clock data through programs

You can change the clock data through the programs as below.

Function Block Variable Description

REQ Executes the function with rising pulse input

DATA TIME data to input

DONE Without an error, it is 1

STAT If an error occurs, an error code is written

Variable Content Example Variable Content Example

DATA[0] Year 16#18 DATA[4] Minute 16#35
DATA[1] Month 16#03 DATA[5] Second 16#15
DATA[2] Day 16#10 DATA[6] No check -
DATA[3] Hour 16#11 DATA[7] Year 16#20
The above example is “2018-03-10 11:35:15”
Day of the week data is not separately entered. The day of the week will be automatically set.

(d) Example of changing the clock data through system flag

You can change the clock data by writing the clock data as below without using the function block and
turning %FX3200(_RTC_WR) ‘On’.

Flag Flag name Content Setting range

%FW210 _MON_YEAR_DT Clock data(Month/Year) 2000~2099(Year), 1~12(Month)
%FW211 _TIME_DAY_DT Clock data(Hour/Date) 1~31(Day), 0~23(Hour)
%FW212 _SEC_MIN_DT Clock data(Second/Minute) 0~59(Minute), 0~59(Second)
%FW213 _HUND_WK_DT Clock data(100Years/Day) 2000s,0~6(Sun.~Sat.)

(e) How to express the day

No. 0 1 2 3 4 5 6
Day Sun. Mon. Tue. Wed. Thu. Fri. Sat.

(2) Time error

The RTC’s error is different depending on the service temperature.
temperature max error(sec/day) normal condition(sec/day)
0℃ -4.67 ~ 1.56 -1.55
25℃ -3.11 ~ 1.96 0.58
55℃ -10.37 ~ -1.56 -5.97

Notice

• The clock data may not be stated in the shipped product so you need to set up the clock data correctly before use.
• If you write unserviceable clock data in the RTC, it will not work properly.
Ex.) 25:00, 32th, 14 month
• In case the RTC stops or error occurs due to a battery failure, if you write the new clock data in the RTC, the error
will be cleared.

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2.5 Remote Function

In ML50 basic unit, you can change the operation mode through the key switch attached to the module or through
communication. For remote operation, put the basic unit’s mode change switch on STOP position.

(1) The kinds of remote operations are as below.

•Access to SoftMaster and operation through the USB port installed in the basic unit
•You can operate the other PLCs connected to the network by using the PLC’s communication functions when SoftMaster is
connected to the basic unit.
• You can control the PLC’s operation status with HMI software, etc. though the dedicated communication

(2) Remote RUN/STOP

•It is the function to execute RUN/STOP through communication modules through the outside.
•This convenient function can be helpfully used when the PLC is installed in the bad palace to operate or you need to
RUN/STOP the CPU modules of a control panel from the outside.

(3) Remote DEBUG

•It is the function to execute DEBUG when the operation mode switch is on STOP position. DEBUG is the function to
execute the program operation based on the specified operating conditions.
• This convenient function can be helpfully used when you need to check the program’s progress or each data’s
details during the system’s debugging works.

(4) Remote reset

•It is the function to reset the CPU module by remote control when errors occur.
•'Reset' and ‘Overall Reset’ are available.

Notice

• For more details on how to operate the remote functions, refer to ‘Chap.10 Online’ of the SoftMaster manual.

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2.6 I/O forced On/Off Functions

The forced I/O function is used to turn On/Off I/O areas by force regardless of the results of program execution.

2.6.1 Forced I/O setting method

Click『Online』-『 Forced I/O setting 』.

The below table represents the items related to the forced I/O setting.

Item Description Remarks

Movement of address You can select the base and slot.
Apply You can set the forced input and output Enable / Unable
Data You can set the forced I/O Enable / Unable by bit.
Individual
Flag You can set the forced I/O data (On/Off) by bit.
View variables/comments You can check the set input, output variables.
You can set the forced I/O Enable under the condition that the whole I/O
Select All
areas are On.
You can delete the forced I/O Enable under the condition that the whole I/O
Delete All
areas are Off.
Set device It displays the I/O area where even one bit is set.

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2.6.2 Time to process the forced I/O On / Off and processing method

(1) Forced input

When the forced input is set, among the data read from the input model at the time of Refresh, the data of the contact set as the
forced On/Off is replaced by the forced set data to update the input image area. Accordingly, during program operation, among the
actual input data, the forced set area is operated with the results replaced by the forced set data.

(2) Forced output

After completing the operation of user programs, at the time of output Refresh, among the data of the output image
areas including the operation results, the data of the contact set as the forced On/Off is replaced by the forced set
data, and then, they are output. Accordingly, in contrast with the forced input, in the case of the forced output, the
data of the output image area shows the same data with the program operation results but the actual output
changes by the forced output On/Off settings.

(3) Instructions to use the Forced I/O functions

• It works from the time of setting each I/O ‘Enable’ after setting the forced data.
• Although the actual I/O modules are not equipped, the forced input can be set.
• In spite of Off-> On of the power, change of operation modes and operation by the reset key
The previously set On/Off data is stored in the PLC.
• Even in STOP mode, the forced input and output data is not eliminated.
• When you try to set the new data from the beginning, cancel all settings of I/O by using ‘Delete All’ before use.

(4) Operations in case of errors

•When errors occur after setting the forced output, it works based on「Output Hold when errors occur」 of output
control settings in the basic parameters and 「Emergency Output」 of the I/O parameters. In case of error
occurrence, if you select the emergency output as 「Clear」 after setting Output Hold when errors occur」, the
output is off when errors occur; if you choose 「Hold」, the output status will be maintained.
• In case 「Output Hold when errors occur」 is not set in the output control setting of the basic parameters, the
output is Off.

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2.7 Direct I/O Operation Function

I/O contact’s Refresh is executed after the scan program is finished. Accordingly, the data of the I/O contact that changes
during execution of programs is refreshed to the I/O data of when the END command is executed instead of being
refreshed when the data changes.

If you need to immediately refresh the I/O data during execution of the program, through DIFEC_IN, DIREC_OUT’
command, you can directly read the input contact status for operation or can directly print out the operation results in the
output contact.
Block Variable Contents
EN When EN=1 Function execute
BASE Base number (ML50= 0)
SLOT Output module slot number
MASK_L Set non-update bit among lower 32bit
MASK_H Set non-update bit among higher 32bit
ENO When no error, ENO=1
OUT When updating output data is finished OUT=1
The below figure indicates the example of the direct I/O operation through the DIFEC_IN, DIREC_OUT command.

(1) Input base number 0 and slot number 4 where output module is equipped
(2) Since data to output is 16 bit during scan, enable lower 16 bit among value of MASK_L (16#FFFF0000)
(3) If execution condition (%IX0.0.0) is On, DIREC_O (Immediate refresh of output module) is executed and data of output module
is set as 2#0111_0111_0111_0111.

Notice
• When writing/Reading DIREC_IN,DIREC_OUT in expansion module, it takes 1~2ms times
- Possibility of Task collision o when using cyclic task or internal task. Which operates in short term of
between two input signal.
• For more information refer to XGI/ML50 Instruction manual.

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2.8 Function saving the operation history

There are 4 types of operation history; error history, mode conversion history, power down history and system history. The occurrence
time, frequency, operating details of each event are saved in the memory and you can conveniently monitor the data through SoftMaster.
The operation history is saved in the PLC unless it is deleted through SoftMaster.

2.8.1 Error history

It saves the error history occurred during operation.
• The error code, date, time, error details are saved.
• The histories can be saved up to 100 EA.
• It is automatically canceled when the memory backup is cleared due to the battery’s low voltage, etc.

2.8.2 Mode conversion history

It saves the information on the changed mode and time when changing the operation mode.
• It saves the data, time, mode conversion details.
• The histories can be saved up to 100 EA.

2.8.3 Power down history

On or Off time of the power is saved as the ON/OFF information.
• ON/OFF information, date and time are saved.
• The histories can be saved up to 100 EA.

2.9.4 System history

It saves the operation history of the system occurred during operation.
• The date, time and details of operation changes are saved.
• The histories related to system operation are saved; SoftMaster operation information, change of the key switch position, etc.
• The histories can be saved up to 100 EA.

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2.9 How to allocate I/O No.

Allocation of I/O No. is to allocate the address to each module’s I/O terminals to read the data from the input modules and
output the data in the output modules when executing operation. In the ML50 PLC, all modules occupy 64 points.

(1) Allocation of I/O No.

The basic unit occupies 2 slots of No.1 so 128 points are allocated and all remaining expansion module occupies 64
points. (including special, communication modules)
Example of allocating I/O No. based on the system configuration

Slot No. Model I/O allocation Remakrs

Input : %IX0.0.0~%IX0.0.63 Actua linput : %IX0.0.0 ~ %IX0.0.15
0 MLU-DN32HP
Output : %QX0.0.0~%QX0.0.63 Actual output : %QX0.0.0 ~ %QX0.0.15
Embedded special Input : %IX0.1.0~%IX0.1.63
1 -
functions Output : %QX0.1.0~%QX0.1.63
Input : %IX0.2.0~%IX0.2.63
2 MLE-DC32A Actua linput : %IX0.2.0 ~ %IX0.2.31
Output : %QX0.2.0~%QX0.2.63
Input : %IX0.3.0~%IX0.3.63
3 MLE-TN32A Actual output : %QX0.3.0~%QX0.3.31
Output : %QX0.3.0~%QX0.3.63
Input : %IX0.4.0~%IX0.4.63
4 MLL-C21A -
Output : %QX0.4.0~%QX0.4.63
Input : %IX0.5.0~%IX0.5.63
5 MLF-AD04A -
Output : %QX0.5.0~%QX0.5.63
Input : %IX0.6.0~%IX0.6.63
6 MLF-DV04A -
Output : %QX0.6.0~%QX0.6.63
Input : %IX0.7.0~%IX0.7.63
7 MLE-DC32A Actual input : %IX0.7.0~%IX0.7.31
Output : %QX0.7.0~%QX0.7.63
Input : %IX0.8.0~%IX0.8.63
8 MLE-TN32A Actual output : : %QX0.8.0 ~ %QX0.8.31
Output : %QX0.8.0~%QX0.8.63
* The number of empty I/O points can be used as the internal relay.
* In the case of the high performance ML50 basic type, it does not have the embedded special function corresponding to No.1
slot but occupies No.1 slot as an empty slot.

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2.10 Program Modification during operation (Modification during RUN)

You can modify the programs and communication parameters without stopping control operations during running the
PLC. The below describes the basic modification method. For more details on Modification during RUN, refer to the
SoftMaster manual.

The items that can be modified during RUN are limited to programs, network parameters.
You cannot modify adding tasks, deletion, parameters, etc. during RUN.

2.10.1 Modification Procedures during RUN

(1) It shows the currently running program.

(2) Click『Online』-『Start Modification Online Editing』.

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(3) Then, the background color of the program window changes and it is converted into the mode of modification during
RUN.

(4) You can modify the program.

(5) When the modification of the program is completed, click 『Online』-『Write Modified Program』

(6) When Write Program is completed, click 『Online』-『End Online Editing』.

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(7) The background color of the program window changes into the original one and modification during RUN is
completed.

Notice

• For Modification of communication parameters during RUN, after changing the network configuration items of
SoftMaster in the RUN status without going into the Modification during RUN menu, click 『Online』-『Write』
and choose ‘Network Parameter’ to execute Write.

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2.11 Read I/O information

I t is the function to monitor each module’s information comprising the ML50 PLC system.

(1) If you click 『Online』-『I/O Information』, the information of each module of connected systems will be monitored.

(2) If you click ‘Detailed Information’ after choosing the module, the details on the module will be displayed.

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2.12 Monitoring Functions

It is the function to monitor the ML50 PLC system’s general information.

(1) If you click 『Monitor』, the submenu will be displayed as below.

(2) The below table provides the descriptions on each item.

Items Descriptions Remarks
Start/End monitor Specifies the startup and end of the monitor. Changes every time you click
Pause Suspends the monitor.
Resume Executes the suspended monitor again.
It is the function to suspend the monitor when the set Restarts when you click
Pausing Conditions
device’s value is matched with the conditions. ‘Restart Monitor’
Change the Current value Changes the currently selected device’s current value.
System Monitoring Monitors the current system’s general information.
Device Monitoring It is the function to monitor each device.
Trend Monitoring Monitors the set device’s trend.
Monitors the set device’s value when the event specified For more details, refer to the
Custom Events
by a user occurs. XG-5000 manual.
Data Trace Traces the set device’s value.

(a) Changing the current value

It is the function to change the current value of each selected device in the program window.

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(b) Device monitor

It is the monitoring function by device.

(c) Monitor suspension setting

It is the function to stop monitoring when the set device value is matched.

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( d) Trend Monitor
It is the function to represent the set device value in a graphic form. The value represented on the graph is not the
data collected by the PLC at the right timing but the value read from SoftMaster through the communication function.
Accordingly, communication delay can occur so it may not be matched with the actual data collected at the right
cycle.
You are recommended to use the Trend Monitor function to check the rough data trend.

(e) Custom event

1) It is the function to monitor the detailed information when the event set by a user occurs.
Register the user event additionally.

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2) Establish the basic settings and related device.

In case the rising edge of %MX0 device occur, the Alarm message “Tank 1 Error-> Check” is recorded with the
then values of %MW100 and auto variable “DATA” devices.

3) Set up the associated device.

4) It monitors the user event history.

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5) If you double-click the occurrence number, the detailed value of the device at the time of occurrence will be
monitored with the details as below.

Notice

• For more details on the monitor, refer to the SoftMaster manual.

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2.13 Function to delete all of the PLC

The function to delete all of PLC is the initialization function to delete all programs, parameters, passwords, data stored
in the PLC.
(1) How to delete all of PLC
(a) Click『Online』-『Delete all of PLC 』.

(b) If you choose 『Yes』 in the dialog box, the window for selecting the connection method with the PLC to be
deleted is created.

(c) After choosing the connection method with the PLC to be deleted, if you click 『Access』or 『OK』, all
PLC programs, parameters, data, passwords will be deleted.

Notice

• Although the initial PLC is not connected, the function is executed. You can connect to the PLC after assess
setting.
• If you use the function to delete all of PLC, all PLCs’ internal data including passwords will be completely deleted
so be careful of this.
• If you use the function to delete all of PLC when the password is lost, it is possible to connect to the PLC so you
can reuse the PLC.

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Chapter 3 Input/Output Specifications

3.1 Introduction
Here describes the notices when selecting digital I/O module used for ML50 series.

(1) For the type of digital input, there are two types such as current sink input and current source input.

(2) The number of max. Simultaneous input contact point is different according to module type. It depends on the input
voltage, ambient temperature. Use input module after checking the specification.

(3) When response to high speed input is necessary, use interrupt input contact point. Up to 8 interrupt points are
supported.

(4) In case that open/close frequency is high or it is used for conductive load open/close, use Transistor output module or
triac output module as the durability of Relay Output Module shall be reduced.

(5) For output module to run the conductive (L) load, max. open/close frequency should be used by 1second On, 1
second Off.

(6) For output module, in case that counter timer using DC/DC Converter as a load was used, Inrush current may flow in a
certain cycle when it is ON or during operation. In this case, if average current is selected, it may cause the failure.
Accordingly, if the previous load was used, it is recommended to connect resistor or inductor to the load in serial in order
to reduce the impact of Inrush current or use the large module having a max. load current value.

Resistor Load Inductor Load

module
module

Output
Output

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(7) Relay life of Relay output module is shown as below.

Max. life of Relay used in Relay output module is shown as below.

100
Open/Close times (× 10000)

50

30
20

10
AC 125V Resistive load

DC 30V Resistive load

AC 250V Resistive load

0.5 1 2 3 5 10 100

Open/Close current (A)

(8) Relay life graph is not written based on real use.

(This is not a guaranteed value). So consider margin. Relay life is specified under following condition.

Rated voltage load Million times Rated voltage load Million times
200V AC 1.5A 1 200V AC 1 A 1
240V AC 1A (COS Ø=0.7) 1 240V AC 0.5A (COS Ø=0.35) 1
200V AC 0.4A 3 200V AC 0.3A 3
240V AC 0.3A (COS Ø=0.7) 3 240V AC 0.15A (COS Ø=0.35) 3
24V DC 1A 1 24V DC 0.3A 3
100V DC 0.1A (L/R=7ms) 1 100V DC 0.03A (L/R=7ms) 3

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(9) A clamped terminal with sleeve can not be used for the ML50 terminal strip. The clamped terminals suitable for
terminal strip are as follows (JOR 1.25-3:Daedong Electricity in Korea).

6.0mm or less 6.0mm or less

(10) The cable size connected to a terminal strip should be 0.3~0.75 ㎟ stranded cable and 2.8 ㎜ thick. The cable may
have different current allowance depending on the insulation thickness.

(11) The coupling torque available for fixation screw and terminal strip screw should follow the table below.

Coupling position Coupling torque range

IO module terminal strip screw (M3 screw) 42 ~ 58 N·㎝
IO module terminal strip fixation screw 66 ~ 89 N·㎝
(M3 screw)

(12) Noise can be inserted into input module. To prevent this noise, the user can set filter for input delay in parameter.
Consider the environment and set the input filter time.

Input filter time (ms) Noise signal pulse size (ms) Reference
1 0.3
3 1.8 Initial value
5 3
10 6
20 12
70 45
100 60

(13) Use power cable as follow

Item Cable Standard Cable type Immunity of Temp. Torque

Power and protecti GND 24AWG Cu 80℃ -

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 Chapter 3 Input/Output Specification

3.2 Main Unit Digital Input Specifications

3.2.1 MLU-DN32H2/HP 16 point DC24V input
Model Main unit
Specification MLU-DN32H2/HP
Input point 16 point
Insulation method Photo coupler insulation
Rated input voltage DC24V
Rated input current About 4㎃ (Contact point 0~3: about 7㎃)
Operation voltage range DC20.4~28.8V (within ripple rate 5%)
On voltage / On current DC19V or higher / 3㎃ or higher
Off voltage / Off current DC6V or lower / 1㎃ or lower
Input resistance About 5.6㏀ (P00~P07: about 4.7㏀)
Response Off  On
1/3/5/10/20/70/100㎳ (Set by I/O parameter) Default: 3㎳
time On  Off
Insulation pressure AC560Vrms / 3 cycle (altitude 2000m)
Insulation resistance 10㏁ or more by MegOhmMeter
Common method 16 point / COM
Proper cable size 0.3㎟
Operation indicator LED On when Input On
External connectionmethod 40point connector
Weight 134g
Circuit configuration No. Contact No. Contact Type
B20 %IX0.0.0 A20 %QX0.0.0
B19 %IX0.0.1 A19 %QX0.0.1
B18 %IX0.0.2 A18 %QX0.0.2
B20 A20
B17 %IX0.0.3 A17 %QX0.0.3
%IX0.0.0 Photo coupler B19 A19
B20
R B16 %IX0.0.4 A16 %QX0.0.4 B18 A18
B17 A17
B15 %IX0.0.5 A15 %QX0.0.5 B16 A16
R B15 A15
B14 %IX0.0.6 A14 %QX0.0.6
B14 A14
15 B05 Internal
B13 %IX0.0.7 A13 %QX0.0.7 B13 A13
circuit B12 A12
B01~02 B12 %IX0.0.8 A12 %QX0.0.8 B11 A11
COM
B11 %IX0.0.9 A11 %QX0.0.9 B10 A10
Connector No. B09 A09
B10 %IX0.0.10 A10 %QX0.0.10 B08 A08
B07 A07
B09 %IX0.0.11 A09 %QX0.0.11 B06 A06
B08 %IX0.0.12 A08 %QX0.0.12 B05 A05
B04 A04
B07 %IX0.0.13 A07 %QX0.0.13 B03 A03
B02 A02
B06 %IX0.0.14 A06 %QX0.0.14 B01 A01
B05 %IX0.0.15 A05 %QX0.0.15
B04 NC A04 P
B03 NC A03 P
B02 IN_COM A02 OUT_COM
B01 IN_COM A01 OUT_COM

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 Chapter 3 Input/Output Specifications

3.3 Main Unit Digital Output Specifications

3.3.1 MLU-DN32H2/HP 16 point transistor output (Sink type)
Model Main unit
Specification MLU-DN32H2/HP
Output point 16 point
Insulation method Photo coupler insulation
Rated load voltage DC 12/24V
Operation load voltage range DC 10.2 ~ 26.4V
Max. load current %QX0.0.0 ~ 11: 0.1A / 1point, %QX0.0.12~15: 0.5A / 1 point, 2A / 1COM
Off leakage current 0.1㎃ or less
Max. inrush current 4A / 10㎳ or less
Max. voltage drop when On DC 0.4V or less
Surge absorber Zener diode
Response Off  On 1㎳ or less
time On  Off 1㎳ or less (rated load, resistive load)
Common method 16 point / COM
Proper wire size Stranded wire 0.3~0.75㎟ (external diameter 2.8㎜ or less)
External Voltage DC12/24V  10% (Ripple voltage 4 Vp-p or less)
power Current 20㎃ or less (When connecting DC24V)
Operation indicator LED On when Output On
External connection method 40 point connector
Weight 134g
Circuit configuration No. Contact No. Contact Type
B20 %IX0.0.0 A20 %QX0.0.0
B19 %IX0.0.1 A19 %QX0.0.1
B18 %IX0.0.2 A18 %QX0.0.2
A20
B17 %IX0.0.3 A17 %QX0.0.3 B20
B19 A19
B16 %IX0.0.4 A16 %QX0.0.4 B18 A18
DC5V B17 A17
%QX0.0.0 B15 %IX0.0.5 A15 %QX0.0.5 B16 A16
A20
Load A15
B14 %IX0.0.6 A14 %QX0.0.6 B15
B14 A14
R B13 %IX0.0.7 A13 %QX0.0.7 B13 A13
B12 A12
Internal B12 %IX0.0.8 A12 %QX0.0.8 B11 A11
circuit
A5 B11 %IX0.0.9 A11 %QX0.0.9 B10 A10
Load 15 B09 A09
A3,4 B10 %IX0.0.10 A10 %QX0.0.10 B08 A08
B07 A07
A1,2 B09 %IX0.0.11 A09 %QX0.0.11 B06 A06

DC12/24 B08 %IX0.0.12 A08 %QX0.0.12 B05 A05

Connector No. B04 A04
B07 %IX0.0.13 A07 %QX0.0.13 B03 A03
B02 A02
B06 %IX0.0.14 A06 %QX0.0.14 B01 A01
B05 %IX0.0.15 A05 %QX0.0.15
B04 NC A04 P
B03 NC A03 P
B02 IN_COM A02 OUT_COM
B01 IN_COM A01 OUT_COM

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 Chapter 3 Input/Output Specification

3.4 Digital Input Specifications

3.4.1 8 point DC24V input module (Source/Sink type)

Model DC input module

Specification MLE-DC08A

Input point 8 point

Insulation method Photo coupler insulation
Rated input voltage DC24V
Rated input current About 4㎃
Operation voltage range DC20.4~28.8V (ripple rate < 5%)
On Voltage/Current DC19V or higher / 3 ㎃ or higher
Off Voltage/Current DC6V or less / 1㎃ or less
Input resistance About 5.6㏀
Response Off  On
1/3/5/10/20/70/100㎳ (set by CPU parameter) Default: 3㎳
time On  Off
Insulation pressure AC560Vrms / 3Cycle (altitude 2000m)
Insulation resistance 10㏁ or more by Megohmmeter
Common method 8 point / COM
Proper cable size Stranded pair 0.3~0.75㎟ (External diameter 2.8㎜ or less)
Current consumption 30㎃ (when all point On)
Operation indicator Input On, LED On
External connection method 10 point terminal block connector
Weight 52 g
Circuit configuration No. Contact Type

TB1 0

Photo coupler
(1) D TB2 1 TB01
0
C TB3 2 TB02
TB1 (2) L
R 5 TB03
ETB4 3
R V TB04
7 Internal DTB5 4 TB05
TB8
TB9 circuit TB6 5 TB06
COM
TB07
Terminal block no.
TB7 6
DC24V TB08
TB8 7 TB09
TB9 COM TB10

TB10 COM

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 Chapter 3 Input/Output Specifications

3.4.2 16 point DC24V input module (Sink/Source type)

Model DC input module
Specification MLE-DC16A MLE-DC16B
Input point 16 point
Insulation method Photo coupler insulation
Rated input voltage DC24V DC12/24V
Rated input current About 4㎃ About 4/8㎃
DC20.4~28.8V
Operation voltage range DC9.5~30V (ripple rate < 5%)
(ripple rate < 5%)
On Voltage/Current DC19V or higher / 3 ㎃ or higher DC9V or higher / 3 ㎃ or higher
Off Voltage/Current DC6V or less / 1㎃ or less DC5V or less / 1㎃ or less
Input resistance About 5.6㏀ About 2.7㏀
Response Off  On
1/3/5/10/20/70/100㎳ (set by CPU parameter) Default: 3㎳
time On  Off
Insulation pressure AC560Vrms / 3Cycle (altitude 2000m)
Insulation resistance 10㏁ or more by Megohmmeter
Common method 16 point / COM
Proper cable size Stranded cable 0.3~0.75㎟ (External diameter 2.8㎜ or less)
Current consumption 40㎃ (when all point On)
Operation indicator Input On, LED On
External connection method 8 pin terminal block connector + 10 pin terminal block connector
Weight 53 g
Circuit configuration No. Contact Type
TB1 0

(3)TB2
D 1 TB01
Photo coupler
TB02
TB3C 2
0
(4) L TB03
TB1
R TB45 3
TB04
TB5VE 4
R TB05
D
7 Internal TB6 5 TB06
TB8
circuit TB7 6 TB07
TB9
COM TB8 7 TB08

Terminal block no. TB1 8 TB01

DC24V
TB2 9 TB02
TB03
TB3 A
TB04
TB4 B TB05
TB5 C TB06
TB6 D TB07
TB7 E TB08
TB09
TB8 F
TB10
TB9 COM
TB10 COM

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Chapter 3 Input/Output Specification

3.4.3 32 point DC24V input module (Source/Sink type)

Model DC input module
Specification MLE-DC32A
Input point 32 point
Insulation method Photo coupler insulation
Rated input voltage DC24V
Rated input current About 4㎃
Operation voltage range DC20.4~28.8V (ripple rate < 5%)
Input Derating Refer to Derating diagram
On Voltage/Current DC 19V or higher / 3 ㎃ or higher
Off Voltage/Current DC 6V or less / 1 ㎃ or less
Input resistance About 5.6㏀
Response Off  On
1/3/5/10/20/70/100㎳ (set by CPU parameter) Default:3㎳
time On  Off
Insulation pressure AC 560Vrms / 3 Cycle (altitude 2000m)
Insulation resistance 10㏁ or more by Megohmmeter
Common method 32 point / COM
Proper cable size 0.3㎟
Current consumption 50㎃ (when all point On)
Operation indicator Input On, LED On
External connection method 40 pin connector
Weight 60g
Circuit configuration No. Contact No. Contact Type
B20 00 A20 10
Photo coupler B19 01 A19 11
0 B18 02 A18 12
B20 R B20 A20
B17 03 A17 13 B19 A19

R B16 04 A16 14 B18 A18

B17 A17
1F Internal B15 05 A15 15 B16 A16
A05
B02 circuit B14 06 A14 16 B15 A15
B14 A14
COM B13 07 A13 17 B13 A13
Terminal block no. B12 A12
DC24V
B12 08 A12 18
B11 A11
B11 09 A11 19 B10 A10
B09 A09
Input Derating diagram B10 0A A10 1A B08 A08
B07 A07
100 B09 0B A09 1B
B06 A06
90 B08 0C A08 1C B05 A05
B04 A04
80 B07 0D A07 1D
On rate (%)

B03 A03
70 B06 0E A06 1E B02 A02
B01 A01
60 B05 0F A05 1F
50 DC28.8V
B04 NC A04 NC
40
0 10 20 30 40 50 55 ℃ B03 NC A03 NC
Ambient temperature (℃) B02 COM A02 COM
B01 COM A01 COM

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 Chapter 3 Input/Output Specifications

3.5 Digital Output Specifications

3.5.1 8 point relay output module
Model Relay output module
Specification MLE-RY08A
Output point 8 point
Insulation method Relay insulation
Rated load voltage / Current DC24V 2A (Resistive load) / AC220V 2A (COS = 1), 5A/COM
Min. load voltage/Current DC5V / 1㎃
Max. load voltage/Current AC250V, DC125V
Off leakage current 0.1㎃ (AC220V, 60㎐)
Max. On/Off frequency 3,600 times/hr
Surge absorber None
Mechanical 20 millions times or more
Rated load voltage / current 100,000 times or more
Service life AC200V / 1.5A, AC240V / 1A (COS = 0.7) 100,000 times or more
Electrical
AC200V / 1A, AC240V / 0.5A (COS = 0.35) 100,000 times or more
DC24V / 1A, DC100V / 0.1A (L / R = 7㎳) 100,000 times or more
Response Off  On 10㎳ or less
time On  Off 12㎳ or less
Common method 8 point / COM
Proper cable size Stranded cable 0.3~0.75㎟ (External diameter 2.8㎜ or less)
Current consumption 230㎃ (when all point On)
Operation indicator Output On, LED On
External connection method 9 point terminal block connector
Weight 80g
Circuit configuration No. Contact Type

TB1 0

TB2 1
DC5V
(6) L TB3 2 TB1
TB1
E (7) LTB4 TB2
3
D
TB3
Internal RY TB5 4 TB4
TB8
circuit (5) LTB6 5 TB5
TB9 TB6
TB7 6 TB7
Terminal block no. TB8 7 TB8
TB9
TB9 COM

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Chapter 3 Input/Output Specification

3.5.2 8 point relay output module (Independent point)

Model Relay output module
Specification MLE-RY08B
Output point 8 point
Insulation method Relay insulation
Rated load voltage / Current DC24V 2A (Resistive load) / AC220V 2A (COS = 1), 2A/COM
Min. load voltage/Current DC5V / 1㎃
Max. load voltage/Current AC250V, DC125V
Off leakage current 0.1㎃ (AC220V, 60㎐)
Max. On/Off frequency 3,600 times/hr
Surge absorber None
Mechanical 20 millions times or more
Rated load voltage / current 100,000 times or more
Service life AC200V / 1.5A, AC240V / 1A (COS = 0.7) 100,000 times or more
Electrical
AC200V / 1A, AC240V / 0.5A (COS = 0.35) 100,000 times or more
DC24V / 1A, DC100V / 0.1A (L / R = 7㎳) 100,000 times or more
Response Off  On 10㎳ or less
time On  Off 12㎳ or less
Common method 1 point / COM
Proper cable size Stranded cable 0.3~0.75㎟ (External diameter 2.8㎜ or less)
Current consumption 230㎃ (when all point On)
Operation indicator Output On, LED On
External connection method 9 point terminal block connector x 2
Weight 81g
Circuit configuration No. Contact No.
TB1 0
TB2 COM0 TB1
TB3 1 TB2
DC5V TB3
TB4 COM1
(9) L TB4
E TB1 TB5 2 TB5
(8) L
D TB6 COM2 TB6
RY TB2 TB7 3 TB7
TB8 COM3 TB8
TB9 NC TB9
TB1 4 TB1
TB7
Internal TB2 COM4 TB2
circuit TB3 5 TB3
RY TB8
TB4 COM5 TB4
TB5
TB5 6
Terminal no. TB6
TB6 COM6
TB7
TB7 7 TB8
TB8 COM7 TB9
TB9 NC

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 Chapter 3 Input/Output Specifications

3.5.3 16 point relay output module

Model Relay output module
Specification MLE-RY16A
Output point 16 point
Insulation method Relay insulation
Rated load voltage/ current DC24V 2A (Resistive load) / AC220V 2A (COS = 1), 5A/COM
Min. load voltage/current DC5V / 1㎃
Max. load voltage/current AC250V, DC125V
Off leakage current 0.1㎃ (AC220V, 60㎐)
Max. On/Off frequency 3,600 times/hr
Surge absorber None
Mechanical 20 millions times or more
Rated load voltage / current 100,000 times or more
Service life AC200V / 1.5A, AC240V / 1A (COS = 0.7) 100,000 times or more
Electrical
AC200V / 1A, AC240V / 0.5A (COS = 0.35) 100,000 times or more
DC24V / 1A, DC100V / 0.1A (L / R = 7㎳) 100,000 times or more
Response Off  On 10㎳ or less
time On  Off 12㎳ or less
Common method 8 point / COM
Proper cable size Stranded cable 0.3~0.75㎟ (External diameter 2.8㎜ or less)
Current consumption 420㎃ (when all point On)
Operation indicator Output On, LED On
External connection method 9 point terminal block connector x 2 ea
Weight 130g
Circuit configuration No. Contact Type
TB1 0
TB2 1 TB1
TB2
TB3 2
DC5V TB3
(11) L TB4 3
TB4
E TB1 TB5 4 TB5
(12) L
D TB6 5 TB6
RY TB7 6 TB7
Internal
TB8 TB8 7 TB8
circuit (10) L TB9
TB9
TB9 COM
TB1 8 TB1
TB2 9 TB2
Terminal block no.
TB3 A TB3
TB4 B TB4
TB5
TB5 C
TB6
TB6 D TB7
TB7 E TB8
TB8 F TB9
TB9 COM

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Chapter 3 Input/Output Specification

3.5.4 8 point transistor output module (Sink type)

Model Transistor output module
Specification
MLE-TN08A
Output point 8 point
Insulation method Photo coupler insulation
Rated load voltage DC 12 / 24V
Load voltage range DC 10.2 ~ 26.4V
Max. load voltage 0.5A / 1 point
Off leakage current 0.1㎃ or less
Max. inrush current 4A / 10㎳ or less
Max. voltage drop (On) DC 0.4V or less
Surge absorber Zener Diode
Response Off  On 1㎳ or less
time On  Off 1㎳ or less (Rated load, resistive load)
Common method 8 point / COM
Proper cable size Stranded cable 0.3~0.75㎟ (External diameter 2.8㎜ or less)
Current consumption 40㎃ (when all point On)
External Voltage DC12/24V  10% (ripple voltage 4 Vp-p or less)
power supply Current 10㎃or less (DC24V connection)
Operation indicator Output On, LED On
External connection method 10 point terminal block connector
Weight 52g
Circuit configuration No. Contact Type
TB01 0

DC5V TB01 TB02 1

(14) L (13) L TB01
TB03 2 TB02
E
D R TB04 3 TB03
TB04
Internal TB05 4
TB08 TB05
circuit (15) L
TB06 5 TB06
TB09
TB07
TB07 6
TB08
TB10 TB08 7 TB09
DC12/24V
DC12 TB10
Terminal block no. TB09
/24V
TB10 COM

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 Chapter 3 Input/Output Specifications

3.5.5 16 point transistor output module (Sink type)

Model Transistor output module
Specification MLE-TN16A
Output point 16 point
Insulation method Photo coupler insulation
Rated load voltage DC 12 / 24V
Load voltage range DC 10.2 ~ 26.4V
Max. load voltage 0.2A / 1 point, 2A / 1COM
Off leakage current 0.1㎃ or less
Max. inrush current 4A / 10㎳ or less
Max. voltage drop (On) DC 0.4V or less
Surge absorber Zener Diode
Off  On 1㎳ or less
Response time
On  Off 1㎳ or less (Rated load, resistive load)
Common method 16 point / COM
Proper cable size Stranded cable 0.3~0.75㎟ (External diameter 2.8㎜ or less)
Current consumption 60㎃ (when all point On)
External power Voltage DC12/24V  10% (ripple voltage 4 Vp-p or less)
supply Current 10㎃or less (DC24V connection)
Operation indicator Output On, LED On
External connection method 8 pin terminal block connector + 10 pin terminal block connector
Weight 54 g
Circuit configuration No. Contact Type
TB01 0
TB01
TB02 1
TB02
TB03 2 TB03
DC5V TB01 TB04 3 TB04
(17) L (16) L TB05
TB05 4
E TB06
TB06 5
D R TB07
TB07 6
TB08
Internal TB08 7
TB08
circuit (18) L TB01
TB01 8
TB02
TB09 TB02 9 TB03
TB03 A TB04
TB10 TB04 B TB05
DC12/24V TB06
TB05 C
Terminal block no. TB07
TB06 D
TB08
TB07 E
TB09
TB08 F TB10
DC12
TB09
/24V
TB10 COM

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Chapter 3 Input/Output Specification

3.5.6 32 point transistor output module (Sink type)

Model Transistor output module
Specification MLE-TN32A
Output point 32 point
Insulation method Photo coupler insulation
Rated load voltage DC 12 / 24V
Load voltage range DC 10.2 ~ 26.4V
Max. load voltage 0.2A / 1 point, 2A / 1COM
Off leakage current 0.1㎃ or less
Max. inrush current 0.7A / 10㎳ or less
Max. voltage drop (On) DC 0.4V or less
Surge absorber Zener Diode
Off  On 1㎳ or less
Response time
On  Off 1㎳ or less (Rated load, resistive load)
Common method 32 point / COM
Proper cable size 0.3㎟
Current consumption 120㎃ (when all point On)
External power Voltage DC12/24V  10% (ripple voltage 4 Vp-p or less)
supply Current 20㎃or less (DC24V connection)
Operation indicator Output On, LED On
External connection method 40 pin connector
Weight 60g
Contac Contac Type
Circuit configuration No. No.
t t
B20 00 A20 10
B19 01 A19 11
B18 02 A18 12
DC5V
B17 03 A17 13 B20 A20
B19 A19
B20 B16 04 A16 14
(19) L (20)
B15 L 05 A15 15
B18 A18
B17 A17
E B14 06 A14 16 B16 A16
D B13 07 A13 17 B15 A15

B12 08 A12 18 B14 A14

R B13 A13
B11 09 A11 19 B12 A12
Internal B10 0A A10 1A B11 A11

circuit B09 0B A09 1B B10 A10

B09 A09
A05 B08 0C A08 1C
(21) L B08 A08
B07 0D A07 1D B07 A07
B06 0E A06 1E B06 A06
B01,B02 B05 A05
B05 0F A05 1F B04 A04
B04 NC A04 NC B03 A03
A01,A02 B02 A02
DC12/24V B03 NC A03 NC B01 A01
Terminal block no. B02 DC12/ A02
COM
B01 24V A01

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 Chapter 3 Input/Output Specifications

3.5.7 8 point transistor output module (Source type)

Model Transistor output module

Specification
MLE-TP08A
Output point 8 point
Insulation method Photo coupler insulation
Rated load voltage DC 12 / 24V
Load voltage range DC 10.2 ~ 26.4V
Max. load voltage 0.5A / 1 point
Off leakage current 0.1㎃ or less
Max. inrush current 4A / 10㎳ or less
Max. voltage drop (On) DC 0.4V or less
Surge absorber Zener Diode
Response Off  On 1㎳ or less
time On  Off 1㎳ or less (Rated load, resistive load)
Common method 8 point / COM
Proper cable size Stranded cable 0.3~0.75㎟ (external diameter 2.8㎜ or less)
Current consumption 40㎃ (when all outputs are on)
External Voltage DC12/24V  10% (ripple voltage 4 Vp-p or less)
power Current 10㎃ or less (when connecting DC24V)
Operation indicator LED on when output on
External connection method 10 pin terminal block connector
Weight 30g
Circuit configuration No. Contact Type
TB01 0

DC5V
TB09
TB02 1
(23) L
TB01
E TB03 2
TB10 TB02
D
Internal TB08 TB04 3 TB03
circuit (22) L TB04
TB05 4
TB05
TB06 5 TB06
R TB07 6 TB07
TB01
(24) L TB08
TB08 7 TB09
Terminal bloc TB09 COM TB10
k no.
TB10 0V

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Chapter 3 Input/Output Specification

3.5.8 16 point transistor output module (Source type)

Model Transistor output module

Specification MLE-TP16A
Output point 16 point
Insulation method Photo coupler insulation
Rated load voltage DC 12 / 24V
Load voltage range DC 10.2 ~ 26.4V
Max. load voltage 0.5A / 1 point, 2A / 1COM
Off leakage current 0.1㎃ or less
Max. inrush current 4A / 10㎳ or less
Max. voltage drop (On) DC 0.4V or less
Surge absorber Zener Diode
Off  On 1㎳ or less
Response time
On  Off 1㎳ or less (Rated load, resistive load)
Common method 16 point / COM
Proper cable size Stranded cable 0.3~0.75㎟ (external diameter 2.8㎜ or less)
Current consumption 60㎃ (When all outputs are on)
External Voltage DC12/24V  10% (ripple voltage 4 Vp-p or less)
power Current 10㎃ or less (connecting DC24V)
Operation indicator LED On when output On
External connection method 8 pin terminal block connector + 10 pin terminal block connector
Weight 40g
Circuit configuration No. Contact Type
TB01 0
TB01
TB02 1
TB02
DC5V TB03 2
(26) L TB09 TB03
DC12/24V TB04 3 TB04
E
TB10 TB05 4 TB05
D
Internal TB08 TB06
circuit (25)TB06
L 5
TB07
TB07 6
TB08
TB08 7
TB01
R TB01 8
TB010 TB02
(27)TB02
L 9
TB03
TB03 A TB04
Terminal bloc
k no. TB04 B TB05
TB05 C TB06
TB07
TB06 D
TB08
TB07 E
TB09
TB08 F TB10
TB09 COM
TB10 0V

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 Chapter 3 Input/Output Specifications

3.5.9 32 point transistor output module (Source type)

Model Transistor output module
Specification MLE-TP32A
Output point 32 point
Insulation method Photo coupler insulation
Rated load voltage DC 12 / 24V
Load voltage range DC 10.2 ~ 26.4V
Max. load voltage 0.2A / 1 point, 2A / 1COM
Off leakage current 0.1㎃ or less
Max. inrush current 4A / 10 ㎳ or less
Max. voltage drop (On) DC 0.4V or less
Surge absorber Zener Diode
Off  On 1㎳ or less
Response time
On  Off 1㎳ or less (Rated load, resistive load)
Common method 32 point / COM
Proper cable size 0.3㎟
Current consumption 120㎃ (When all outputs are on)
Voltage DC12/24V  10% (ripple voltage 4 Vp-p or less)
External power
Current 20㎃ or less (connecting DC24V)
Operation indicator LED On when output On
External connection method 40 pin connector
Weight 60g
Circuit configuration No. Contact No. Contact Type
B20 00 A20 10
B19 01 A19 11
B18 02 A18 12
DC5V B17 03 A17 13 B20 A20
(29) L B02,B01 B16 04 A16 14 B19 A19

E
DC12/24V B15 05 A15 15 B18 A18
B17 A17
A02,A01 B14 06 A14 16
D B16 A16
Internal B13 07 A13 17 B15 A15
circuit A05 (28) L 08
B12 A12 18 B14 A14
B13 A13
B11 09 A11 19 B12 A12
B10 0A A10 1A B11 A11
B09 0B A09 1B B10 A10
B09 A09
R B08 0C A08 1C
B20 B08 A08
B07
(30) L 0D A07 1D B07 A07
B06 0E A06 1E B06 A06
B05
Connector No B05 0F A05 1F A05
B04 A04
. B04 NC A04 NC B03 A03
B03 NC A03 NC B02 A02
B01
B02 A02 A01
COM 0V
B01 A01

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 Chapter 3 Input/Output Specification

3.6 Combined Digital I/O module Input Specification

3.6.1 8 point DC24V input (Source/Sink type)

Model DC input module

Specification
MLE-DR16A
Input point 8 point
Insulation method Photo coupler insulation
Rated input voltage DC24V
Rated input current About 4㎃
Operation voltage range DC20.4~28.8V (within ripple rate 5%)
On Voltage/Current DC19V or higher / 3㎃ or higher
Off Voltage/Current DC6V or less / 1㎃ or less
Input resistance About 5.6㏀
Response Off  On
1/3/5/10/20/70/100㎳ (set by CPU parameter) Default: 3㎳
time On  Off
Insulation pressure AC560Vrms / 3Cycle (altitude 2000m)
Insulation resistance 10㏁ or more by Megohmmeter
Common method 8 point / COM
Proper cable size Stranded cable 0.3~0.75㎟ (External diameter 2.8㎜ or less)
Current consumption 280㎃ (When all inputs and outputs are on)
Operation indicator LED on when input on
External connection method 9 pin terminal block connector
Weight 81g
Circuit configuration No. Contact Type
TB1 0
(32) D TB2 1 TB1
0 Photo coupler C TB3 2 TB2
TB1 (31) L
R 5 TB3
ETB4 3
R V TB4
7 Internal DTB5 4
TB8 TB5
TB9 circuit TB6 5
COM
TB6
TB7 6 TB7
DC24V
Terminal bloc TB8
k no.
TB8 7
TB9

TB9 COM

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 Chapter 3 Input/Output Specifications

3.6.2 8 point DC24V input (Source/Sink type)

Model DC input module

Specification MLE-DN32A
Input point 16 point
Insulation method Photo coupler insulation
Rated input voltage DC24V
Rated input current About 4㎃
Operation voltage range DC20.4~28.8V (ripple rate < 5%)
Input Derating Refer to Derating diagram
On Voltage/Current DC 19V or higher / 3 ㎃ or higher
Off Voltage/Current DC 6V or less / 1 ㎃ or less
Input resistance About 5.6㏀
Response Off  On
1/3/5/10/20/70/100㎳ (set by CPU parameter) Default:3㎳
time On  Off
Insulation pressure AC 560Vrms / 3 Cycle (altitude 2000m)
Insulation resistance 10㏁ or more by Megohmmeter
Common method 16 point / COM
Proper cable size 0.3㎟
Current consumption 60㎃ (When all inputs and outputs are on)
Operation indicator Input On, LED On
External connection method 40 pin connector
Weight 60g
Circuit configuration No. Contact No. Contact Type
B20 00 A20 20
Photo coupler B19 01 A19 21
0 B18 02 A18 22
B20 R B20 A20
B17 03 A17 23 B19 A19

R B16 04 A16 24 B18 A18

B17 A17
1F Internal B15 05 A15 25 B16 A16
B05
B02
circuit B14 06 A14 26 B15 A15
B14 A14
COM B13 07 A13 27 B13 A13
Terminal block no. B12 A12
DC24V
B12 08 A12 28 B11 A11
B11 09 A11 29 B10 A10
B09 A09
Input Derating diagram B10 0A A10 2A B08 A08

100 B09 0B A09 2B B07

B06
A07
A06
90 B08 0C A08 2C B05 A05
B04 A04
80 B07 0D A07 2D
On rate (%)

B03 A03
70 B06 0E A06 2E B02 A02
B01 A01
60 B05 0F A05 2F
50 DC28.8V
B04 NC A04 P
40
0 10 20 30 40 50 55 ℃ B03 NC A03 P
Ambient temperature (℃)
B02 IN_COM A02 OUT_COM

B01 IN_COM A01 OUT_COM

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 Chapter 3 Input/Output Specification

3.7 Combined Digital I/O module Output Specification

3.7.1 8 point relay output
Model Relay output module
Specification MLE-DR16A
Output point 8 point
Insulation method Relay insulation
Rated load
DC24V 2A (Resistive load) / AC220V 2A (COS = 1), 5A/COM
voltage / Current
Min. load voltage/Current DC5V / 1㎃
Max. load voltage AC250V, DC125V
Off leakage current 0.1㎃ (AC220V, 60㎐)
Max. On/Off frequency 3,600 times/hr
Surge absorber None
Mechanical 20 millions times or more
Rated load voltage / current 100,000 times or more
Service life AC200V / 1.5A, AC240V / 1A (COS = 0.7) 100,000 times or more
Electrical
AC200V / 1A, AC240V / 0.5A (COS = 0.35) 100,000 times or more
DC24V / 1A, DC100V / 0.1A (L / R = 7㎳) 100,000 times or more
Response Off  On 10㎳ or less
time On  Off 12㎳ or less
Common method 8 point / COM
Proper cable size Stranded cable 0.3~0.75㎟ (external diameter 2.8㎜ or less)
Current consumption 280㎃ (When all inputs and outputs are on)
Operation indicator LED on when output on
External connection method 9 pin terminal block connector
Weight 81g
Circuit configuration No. Contact Type

TB1 0

DC5V TB2 1
(34) L TB1
TB1
E (35) TB3
L 2 TB2
Internal D TB3
circuit RY TB4 3
TB4
TB8
(33) L TB5
TB5 4
TB9 TB6
TB6 5 TB7

Terminal bloc TB7 6 TB8

k no. TB8 7 TB9
TB9 COM

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 Chapter 3 Input/Output Specifications

3.7.2 16 point transistor output(Sink type)

Model Transistor output module
Specification MLE-DN32A
Output point 16 point
Insulation method Photo coupler insulation
Rated voltage DC12/24V
Operation voltage range DC10.2~26.4V
Max. load current 0.2A / 1 point, 2A / 1COM
Off leakage current 0.1㎃ or less
Max. load voltage 0.7A / 10ms or less
Max. voltage drop (On) DC 0.4V or less
Surge absorber TVS Diode
Response Off  On 1㎳ or less
time On  Off 1㎳ or less (Rated load, resistive load)
Common method 32 point / COM
Proper cable size 0.3㎟
Current consumption 60㎃ (when all point On)
External Voltage DC12/24V  10% (ripple voltage 4 Vp-p or less)
power Current 20㎃ or less (connecting DC24V)
Operation indicator LED On when output On
External connection method 40 pin terminal block connector
Weight 60g
Circuit configuration No. Contact Type
B20 00 A20 20
B19 01 A19 21
B18 02 A18 22
B17 03 A17 23 B20 A20
B19 A19
B16 04 A16 24 B18 A18
B15 05 A15 25 B17 A17
B16 A16
B14 06 A14 26
B15 A15
B13 07 A13 27 B14 A14
B12 08 A12 28 B13 A13
B12 A12
B11 09 A11 29
B11 A11
B10 0A A10 2A B10 A10
B09 A09
B09 0B A09 2B
B08 A08
B08 0C A08 2C B07 A07
B07 0D A07 2D B06 A06
B05 A05
B06 0E A06 2E B04 A04
B05 0F A05 2F B03 A03
B02 A02
B04 NC A04 P
B01 A01
B03 NC A03 P

B02 A02 OUT_

IN_CO
COM
M
B01 A01

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 Chapter 3 Input/Output Specification

3.8 I/O modules’ Functions

3.8.1 Input filter function
The ML50 PLC’s input modules have the input filter function to prevent the external noise signal flowed into the
input signal. For more details on the input filter function, refer to the below.

(1) Purposes and Operations of the input filter function

Under the environment with serious noise or in the case of the equipment that is greatly affected by the input
signal’s pulse width, the system may receive incorrect input depending on the input signal status. To prevent
such incorrect input, the input filter function does not regard the signal that is shorter than the set time by a
user as input. In the case of the ML50 PLC, you c an set the input filter time in the range of 1ms~100ms.

The below timing chart represents the operations of the input filter function.

(2) How to set Input filter

1) Click [I/O Parameter] in SOFTMASTER

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 Chapter 3 Input/Output Specifications

2) Click [Module] in Slot

3) Set I/O Module

4) Click the below box and set Inpu filter

5) Set Input filter

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Chapter 3 Input/Output Specification

3.8.2 Emergency output function

The ML50 PLC’s output module supports the emergency output function to determine whether maintaining the
output status of the output module or clearing it when the PLC is stopped due to errors.
You can set the emergency output by 8 points. For more details on how to set the emergency output, refer to the
below.
(1) Click the below box

(2) Set Emergency output

When the emergency output is cleared, the output is turned off when the operation is stopped because an error
occurs in the PLC. If you select hold Maintain output status.

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 Chapter 3 Input/Output Specifications

3.8.3 Pulse Catch Function

The ML50 PLC basic unit has the input contacts(%IX0.0.0 ~ %IX0.0.7)for Pulse Catch with 8 points. Through
these contacts, it is possible to receive the very short pulse signal that cannot be recognized by the normal digital
input.

(1) Purposes and Operations of the Pulse Catch function

The PLC’s input data is refreshed in a lump once every scan. Accordingly, the very short pulse signal that is
input during scan and is off before the scan is finished cannot be recognized as input. If you need to recognize
and process such short pulse signal, you can use the Pulse Catch function. If you apply this function, the short
pulse of the minimum of 10㎲ (%IX0.0.0 ~ %IX0.0.7:50㎲)can be recognized.

The below timing chart represents the operations of the Pulse Catch function.

Step Processing details

When the minimum pulse signal of 50 ㎲ is input, the CPU part will detect the fact and save
Scan 1
the status.
Scan 2 System pulse catch data area is On.
Scan 3 System pulse catch data area is Off.
(2) Setting pulse catch
1) Click basic module

2) Set pulse catch

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Chapter 3 Input/Output Specification

(3) Setting pulse catch

1) Pulse catch flags are stored in below device

Word flags Bit flags Variable Description

%FX2768 _PLS_CATCH_0 Input contact 0 pulse catch result
%FX2769 _PLS_CATCH_1 Input contact 1 pulse catch result
%FX2770 _PLS_CATCH_2 Input contact 2 pulse catch result
_PLC_CATCH[] %FX2771 _PLS_CATCH_3 Input contact 3 pulse catch result
(%FW173) %FX2772 _PLS_CATCH_4 Input contact 4 pulse catch result
%FX2773 _PLS_CATCH_5 Input contact 5 pulse catch result
%FX2774 _PLS_CATCH_6 Input contact 6 pulse catch result
%FX2775 _PLS_CATCH_7 Input contact 7 pulse catch result

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 Chapter 3 Input/Output Specifications

3.8.1 Smart link board

Easy wiring is available by connecting the IO connector with smart link board.
The available smart link and IO cable are as follows.
ML50 Smart link Connection cable
Item Model Model Pin Model Length Contents
XTB-40H C40HH-05SB-XBI For main unit connection
Main unit MLU-DN32H(P) 40 0.5~1m
(TG7-1H40S) C40HH-10SB-XBI (40Pin)
XTB-40H
MLE-DC32A 40 C40HH-10SB-XBE 1m
(TG7-1H40S) For expansion module
XTB-40H connection (40Pin)
40 C40HH-10SB-XBE 1m
Expansion (TG7-1H40S)
module For expansion module
MLE-TN32A
connection (40Pin)
R32C-NS5A-40P 40 C40HH-10SB-XBE 1m
Exclusive for relay built-in
type

1) XTB-40H terminal array

Terminal array of XTB-40H is as follows.

Item Specification
Rated voltage AC125 / DC 24[V]
Rated current Max. 1[A]
Withstanding volta
500V 1min
ge
Insulation resistor 100㏁ (DC500V)
AWG22-16
Cable specification
(1.5mm2 / MAX)
Terminal/screw M3 X 8L
1.2N ∙ m
Torque
(12kgf ∙ cm)
Terminal Modifide PP0
material Cover Polycarbonate
PCB Epoxy 1.6t

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Chapter 3 Input/Output Specification

2) Wiring of XTB-40H and ML50 extension module

Wiring of ML50 main unit through XTB-40H and C40HH-10SB-XBI is as follows.

At this time, relationship of ML50 IO signal and Smart link board terminal number is as follows.
The following figure describes signal allocation when C40HH-10SB-XBI is used as connection cable.
When the user makes the cable, make sure that wring is done as figure below.

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 Chapter 4 Built-in High-speed Counter Function

Chapter 4 Built-in High-speed Counter Function

ML50 series have built-in function of High-speed counter in main unit. This chapter describes specifications and usage of
High-speed counter’s function

4.1 High-speed Counter Specifications

4.1.1 Performance Specifications
(1) Performance specifications

Classification Spcification

Signal A-phase, B-phase

Count input
Input type Voltage input (Open collector)
signal
Signal level DC 24V
Max. count speed 200kpps
Number of 1 phase 200kpps 4 channels
channels 2 phase 100kpps 2 channels
Count range Signed 32 Bit (-2,147,483,648 ~ 2,147,483,647)
Linear count (if 32-bit range exceeded, Carry/Borrow occurs)
Count mode Counter max. and min. value is indicated
(Program setting)
Ring count (repeated count within setting range)
1-phase input
Input mode
2-phase input
(Program setting)
CW/CCW input
Signal type Voltage
Increasing/decreasing operation setting by B-phase input
1 phase input
Increasing/decreasing operation setting by program
Up/Down
setting 2 phase input Operating setting by rising/falling edge phase difference
A-phase input: increasing operation
CW/CCW
B-phase input: decreasing operation
1 phase input 1 multiplication
Multiplication
2 phase input 4 multiplication
function
CW/CCW 1 multiplication
Signal Preset instruction input(%IX0.0.4 ~ %IX0.0.7)
Control input Signal level DC 24V input type
Signal type Voltage

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Chapter 4 Built-in High-speed Counter Function

Classification Spcification

Output points 2 point/channel (for each channel):use output contact point of main unit
External Selects single-compared (>, >=, =, =<, <) or section-compared output (included or
Type
output excluded) (program setting)
Output type Transistor output
Count Enable To be set through program (count available only in enable status)
Preset function To be set through terminal (contact) or program
Count Latch
Auxiliary mode Frequency Measure
(Program setting) Count per unit time (time setting value: 1~60,000ms)
Count pause

(2) Counter/Preset input specification

Classification Spcification

Input voltage 24V DC (20.4V ~ 28.8V)

Input current 4mA

On guaranteed voltage (min.) 20.4V

Off guaranteed voltage (max.) 6V

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 Chapter 4 Built-in High-speed Counter Function

4.1.2 Designation of Parts

(1) Designation of parts

Terminal Names Usage

No. 1-phase 2-phase 1-phase 2-phase
B20 Ch0 counter input Ch0 A-phase input Counter input terminal A-phase input
B19 Ch1 counter input Ch0 B-phase input Counter input terminal B-phase input
B18 Ch2 counter input Ch2 A-phase input Counter input terminal A-phase input
B17 Ch3 counter input Ch2 B-phase input Counter input terminal B-phase input
B16 Ch0 preset 24V Ch0 preset 24V Preset input terminal Preset input terminal
B15 Ch1 preset 24V - Preset input terminal No use
B14 Ch2 preset 24V Ch2 preset 24V Preset input terminal Preset input terminal
B13 Ch3 preset 24V - Preset input terminal No use
B12
B11
B10
B09
B08
B07
B06
B05
B04
B03
B02 Input common Input common Common terminal Common terminal
B01 Input common Input common Common terminal Common terminal

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Chapter 4 Built-in High-speed Counter Function

(2) Interface with external devices

Signal On/Off

Operation
Terminal
I/O Internal circuit guaranteed
No. 1-phase 2-phase
voltage

Ch 0 Ch 0 On 20.4~28.8V
B20
4. 7 k Pulse input A-phase input Off 6V or less

B19 Ch 1 Ch 0 On 20.4~28.8V
4. 7 k Pulse input B-phase input Off 6V or less

Ch 2 Ch 2 On 20.4~28.8V
B18
Pulse input A-phase input Off 6V or less
4. 7 k

Ch 3 Ch 2 On 20.4~28.8V
B17
4. 7 k Pulse input B-phase input Off 6V or less
Input
Ch 0 Ch 0 On 20.4~28.8V
B16
5. 6 k Preset input Preset input Off 6V or less

Ch 1 On 20.4~28.8V
B15 -
Preset input Off 6V or less
5. 6 k

Ch 2 Ch 2 On 20.4~28.8V
B14
Preset input Preset input
5. 6 k Off 6V or less

Ch 2 On 20.4~28.8V
B13 -
Preset input Off 6V or less
5. 6 k
B01/B02 COM (input common)

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 Chapter 4 Built-in High-speed Counter Function

4.1.3 Functions of High-speed Counter

(1) Counter mode
(a) High Speed counter function can count High Speed pulses which can not be processed by CPU module’s
counter instructions (CTU, CTD, CTUD, etc.), up to binary value of 32 bits (-2,147,483,648 ~ 2,147,483,647).
(b) Available input is 1-phase input, 2-phase input and CW/ CCW input.
(c) Count increasing/decreasing methods are as follows;
• For 1-phase input: a) Increasing/decreasing count operation by program setting
b) Increasing/decreasing count operation by B-phase input signal
• For 2-phase input: setting by difference in phase between A-phase and B-phase
• For CW/CCW input: Increasing operation if B-phase is LOW with A-phase input, and Decreasing operation if A-
phase is LOW with B-phase input.
(d) Auxiliary modes are as follows;
• Latch counter
• Count function about the number of revolution per unit time
• Frequency measure function
• Count prohibited function

(e) Pulse input mode

1) 1 phase count mode
a) Increasing/decreasing count operation by program setting
• 1-phase 1-input 1-multiplication operation mode
A-phase input pulse counts at rising and increasing/decreasing will be decided by the applicable program.

A-phase input pulse A-phase input pulse

Increasing/Decreasing classification
rising falling
Increasing/decreasing count setting signal Off Increasing count -
Increasing/decreasing count setting signal On Decreasing count -

• Operation example

A phase input
pulse

Up/Down On
count setting Off Off

Count 10 11 12 13 12 11 12

Up Down Up

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Chapter 4 Built-in High-speed Counter Function

b) Increasing/decreasing count operation by B-phase input signal

• 1-phase 2-input 1-multiplication operation mode
A-phase input pulse counts at rising and increasing/decreasing will be decided by B-phase.
Increasing/Decreasing classification A-phase input pulse rising A-phase input pulse falling
B-phase input pulse Off Increasing count -
B-phase input pulse On Decreasing count -

• Operation example
A phase input
pulse

On
B phase input Off Off
pulse
Count 10 11 12 13 12 11 12

Up Down Up

2) 2-phase count mode

a) 2-phase 4-multiplication operation mode
A-phase input pulse and B-phase input pulse count at rising/falling respectively. If A-phase input is
antecedent to B-phase input, increasing operation starts, and if B-phase input is antecedent to A-phase input,
decreasing operation starts.
• Operation example

A phase input
pulse

B phase input
pulse

Count 10 11 12 13 14 15 16 17 18 19 20 21 22 23 22 21 20 19 18 17 16 15 14 13 12 11 10

Up Down

3) CW(Clockwise)/CCW(Counter Clockwise) operation mode

A-phase input pulse counts at rising , or B-phase input pulse counts at rising.
Increasing operation executed when B-phase input pulse is Low with A-phase input pulse at rising, and
Decreasing operation executed when A-phase input pulse is Low with B-phase input pulse at rising.
Increasing/Decreasing classification A-phase input pulse High A-phase input pulse Low
B-phase input pulse High - decreasing count
B-phase input pulse Low Increasing count -
• Operation example

A phase input
pulse

B phase input
pulse

Count 10 11 12 13 12 11 10

Up Down

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 Chapter 4 Built-in High-speed Counter Function

(2) Counter mode

2 types of count (Linear counter, Ring counter) can be selected for the applicable use based on functions.

• Counter mode is saved at the following special K area.

Area per each channel (word)
Mode Reference*1)
Ch.0 Ch.1 Ch.2 Ch.3
Counter 0 : linear
%KW300 %KW330 %KW360 %KW390
mode 1 : ring

(a) Linear counter

• Linear Count range: -2,147,483,648 ~ 2,147,483,647
• If count value reaches the maximum value while increased, Carry will occur, and if count value reaches the
minimum value while decreased, Borrow will occur.
• If Carry occurs, count stops and increasing is not available but decreasing is available.
• If Borrow occurs, count stops and decreasing is not available but increasing is available.
Count

2,147,483,647

Input
Count start pulse

-2,147,483,648

Borrow

Carry

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Chapter 4 Built-in High-speed Counter Function

(b) Ring count

Set Ring Counter Min. Value and Max. value. Preset value and compared set value should be in range of ring
counter min. value and max. value.

Ring counter max. and min value is saved at the following special K area.
Area per each channel (Double word)
type Reference
Ch.0 Ch.1 Ch.2 Ch.3
Ring counter
%KD154 %KD169 %KD184 %KD199
Min. value
Ring counter
%KD155 %KD170 %KD185 %KD200
Max. value

▪ Range of Ring counter: user defined min. value ~ user defined max. value
▪ Counter display: in case of using ring counter, user defined max. value is not displayed.
1) During increasing count
Even if count value exceeds user-defined maximum value during increasing count, Carry only occurs and
count does not stop differently to Linear Count.
Ring count max.
value

Input pulse

Count start : not included

: included

Ring count min.

value

Carry

Carry/borrow reset

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 Chapter 4 Built-in High-speed Counter Function

2) During decreasing count

Even if count value exceeds user-defined minimum value during decreasing count, Borrow only occurs
and count does not stop differently to Linear Count.
Count
Ring count max
value

Count start

Input pulse

: Not included
: Included

Ring count min

value

Borrow

Carry/Borrow reset

3) Operation when setting Ring Count based on present count value (during increasing count)
• If present count value exceeds user-defined range when setting Ring Count
- Error (code no. 27) is occurred and it operates linear counter.
• If present count value is within user-defined range when setting Ring Count
- Present count value starts to increase up to the user-defined maximum value and down to the user-
defined minimum value and keeps counting after Carry occurs.
- Not the maximum but the minimum value only is displayed with count kept on as shown below.

2,147,483,647
Carry occurred
Ring Count Carry occurred
Max. value

Present
Ring Count position
Min. value ○ :Not included
● :Included
-2,147,483,648 Present position

※If out of the user- ※If within the user-

defined range defined range

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Chapter 4 Built-in High-speed Counter Function

4) Operation when setting Ring Count based on present count value (during decreasing count)
• If present count value exceeds user-defined range when setting Ring Count
- Error (code no. 27) is occurred and it operates linear counter. If the present count value goes into the
ring count range, it operates ring counter.(The error code is not cleared.)
• If present count value is within user-defined range when setting Ring Count
- Present count value starts to decrease down to the user-defined minimum value and up to the user-
defined maximum value and keeps counting after Borrow occurs.

2,147,483,647
Ring Count
maximum value
Present position

Ring Count
Present position Borrow occurred
minimum value ○ : Not included
Borrow occurred ● : Included
-2,147,483,648
※If out of the user-defined ※If within the user-defined range
range

Remark

(1) Based on count value within or out of user-defined range, count will be decided to be within or out of the range
when setting Ring Count.
(2) Ring Count setting when count value is out of the range is regarded as user’s mistake. The count is not available
within the Ring Count range.
(3) Use preset function or the like when using Ring Count so to surely position the count value within the range.

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 Chapter 4 Built-in High-speed Counter Function

(3) Compared output

(a) High Speed counter module has a compared output function used to compare present count value with
compared value in size to output as compared.
(b) Available compared outputs are 2 for 1 channel, which can be used separately.
(c) Compared output conditions are 7 associated with >, =, < .
(d) Parameter setting

• Comp. output mode setting

• Upper setting value is saved in special K area.

Memory address (word)
Compared output condition Value*2)
Comp output 0 Comp output 1
Present Value < Compared Value Set to “0”
Present Value ≤ Compared Value Set to “1”
Present Value = Compared Value Ch.0 %KW302 Ch.0 %KW 303 Set to “2”
Present Value ≥ Compared Value Ch.1 %KW 332 Ch.1 %KW 333 Set to “3”
Ch.2 %KW 362 Ch.2 %KW 363
Present Value > Compared Value Ch.3 %KW 392 Ch.3 %KW 393 Set to “4”
Compared value 1 ≤ Count value ≤ Compared value 2 Set to “5”
Count value ≤ Compared value 1,
Set to “6”
Count value ≥ Compared value 2
*2) If compared output mode set value is other than 0~6 at using counter, error code ‘23’ occurs.

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• In order to output the compared output signal, compared output enable flag set to ‘1’ after compared output condition
set.
Area per channel
Classification Operation
Ch. 0 Ch. 1 Ch. 2 Ch. 3
Count enable signal %KX4160 %KX4320 %KX4480 %KX4640 0: N/A, 1: enable
Compared enable0 signal %KX4164 %KX4324 %KX4484 %KX4644 0: forbidden, 1: enable
Compared enable1 signal %KX4167 %KX4327 %KX4487 %KX4647 0: forbidden, 1: enable

▪ In order to make external output, the compared coincidence output signal (P20~P2F) must be set. If Compared output
contact is ‘Off’ at Special Module Parameter Setting of SoftMaster, Compared coincidence output signal (internal
device) is only output.
Area per channel
Classification Operation
Ch. 0 Ch. 1 Ch. 2 Ch. 3
0: Compared output not
Comparator output
%KX4178 %KX4338 %KX4498 %KX4658 equivalent
signal0
1: Compared output equivalent
0: Compared output not
Comparator output
%KX4179 %KX4339 %KX4499 %KX4659 equivalent
signal1
1: Compared output equivalent

• Comp. output point (%QX0.0.0 ~ %QX0.0.15) setting

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(e) Detail of comparator output

It describes detail of comparator output (based on comparator output 0)

1) Mode 0 (Present value < Compared value)

If counted present value is less than the minimum value of compared output 0, output is sent out, and if present
value increases to be equal to or greater than the minimum value of compared output 0, output is not sent out.

Count 123456 123457 123458 123459 123460 123461 123462

Comparator
123460
output 0 Min.value
Compared
output 0 Enable
Compared output 0
Output Signal
External output
(in case of Enabled)

2) Mode1 (Count value ≤ Compared value)

If present count value is less than or equal to the minimum set value of compared output 0, output is sent out, and if
count value increases to be greater than the minimum set value of compared output 0, output is not sent out.

Count 123456 123457 123458 123459 123460 123461 123462

Comparator
123460
output 0 Min.value
Compared
output 0 Enable
Compared output 0
Output Signal
External output
(in case of Enabled)

3) Mode 2 (Count value = Compared value)

If present count value is equal to the minimum set value of compared output 0, output is On. The ouput will keep
turning on even if count value is changed from set value when count value is increased or decreased. In order to
turn the output Off, Compared output Enable signal 0 is to be Off, or Compared match flag of K area and External
output point are forced to be Off

Count 123456 123457 123458 123459 123460 123461 123462

Comparator
123460
output 0 Min.value
Compared
output 0 Enable
Compared output 0
Output Signal
Turn off by program
External output
(in case of Enabled)

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4) Mode 3 (Count value ≥ Compared value)

If present count value is greater than or equal to the minimum set value of compared output 0, output is sent out,
and if count value decreases to be less than the minimum set value of compared output 0, output is not sent out.

Count 123456 123457 123458 123459 123460 123461 123462

Comparator
123458
output 0 Min.value
Compared
output 0 Enable
Compared output 0
Output Signal
External output
(in case of Enabled)

5) Mode 4 (Count value > Compared Output value)

If present count value is greater than the minimum set value of compared output 0, output is sent out, and if count
value decreases to be less than or equal to the minimum set value of compared output 0, output is not sent out.

Count 123456 123457 123458 123459 123460 123461 123462

Comparator
123458
output 0 Min.value
Compared
output 0 Enable
Compared output 0
Output Signal
External output
(in case of Enabled)

6) Mode 5
(Section comparison: Min. set value of Compared Output 0 ≤ Count value ≤ Max. set value of Compared Output 0)
If present count value is greater than or equal to the minimum set value of compared output 0 and less than or
equal to the maximum set value of compared output 0, output is sent out, and if count value increases/decreases to
exceed compared value’s range, output is not sent out.

Count 123456 123457 123458 123459 123460 123461 123462

Compared Min. Value 123457

Compared Max. Value 123461

Comparator Enable

Compared ouput

External output
(in case of Enabled)

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 Chapter 4 Built-in High-speed Counter Function

7) Mode 6 (Count value ≤ Min. set value of Compared Output 0 or Count value ≥ Max. set value of Compared Output 0)
If present count value is less than or equal to the minimum set value of compared 0 and greater than or equal to the
maximum set value of compared 0, output is sent out, and if count value increases/decreases to exceed compared
value’s range, output is not sent out.

Count 123456 123457 123458 123459 123460 123461 123462

Compared Min. Value 123458

Compared Max. Value 123460

Comparator Enable

Compared output
result

External output
(in case of Enabled)

Remark

Ultimate performance ML50 main unit checks present count value every 250㎲ and executes compared output
function. Therefore, it can takes maximum 250㎲ delay to detect compared condition.

(4) Carry signal

(a) Carry signal occurs
1) When count range maximum value of 2,147,483,647 is reached during Linear Count.
2) When user-defined maximum value of Ring Count changed to the minimum value during Ring Count.
(b) Count when Carry Signal occurs
1) Count stops if Carry occurs during Linear Count.
2) Count does not stop even if Carry occurs during Ring Count.
(c) Carry reset
1) The Carry generated can be cancelled by turning off the associated device area in the program.
Device area per channel(BIT)
Classification
Channel 0 Channel 1 Channel 2 Channel 3
Carry signal %KX4176 %KX4336 %KX4496 %KX4656

(5) Borrow signal

(a) Borrow signal occurs
1) When count range minimum value of -2,147,483,648 is reached during Linear Count.
2) When user-defined minimum value of Ring Count changed to the maximum value during Ring Count.
(b) Count when Borrow signal occurs
1) Count stops if Borrow occurs during Linear Count.
2) Count does not stop even if Borrow occurs during Ring Count.
(c) Borrow reset
1) The Borrow generated can be cancelled by turning off the associated device area in the program.
Device area per channel(BIT)
Classification
Channel 0 Channel 1 Channel 2 Channel 3
Borrow signal %KX4177 %KX4337 %KX4497 %KX4657

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Chapter 4 Built-in High-speed Counter Function

(6) Revolution/Unit time

While the Flag about the number of revolution per unit time is On, it counts the number of input pulses for the
specified unit time so that the number of revolution per unit time is calculated.

(a) Setting
1) Set the unit time and the number of pulse per 1 revolution.

Setting value is saved at the following special K area and user can designate directly.

Device area per channels (WORD)

Classification Operation
Channel 0 Channel 1 Channel 2 Channel 3
Unit time (1~60000㎳) %KW322 %KW352 %KW382 %KW412 1~60000㎳
Pulse number /revolution
%KW323 %KW353 %KW383 %KW13 1~60000
(1~60000)

2) In case of using Rev/unit time function, enable the following special K area
Device area per channels(BIT)
Classification Operation
Channel 0 Channel 1 Channel 2 Channel 3
Revolution/unit time 0: disable
%KX4165 %KX4325 %KX4485 %KX4645
command 1: enable

3) Rev/unit time value is saved at the following special K area.

Device area per channels(DWORD)
Classification
Channel 0 Channel 1 Channel 2 Channel 3

Revolution Per Unit %KD132 %KD137 %KD142 %KD147

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 Chapter 4 Built-in High-speed Counter Function

(b) Count function of Revolution/Unit time is used to count the number of pulses for a specified time while auxiliary
mode enable signal is On so that the number of revolution per unit time is calculated as follow.
1
unit time ms  
 pls  1000
Input pluse     Revolution / Unit time
 sec  number of pulses per a revolution pls 

(c) Number of Revolution per 1 second is indicated after number of pulse per 1 revolution is set and time is set to 1
second (1000ms). In order to indicate by Revolutions per minute (RPM), set the Unit time to 1
minute(60,000ms).

(d) In case of that number of pulse per 1 revolution set to ‘10’, the example of calculating Revolution/Unit time is as
shown below.
Current count

700
600

400
350
300
190
100 Count starting point
0

Revolution
per unit time
30
25
21
10
0
Setting time Setting time Setting time Setting time

Revolution per
unit time function
enabled

(7) Latch counter function

Latch counter function latches the current counter value when the power is turned off in case of that latch counter
enable signal is On.
• Setting: If present counter value is to latch, set Count Latch Enable flag to On.

Device area per channel(BIT)

Classification Operation
Channel 0 Channel 1 Channel 2 Channel 3
Count latch 0: disable
%KX4166 %KX4326 %KX4486 %KX4646
command 1: enable

▪ Count latch function is operated when Count latch signal is On. Namely, counter value is not cleared when power
supply Off =>On and mode change, it is counted from previous value.
▪ In latch counter function, internal or external preset function has to use for clearing present value.

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(8) Preset function

It changes the current value into preset value.
There are two types of preset function, internal preset and external preset. External preset is fixed as input contact
point of main unit (%IX0.0.4 ~%IX0.0.7).

• Preset setting value is saved at the following special K area.

Area per each channel (DWORD)
Type Ref.
Ch.0 Ch.1 Ch.2 Ch.3
Internal preset %KD152 %KD167 %KD182 %KD197 -
External preset %KD153 %KD168 %KD183 %KD198 -

• Preset command is specified through the following special K area, external preset is used by executing the
designated input contact point after allowance bit is on.
Area per each channel (BIT)
Type Ref.
Ch.0 Ch.1 Ch.2 Ch.3
Internal preset
%KX4161 %KX4321 %KX4481 %KX4641 -
command
External preset
%KX4162 %KX4322 %KX4482 %KX4642 -
allowance
External preset
%IX0.0.4 %IX0.0.5 %IX0.0.6 %IX0.0.7 -
command

• External preset is executed in case of that rising edge of external preset input contact is occurred when external
preset allowance is enabled.

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(9) Frequency measurement function

The function measures and displays the frequency for every measurement cycle when frequency measurement
enable flag is On.
(a) Setting
1) Set up Frequency Measure mode.

Setting value is saved at the following special K area and user can designate directly.
Area per each channel (WORD)
Class Operation
Ch.0 Ch.1 Ch.2 Ch.3
Frequency 1, 10, 100,
%KW324 %KW354 %KW384 %KW414
Measuring Period 1000 Hz

2) Set Frequency measurement enable flag to ‘Enable’ when using frequency measurement function.
Area per each channel (BIT)
Class Operation
Ch.0 Ch.1 Ch.2 Ch.3
Frequency
0: disable
measurement enable %KX4168 %KX4328 %KX4488 %KX4648
1: enable
command

3) Frequency measurement value is saved at the following special K area.

Area per each channel (DWORD)
Class Ref.
Ch.0 Ch.1 Ch.2 Ch.3
Frequency
%KD134 %KD139 %KD144 %KD149
measurement value

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4) Frequency input mode can be specified as below, whose update cycle and resolution will be decided based
on the applicable mode.
Frequency unit setting Unit[Hz] Updated cycle[ms]
0 1 1000
1 10 100
2 100 10
3 1000 1

5) In case of setting up the frequency unit to 1Hz, the operation of frequency measurement function is as
show below.
Current count

700
600

400
350
300
190
100 Count starting point
0

Input frequency

300
250
210
100
0
Revision Revision Revision Revision
Frequency Cycle Cycle Cycle Cycle
Measurement
enable

(10) Count pause

Count operation is not executed even if pulses are input when count pause flag is On.

Set the count pause signal to On when using count pause function.
Area per each channel (BIT)
Class Operation
Ch.0 Ch.1 Ch.2 Ch.3
0: disable
Count pause %KX4170 %KX4330 %KX4490 %KX4650
1: enable

Current Count

300

100 Count starting

point
0

-200

Count pause
enable

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4.2 Installation and Wiring

4.2.1 Precaution for Wiring
Pay attention to the counteractions against wiring noise especially for high-speed counter input.
(1) Make sure of using separate cables for the power line and external I/O signal line of high-speed counter module so
that it is not affected from surge or induced noise from power line.
(2) The wire has to be selected by considering the permitted current and the ambient temperature.
(3) If the wire is so near with high temperature machines and materials, or is contacted with oil for a long time, it can be
short circuit or malfunction.
(4) Check the polarity before applying external I/O signal to terminal.
(5) In case of that the high voltage line and the power line are wired at the same time, the induced interruption is
caused. So it can be a reason for abnormal operation or malfunction.
(6) When using pipe for wiring, grounding for pipe is necessary.
(7) Use shielded twisted pair cable for wiring pulse input to high-speed counter If it is speculated that there is a noise
source for wiring between high-speed counter and connected devices.
(8) Connect only A-phase in case of 1-phase input.
(9) Wire with due regard to maximum output length of pulse generator and wiring should be as short as possible.
(10) Make sure of grounding with class 3 grounding which is dedicated to the PLC.

4.2.2 Example of Wiring

(1) When pulse generator(encoder) is voltage output.
Ultimate performance XGB PLC 펄스발생기기
Pulse generator

Shielded twisted pair cable

Contact
A5V

COM
A5V
F.G 0V 24V

- +
24V DC

(2) When pulse generator is open-collector output type.

Ultimate performance XGB PLC Pulse generator

Shielded twisted pair cable

Contact
A12V
OUTA
A_C
COM

F.G 24V 0V

- +

24V DC

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 Chapter 4 Built-in High-speed Counter Function

4.3 Internal Memory

4.3.1 Special Area for High-speed Counter
Parameter and operation command area of built-in high-speed counter use special K devices.
If values set in parameter are changed, it works with the changed values.

(1) Parameter setting area

Description Device area per channel
Parameter Remark
Value Setting Ch 0 Ch 1 Ch 2 Ch 3
h0000 Linear count
Counter mode %KW300 %KW330 %KW360 %KW390 Word
h0001 Ring count
h0000 1 phase 1 input 1 multiplication
Word
Pulse input mode h0001 1 phase 2 input 1 multiplication
%KW301 %KW331 %KW361 %KW391
setting h0002 CW / CCW
Word
h0003 2 phase 4 multiplication
h0000 (Magnitude) <
h0001 (Magnitude) ≤
Comp. h0002 (Magnitude) =
Output 0 mode h0003 (Magnitude) ≥ %KW302 %KW332 %KW362 %KW392 Word
setting h0004 (Magnitude) >
h0005 (Range) Include
h0006 (Range) Exclude
h0000 (Magnitude) <
h0001 (Magnitude) ≤
Comp. h0002 (Magnitude) =
Output 1 mode h0003 (Magnitude) ≥ %KW303 %KW333 %KW363 %KW393 Word
setting h0004 (Magnitude) >
h0005 (Range) Include
h0006 (Range) Exclude
Internal preset
-2,147,483,648 ~ 2,147,483,647 %KD152 %KD167 %KD182 %KD197 DWord
Value setting
External preset
-2,147,483,648 ~ 2,147,483,647 %KD153 %KD168 %KD183 %KD198 DWord
Value setting

Ring counter
-2,147,483,648 ~ 2,147,483,645 %KD154 %KD169 %KD184 %KD199 DWord
min. value setting
Ring counter
-2,147,483,646 ~ 2,147,483,647 %KD155 %KD170 %KD185 %KD200 DWord
max. value setting
Comp. output
-2,147,483,648 ~ 2,147,483,647 %KD156 %KD171 %KD186 %KD201 DWord
min. value setting

Comp. output
-2,147,483,648 ~ 2,147,483,647 %KD157 %KD172 %KD187 %KD202 DWord
max. value setting

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Description Device area per channel

Parameter Remark
Value Setting Ch 0 Ch 1 Ch 2 Ch 3

HFFFF No use
h0000 %QX0.0.1
h0001 %QX0.0.2
h0002 %QX0.0.3
h0003 %QX0.0.4
h0004 %QX0.0.5
h0005 %QX0.0.6
Comp. output 0 h0006 %QX0.0.7
point h0007 %QX0.0.8 %KW320 %KW350 %KW380 %KW410 Word
designation h0008 %QX0.0.9
h0009 %QX0.0.10
h000A %QX0.0.11
h000B %QX0.0.12
h000C %QX0.0.13
h000D %QX0.0.14
h000E %QX0.0.15
h000F %QX0.0.16
HFFFF No use
h0000 %QX0.0.1
h0001 %QX0.0.2
h0002 %QX0.0.3
h0003 %QX0.0.4
h0004 %QX0.0.5
h0005 %QX0.0.6
Comp. output 1 h0006 %QX0.0.7
point h0007 %QX0.0.8 %KW321 %KW351 %KW381 %KW411 Word
designation h0008 %QX0.0.9
h0009 %QX0.0.10
h000A %QX0.0.11
h000B %QX0.0.12
h000C %QX0.0.13
h000D %QX0.0.14
h000E %QX0.0.15
h000F %QX0.0.16

Unit time [ms] 1 ~ 60,000 ms %KW322 %KW352 %KW382 %KW412 Word

Pulse/Rev.value 1 ~ 60,000 %KW323 %KW353 %KW383 %KW413 Word

h0000 1Hz
Frequency Word
h0001 10Hz
Measurement %KW324 %KW354 %KW384 %KW414
h0002 100Hz
cycle setting Word
h0003 1000Hz

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Chapter 4 Built-in High-speed Counter Function

(b) Operation command

Device area per channel
Parameter
Ch 0 Ch 1 Ch 2 Ch 3
Counter enabling %KX4160 %KX4320 %KX4480 %KX4640
Internal preset designation of
%KX4161 %KX4321 %KX4481 %KX4641
counter0
External preset enabling of
%KX4162 %KX4322 %KX4482 %KX4642
counter1
Designation of decremental
%KX4163 %KX4323 %KX4483 %KX4643
counter
Comp. output enabling %KX4164 %KX4324 %KX4484 %KX4644
Enabling of revolution time per
%KX4167 %KX4327 %KX4487 %KX4647
unit time
Designation of latch counter %KX4165 %KX4325 %KX4485 %KX4645
Carry signal (Bit) %KX4166 %KX4326 %KX4486 %KX4646
Borrow signal %KX4168 %KX4328 %KX4488 %KX4648
Comp. output signal %KX4176 %KX4336 %KX4496 %KX4656

(c) Monitor Area

Device area per channel
Parameter Remark
Ch 0 Ch 1 Ch 2 Ch 3
Current counter value %KD131 %KD136 %KD141 %KD146 DWORD
Revolution time per unit time %KD132 %KD137 %KD142 %KD147 DWORD
Frequency measurement %KD134 %KD139 %KD144 %KD149

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4.3.2 Error code

It describes errors of the built-in high-speed counter.
• Error occurred is saved in the following area.
Device area per channel
Category Remark
Ch0 Ch1 Ch2 Ch3
Error code %KW266 %KW276 %KW286 %KW296 WORD

▪ Error codes and descriptions

Error code
Description
(Decimal)
20 Counter type is set out of range
21 Pulse input type is set out of range
Requesting #1(3,)channel Run during the operation of #0(2) channel 2 phase(
22
* During #0(2) channel 2 phase inputting, using #1(3)channel is not possible.
23 Compared output type setting is set out of range.
25 Internal preset value is set out of counter range
26 External present value is set out of counter range
Ring counter setting is set out of range
27
* Note ring counter setting should be 2 and more.
28 Compared output min. value is set out of permissible max. input range
29 Compared output max. value is set out of permissible max. input range
30 Error of Compared output min. value>Compared output max. value
31 Compared output is set out of the default output value
34 Set value of Unit time is out of the range
35 Pulse value per 1 revolution is set out of range
36 Compared output min. value is set out of permissible max. input range (Comp. output 1)
37 Compared output max. value is set out of permissible max. input range (Comp. output 1)
38 Error of Compared output min. value>Compared output max. value (Comp. output 1)
39 Compared output is set out of the default output value (Comp. output 1)
40 Frequency measurement cycle setting error

Remark

If two and more errors occur, the module displays the latest error code.

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Chapter 4 Built-in High-speed Counter Function

4.4 Example of Using High-speed Counter

It describes examples of using high-speed counter.
(1) Setting high-speed counter parameter
How to set types of parameters to operate a high-speed counter is described as follows.
(a) Set 『Internal Parameters』 in the basic project window.

(b) Selecting high-speed counter opens a window to set high-speed counter parameters as follows.
(Every parameter settings are saved in the special K device area.)

(c) Upon the setting, download program and parameter to PLC.

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 Chapter 4 Built-in High-speed Counter Function

(c) Turn ‘ON’ the high-speed counter Enable signal (CH0:%KX4160) in the program.

(d) To use additional functions of the high-speed counter, you needs to turn on the flag allowing an operation
command.
* Refer to <4.3.1 Special Area for High-speed Counter>
For instance, turn on K2605 bit if among additional functions in order to use revolution time per unit time function.

(2) Monitoring and setting command

Monitoring and command setting of high-speed counter are described as follows.
(a) If starting a monitor and clicking a Special Module Monitor, the following window is opened.

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Chapter 4 Built-in High-speed Counter Function

(b) Clicking 『Monitor』 shows monitor and test window of high-speed counter.

Item Description
FLAG Monitor Show flag monitoring and command window of high-speed counter
Start Monitoring Start monitoring each item (special K device area monitor).
Write each item setting to PLC.
Test
(Write the setting to special K device)
Close Close monitor

(c) Clicking 『Start Monitoring』shows the high-speed counter monitor display, in which you may set each
parameter. At this moment, if any, changed values are not saved if power off=> on or mode is changed.

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(d) Clicking『FLAG Monitor』 shows the monitor of each flag in high-speed counter, in which you may direct
operation commands by flags (clicking commands reverse turn).

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 Chapter 5 Built-in PID Function

Chapter 5. Built-in PID Function

5.1 Features of Built-in PID Function
Here describes built-in PID (Proportional Integral Derivative) function. When there is plant (target of control), Control means that the
user changes the status such as velocity, temperature, position, voltage, current etc. as the user wishes. Here describes PID control
that is most frequently used among diverse control methods.
Basic concept of PID control is as follows. First, it detects the PV (Process Value) through sensor and calculates what the difference
with SV (Set value) is. Then it outputs MV (Manipulated Value) for PV to be same with SV.
At this time, 3 types of operation, such as Proportion, Integration, Derivation is executed according to the requirement of the user. PID
control has high compatibility, flexibility, affordability in comparison with Robust control and Linear optimal control. In case of other
control methods, since control device can be applied to the system after mathematical analysis of system, if system or the requirement
of the user changes, the analysis of system is done again. But in case of PID control, PID device copes with change of system or
requirement of the user with simple auto-tunings without analysis of system rapidly.
The figure 5.1 is example indicating system configuration of temperature control of heating system.

<Figure 5.1PID Temperature control system with PLC>

At this time, PLC becomes control device for this system, output temperature of heating system becomes target for control. And
temperature sensor and valve becomes devices to detect and manipulate the status of system respectively. If temperature sensor
detects the output temperature and inputs that to PLC, PLC manipulate the valve status through PID operation and control the quantity
of gas that goes into heating system. So temperature of heating system changes. This process is called control loop and PID control is
executed by repeating the control loop. The control loop is repeated with a cycle of ms ~ s.

The built-in PID control functions of MLU “HP” feature as follows.

(1) Since operations are executed within CPU part, it can be controlled by PID parameters and PLC program without
PID module.
(2) A variety of controls can be selected
▪ That is, a user can easily select P operation, PI operation and PID operation.
(3) Precise control operation
▪ It can make precise PID control operations possible through floating point operations.
(4) PWM (Pulse Width Modulation) output available.
▪ It outputs control operation results to the output contact point designated by a user through PWM.

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(5) Improving convenience of control settings and monitoring

▪ Through parameter setting method and K area flag, it maximizes control parameter settings during operation and
convenience of monitoring
(6) Freely selectable operation direction
▪ Forward, reverse and mixed forward/reverse operations are available
(7) Cascade operation realizing quick and precise PID control
▪ It can increase quickness of response to disturbance through cascade loop.
(8) Various additional functions
▪ PID control can be achieved by various methods a user wishes because set value ramp, the present value follow-up,
limiting change of values and types of alarm functions are provided.

5.2 Basic Theory of PID Control

Here describes basic theory of PID control and how to configure PID control.
(1) Terms
Terms used in this user manual are as follows.

▪ PV: status of plant detected by sensor (Process value)

▪ SV: Target value (Set Value) to control plant, if control is done normally, PV should follow the SV.
▪ E: error between SV and PV. It can be expressed as (SV-PV).
▪ Kp: proportional coefficient
▪ Ti: Integral time constant. Sometimes called integral time
▪ Td: Derivative time constant. Sometimes called derivative time
▪ MV: Control input or control device output. The input to plant to make PV follow the V
▪ Ts: Sampling time, a cycle of operation to execute PID control

(2) PID operation expression

Basic PID operation expressions are as follows.

E  SV  PV (5.2.1)

MV P  K P E (5.2.2)
KP
MVi 
Ti  Edt (5.2.3)

dE
MVd  K PTd (5.2.4)
dt
MV  MVP  MVi  MVd (5.2.5)

PID control operation expressions of ML50 series are more complicate than expression (5.2.1) ~ (5.2.5) mathematically but those are
based on the above expression. The followings describe the characteristics of control process with an example that controls the output
temperature of heating system in figure 5.1. At this example, the system and PID parameters imaginary to help the comprehension
and those may be different with real heating system. If the heating system in figure 5.1 is expressed as second order system with
transfer function like expression (5.2.6) in frequency domain, it is expressed as differential equation like expression (5.2.6) in the time
domain.

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32 (5.2.6)
Transfer function =
(2s  1)(3s  5))
6 d 2 y (t ) 13 dy(t ) (5.2.7)
  5 y (t )  x(t )
32 dt 2 32 dt
That is, x(t) is Manipulated value and y(t) is Process value.

At this system, we assume that the PID parameter is specified as shown below to describe the PID control operation.

Items Value Items Value

Output temperature of
0℃ Proportional coefficient (KP) 5
heating system (PV)
Target temperature (SV) 50℃ Integral time (Ti) 3s
Cycle of operation 0.01s Derivative time (Td) 0.19s
<Table 5.1 example of control of heating system>

At this system, if we assume that target value of output temperature is 50℃ and initial value of output temperature is 0℃, SV and PV
becomes 50 and 0 respectively. In case of this, PID controller acts as follows.

(3) Proportional control (P control)

In the proportional control, the controller yields output that is proportional to error.
Manipulated value of controller by Proportional control is as follows.

MV P  E  K P (5.2.8)

(a) If P control starts, output of controller by initial P operation is as follows.

MV0  50  5  250
(5.2.9)

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If P control is executed for 10 seconds, output temperature will be as table 5.2.

If this is expressed with graph, it will be as Figure 5.2.

Proportional
Time Target temp. Output temp. Error
coefficient
0 50 5 0 50
1 50 5 44.98 5.02
2 50 5 53.08 -3.08
3 50 5 50.15 -0.15
4 50 5 48.42 1.58
5 50 5 48.28 1.72
6 50 5 48.44 1.56
7 50 5 48.49 1.51
8 50 5 48.49 1.51
9 50 5 48.49 1.51

< Table 5.2 example of Proportional control >

Max. overshoot

Offset

< Figure5.2 simulation of proportional control >

(b) Concerning the result of simulation, it has the maximum overshoot of about 23.4℃at 0.62s and after 7s, it converges at 48.49℃
with offset of 1.51℃(about 3%).

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(c) Offset is an unavoidable error when only P control is executed. Offset decreases proportional to P coefficient but overshoot
increases proportional to P coefficient. Table 5.3 and Figure 5.3 is simulation of offset and overshoot according to P coefficient.

Target
Time Kp = 5 Kp = 2.5 Kp = 1
temperature
0 50 0 0 0
1 50 45.02 63.46 46.67
2 50 53.11 42.52 46.77
3 50 50.15 47.93 41.38
4 50 50.22 47.25 41.60
5 50 48.27 46.96 43.30
6 50 48.35 46.92 43.25
7 50 48.44 46.90 43.21
8 50 48.53 46.90 43.18
9 50 48.53 46.90 43.18
<Table 5.3 Temperature- time table according to P coefficient>

< Figure 5.3 Temperature- time graph according to P coefficient >

(c) Considering table 5.3, as P coefficient decreases, offset increases but overshoot decreases.

(d) Generally, offset can’t be solved with only P control. In order to remove the offset, P control and I control is used together.

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(4) Proportional Integral Control (PI Control)

In I control, it yields the output proportional to error accumulated according to time. And the expression is as follows.

KP
 Edt
(5.2.9)
MVi 
Ti

(a) In the expression 5.2.9, Ti means the time takes for MVi, output by I control, to be added into real output.

(b) Generally, I control is used with P control. So the expression of PI control is as follows.

KP
 Edt
MV  MV P  MVi  E  K P  (5.2.10)
Ti

(c) In the above heating system, the simulation results are as shown in the table 5.4 when proportional coefficient is 2.5 and
integral time is 1.5s.

Proportional
Time Target temp. Integral time P Control PI Control
coefficient
0 50 2.5 1.5 0 0
1 50 2.5 1.5 63.46 74.41
2 50 2.5 1.5 42.52 40.63
3 50 2.5 1.5 47.93 52.99
4 50 2.5 1.5 47.05 49.67
5 50 2.5 1.5 46.96 49.70
6 50 2.5 1.5 47.12 50.38
7 50 2.5 1.5 47.03 49.76
8 50 2.5 1.5 47.07 50.14
9 50 2.5 1.5 47.06 49.94
10 50 2.5 1.5 47.06 50.02
11 50 2.5 1.5 47.06 49.99
12 50 2.5 1.5 47.06 50.00
13 50 2.5 1.5 47.06 50.00
14 50 2.5 1.5 47.06 50.00
15 50 2.5 1.5 47.06 50.00
< Table 5.4 Temperature- time table according to P coefficient >

(d) Considering table 5.4 and Figure 5.4, if P and I control is used together, offset is removed and temp. converges at 50℃, target
temp. after 12s

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(e) But in this case, convergence time is longer than that of P control and overshoot is larger. Generally, as integral time increases,
overshoot decrease. About this, refer to the Figure 5.5.

< Figure5.4 Temp.- time graph >

< Figure 5.5 overshoot according to integral time >

(f) Like this, if I control is used, overshoot is larger. According to system, large overshoot can be problem. In order to solve this, PID
control is used.

(5) Proportional integral derivative control (PID control)

In D control, when status of system changes rapidly, D control yields the output to reduce the error. Namely, D control yields the
output proportional to change velocity of current status. So if D control is used, response speed of controller about status change
of system increases, and overshoot decreases. Output of controller by D control is as shown in expression 5.2.11.

dE (5.2.11)
MVd  K PTd
dt

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(a) In the expression 5.2.11, Td means the time takes for MVd output by I control, to be added into real output.

(b) Generally, D control is not used solely but with PD control. So PID control is expressed as expression 5.2.12.

KP

dE (5.2.12)
MV  MV P  MVi  MVd  E  K P  Edt  K pTd
Ti dt

(c) The Figure 5.6 is simulation result when PID control is applied to above heating system.

Target Proportional Integral Derivative PI PID

Time
temp. coefficient time time Control Control
0 50 2.5 1.5 0.3 0 0
1 50 2.5 1.5 0.3 74.41 55.50
2 50 2.5 1.5 0.3 40.63 56.33
3 50 2.5 1.5 0.3 52.99 52.50
4 50 2.5 1.5 0.3 49.67 50.92
5 50 2.5 1.5 0.3 49.70 50.34
6 50 2.5 1.5 0.3 50.38 50.12
7 50 2.5 1.5 0.3 49.76 50.05
8 50 2.5 1.5 0.3 50.14 50.02
9 50 2.5 1.5 0.3 49.94 50.01
10 50 2.5 1.5 0.3 50.02 50.00
11 50 2.5 1.5 0.3 49.99 50.00
12 50 2.5 1.5 0.3 50.00 50.00
13 50 2.5 1.5 0.3 50.00 50.00

< Table 5.5 comparison of PI control and PID control >

< Figure 5.6 comparison of PI control and PID control >

(d) Considering table 5.5, in case PID control is used, max. overshoot decreases from 16.5℃ to 8.5℃. At this time, P coefficient,

integral time, derivative time are not optimal values, just one of the examples. Actually, P coefficient, integral time, derivative
time values vary according to PID control system.

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5.3 Functional Specifications of PID Control

The performance specifications of the built-in PID control function in ML50 series are summarized in the below table.

Item Specifications
No. of loops 16 Loop
Proportional constant(P) Real number (0 ~ 3.40282347e+38)
Scope of
setting PID Integral constant(I) Real number (0 ~ 3.40282347e+38), unit: second
constants
Differential constant(D) Real number (0 ~ 3.40282347e+38), unit: second
Scope of set value INT (-32,768 ~ 32,767)
Scope of present value INT (-32,768 ~ 32,767)
Scope of maneuver value INT (-32,768 ~ 32,767)
Scope of manual maneuver value INT (-32,768 ~ 32,767)
Operation: PID RUN Flag On (by loops)
RUN/STOP
Stop: PID RUN Flag Off (by loops)
Normal: PID Error Flag Off (by loops)
Indication Error Error: PID Error Flag On,
Error code occurrence (by loops)
Normal: PID Warning Flag Off (by loops)
Warning Error: PID Warning Flag On,
Warnig code occurrence (by loops)
Control operation Control of P,PI,PD and PID, control of forward/reverse operation
Control interval 10.0ms ~ 6,553.6ms (0.1msUnit)
PWM output Supportable
Mixed forward/reverse
Supportable
output
Limiting change of
INT (-32,768 ~ 32,767)
present value
Limiting change of
INT (-32,768 ~ 32,767)
maneuver value
Equally dividing set
Additional 0 ~ 65,536 (frequency of control cycle time)
value
functions Present value follow-up 0 ~ 65,536 (frequency of control cycle time)
Cascade control Supportable.
Min./max. present value -32,768 ~ 32,767
Differential filter 0.01 ~ 655.35 (x 100 Scaled Up)
Dead band setting 0 ~ 65,535
Prevention of dual
Supportable
integral accumulation
PID operation pause Supportable
< Table 5.6 built-in PID control performance specification >

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5.4 Usage of PID Control Functions

5.4.1 PID Control Parameter Setting
To use the built-in PID control function of ML50 series, it is necessary to set PID control parameters by loops in the parameter
window and operate it though the commands. Here, it explains parameters to use PID control functions and how to set them.

(1) PID parameter settings

Follow the steps below to set the PID control function parameters of ML50 series.
(a) If selecting the built-in parameters in Parameter of the project window, it shows the built-in parameter setting window as in
below figure.

< Figure 5.7 Parameters setting window >

(b) If selecting PID Control, it shows the PID control parameter setting window as in below figure.

[ Figure 5.8 Built-in PID function parameters setting window ]

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(c) Input items

The items to set in the built-in PID function parameter window and the available scope of them are summarized in below table.

Items Description Scope

RUN mode Set the operation mode of PID control. Auto/manual operation
RUN direction Set the operation direction of PID control. Forward/reverse
Prevention of dual integral
Set whether to allow dual integral accumulation. Disabled/enabled
accumulation
PWM output Set whether to allow PWM output of maneuver value. Disabled/enabled
Operation cycle time Set the operation cycle time of PID control cycle. 100 ~ 65535
Set value Set target control value. -32,768 ~ 32,767
Proportional gain Set proportional gain. Real number
Integral time Set integral time. Real number
Differential time Set differential time. Real number
Limiting change of present value Set the limited change of present value per operation cycle. -32,768 ~ 32,767
Limiting change of maneuver value Set the limited change of maneuver value per operation cycle. -32,768 ~ 32,767
Max. maneuver value Set the max. maneuver value for control. -32,768 ~ 32,767
Min. maneuver value Set the min. maneuver value for control. -32,768 ~ 32,767
Manual maneuver value Set the manual maneuver value for control. -32,768 ~ 32,767
DeadBand setting Set the deadband width of the set value. 0 ~ 65,535
Differential filter value Set the filter coefficient of differential operation. 0 ~ 65,535
PWM junction Set the junction to which PWM output is out. P20 ~ P3F
PWM output cycle Set the output cycle of PWM output. 100 ~ 65,535
Set value ramp Set the frequency of set value ramp. 0 ~ 65,535
Present value follow-up Set the follow-up frequency of the present value follow-up function. 0 ~ 65,535
Min. present value Set the min. value of the input present value. -32,768 ~ 32,767
Max. present value Set the max. value of input present value. -32,768 ~ 32,767
< Table 5.7 PID function parameter setting items >

(2) Description of Setting of PID Parameters

(a) Operation mode

It is the mode to set the operation for PID control of a loop in question.
The available scope is automatic operation or manual operation.
If automatic operation is selected, it outputs the PID control result internally operated by the input PID control parameter as the
maneuver value while if manual operation is selected, it outputs the value input to the manual maneuver value parameter
without PID operation modified. The default is automatic operation.

(b) Operation direction

It is designed to set the operation direction for PID control of a loop in question. The available scope is forward or reverse
direction. At the moment, forward direction means increase of PV when MV increases; reverse direction means decrease PV
when MV increases. For instance, a heater is a kind of forward direction system because PV(temperature) increases when
output(heating) increases. A refrigerator is a kind of reverse direction system in which PV(temperature) decreases when
output increases.

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(c) Prevention of dual integral accumulation

It makes dual integral accumulation function enabled/disabled. To understand integral accumulation prevention function, it is
necessary to explain the phenomenon of integral accumulation first of all. Every drive has a limit. That is, a motor is limited to
the speed and a valve can become status overcoming the complete open/close. If it happens that MV output from a control is
beyond the output limit of a drive, its output is maintained as saturated, which may deteriorate the control performance of a
system and shorten the life of a drive. Formula (5.2.3) shows that the integral control among PID control output components
accumulates errors as time goes on, from which it may take more time to return the normal status after the actuator is
saturated in a system of which response characteristically is slow. It is so called integral accumulation phenomenon as
illustrated in Fig. 5.9, which shows that if the initial error is very large, the error is continuously accumulated by integral control.
Accordingly, a drive is saturated within its output upper limit while the control signal is getting larger, keeping being saturated for
a long while until the drift becomes negative and the integral term turns small enough. Due to the operation, the PV may have
a large over-shoot as seen in the figure. Such a wind-up phenomenon may occur if the initial drift is large or by a large
disturbance or due to malfunction of a device.
The PID function of ML50 series is basically with the integral accumulation prevention function, cutting off any integral
accumulation phenomenon. In addition, it can detect a time when SV is suddenly decreased, providing a more strong dual
integral accumulation prevention function.

Drive saturation

PV Upper limit of drive output

Target
value

MV
Integral accumulation phenomenon

Time
< Figure 5.9 Integral accumulation phenomenon >

(d) PWM Output Enabled

PWM output means an output method to turn a junction on – off with a duty proportional to control output calculated by a
uniform output cycle. If PWM output is enabled, it realizes PWM output in accordance with PWM output cycle set in the
parameter of PWM output junction(%QX0.0.0 ~ 0.0.31)designated in the parameter. At the moment, the PWM output cycle
follows the PWM output cycle separately set in PID operation cycle. PWM output cycle is available between 10ms ~
6553.5ms (setting value: 100 ~ 65,535) while it is set at a unit of integer per 0.1ms.
(Be aware, actual PWM output value have max. 2ms output err)
figure shows the relation between PID control output and PWM output.

Ex) if PWM output cycle: 1 second, PWM output junction: %QX0.0.0, max. output: 10000, min. output: 0
Time Output %QX0.0.0 junction operation
0 sec 5000 0.5 sec On, 0.5 sec Off
1 sec 3000 0.3 sec On, 0.7 sec Off

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MV = 5000 MV = 3000
0.5sec 0.5sec 0.3sec 0.7sec

P20 output 출력
(%QX0.0.0 주기 =
output) 1초

Time
Output cycle = 1sec Output cycle = 1sec

[ Figure 5.10 Relation between PWM output cycle and MV ]

(e) Set value

It sets the target of a loop in question, that is, the target status a user wishes to control. In case of the PID control built in ML50,
physical values (temperature, flow rate, pressure and etc) of an object to control is not meaningful and instead, it should use
the physical amount of an object to control after converting them into numerals. For instance, in order to control a system using
a sensor that the output is 0V when its heating device temperature is 0℃ while it is 10V when the temperature is 100℃ as
much as 50℃, it is necessary to set SV as 2000 (as long as it uses AD input module MLE-AD04A).

(f) Operation cycle

It sets the cycle to yield control output by executing the built-in PID operation. The setting cycle is 0.1ms and available between
10ms ~ 6553.5ms (setting value: 100 ~ 65,535) while it is set at a unit of integer per 0.1ms. For instance, to set PID operation
per 100ms, set the operation cycle as 1000.

(g) Proportional gain

It is intended to set the proportional coefficient of a PID loop in question (Kp). As larger Kp, the proportional control operation is
getting stronger. The scope is real number.

(h) Integral time

It sets the integral time of PID loop in question (Ti). As larger the integral time, the integral operation is getting weaker. The
scope is real number at the unit of second.

(i) Differential time

It sets the differential time of PID loop in question (Td). As larger the differential time, the differential operation is getting stronger.
The scope is real number at the unit of second.

(j) Limiting change of present value

It sets the limit of change in present value of PID loop in question. If PV suddenly changes due to signal components such as
sensor’s malfunction, noise or disturbance during control of PID, it may cause sudden change of PID control output. To
prevent the phenomenon, a user can set the max. limit of change in present value that is allowed per PID operation cycle. If
the change of present value is limited accordingly, it may calculate the present value as much as the limit although the present
value is changed more than the limit once the limit of change in present value is set. If using the PV change limit function, it
may prevent against sudden change of control output owing to noise or etc. If it is, however, set too small, it may reduce the
response speed to the PV change of an actual system, not to sudden change by noise or etc, so it is necessary to set the
value appropriately according to the environment of a system to control in order that the PV toward the set value does not take
a longer time. The available scope is between -32,768~32,767. If setting the PV change limit as 0, the function is not available.

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(k) Limiting change of MV (ΔMV function)

It limits the max. size that control output, which is output by PID operation is changed at a time. The output MV in this operation
cycle is not changed more than the max. change limit set in the previous operation cycle. The function has an effect to prevent
a drive from operating excessively due to sudden change of output by preventing sudden change of output resulting from
instantaneous change of set value. If it is, however, set too small, it may cause taking a longer time until PV reaches to its
target, so it is necessary to adjust it appropriately. The available scope is between -32,768 ~ 32,767. If setting it as 0, the
function does not work.

(l) Max. MV
It sets the max. value of control output that may be output by the result of PID operation. The available scope is between -
32,768 ~ 32,767. if it exceeds the max. output designated by PID operation result, it outputs the set max. output and alerts the
max. output excess warning. For the types and description of warnings, refer to Error/Warning Codes.

(m) Min. MV
It sets the min. value of control output that may be output by the result of PID operation. The available scope is between -
32,768 ~ 32,767. If it is smaller than the min. output value designated by PID operation result, it outputs the set min. MV and
alerts the min. output shortage warning. For the types and description of warnings, refer to Error/Warning Codes.

(n) Manual MV
It sets the output when the operation mode is manual. The available scope is between -32,768 ~ 32,767.

(o) DeadBand setting

It sets the deadband between set value and present value. Although it may be important to reduce normal status reply of PV
for its set value even when MV fluctuates heavily, depending on control system, it may be more important to reduce the
frequent change of MV although the normal status reply is somewhat getting larger. DeadBand may be useful in the case.
Below figure shows an example of DeadBand setting.

DeadBand
PV

[ Figure 5.11 Example of DeadBand setting ]

If setting deadband as in the figure, the PID control built in ML50 may regard the error between PV and set value as 0 as long
as PV is within the available scope of deadband from set value.

That is, in this case, the change of MV is reduced. The available scope of setting is between 0 ~ 65,535 and if it is set as 0, it
does not work.

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(o) Differential Filter Value Setting

It sets the coefficient of differential filter. Since differential control outputs in proportion to gradient of error and gradient of PV
change, it may suddenly change MV as it generates a large response to instantaneous noise or disturbance. To prevent it,
ML50 series uses a value to which PV is filtered mathematically for differential control. Differential filter value is the coefficient to
determine the filter degree for differential control. As smaller differential value set, as stronger differential operation is. The
available scope is between 0 ~ 65,535 and if it is set as 0, the differential filter does not work.

(p) Setting set value ramp

Since the drift is suddenly large if SV is heavily changed during PID control, MV is also changed heavily to correct it. Such an
operation may cause excessive operation of a system to control and a drive. To prevent it, SV ramp is used, changing SV
gradually step by step when modifying SV during operation. If using the function, SV is gradually changed by SV ramp when
SV is changed during PID control. At the moment, SV ramp setting represents the frequency of PID operation cycle taken
from when SV starts changing to when it reaches to the final SV. For instance, if SV is to be changed from 1000 to 2000
during operation as PID operation cycle is 10ms and its SV ramp is 500, SV may reach to 2000 after 500X10ms = 5 seconds,
that is, as it increases each 2 per operation cycle and after the 500th operation scans. The available scope of setting is
between 0 ~65,535 and it is set as 0, it does not work.

If SV Ramp is not used

Modified 시간
SV

If SV Ramp is used
Existing SV * operation
SV cycle
T
i
Sof t Mast er
m
[ Figure 5.12 SV Ramp function ] e

(q) PV Follow-up setting

It is intended to prevent any excessive operation of a drive resulting from sudden change of output at the initial control and
changes SV gradually from PV at the time when PID operation starts, not directly to SV in case control just turns from stop to
operation mode or it changes from manual to automatic operation. At the moment, SV represents the frequency of PID
operation cycles taken from when control starts to when it reaches to the set SV (other operations are same as SV ramp
function). The available scope is between 0 ~ 65,535. If SV is changed again while PV follow-up is in operation, the SV would
be also changed according to SV ramp.

(r) Min./max. PV
It sets the min./max. value entered as the present value of PID control. The available scope is between -32,768 ~ 32,767.

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5.4.2 PID Flags

The parameter set by the ML50 series built-in PID control function is saved into the flash memory of the basic unit. Such
parameters are moved to K area for the built-in PID function as soon as PLC turns from STOP to RUN mode. PID control
operation by PID control command is executed through K area data for PID functions. Therefore, if a user changes the value in
the trend monitor window or variable monitor window during operation, PID operation is executed by the changed value. At the
moment, if PLC is changed to RUN again after being changed to STOP, it loads the parameters in flash memory to K area, so
the data changed in K area is lost. Thus, to keep applying the parameters adjusted in K area, it is necessary to write the
parameter set in K area to flash memory by using WRT command. (In case of IEC, APM_WRT)

(1) PID Flag Configuration

K area flags for ML50 series built-in PID control function are summarized in the below table.

Data
Loop K area IEC type Symbol Default Description
type
PID output designation
K12000~F %KX19200~15 _PID_MAN Bit Auto
(0:auto, 1:manual)
K12010~F %KX19216~31 _PID_PAUSE Bit RUN PID pause (0:RUN, 1:pause)
Control direction(0:forward,
K12020~F %KX19232~47 _PID_REV Bit Forward
1:reverse) operation control
Dual integral accumulation
K12030~F %KX19248~63 _PID_AW2D Bit Disabled Prevention
(0:enabled, 1:disabled)
PID remote operation
K12040~F %KX19264~79 _PID_REM_RUN Bit Disabled
(0:disabled, 1:enabled)

Common K1205~K1207 %KW1205~%KW1207 Reserved WORD - Reserved area

PWM output enable
K12080~F %KX19328~43 _PID_PWM_EN Bit Disabled
(0:disabled, 1:enabled)
PID operation indication
K12090~F %KX19344~59 _PID_STD Bit -
(0:stop, 1:run)
PID warning
K12100~F %KX19360~75 _PID_ALARM Bit -
(0:normal, 1:warning)
K12110~F %KX19376~91 _PID_ERROR Bit - PID error(0:normal, 1:error)
PID MV BuMPLess changeover
K12120~F %KX19392~407 _PID_MV_BMPL Bit Disabled
(0:disabled, 1:enabled)
K1213~K1215 %KW1213~%KW1215 Reserved WORD - Reserved

K1216 %KW1216 _PID00_SV INT 0 PID SV

K1217 %KW1217 _PID00_T_s WORD 100 PID operation cycle[0.1ms]

K1218 %KD609 _PID00_K_p REAL 1 PID proportional constant

K1220 %KD610 _PID00_T_i REAL 0 PID integral time[sec]

K1222 %KD611 _PID00_T_d REAL 0 PID differential time[sec]

Loop 0 K1224 %KW1224 _PID00_d_PV_max WORD 0 PID PV change limit

K1225 %KW1225 _PID00_d_MV_max WORD 0 PID MV change limit

K1226 %KW1226 _PID00_MV_max INT 4000 PID MV max. value limit

K1227 %KW1227 _PID00_MV_min INT 0 PID MV min. value limit

K1228 %KW1228 _PID00_MV_man INT 0 PID manual output

K1229 %KW1229 _PID00_PV INT - PID PV

< Table 5.8 K area flags for PID control >

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Data
Loop K area IEC type Symbol Default Description
type
K1230 %KW1230 _PID00_PV_old INT - PID PV of previous cycle
K1231 %KW1231 _PID00_MV INT 0 PID MV

K1232 %KD616 _PID00_ERR DINT - PID control error

PID MV proportional value
K1234 %KD617 _PID00_MV_p REAL 0
component
PID MV integral control
K1236 %KD618 _PID00_Mv_i REAL 0
component
PID MV differential control
K1238 %KD619 _PID00_MV_d REAL 0
component
K1240 %KW1240 _PID00_DB_W WORD 0 PID deadband setting

K1241 %KW1241 _PID00_Td_lag WORD 0 PID differential filter coefficient

Loop 0
K1242 %KW1242 _PID00_PWM WORD H’20 PID PWM junction setting

K1243 %KW1243 _PID00_PWM_Prd WORD 100 PID PWM output cycle

K1244 %KW1244 _PID00_SV_RAMP WORD 0 PID SV Ramp value

K1245 %KW1245 _PID00_PV_Track WORD 0 PID PV follow-up setting

K1246 %KW1246 _PID00_PV_MIN INT 0 PID PV min. value limit

K1247 %KW1247 _PID00_PV_MAX INT 4000 PID PV max. value limit

K1248 %KW1248 _PID00_ALM_CODE Word 0 PID warning code

K1249 %KW1249 _PID00_ERR_CODE Word 0 PID error code

K1250 %KW1250 _PID00_CUR_SV INT 0 PID SV of current cycle
K1251-1255 %KW1251-1255 Reserved WORD - Reserved area
Loop 1 K1256~K1295 %KW1256~%KW1295 - - - PID Loop1 control parameter
~
Loop16 K1816~K1855 %KW1816~%KW1855 - - - PID Loop16 control parameter
< Table 5.8 K area flags for PID control (continued) >

K1200 ~ K1211 areas are the common bit areas of PID loops while each bit represents the status of each PID control loop.
Therefore, each 16 bits, the max number of loops of ML50 PID control represents loop status and setting respectively. K1216 ~
K1255 areas are K areas for PID control loop 0 and save the loop 0 setting and status. It also contains parameters such as SV,
operation cycle, proportional coefficient, integral time and differential time set in the built-in parameter window and the ML50 built-
in PID function executes PID control by each device value in question. In addition, the output data such as MV calculated and
output while PID control is executed is also saved into the K areas. By changing the values in K areas, control setting may be
changed any time during PID control.

Remark

By changing value of area, you can change control setting whenever you want during the PID control
1) PID control flag expression : _PID[n]_xxx
 [n] : loop number
 xxx : flag function
Ex) _PID10_K_p : means K_p of loop 10.

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(2) PID flag function

Each function of K area flags for ML50 series built-in PID control function is summarized as follows.

(a) Common bit area

The area is a flag collecting operation setting and information consisting of bits to each 16 loop. Each bit of each word device
represents the information of each loop. That is, ‘n’ th bit represents the information about PID loop n.

1) _PID_MAN (PID RUN mode setting)

Flag name address IEC type address Unit Setting

_PID_MAN
K1200n %KX19200 + n BIT Available
(PID RUN mode setting)

It determines whether to operate the PID control of n loop automatically or manually. For more information about RUN
mode, refer to 5.4.1 PID control parameter setting. If the bit is off, it operates automatically; if on, it runs manually.

2) _PID_PAUSE (PID Pause setting)

Flag name Address IEC type address Unit Setting

_PID_PAUSE (PID pause setting) K1201n %KX19216 + n BIT Available

It changes PID control of n loop to pause status. If PID control is paused, the control MV is fixed as the output at the time
of pause. At the moment, PID operation is continued internally with output fixed. If changing pause status to operation
status again, it resumes control, so it may take a longer time until the PV is going to SV once system status is largely
changed during pause. If the bit is off, it cancels pause; if on, it operates as paused.

3) _PID_REV (PID RUN direction setting)

Flag name Address IEC type address Unit Setting

_PID_REV
K1202n %KX19232 + n BIT Available
(PID RUN direction setting)

It sets the RUN direction of PID control of ‘n’th loop. For more information about run direction, refer to 7.2.3 PID control
parameter setting. If the bit is off, it operates normally; if on, it operates reversely.

4) _PID_AW2D (Dual Integral accumulation prevention setting)

Flag name Address IEC type address Unit Setting

_PID_AW2D
(dual integral accumulation prevention K1203n %KX19248 + n BIT Available
setting)
1.1

It sets enable/disable of dual integral accumulation prevention of ‘n’th loop. For more information about dual
integral accumulation prevention, refer to 7.2.3 PID control parameter setting. If the bit is off, it is enabled; if
on, it is disabled.

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5) _PID_REM_RUN (PID remote operation setting)

Flag name Address IEC type address Unit Setting

_PID_REM_RUN
K1204n %KX19264 + n BIT Available
(PID remote run setting)

ML50 series built-in PID function can be started by both run from command’s start junction and remote run bit setting.
That is, ML50 starts PID control if PIDRUN command’s start junction is on or remote run setting bit is on. Namely, if one
of them is on, it executed PID control.

6) _PID_PWM_EN (PWM output enable)

Flag name Address IEC type address Unit Setting

_PID_PWM_EN
K1208n %KX19328 + n BIT Available
(PWM output enable)

It determines whether to output the MV of PID control of ‘n’th loop as PWM output. For more information about PWM
output, refer to 5.2.3 PID control parameter setting. If the bit is off, it is disabled; if on, it is enabled.

7) _PID_STD (PID RUN status indication)

Flag name Address IEC type address Unit Setting

_PID_STD
K1209n %KX19344 + n BIT Unavailable
(PID RUN status indication)

It indicates the PID control RUN status of ‘n’ th loop. If a loop is running or paused, it is on while if it stops or has an error
during RUN, it is off. In the area as monitoring area, it is changed to the current run status by PLC although a user enters
any value temporarily.

8) _PID_ALARM (PID Warning occurrence)

Flag name Address IEC type address Unit Setting

_PID_ALARM
K1210n %KX19360 + n BIT Unavailable
(PID Warning occurrence)

It indicates warning if any warning occurs during PID control of ‘n’th loop. Once a warning occurs during PID control
operation of a loop, it is on while if it is normal, it is off. At the moment, despite of warning, PID control continues without
interruption, but it is desirable to check warning information and take a proper measure. Once a warning occurs, the
warning code is also indicated in warning code area of a loop. For more information about the types of warning codes
and measures, refer to 5.5. In the area as monitoring area, it is changed to the current run status by PLC although a user
enters any value temporarily.

9) _PID_ERROR (PID Error occurrence)

Flag name Address IEC type address Unit Setting

_PID_ERROR
K1211n %KX19376 + n BIT Unavailable
(PID error occurrence)

IIf an error that discontinues running during PID control of ‘n’ th loop occurs, it indicates the error’s occurrence. If an error
generates warning, it is on; if normal, it is off. When an error occurs, PID control stops and MV is output as the min. output

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set in parameter. Also, if an error occurs, the error code is indicated in the error code area of a loop. For more information
about type of error codes and measures, refer to 5.5. In the area as monitoring area, it is changed to the current run
status by PLC although a user enters any value temporarily.

10) _PID_MV_BMPL (PID MV BuMPLess changeover)

Flag name Address IEC type address Unit Setting

_PID_MV_BMPL
K1212n %KX19392 + n BIT Available
(PID MV BuMPLess changeover)

This allows to not only determine an appropriate MV value through operation so that MV can continue smoothly when the
corresponding PID loop changes from manual to auto output mode, but also reflect the MV value to the internal state so
as to stabilize MV. This function shows an algorithm difference between single operation and cascade operation, but both
operations are performed by this bit.
If the corresponding bit (in cascade operation, the corresponding bit of the master/slave loop is On) is On, Bumpless
changeover is performed. If it is Off, The [Default] Bumpless changeover function is Disabled

(b) PID Flag area by loops

PID flag areas by loops are allocated between K1216 ~ K1855(%KW1216 ~ %KW1855) and for totally 16 loops, each 40
words is allocated per loop. Therefore, the individual data areas of ‘n’ th loop are between K (1216+16*n) ~ K
(1255+16*n)(%KW(1216+16*n) ~%KW(1255+16*n)). Every setting of the PID flag areas by loops may be changed during
PID control operation. Once the settings are changed, they are applied from the next PID control cycle.

1) _PIDxx_SV (PID xx Loop SV setting)

Flag name Address IEC type address Unit Scope

I _PIDxx_SV
K1216+16*xx %KW1216+16*xx INT -32,768 ~ 32,767
t (PID xx Loop SV setting)

It sets/indicates the SV of PID control of ‘xx’ th loop. For more information about SV, refer to 5.2.3 PID control parameter
setting. The available scope is between -32,768 ~ 32,767.

2) _PIDxx_T_s (PID xx Loop operation cycle)

Flag name Address IEC type address Unit Scope

_PIDxx_T_s
K1217+16*xx %KW1217+16*xx WORD 100 ~ 65,535
(PID xx Loop operation cycle)

It sets/indicates the operation cycle of PID control of ‘xx’ th loop. For more information about operation cycle, refer to 5.2.3
PID control parameter setting. The available scope is between 100 ~ 65,535.

3) _PIDxx_K_p (PID xx Loop proportional constant)

Flag name Address IEC type address Unit Scope

_PIDxx_K_p
K1218+16*xx %KD609+20*xx REAL Real number
(PID xx Loop proportional constant)

It sets/indicates the proportional constant of PID control of ‘xx’ th loop. For more information about proportional constant,
refer to 7.2.3 PID Control Parameter Setting.

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The available scope is real number (-3.40282347e+38 ~ -1.17549435e-38 , 0 , 1.17549435e-38 ~ 3.40282347e+38). If it

is, however, set as 0 and lower, the PID control of a loop generates an error and does not work.

4) _PIDxx_T_i (PID xx Loop Integral time)

Flag name Address IEC type address Unit Scope

_PIDxx_T_i
K1220+16*xx %KD610+20*xx REAL Real number
(PID xx Loop integral time)

It sets/indicates integral time of PID control of ‘xx’ th loop. The available scope is real number. If it is set as 0 and lower, it
does not execute integral control.

5) _PIDxx_T_d (PID xx Loop differential time)

Flag name Address IEC type address Unit Scope

_PIDxx_T_d
K1222+16*xx %KD611+20*xx REAL Real number
(PID xx Loop differential time)

It sets/indicates differential time of PID control of ‘xx’ th loop. The available scope is real number. If it is set as 0 and lower,
it does not execute differential control.

6) _PIDxx_d_PV_max (PV change limit)

Flag name Address IEC type address Unit Scope

_PIDxx_d_PV_max
K1224+16*xx %KW1224+16*xx WORD 0 ~ 65,535
(PV change limit)

It sets the PV change limit of ‘xx’ th loop.

For more information about PV change limit, refer to 5.2.3 PID control parameter setting. If it is set as 0, the
PV change limit function does not work.

7) _PIDxx_d_MV_max (MV change limit)

Flag name Address IEC type address Unit Scope

_PIDxx_d_MV_max
K1225+16*xx %KW1225+16*xx WORD 0 ~ 65,535
(MV change limit)

It sets the MV change limit of ‘xx’th loop. For more information about MV change limit, refer to 5.2.3 PID
control parameter setting. If it is set as 0, the MV change limit function does not work.

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8) _PIDxx_MV_max, _PIDxx_MV_min, _PIDxx_MV_man (max. MV, min. MV, manual MV)

Flag name Address IEC type address Unit Scope

_PIDxx_MV_max (max. MV) K1226+16*xx %KW1226+16*xx
_PIDxx_MV_min (min. MV) K1227+16*xx %KW K1227+16*xx INT -32,768 ~ 32,767
_PIDxx_MV_man (manual MV) K1228+16*xx %KW K1228+16*xx

It sets the max. MV, min. MV and manual MV of ‘xx’ th loop. For more information about max. MV, min. MV and manual
MV, refer to 5.2.3 PID control parameter setting. If the max. MV is set lower than the min. MV, the PID control loop
generates an error and does not work.

9) _PIDxx_PV (prevent value)

Flag name Address IEC type address Unit Scope

_PIDxx_PV
K1229+16*xx %KW1229+16*xx INT -32,768 ~ 32,767
(present value)

It is the area that receives the present value of ‘xx’ th PID control loop. PV is the present status of the system to control
and is normally saved into U device via input devices such as A/D input module if it is entered from a sensor. The value is
used to execute PID operation by moving to _PIDxx_PV by means of commands like MOV.

10) _PIDxx_PV_OLD (PV of previous control cycle)

Flag name Address IEC type address Unit Scope

_PIDxx_PV_OLD
K1230+16*xx %KW1230+16*xx INT Unavailable
(PV of previous control cycle)

The area indicates the PV just before the xx th PID control loop. The flag, as a dedicated monitoring flag, would be
updated by PLC although a user directly enters it.

11) _PIDxx_MV (Control MV)

Flag name Address IEC type address Unit Scope

_PIDxx_MV (control MV) K1231+16*xx %KW1231+16*xx INT Unavailable

The area shows the MV of ‘xx’ th PID control loop. As the area in which ML50 built-in PID operation result is output every
PID control cycle, it delivers the value in the area to U device every scanning by using commands like MOV in the
program and outputs to D/A output module, operating a drive.

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12) _PIDxx_ERR (Present error)

Flag name Address IEC type address Unit Scope

_PIDxx_ERR
K1232+16*xx %KW1232+16*xx DINT Unavailable
(present error)

The areas shows the current error of ‘xx’ th PID control loop. It is also used as an indicator about how much gap the
present status has with a desired status and if an error is 0, it means the control system reaches a desired status exactly.
Therefore, if control starts, error is quickly reduced at transient state and it reaches normal state, maintaining remaining
drift as 0, it could be an ideal control system. The flag, as a dedicated monitoring, is updated although a user directly
enters it.

13) _PIDxx_MV_p, _PIDxx_MV_i, _PIDxx_MV_d (P/I/D control components of MV)

Flag name Address IEC type address Unit Scope

_PIDxx_MV_p
K1234+16*xx %KD616+20*xx
(MV proportional control component)
_PIDxx_MV_i
K1236+16*xx %KD617+20*xx REAL Unavailable
(MV integral control component)
_PIDxx_MV_d
K1238+16*xx %KD618+20*xx
(MV differential control component)

It indicates ‘n’ th loop MV by classifying proportional control MV, integral control max. MV and differential control MV. The
entire MV consists of the sum of these three components. The flag, as a dedicated monitoring, is updated although a
user directly enters it.

14) _PIDxx_DB_W (DeadBand setting)

Flag name Address IEC type address Unit Scope

_PIDxx_DB_W
K1240+16*xx %KW1232+16*xx WORD 0 ~ 65,535
(DeadBand setting)

It sets the deadband of ‘xx’ th loop. For more information about Deadband function, refer to 5.2.3 PID control parameter
setting. If it is set as 0, the function does not work.

15) _PIDxx_Td_lag (Differential filter coefficient)

Flag name Address IEC type address Unit Scope

_PIDxx_Td_lag
K1241+16*xx %KW1241+16*xx WORD 0 ~ 65,535
(differential filter coefficient)

It sets the differential filter coefficient of ‘xx’ th loop. For more information about differential filter coefficient, refer to 5.2.3
PID control parameter setting. If it is set as 0, the function does not work.

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16) _PIDxx_PWM (PWM output junction setting)

Flag name Address IEC type address Unit Scope

_PID00_PWM
K1242+16*xx %KW1242+16*xx WORD H’20 ~ H’3F
(PWM output junction setting)

It sets the junction to which PWM output of ‘xx’ th loop is output. PWM output junction is valid only between H’20 ~ H’3F. If
any other value is entered, PWM output does not work.

17) _PIDxx_PWM_Prd (PWM Output cycle setting)

Flag name Address IEC type address Unit Scope

_PIDxx_PWM_Prd
K1243+16*xx %KW1243+16*xx WORD 100 ~ 65,535
(PWM output cycle setting)

It sets the PWM output cycle of ‘xx’ th loop. The available scope is between 100 ~ 65,535 at the unit of 0.1ms.

18) _PIDxx_SV_RAMP (SV ramp setting)

Flag name Address IEC type address Unit Scope

_PIDxx_SV_RAMP
K1244+16*xx %KW1244+16*xx WORD 0 ~ 65,535
(SV ramp setting)

It sets the SV ramp value of ‘xx’ th loop. For more information about SV ramp of PV, refer to 5.2.3 PID control parameter
setting. If it is set as 0, the function does not work.

19) _PIDxx_PV_Track (PV follow-up setting)

Flag name Address IEC type address Unit Scope

_PIDxx_PV_Track
K1245+16*xx %KW1245+16*xx WORD 0 ~ 65,535
(PV follow-up setting)

It sets the PV follow-up SV of ‘xx’ th loop. For more information about PV follow-up, refer to 5.2.3 PID control parameter
setting. If it is set as 0, the function does not work.

20) _PIDxx_PV_MIN, _PIDxx_PV_MAX(Min. PV input, Max. PV input)

Flag name Address IEC type address Unit Scope

_PIDxx_MV_p
K1246+16*xx %KW1246+16*xx
(MV proportional control component)
INT -32,768 ~ 32,767
_PIDxx_MV_i
K1247+16*xx %KW1247+16*xx
(MV integral control component)

It sets the min./max. PV of ‘xx’ th loop.

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21) _PIDxx_ALM_CODE (Warning code)

Flag name Address IEC type address Unit Scope

_PIDxx_ALM_CODE
K1248+16*xx %KW1248+16*xx WORD Unavailable
(Warning code)

It indicates warning code if a warning occurs during ‘xx’ th loop run. The flag, as a dedicated monitoring, is updated
although a user directly enters it. For more information about warning code, refer to 5.5.

22) _PIDxx_ERR_CODE (Error code)

Flag name Address IEC type address Unit Scope

_PIDxx_ERR_CODE
K1249+16*xx %KW1249+16*xx WORD Unavailable
(error code)

It indicates error code if an error occurs during ‘xx’ th loop run. The flag, as a dedicated monitoring, is updated although a
user directly enters it. For more information about warning code, refer to 5.5.

23) _PIDxx_CUR_SV (SV of the present cycle)

Flag name Address IEC type address Unit Scope

_PIDxx_CUR_SV
K1250+16*xx %KW1250+16*xx INT Unavailable
(SV of the present cycle)

It indicates SV currently running of ‘xx’ th loop. If SV is changing due to SV ramp or PV follow-up function, it shows the
currently changing PV. The flag, as a dedicated monitoring, is updated although a user directly enters it.

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5.5 PID Instructions

It describes PID control commands used in ML50 series. The command type of PID control used in ML50 series built-in PID
control is 4.

(1) PIDRUN
PIDRUN is used to execute PID control by loops.

- Operand S means the loop no. to execute PID control and avaiable only for constant(0~15).
- If start signal contact is on, the PID control of a loop starts.
Item Indication Flag name Contents
16#0001 PV_MIN_MAX_ALM Current value exceeds range of maximum, minimum value
16#0002 PID_SCANTIME_ALM Operation cycle is too short.
Variation of current value of this PID cycle exceeds the current value
16#0003 PID_dPV_WARN
variation limit.
Variation of manipulated value of this PID cycle exceeds the
ALARM 16#0004 PID_dMV_WARN
manipulated value variation limit.
Manipulated value of this PID cycle exceeds maximum manipulated
16#0005 PID_MV_MAX_WARN
value.
Manipulated value of this PID cycle is smaller than minimum
16#0006 PID_MV_MIN_WARN
manipulated value.
Maximum manipulated value is set to be smaller than minimum
16#0100 MV_MIN_MAX_ERR
manipulated value.
Maximum current value is set to be smaller than current manipulated
16#0200 PV_MIN_MAX_ERR
value.
16#0300 PWM_PERIOD_ERR PWM output cycle is set to be smaller than 100(10ms).
In case of forward operation, set value at start of auto-tuning is
16#0400 SV_RANGE_ERR smaller than current value. In case of reverse operation, set value at
start of auto-tuning is larger than current value.
16#0500 PWM_ADDRESS_ERR PWM output is set as contact point other than %QX0.0.0~0.0.31.
16#0600 P_GAIN_SET_ERR Proportional constant is set to be smaller than 0.
ERROR 16#0700 I_TIME_SET_ERR Integral constant is set to be smaller than 0
16#0800 D_TIME_SET_ERR Differential constant is set to be smaller than 0
CONTROL_MODE_ER
16#0900 Control mode is other than P, PI, PD and PID.
R
16#0B00 PID_PERIOD_ERR; PIC operation cycle is set to be smaller than 100(10ms)
In combined operation, directional parameter of forward operation loop is
16#0C00 HBD_WRONG_DIR set as reverse operation or directional parameter of reverse operation
loop is set as forward operation
HBD_SV_NOT_MATC
16#0D00 In combined operation, set values of two loops are different
H
16#0E00 LOOP_EXCEED PID LOOP number is larger 15

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(2) PIDCAS
PIDCAS is a command to execute CASCADE control.

- Operand M and S mean master loop and slave loop respecively and available only for constant(0~15).
- If start signal contact is on, cascade control is executed through master loop and slave loop.

Cascade control is called a control method which is intended to increase control stability through quick removal of
disturbance by connecting two PID control loops in series and is structured as follows.

[Figure 5.13 Comparison of single loop control and cascade control]

Looking at the figure, it is found that cascade control contains slave loop control within external control loop. That is, the
control output of external loop PID control is entered as SV of the internal loop control. Therefore, if steam valve suffers
from disturbance in the figure, single loop PID control may not be modified until PV, y(s) appears while cascade control is
structured to remove any disturbance by the internal PID loop control before any disturbance that occurs in its internal
loop affects the PV, y(s), so it can early remove the influence from disturbance.
ML50 internal PID control connects two PID control loops each other, making cascade control possible. At the moment,
MV of external loop is automatically entered as the SV of internal loop, so it is not necessary to enter it through program.

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(3) PIDHBD
PIDHBD is a command to execute the mixed forward/reverse E control.

- Operand F and R represent forward operation loop and reverse operation loop and available only for constant(0~15).
- If start signal conatact is on, it starts the mixed forward/reverse operation from the designated forward/reverse loops.

The mixed forward/reverse control is called a control method to control forward operation control output and reverse operation
control operation alternatively to a single control process. The ML50 built-in PID control enables the mixed forward/reverse
control by connecting two PID control loops set as forward/reverse operations. At the moment, it uses PIDHBD command.
For more information about the command, refer to 5.2.5. The mixed forward/reverse run is executed as follows in the ML50
built-in PID control.

(a) Commencement of mixed run

If PIDHBC command starts first, it starts reverse run when PV is higher than SV; it starts forward run if PV is lower than
SV.
(b) Conversion of RUN direction
The conversion of run direction is executed according to the following principles. In case of forward operation run, it keeps
running by converting to reverse operation once PV is over SV + DeadBand value. At the moment, the DeadBand setting
value uses the deadband of a loop set for forward operation. If PV is below SV – DeadBand value during reverse
operation, it also keeps running by converting to forward operation. In the case, the DeadBand setting uses the
deadband of a loop set for reverse loop. It may be illustrated as 5.14.

[Figure 5.14 Conversion of RUN direction in the mixed forward/reverse control]

(c) At the moment, every control parameter uses the parameter of a loop set for forward operation while MV is output to MV
output area of a loop of forward operation. Reversely, every control parameter uses the parameter of a loop set for
reverse operation during reverse operation run while MV is also output to MV output area of reverse operation loop.

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5.6 PID Auto-tuning

5.6.1 Basic Theory of PID Auto-tuning
It describes the function of PID auto-tuning.
The performance of PID controller is very different according to P, I, D coefficient. Generally, It is very difficult and takes long time
to predict the system and set P, I, D coefficient because of non-periodical disturbance, interference of other control loop, dynamic
characteristic of control system though the engineer is good at handling the PID controller. So auto-tuning that sets the PID
coefficient automatically is very useful. Generally, there are many methods in setting the PID coefficient. Here, it will describe
Relay Auto-tuning.

(1) PID coefficient setting by Relay auto-tuning

It makes critical oscillation by force and uses the width and period of oscillation to specify the PID coefficient. It applies max.
output and min. output to control system for auto-tuning. Then, oscillation with steady period and steady width occurs
around the Set value like figure 5.15, and it can calculate the boundary gain by using it like expression (5.3.1).

< Figure 5.15 Relay auto-tuning >

4  ( Max.output  Min.output) (5.4.1)

Ku 
  width

At this time, oscillation period is called boundary period. If boundary gain and period is specified, use table 5.9, Ziegler &
Nichols tuning table to specify the PID coefficient. This Relay tuning is relatively simple to configure and easy to know the
boundary gain and period so it is used frequently and ML50 built-in PID auto-tuning uses this method.

Proportional gain
Controller Integral time(Ti) Differential time(Td)
(Kp)

P 0 .5 K u - -

PI 0.45K u Pu / 1.2 -

PID 0 .6 K u Pu / 2 Pu / 8
< Table 5.9 Ziegler & Nichols tuning table >

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5.6.2 PID Auto-tuning Function Specifications

The specifications of the ML50 series built-in PID auto-tuning function are summarized as in Table.

Item Specifications
Scope of SV INT (-32,768 ~ 32,767)
Scope of PV INT (-32,768 ~ 32,767)
Scope of MV INT (-32,768 ~ 32,767)
Normal: error flag off
Error indication
Error: error flag off, error code occurs
AT direction setting Forward/Reverse
Control cycle 100 ~ 65,536 (0.1msUnit)
Additional PWM output Supportable
function Hysteresis Supportable
[Table 5.10 Spec. of built-in PID auto-tuning function]

5.6.3 Auto-tuning Parameter Setting

To use the ML50 series auto-tuning function, it is necessary to start it by using a command after setting auto-tuning
parameters by loops in the parameter window. It explains the parameters to use auto-tuning function and how to set them.

(1) Auto-tuning parameter setting

To set the parameters of ML50 series auto-tuning function, follow the steps.

(a) If selecting parameter in project window and the built-in parameter, it shows the built-in parameter setting window as
seen in below figure.

< Figure 5.16 Built-in parameter setting window >

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(b) If selecting auto-tuning, it shows the parameter setting window as seen in Figure 5.17.

<Figure 5.17 Built-in auto-tuning function parameter setting window>

(c) Input items

Table shows the items to set in auto-tuning parameter window and the available scopes.

Items Description Scope

RUN direction Set the run direction of auto-tuning. Forward/reverse
Set whether to set PWM output of MV enabled/
PWM output enable Disable/enable
disabled.
SV Set SV. -32,768 ~ 32,767
Operation time Set auto-tuning operation time. 100 ~ 65535
Max. MV Set the max. MV in control. -32,768 ~ 32,767
Min. mV Set the min. MV in control. -32,768 ~ 32,767
PWM junction Designate the junction to which PWM output is
P20 ~ P3F
designation output.
PWM output cycle Set the output cycle of PWM output. 100 ~ 65,535
Hysteresis setting Set the hysteresis of auto-tuning MV. 0 ~ 65,535
< Table 5.11 Auto-tuning function parameter setting items>

(2) Description of auto-tuning parameters and how to set them

(a) RUN direction

RUN direction is to set the direction of auto-tuning run of a loop. The available option is forward or reverse. The former
(forward) means that PV increase when MV increases while the latter (reverse) means PV decreases when MV increases.
For instance, a heater is a kind of forward direction system because PV (temperature) increases when output (heating)
increases. A refrigerator is a kind of reverse direction system in which PV (temperature) decreases when output increases.

(b) PWM output enable

PWM output means an output method to turn a junction on – off with a duty proportional to control output calculated by a
uniform output cycle. If PWM output is enabled, it realizes PWM output in accordance with PWM output cycle set in the
parameter of PWM output junction (P20 ~ P3F) (%QX0.0.0~%QX0.0.31) designated in the parameter. At the moment, the
PWM output cycle follows the PWM output cycle separately set in auto-tuning operation cycle.

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(c) SV
It sets the auto-tuning SV of a loop in question. Similar to PID control, physical values (temperature, flow rate, pressure and
etc) of an object to control is not meaningful and instead, it should use the physical amount of an object to control after
converting them into numerals. For instance, in order to control a system using a sensor that the output is 0V when its
heating device temperature is 0℃ while it is 10V when the temperature is 100℃ as much as 50℃, it is necessary to set
SV as 2000(as long as it uses AD input module MLE-AD04A).

(d) Operation time

It sets the cycle to execute operation for auto-tuning. The setting cycle is 0.1ms and available between 10ms ~ 6553.5ms
(setting value: 100 ~ 65,535) while it is set at a unit of integer per 0.1ms.

(e) Max./min. MV
It sets the max./min. value of output for auto-tuning. The available scope is between -32,768 ~ 32,767. If the max. MV is set
lower than min. MV, the auto-tuning function of a loop generates an error and does not work.

(f) Hysteresis setting

Looking at relay tuning in Figure 5.15, it shows it outputs the max. MV as auto-tuning starts but it converts to min. output as
PV is over SV and then, it converts to the max. output as PV is lower than SV. However, if input PV contains noise
components or reply components, auto-tuning ends by a slight vibration of PV around SV, yielding incorrect tuning result.
To prevent it, hysteresis may be set. ML50 auto-tuning converts output at SV + Hysteresis when PV increases or at SV –
Hysteresis when it decreases once hysteresis is set. With it, it may prevent incorrect tuning by a slight vibration around SV.

MV

PV

SV

Hysteresis

SV+Hysteresis
SV- Hysteresis

[Figure 5.16 Example of Hysteresis setting ]

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5.6.4 Auto-tuning Flags

The parameters set in the ML50 series auto-tuning function are saved to the flash memory of basic unit. Such
parameters are moved to K area for auto-tuning function as soon as PLC enters to RUN mode from STOP. Auto-
tuning operation using auto-tuning command is achieved by data in K area. At the moment, if PLC is changed to
RUN again after being changed to STOP, it takes the parameters in flash memory to K area, so the data changed
in K area is lost. Therefore, to continuously apply the parameters adjusted in K area, it is necessary to write the
parameters set in K area into flash memory by using WRT command. (In case of IEC type, APM_WRT function
block)

(1) Auto-tuning flag configuration

The K area flags of ML50 series auto-tuning function are summarized in Table 5.12.
Loops K area IEC type Symbol Data type Default Description
%KX29696 Auto-tuning direction(0:forward,
K18560~F _AT_REV Bit Forward
~%KX29711 1:reverse)
%KX29712 PWM output enable(0:disable,
K18570~F _AT_PWM_EN Bit Disable
Common ~%KX29727 1:enable)
%KX29728
K18580~F _AT_ERROR Bit - Auto-tuning error(0:normal,1:error)
~%KX29743
K1859 %KW1859 Reserved WORD - Reserved area

K1860 %KW1860 _AT00_SV INT 0 AT SV – loop 00

AT operation cycle
K1861 %KW1861 _AT00_T_s WORD 100
(T_s)[0.1msec]

K1862 %KW1862 _AT00_MV_max INT 4000 AT MV max. value limit

K1863 %KW1863 _AT00_MV_min INT 0 AT MV min. value limit

K1864 %KW1864 _AT00_PWM WORD 0 AT PWM junction setting

K1865 %KW1865 _AT00_PWM_Prd WORD 0 AT PWM output cycle

K1866 %KW1866 _AT00_HYS_val WORD 0 AT hysteresis setting

Loop0 K1867 %KW1867 _AT00_STATUS WORD 0 AT auto-tuning status indication

K1868 %KW1868 _AT00_ERR_CODE WORD 0 AT error code

K1869 %KD _AT00_K_p REAL 0 AT result proportional coefficient

K1871 - _AT00_T_i REAL 0 AT result integral time

K1873 - _AT00_T_d REAL 0 AT result differential time

K1875 - _AT00_PV INT 0 AT PV

K1876 - _AT00_MV INT 0 AT MV

%KW1877
K1877~1879 Reserved Word 0 Reserved area
~%KW1879

[Table 5.12 K area flags for auto-tuning]

K1856 ~ K1859 areas (In case of IEC type, %KW1856~%KW1859) are the common bit areas for auto-tuning and each bit
represents auto-tuning loop status respectively. K1860~K1879(%KW1860 ~ %KW1879) areas save the setting and status of
loop 0 as the K area for auto-tuning loop 0. In the area, the parameters such as PV, operation cycle and etc set in the built-in
parameter window are saved and the ML50 built-in auto-tuning function executes auto-tuning by the device values and saves
the results into the K areas.

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(2) Auto-tuning flag function

Each function of K area flags for ML50 series auto-tuning is summarized as follows.

A) Common bit area

The area is a flag collecting operation setting and information consisting of bits to each 16 loop. Each bit of each word
device represents the information of each loop.

1) _AT_REV (auto-tuning run direction setting)

Flag name Address IEC type address Unit Setting

_AT_REV
K1856n %KX29696 + n BIT Available
(PID RUN direction setting)

It determines the run direction of auto-tuning of ‘n’ th loop. If the bit is off, it is forward operation; if on, it is reverse operation.

2) _AT_PWM_EN (PWM output enable)

Flag name Address IEC type address Unit Setting

_AT_PWM_EN
K1857 %KX29713 + n BIT Available
(PWM output enable)

It sets whether to output the auto-tuning MV of ‘n’ th loop as PWM output. If the bit is off, it is disabled; if on, it is enabled.

3) _AT_ERROR (Auto-tuning error occurrence)

Flag name Address IEC type address Unit Setting

_PID_ERROR
K1858n %KX29728 + n BIT Unavailable
(PID error occurrence)

It indicates the error in case an error that discontinues operation during auto-tuning of ‘n’th loop occurs. If an error occurs,
it is on; if normal, it is off. Once an error occurs, auto-tuning stops and the MV is output as the min. output set in the
parameter. Also, if an error occurs, it indicates the error code in the error code area of a loop. For more information about
error code types and measures, refer to 5.5. The area, as a dedicated monitor area, is updated although a user directly
enters it.

B) Auto-tuning flag area by loops

The auto-tuning flag areas by loops are K1860 ~ K2179(%KW1860 ~ %KW2179) and each 20 words per loop are
allocated to totally 16 loops. Therefore, individual data area of ‘n’ th loop is between K (1860+16*n) ~ K
(1879+16*n)(%KW(1860+16*n) ~ %KW(1879+16*n)).

1) _ATxx_SV (auto-tuning xx Loop SV setting)

Flag name Address IEC type address Unit Scope

_ATxx_SV
K1860+16*xx %KW1860+16*xx INT -32,768 ~ 32,767
(AT xx Loop SV setting)

It sets/indicates the auto-tuning SV of ‘xx’th loop.

The available scope is between -32,768 ~ 32,767.

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2) _ATxx_T_s (Auto-tuning xx Loop operation cycle)

Flag name Address IEC type address Unit Scope

_PIDxx_T_s
K1861+16*xx %KW1861+16*xx WORD 100 ~ 65,535
(Auto-tuning xx Loop operation cycle)

It sets/indicates the operation cycle of ‘xx’ th loop auto-tuning. The available scope is 100 ~ 65,535.

3) _ATxx_MV_max, _ATxx_MV_min(max. MV, min. MV)

Flag name Address IEC type address Unit Scope

_PIDxx_MV_max (Max. MV) K1862+16*xx %KW1862+16*xx
INT -32,768 ~ 32,767
_PIDxx_MV_min (Min. MV) K1863+16*xx %KW1863+16*xx

It sets max. MV and min. MV of ‘xx’ th loop respectively. If the max. MV is set lower than min. MV, the auto-
tuning loop generates an error and does not work.

4) _ATxx_PWM (AT output junction setting)

Flag name Address IEC type address Unit Scope

_AT00_PWM
K1864+16*xx %KW1864+16*xx WORD H’20 ~ H’3F
(AT output junction setting)

It sets the junction that PWM output of ‘xx’th loop is output. The PWM output junction is valid only between H’20 ~ H’3F
(hex). If any other value is entered, PWM output does not work.

5) _ATxx_PWM_Prd (PWM output cycle setting)

Flag name Address IEC type address Unit Scope

_ATxx_PWM_Prd
K1865+16*xx %KW1865+16*xx WORD 100 ~ 65,535
(PWM output cycle setting)

It sets the PWM output cycle of ‘xx’ th loop. The available scope is between 100 ~ 65,535 at the unit of 0.1ms.

6) _ATxx_HYS_val (Hysteresis setting)

Flag name Address IEC type address Unit Scope

_ATxx_HYS_val (Hysteresis setting) K1866+16*xx %KW1866+16*xx WORD 0 ~ 65,535

It sets the hysteresis of ‘xx’ th loop. For more information about hysteresis function, refer to 5.3.3 Auto-
Tuning Parameter Setting. If it is set as 0, it does not work.

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7) _ATxx_STATUS (Auto-tuning status)

Flag name Address IEC type address Unit Scope

_ATxx_STATUS
K1867+16*xx %KW1867+16*xx WORD Unavailable
(Auto-tuning status)

It indicates the auto-tuning status of ‘xx’ th loop. If auto-tuning is in operation, it is 1(h0001);

if completed, it is 128(h0080). In any other cases, it shows 0(h0000).

8) _ATxx_ERR_CODE (Error code)

Flag name Address IEC type address Unit Scope

_ATxx_ERR_CODE
K1868+16*xx %KW1868+16*xx WORD Unavailable
(Error code)

It indicates error code in case an error occurs during the auto-tuning of ‘xx’th loop. The flag, as a dedicated monitor, is
updated although a user directly enters it. For more information about error code, refer to 5.5.

9) _ATxx_K_p, _ATxx_T_i, _ATxx_T_d (AT result proportional coefficient, integral time, differential time)

Flag name Address IEC type address Unit Scope

_ATxx_K_p
K1869+16*xx %KD934+20*xx
(proportional coefficient)
_ATxx_T_i
K1871+16*xx %KD1004+20*xx Real Unavailable
(integral time)
_ATxx_T_d
K1873+16*xx %K1005+20*xx
(differential time)

The area indicates proportional coefficient, integral time and differential time calculated after the auto-tuning of ‘xx’ th loop
is normally completed. The flag, as a dedicated monitoring, updated although a user directly enters it.

10) _ATxx_PV (PV)

Flag name Address IEC type address Unit Scope

_ATxx_PV (PV) K1875+16*xx %KW1875+16*xx INT -32,768 ~ 32,767

It is the area to receive PV of ‘xx’ th auto-tuning loop. PV is the present status of a system to control and in case of PID
control, the entry from a sensor is saved into U device through input devices such as A/D input module and it moves the
value to _ATxx_PV by using commands such as MOV every scanning, executing auto-tuning.

11) _ATxx_MV (Auto-tuning MV)

Flag name Address IEC type address Unit Scope

_ATxx_MV (auto-tuning MV) K1876+16*xx %KW1876+16*xx INT Unavailable

It is the area to output MV of ‘xx’ th auto-tuning loop. Every auto-tuning cycle, it saves ML50 auto-tuning and it delivers the
value in the area by using commands like MOV in a program and operates a drive every scanning.

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5.6.5 Auto-tuning Instructions

The commands used in ML50 series auto-tuning are as follows.

1) PIDAT
PIDAT is a command to execute auto-tuning by loops.

- Operand S means the loop no. to execute auto-tuning and avaiable only for constant(0~15).
- If start signal contact is on, the PID control of a loop starts.

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5.7 Example Programs

The paragraph explains example programs regarding the directions of ML50 built-in PID function.
The example programs are explained with water level system as illustrated in 5.17.

Water
level sensor
Tank
수통

Tank

Pump

0~10V

ML50 D/A A/D

RS-232C

SoftMaster 0~10V

[ Figure 5.17 Example of water level control system ]

5.7.1 Example System Structure

The example system in figure is an example of a system to control a pail’s water level to a desired level. The pail’s water level is
sensed by a water level sensor and entered to A/D input module while PID control operation result, MV is output to a pump
through D/A output module, controlling a pump’s rotation velocity, regulating the water amount flowing into a pail and regulating
the water level as desired. Each mechanism is explained as follows.

(1) ML50 basic unit

The ML50 basic unit operates by PID control operating PID control operation. It receives PV from A/D input module (MLF-
AD04A), executes the built-in PID control operation, output the MV to D/A (MLF-DV04A) and executes PID control.

(2) A/D input module (MLF-AD04A)

It functions as receiving PV of an object to control from a water level sensor and delivering it to basic unit. MLF-AD04A is a
4CH analog input module and settings of analog input types and scopes can be changed in the I/O parameter setting
window appeared when selecting I/O parameter in the parameter item of project window. For more information, refer to
Analog I/O Module.

(3) D/A output module (MLF-DV04A)

It functions as delivering control MV from basic unit to a drive (pump). MLF-DV04A is a 4CH analog voltage output module
and ranges 0 ~ 10V. For detail setting, refer to Analog I/O Module.

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(4) Water Level Sensor

A water level sensor plays a role to deliver the PV of an object to control to ML50 by measuring the water level of a pail and
outputting it within 0 ~ 10V. Since the types and output scope of water level sensors varies, the output scope of a sensor
should be identical with that of A/D input module’s input scope. The example uses a water level sensor outputting between 0
~ 10V.

(5) Drive (pump)

A drive uses a pump that receives control output of XGF-DV04A and of which rotation velocity is variable. For accurate PID
control, the output scope of MLF-DV04A (0~10V) should be same with that of a pump’s control input. The example uses a pump
that receives its control input between 0 ~ 10V.

5.7.2 Example of PID Auto-tuning

Here, with examples, it explains how to calculate proportional constant, integral time and differential time by using PID auto-
tuning function

(1) PID auto-tuning parameter setting

(a) If double-clicking Parameter – Built-in Parameter – PID – Auto-tuning parameter in the project window, it opens up the
auto-tuning parameter setting window as illustrated in Figure 5.18.

[Figure 5.18 Auto-tuning parameter setting window]

(b) Set each parameter and click OK.

In the example, Loop 0 is set as follows.

• RUN direction: forward

- Since in the system, water level is going up as MV increases and pump’s rotation velocity increases, it should be
set as forward operation.

• PWM output: disabled

- In the example, auto-tuning using PWM is not executed. Therefore, PWM output is set as disabled.

• SV: 1000(2.5V)
- It shows an example in which MLF-AD04A is set as the voltage input of 0~10V.

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• Max. MV: 4000

- Max. MV is set as 4000. If MV is 4000, MLF-DV04A outputs 10V.

• Min. MV: 0
- Min. MV is set as 0. If MV is 0, MLF-DV04A outputs 0V.

• PWM junction, PWM output cycle

- It is not necessary to set it because the example does not use PWM output.

• Hysteresis setting: 10

(2) A/D input module parameter setting

(a) If double-clicking Parameter – I/O parameter, it opens up the setting window as illustrated in figure 5.19.

[ Figure 5.19 I/O parameter setting window ]

(b) If selecting A/D module for a slot in A/D input module, it opens up the setting window as illustrated in Figure 5.20.

[ Figure 5.20 A/D input mode setting window ]

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(c) Check A/D Module operation parameter and click OK. The example is set as follows.

• RUN CH: CH0 RUN

- The example receives the water level sensor input as CH0.

• Input scope: 0 ~ 10V

- Set MLF-AD04A input scope as 0 ~ 10V so that it should be identical with the output scope of water level sensor.

• Output data type: 0 ~ 4000

- It converts the input 0 ~ 10V to digital value from 0 ~ 4000 and delivers it to basic unit.
- In the case, the resolving power of digital value 1 is 10/4000 = 2.5mV

• Filter process, averaging: disabled

- The example sets the input values in order that filter process and averaging are not available.
- For more information about each function, refer to Analog Manual.

(3) D/A Output Module Parameter setting

(a) Set the parameter of D/A output module(MLF-DV04A) that output MV to a drive.
How to set them is as same as A/D input module. In the example, it is set as follows.

• RUN CH: CH0 RUN

- In the example, MV is output as CH0 of D/A output module.
• Output range : 0 ~ 10V
• Input type: 0 ~ 4000

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(4) Example of PID Auto-tuning program

The example of PID auto-tuning program is illustrated as Figure 5.21.

< Figure 5.21 Auto-tuning example program >

(a) Devices used

Device Data type Application

%FX153 BIT It is always on, so it readily operates once PLC is RUN.
%UX0.2.32 BIT It starts operation of CH0 of Slot 2 D/A output module.
%UW0.3.2 INT PV entered to A/D input module.
%UW0.2.3 INT MV entered to D/A output module.
%KW1875 INT Device to which PV is entered for LOOP 0 auto-tuning
%KW1876 INT Device to which auto-tuning MV of LOOP 0 is output.
%KW1867 WORD Device to which auto-tuning status indicates.
%KW1863 INT Min. MV of auto-tuning designated in parameter.

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(b) Program explanation

1) Since F0099(always on) is ON if PLC is converted form STOP to RUN, CH0 of A/D and D/A starts operating.
2) At the moment, PV entered to CH0 of A/D is moved to K1875, the input device of PV and saved accordingly.
3) Once M0000 junction is on, the auto-tuning of loop 0 starts.
4) The auto-tuning MV of loop 0 that is output by PIDAT command is output to D/A output module by line 14 MOV
command.
5) If auto-tuning is complete or there is any error during auto-tuning, M0001 junction is set, blocking operation of PIDAT
command and it outputs min. MV set in parameter to D/A output module.

(c) Monitoring and changing PID control variables using K area

In ML50 series built-in auto-tuning, it can monitor and change RUN status of auto-tuning by using K area allocated
as fixed area by loops.

1) Variable registration
If selecting “Register in Variable/Description” by right clicking in the variable monitor window, “Variable/Device
Selection” window appears. Select “Item” as PID, deselect “View All” and enter 0(means loop number) in
“Parameter No”, K area device list to save every setting and status of loop 0 appears as shown Figure 5.22. Then, if
selecting a variable to monitor and clicking “OK”, a selected device is registered to variable monitor window as
illustrated in Figure 5.23. Through the monitor window, a user can monitor auto-tuning run status or change the
settings.

[Figure 5.22 Variable registration window]

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Chapter 5 Built-in PID Function

[Figure 5.23 Auto-tuning variables registered]

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(5) Observing RUN status by using trend monitor function

Since it is possible to monitor the operation status of ML50 series built-in auto-tuning graphically, it is useful to monitor the
operation status of auto-tuning clearly.
(a) If selecting Monitor – Trend monitor menu, it shows the trend monitor widow as illustrated in Figure 5.24.

[ Figure 5.24 Trend Monitor window ]

(b) If right-clicking trend setting, a user can select a variable to monitor as illustrated in Figure 5.25.

[ Figure 5.25 window to register trend monitor variable ]

(c) For more information about trend monitor, refer to “SoftMaster Use’s Manual.”

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5.7.3 Stand-alone Operation After PID Auto-tuning

Here, with example, it explains how to execute PID control followed by PID auto-tuning.

(1) PID auto-tuning parameter setting

▪ PID auto-tuning parameters are set as same as examples of 5.4.2 Example of PID Auto-tuning.

(2) Setting parameters of A/D input module and D/A output module

▪ Set the parameters of A/D input module and D/A output module as same as the example in 5.4.2 Example of PID
Auto-tuning.

(3) PID parameter setting

(a) If double-clicking Parameter – Built-in Parameter – PID – PID Parameter, it shows the built-in PID parameter setting
window as seen in Figure 5.26.

[ Figure 5.26 Auto-tuning parameter setting window ]

(b) Set each parameter and click OK.

In the example, Loop 0 is set as follows.

• RUN mode: automatic

- Set as automatic in order that PID control is executed as the built-in PID operation outputs MV.

• RUN direction: forward

- Since in the system, water level is going up as MV increases and pump’s rotation velocity increases, it should
be set as forward operation.

• PWM Output: disabled

- In the example, auto-tuning using PWM is not executed. Therefore, PWM output is set as disabled.

• SV: 1000(2.5V)
- It shows an example in which MLF-AD04A is set as the voltage input of 0~10V

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• Operation cycle: 1000

- In the example, it is set that PID control is executed every 100ms.

• Proportional gain, integral time and differential time

- It should be initially set as 1,0,0 because PID auto-tuning results is used with PID constant.

• Max. MV: 4000

- Max. MV is set as 4000. If MV is 4000, MLF-DV04A outputs 10V.

• DeadBand: 0
- It is set as 0 because the example does not use DeadBand function.

• Differential filter setting: 0

- it is also set as 0 because the example does not use differential filter.

• Min. MV: 0
- Min. MV is set as 0. If MV is 0, MLF-DV04A outputs 0V.

• PWM junction, PWM output cycle

- It is not necessary to set them because the example does not use PWM output.

• SV ramp, PV follow-up: 0
- It is not necessary to set SV ramp and PV follow-up because the example does not use them.

• Min. PV, Max. PV: 0

- Set them as 0 and 4000 respectively so that it could be identical with A/D input module’s input scope.

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(c) Example of PID control program after PID auto-tuning

The program example for PID auto-tuning is illustrated as Figure 5.27.

[Figure 5.27 Example program of PID control after auto-tuning]

1) Devices used

Device Data type Application

%FX153 BIT It is always on, so it readily operates once PLC is RUN.
%UX0.2.32 BIT It starts operation of CH0 of Slot 2 D/A output module.
%UW0.3.2 INT PV entered to A/D input module.
%UW0.2.3 INT MV entered to D/A output module.
%KW1875 INT Device to which PV is entered for LOOP 0 auto-tuning
%KW1876 INT Device to which auto-tuning MV of LOOP 0 is output.
%KW1867 WORD Device to which auto-tuning status indicates.
%KD934 REAL proportional coefficient calculated after the auto-tuning
%KD935 REAL integral time calculated after the auto-tuning.

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%KD936 REAL differential time calculated after the auto-tuning.

%KD609 REAL proportional coefficient of PID designated in parameter.
%KD610 REAL integral time of PID designated in parameter.
%KD611 REAL differential time of PID designated in parameter.
%KW1231 INT MV of PID

2) Program explanation

a) Since F0099 (always on) is ON if PLC is converted form STOP to RUN, CH0 of A/D and D/A starts operating.
b) Once M0000(%MX0) junction is on, the auto-tuning of loop 0 starts. At the moment, PV entered to CH0 of A/D is
moved to K1875, the PV input device of loop 0 and saved accordingly.
c) The auto-tuning MV of Loop 0 output by PIDAT command is output to D/A output module by line 11, MOV command.
d) Once auto-tuning is complete, it moves P, I, D coefficients generated from auto-tuning to the input devices of P, I and
D, K1218,K1220 and K1222,( %KD934, %KD935, %KD936) sets M001 and starts the operation of PID loop 0.

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 Chapter 5 Built-in PID Function

5.8 Error / Warning Codes

It describes error codes and warning codes of the ML50 built-in PID function. The error codes and warning codes that may occur
during use of the ML50 built-in PID function are summarized as table. If any error or warning occurs, remove potential causes of the
error by referring to the tables.

5.8.1 Error Codes

Error
Indications Measures
codes
It occurs when max. MV is set lower than min. MV. Make sure to set max. MV
H’0001 MV_MIN_MAX_ERR
larger than min. MV.
It occurs when max. PV is set lower min. Pv. Make sure to set max. PV larger
H’0002 PV_MIN_MAX_ERR
than min. PV.

It occurs when the period of auto tuning or PID operation loop is set under
H’0003 PWM_PERIOD_ERR
100(10ms). Make sure to set output period more than 100.

It occurs when SV is larger than PV at the start time of auto-tuning if auto-

H’0004 SV_RANGE_ERR tuning is forward or when SV is larger than PV at the start time of auto-tuning if
auto-tuning is reverse.
It occurs when the junction designated as PWM output junction is beyond
H’0005 PWM_ADDRESS_ERR
between P20 ~ P3F.
H’0006 P_GAIN_SET_ERR It occurs when proportional constant is set lower than 0.

H’0007 I_TIME_SET_ERR It occurs when integral time is set lower than 0.

H’0008 D_TIME_SET_ERR It occurs when differential time is set lower than 0.

H’0009 CONTROL_MODE_ERR It occurs when control mode is not P, PI, PD or PID.

It occurs when operation direction is changed during auto-tuning. Never
H’000A TUNE_DIR_CHG_ERR
attempt to change operation direction during auto-tuning.
It occurs when period of operation is smaller than 100 (10ms) at Auto-tuning or
H000B PID_PERIOD_ERR PID operation.
Make sure to set period of operation larger than 100.
In mixed operation, It occurs when the direction parameter of forward
operation set to reverse operation or the direction parameter of reverse
H000C HBD_WRONG_DIR
operation set to forward operation. Make sure set to appropriate direction
each loop.
In mixed operation, it occurs when the Set value of each loop is not
H000D HBD_SV_NOT_MATCH
concurrent. Make sure set to Set value concurrently.
If the PID LOOP number is outside the settable range, the command will not
- -
be executed without an error code. The range that can be set is 0 ~ 15.
[Table 5.13 : PID error codes]

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5.8.2 Warning Codes

Error
Indications Measures
codes
H’0001 PV_MIN_MAX_ALM It occurs when the set PV is beyond the min./max. PV.
It occurs when PID operation cycle is too short. It is desirable to set PID
H’0002 PID_SCANTIME_ALM
operation cycle longer than PLC scan time.
H’0003 PID_dPV_WARN It occurs when the PV change of PID cycle exceeds PV change limit.

H’0004 PID_dMV_WARN It occurs when the PV cycle MV change exceeds MV change limit.

H’0005 PID_MV_MAX_WARN It occurs when the calculated MV of PID cycle exceeds the max. MV.

H’0006 PID_MV_MIN_WARN It occurs when the calculated MV of PID cycle is smaller than the min. MV

[Table 5.14 : PID error codes]

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 Chapter 1 Overview

Part 3. Embedded Positioning

Chapter 1 Overview
Part 3 describes the specification, method to use each positioning function, programming and the wiring with external equipment
of embedded positioning function.

1.1 Characteristics
The characteristics of positioning module are as follows.

(1) The positioning function is embedded in XEM-H2/HP PLC.

(2) Various positioning control function
It has various functions needed for positioning system such as positioning control, speed control etc.
The operation data including positioning address and operation method, operation pattern is available to set up to 400 for
each axis With this operation data, positioning for each axis is available.

(a) Various sing-axis operations are available.

1) Position Control
2) Speed Control
3) Feed Control
4) Multi-axis Synchronous Start
5) Point Operation

(b) Various Multi-axis Operations are available.

1) Circular arc Interpolation
2) Linear Interpolation
3) Helical Interpolation
4) Ellipse Interpolation

(c) Switching Control in operation is available.

1) Position/Speed Control Switching
2) Speed/Position Control Switching.

(d) Cam Control is available.

It is available to create up to 8 kinds of cam data with various cam profile of SM-NM Software.

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e) Various Homing Control Function.

1) 7 methods are available for Homing.
a) Origin detection after DOG Off
b) Origin detection after deceleration in case of DOG On
c) Origin detection by the HOME and upper/lower limit
d) Origin detection by DOG
e) High speed Origin detection
f) Origin detection by upper/lower limit
g) Origin detection by HOME
2) It is Available to set the origin of machine without homing by setting the floating origin
(f) For the Acceleration/Deceleration method, it is available to select trapezoid or S curve.

(3) High speed start process .

The start time of positioning is less than( control Parameter-control period*2)ms..
In addition, there is no delay time between axes in synchronous start and interpolation start.

(4) Easy maintenance.

Various data such as operation data, operation parameter are saved on FLASH Memory in PLC. Therefore, data will be
saved permanently. Max writing count of the flash memory is 100,000.

(5) Self-diagnosis, monitoring and test are available with SM-NM software package.
(a) Monitoring (Module & External Input/output Signal) Function
(b) Trace Function
(c) Trend Function
(d) Reading and Saving Module Parameter/Operation Data
(e) Creation of Cam Data
(f) Providing details about errors and the solution for it
(g) Print Function of various forms
(h) Editing operation data in Excel program is available

(6) Advanced XEM can create positioning tasks that match positioning controls. The positioning task work in cycle as set in
Control period of the Common parameters. Positioning task time is included in control period of common parameter.
Positioning control period error occurs when sum of positioning operation time and positioning task execution time exceed
Control period, which set in Common parameter.

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1.2 Purpose of Positioning Control

The purpose of positioning is to transfer the objects (tools etc.) with setting speed from the current position and stop them on
the setting position correctly. And high precision positioning is available by positioning pulse string signal as it is connected to
various control driving devices such as servo driving devices or stepping motor.
In application, it can be used widely with engineering machine, semiconductor assembly machine, grinder, small machine center,
lifter etc.

1.3 Signal Flow of Embedded Positioning

The flow of PLC system using the embedded positioning is as follows.

Positioning Stepping
CPU process process Drive
Motor

Set data
Scan, task read, write and Poly phase Pulse Motor
program Position control generator AMP
operation

Fig. 1.1 Overview of Position Control for Stepping Motor

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Fig. 1.2 Overview of Position Control for Servo Motor

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1.4 Function overview of embedded positioning

Describe Representative functions of APM module (Coordinate & Linear Interpolation, Circular Interpolation & Stop) briefly.

1.4.1 Position Control

Execute positioning control for the designated axis from the starting position(current position) to goal position(the position to
move to).

(1) Control by Absolute coordinates

(a) Execute positioning control from starting position to goal position designated in positioning data
(b) Positioning control is executed based on origin designated in homing
(c) Moving direction is decided by starting position and goal position.
■Starting Position < Goal Position : Forward Positioning Operation
■Starting Position > Goal Position : Reverse Positioning Operation

[ Example ]
■Starting Position : 1000
■Goal Position : 8000
Value of Forward movement is 7000 (7000=8000-1000)

0 1000 8000

Movement Value 7000

Starting Position Goal Position

(2) Control by Incremental Coordinates

(a) Execute positioning control from starting position as much as goal movement value.
The difference from absolute coordinates control is that the goal position is movement value, not position value.
(b) Moving direction depends on sign of movement value.
■Positive value (+ or 0) : Positioning operation with forward direction
■Negative value (-) : Positioning operation with reverse direction

[ Example ]

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■ Starting Position : 5000

■ Goal Position : -7000
In this condition, it moves reversely and stops at -2000.

-2000 0 5000

Reverse positioning control(movement value -7000)

Goal Position Starting Poiton

1.4.2 Interpolation Control

(1) Linear Interpolation Control
Execute linear interpolation control with designated axis at start position (Current position).
Combination of interpolation axis is unlimited and it is available to execute max. 4 axis linear interpolation control

(a) Linear interpolation by absolute coordinates

1) Execute linear interpolation from starting position to goal position designated by positioning data.
2) Positioning control is executed based on origin designated in homing.
3) Movement direction is designated by starting position & goal position of each axis.
■ Starting position < Goal position : Positioning operation with forward direction
■ Starting position > Goal position : Positioning operation with reverse direction

Y axis Forward direction

Y2
Y axis
movement Starting position(X1, Y1) Goal position(X2, Y2)
value
Y1 Operating by linear
X axis interpolation X axis
Reverse Forward
direction direction
X axis movement value
X2
Y axis Reverse direction X1

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[ Example ]
■ Starting Position (1000, 4000)
■ Goal Position (10000, 1000)
In this condition, operation is as follows.

(b) Linear Interpolation by incremental coordinates

1) Goal value becomes movement value
2) Moving direction depends on movement value is positive or negative.
■ Positive value (+ or 0) : Positioning operation with forward direction
■ Negative value (-) : Positioning operation with reverse direction

Y axis Forward direction

Y2
Y axis
movement Starting position(X1, Y1) Linear interpolation end
value position(X2, Y2)
Y1
Movement by Linear interpolation
X axis X axis
Reverse Forward
direction X axis movement value direction
X2
Y axis Reverse direction X1

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[ Example ]
■ Starting position (1000, 4000)
■ Goal position (9000, -3000)
In this condition, operation is as follows.

(2) Circular Interpolation Control

Execute interpolation operation along the trace of circle with 2 axes in direction that already designated for each axis.
Circular interpolation has 3 types according to auxiliary point, Middle point method passing auxiliary point, Center point
method using auxiliary point as center of circle and Radius method using auxiliary point as radius of circle.
In addition, it is available to be executed more than 360° circular interpolation according to the value of “circular
interpolation turns’.
There is no limitation for the combination of 2 axes that used in circular interpolation.(Available to use any 2 of axis1~4)

(a) Circular interpolation with middle point designation form.

1) Starts operating at starting position and execute circular interpolation through the designated middle point.
2) There will be a circular arc whose center point is crossing point of perpendicular bisection between starting
position and middle point or middle point and goal position.
Forward
direction Middle point position

Goal position

Center point
of circular arc
Starting point

Reverse Forward
direction direction
Reverse Origin
direction

3) Control unit “degree” is not available to be used for circular interpolation control.
4) Movement direction is automatically designated by goal position and auxiliary point of circular interpolation

(b) Circular interpolation with center point designation form

1) Starts operating from starting position and execute circular interpolation along trace of circle that has distance

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from starting point to designated center point as radius.

Forward Direction
Goal
Operating by circular interpolation
Position

Starting
position Center point
of circular arc
Radius

Reverse Forward
Direction Direction
Origin
Reverse Direction

2) If the goal position is same as starting position, it is available to have an operation like a circle that has distance
from starting point to auxiliary point as its radius

Forward Direction
Operating by circular interpolation

Center point
of the circle

Starting position
& Goal position

Reverse Forward
Direction Direction
Origin
Reverse Direction

3) Control unit “degree” is not available to be used for circular interpolation control.
4) Direction is determined in setting of “Cir int. mode” (Center point CW, Center point CCW).

(c) Circular interpolation with radius designation form

1) Starts operating from starting position and execute circular interpolation along trace of circular arc that has
value designated in auxiliary point of main axis as it radius. Depending on size setting of circular
arc(<180°,>=180°), center point of circular arc will be different.

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Forward Direction Operating by circular interpolation when

Circular angle >= 180°

Circular angle >= 180°

Center
point

Operating by circular
interpolation when
Starting Circular angle Circular angle >= 180°
< 180°
Reverse Position Forward
Direction Direction
Origin
Reverse Direction Center
point

2) In radius designation form, goal position can’t be set the same as starting position.
3) Control unit “degree” is not available to be used for circular interpolation control.
4) The direction and arc size are determined in “Cir. int. mode”.

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(3) Helical Interpolation

(1) Moves along the designated trace of circular arc depending on circular arc interpolation setting and executes linear
interpolation synchronously.
(2) It is available to execute helical interpolation of more than 360°depending on ‘Circular interpolation turns’ setting.
(3) The combination of axis that used for helical interpolation control is unlimited, 3 axes among axis1 ~ 4 are used.

+Z

End Helical
position Interpolation
Straight
interpolation
Part

+Y

Center
Position
+X
Starting
Position Circular interpolation part

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1.4.3 Speed Control

(1) It is executed by positioning operation start command (Direct start, Indirect start, Synchronous start) and keeps operating
with designated speed until Dec. stop command.
(2) Speed control has forward operation and reverse operation.
(a) Forward operation : Position value >= 0
(b) Reverse operation : Position value < 0
(3) In case of speed control, M code will be on only when M code mode is “With”.
(4) Operating Timing

Speed

Time

Operation
Command

In
Operation It will not be ON
even though stop
Signal of positioning
complete

Stop command

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1.4.4 FEED Control

(1) After executed by positioning start, reset the current position as 0 and start positioning as much as movement value
already set.
(2) Movement direction is decided by movement value.
(3) Feed control has forward direction operation and reverse direction operation.
(a) Forward direction : Position value >= 0
(b) Reverse direction : Position value <0
(4) Operation timing is as follows.

Speed

Time

Start

In
operation

Position

Time

Current
position value
is 0 when start

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 Chapter 2 Specifications

Chapter 2 Specifications

2.1 Performance Specifications

The following table shows the performance specifications of Embedded Positioning.

Model
MLU-H2/HP type
Items
No. of control axis 2 6
▪2 axis linear interpolation ▪2/3/4 axis linear interpolation
Interpolation function ▪2 axis circular interpolation ▪2 axis circular interpolation
▪3 axis helical interpolation
Control method Position control, Speed control, Speed/Position control, Position/Speed control, Feed control
Control unit Pulse, ㎜, inch, degree
Each axis can have up to 400 operation data .(Operation step number : 1 ∼ 400)
Positioning data
Available to set with software package(XG-PM) or program
Connection USB port of CPU
Common, Basic, Extended, Manual operation, Homing, Input/output signal parameter, Operation data, Cam
SM-PM Setting data
data, Command information
Monitor Operation information, Trace, Input terminal information, Error information
Back-up Save the parameter, operation data in Flash ROM (No need of Battery, Max. 100,000 cycle )
Positioning method Absolute method/Incremental method
Speed/Position,
Absolute Incremental Position/Speed Switching
control
Position address range ㎜ -214748364. 8∼ 214748364. 7(㎛) -214748364. 8∼ 214748364. 7(㎛) -214748364. 8∼ 214748364. 7(㎛)
Inch -21474. 83648 ∼ 21474. 83647 -21474. 83648 ∼ 21474. 83647 -21474. 83648 ∼ 21474. 83647
degree -21474. 83648 ∼ 21474. 83647 -21474. 83648 ∼ 21474. 83647 -21474. 83648 ∼ 21474. 83647
POSITIONING

pul se -2147483648 ∼ 2147483647 -2147483648 ∼ 2147483647 -2147483648 ∼ 2147483647

㎜ 0.01 ∼ 21474836.47 (㎜/ min)
Inch 0.001 ∼ 2147483.647 (I nch/ min)
degree 0.001 ∼ 2147483.647 (degree/ min)
Speed range
pul se 1 ~ 200, 000(pul se/ sec): Li ne dri ver
rpm 0. 1 ∼ 100000. 0(RPM)
- mm,I nch, degree cannot exceed 200, 000 pul se/ sec

Acc./Dec. process Trapezoid type, S-Curve

0 ∼ 2,147,483,647ms
Acc./Dec. time
selection is available from 4 types of acceleration/deceleration pattern
Manual Operation Jog Operation, MPG Operation, Inching Operation

DOG + HOME (Off), DOG + HOME(On), upper limit + HOME, DOG, High speed,
Homing method
Upper/Lower limit, HOME

Speed change function Speed change (Percent/Absolute value)

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Chapter 2 Specifications

Model
MLU-H2/HP type
Items
Control Period 1~10ms
Max. speed 200 kpps, (Low-Active)
Connector 40 Pin connector
Size of use cable AWG #24

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2.2 External Interface I/O Specifications

Here describes the I/O interface for external equipment.

2.2.1 Input Specifications

External input signal of Built-in Positioning can be set by input area where user can set the device in Extended parameter.
(In case of HOME signal P area range can be set %IX0.0.0~%IX0.0.15)

2.2.2 Output Specifications

Deviation signal can be set by P area where user can set the device in Extended parameter.

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2.2.3 Positioning output

(I case of 2 aixs XBM refer to only 1,2 axis)
1axis %QX0.0.0 %QX0.0.6
2axis %QX0.0.1 %QX0.0.7
3axis %QX0.0.2 %QX0.0.8
Contac Ref.
t no. 4axis %QX0.0.3 %QX0.0.9
5axis %QX0.0.4 %QX0.0.10
6axis %QX0.0.5 %QX0.0.11
Signal name Pulse string output Direction output
Rated load
DC5~24V (DC4.75~26.4V)
voltage
Max. load
0.1A/1 point or below
current
Insulation
Photo-coupler insulation
method
Inrush current 1A/10㎳ or below
Voltage drop
DC 0.3V or below
when On
Leakage current
0.1㎃ or below
when Off
Response time 0.5us or below (10mA or above)
No. Contact No. Contact
B20 %IX0.0.0 A20 %QX0.0.0
B19 %IX0.0.1 A19 %QX0.0.1
B18 %IX0.0.2 A18 %QX0.0.2 B20 A20
B19 A19
B17 %IX0.0.3 A17 %QX0.0.3 B18 A18
B16 %IX0.0.4 A16 %QX0.0.4 B17 A17
B16 A16
B15 %IX0.0.5 A15 %QX0.0.5
B15 A15
B14 %IX0.0.6 A14 %QX0.0.6 B14 A14
Circuit B13 %IX0.0.7 A13 %QX0.0.7
B13 A13
B12 A12
configuration B12 %IX0.0.8 A12 %QX0.0.8 B11 A11
and connector B11 %IX0.0.9 A11 %QX0.0.9 B10 A10
B09 A09
array B10 %IX0.0.10 A10 %QX0.0.10 B08 A08
(standard type) B9 %IX0.0.11 A9 %QX0.0.11 B07 A07
B06 A06
B8 %IX0.0.12 A8 %QX0.0.12 B05 A05
B04 A04
B7 %IX0.0.13 A7 %QX0.0.13 B03 A03
B6 %IX0.0.14 A6 %QX0.0.14 B02 A02
B01 A01
B5 %IX0.0.15 A5 %QX0.0.15
B4 NC A4 P
B3 NC A3 P
B2 IN_COM A2 OUT_COM
B1 IN_COM A1 OUT_COM

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2.2.4 External Equipment and Interface Specifications

Output pulse of XGB built-in positioning consists of Pulse + Direction like figure below.
At this time, output level of Low Active and High Active can be specified by positioning parameter and K area flag
dedicated for positioning.

Supported at
S, H, HP type

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 Chapter 3 Operation Order and Installation

Chapter 3 Operation Order and Installation

3.1 Operation Order

This chapter describes the Operation order in case of positioning operation by embedded positioning.

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3.2 Installation
3.2.1 Installation Environment
This machine has a good reliability regardless of installation environment but cares should be taken in the following items to
guarantee the reliability and safety of the system.

(1) Environment Condition

- Install the control panel available for water-proof, anti-vibration.
- The place free from continuous impact or vibration.
- The place not exposed to direct rays.
- The place with no dew phenomena by rapid temperature change.
- The place where surrounding temperature maintains 0-55℃.

(2) Installation Construction

- In case of processing the screw hole or wiring, cares should be taken not to put the wiring remnants to PLC inside.
- Install on the good place to operate.
- Do not install the high voltage machine on the same Panel.
- The distance from duct or surrounding module shall be more than 50mm.
- Ground to the place where surrounding noise environment is good enough.

3.2.2 Notices in Handling

Here describes the notices in handling the positioning module from opening to installation.

(1) Do not fall down or apply the strong impact.

(2) Do not remove PCB from the case. It may cause the failure.
(3) In wiring, cares should be taken not to put the wiring remnants or foreign materials to the upper part of module. If
something entered, it should be removed.
(4) The removal of module in the status of power ON is prohibited.
(5) When using the system of positioning control, please use it after you've set up the origin.
When Power On or Off, change of pulse output could occurred by Power On or Off.

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3.3 Notices in Wiring

3.3.1 Notices in Wiring

1) The length of connecting cable between positioning module and drive machine shall be as short as possible
(Max. 10m).
2) For alternating current and external I/O signal of positioning module, it is required to use the separate cables to avoid
the surge or induction noise generated from the alternating current.
3) The wires should be selected considering surrounding temperature, allowable current and it is recommended to be
more than max. size AWG22 (0.3㎟).
4) In wiring, if it is too close to the high temperature machine or material or it is directly contacted to the oil for a long time,
the short-circuit will occur that may cause the damage or malfunction.
5) Make sure to check the polarity before applying the external contact signal to the terminal board.
6) In case of wiring the high voltage cable and power cables together, the induction noise occurs that may cause the
malfunction or failure.
7) In case of wiring by the pipe, the grounding of pipe is required.
8) In case that there may be the noise source in wiring between positioning module and drive machine, it is required to
use and connect Twist pair and shielded cable for the wiring of output pulse that comes from the positioning and enters
into the motor drive.

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3.3.2 Connection Example of Servo

(1) Servo device
(a) XDL-S series

1) The home position signal can be set to %IX0.0.0~%IX0.0.15 throung the input/ouput signal parameter setting
2) Other input signals, except the origin, can set the entire area of I device.
3) For COM for each input, connect the COM contact corresponding to the set I device.
4) The deviation clear signal can set the area of the Q device. set the
5) For COM for deviation clear, connect the COM contact corresponding to the set Q device.
6) EGEAR1, EGEAR2, P_CLR are not allocated. For more information refer to Servo manual.
7) Transister Off time tend to be long when load current is small. In case of reducing off time, add dummy resister as above
wiring.

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(2) Connection with stepping motor driver

(a) DC5V power

(b) DC24V power

Stepping
XEM-DN32H2/HP DC 24V DC 5V
Motor Driver

DC24 +24V

%QX0.0.0 Pulse CW-

CW+ 주5)

%QX0.0.6 Direction CCW-

CCW+

COM OUT_COM

주3) IN_COM

주1) HOME
주4)
주2) DOG Timing
주2) Limit L
주2) Limit H
COM

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1) The home position signal can be set to %IX0.0.0~%IX0.0.15 throung the input/ouput signal parameter setting
2) Other input signals, except the origin, can set the entire area of I device.
3) For COM for each input, connect the COM contact corresponding to the set I device.
4) For the VEXTA RKD series, TIMING output is ‘On’ whenever the motor rotates 7.2 degrees. For accurate homing, T output
and home sensor must be configurated as AND circuits. Do not use TIMING output signal according to the system
characteristics, use the origin sensor for homing signal or homing by the dog signal. (The home input rating of ML50 is DC24V)
5) Only pulse + direction mode can be output, be sure to change the input mode of the stepping motor driver to 1-phase input
mode.
6) In case of using DC24V power, use the proper resistor in series with the driver.

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 Chapter 4 Positioning Control

Chapter 4 Positioning Control

본 파라미

4.1 Positioning task

Here describes Positioning task, which synchronize with positioning control period

4.1.1 Positioning control task

The MLU-DN32HP has a position control task that synchronizes with the positioning control period.

4.1.2 Operation of Positioning control task

Position control tasks provide built-in I / O refresh to increase the responsiveness of signal, which changed or enabled in
Position control task. Positioning control tasks are performed prior to the start of the positioning operation and have a higher
priority than the scan. However, the position control task waits for the execution while communicating with the expansion
module such as refreshing extension module refresh. If the sum of the position control task execution time and the positioning
operation time is greater than the control period set in the common parameter, an error occurs and the position control task is
not executed.
If exceeded control period error, increase the control period of common parameter up to 10ms or adjust the position control
task program. The following shows the operation flow of the scan program and existing tasks(fixed cycle, internal / external
contact, high-speed counter) and positioning task

Nth Positioning control period N+1th Positioning control period

Pulse output Result of Nth period

1 cycle finished
Positioning
control task
Input Output Position Waiting Input Output Position
and POS Task POS Task
refresh refresh calculation execution refresh refresh calculation
position
calculation
Waiting while Expansion module
Communicating

Previous task Wait for Expansion module Wait for

Program running
program execution commnunication execution

Wait for
Scan program Program running
execution

The position control task and the position control operation match the cycle. The processing priority is higher than the scan
program and the existing task program and operates at the same priority level as the position control operation. The position
control task waits while communicating with the expansion unit in the scan program or task program.
the position control task execution time and position control operation time are larger than the positioning control period, the
position control period error occurs and the positioning task does not operate. However, the position control operation operates
even in the error state.

Notes
▶ systems using expansion units, set the position control cycle to at least 3 ms. Expansion unit communication
time takes several hundreds of us to 2ms. Therefore, if the control period is set to 1 ms and an expansion unit is
used, control cycle errors may occur frequently.

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4.1.3 Built-in position control command operation

The built-in position control commands mainly include start command and non-start command. Start command is a
command to perform position control operation over several scans such as direct start or indirect start. Non-start
instruction is data processing related instruction to complete the operation within one scan such as reading current status
and presetting current. The non-start instruction entered from the scan program or task program is applied to the
positioning. operation unit immediately after the instruction is executed. On the other hand, the start command is
processed by the position control operator. Since the position control operation is synchronous, the start command input
from the position control task is processed by the position control operation unit. It is processed at the same time.
Therefore, it is convenient to use the position control task to synchronize the start of multiple axes.
For example, if you want to operate the 1-axis and 2-axis at the same time by direct starting, use the
command in the position control task. Direct start of 1-axis and 2-axis starts simultaneously.

(1) Instruction processing in scan program and existing task program

The scan program has a lower priority than the position control operation. Therefore, when the position control processing
period is reached during the operation of the scan program, the scan program processing enters the execution standby
state and processes the position control operation.

Nth Positioning control period N+1th Positioning control period N+2th Positioning control period
Output of N+1th
Pulse output Output of Nth calculation
calculation
( 1 axis Direct start result)
1 th cycle ( 2 axis Direct start result)
finished

Positioning Positioning Positioning Positioning

Input Output Input Output Input Output
control task and position calculation POS Task Control POS Task Control POS Task Control
refresh Refresh refresh Refresh refresh Refresh
processing processing processing

M th scan
M th scan program Wait for M th scan program Wait for Starting M+1th scan
Scan program program
running execution running execution program running
running

Starting M+1th
1 axis Direct 2 axis Direct scan program
1axis Direct start 1axis Direct start
input operation input operation

In the scan program as above, when start command is input to different operation axis in the same scan, the start time of
axis operation may be different

In the scan program as above, when input of start command for each different axis comes in the same scan, actual
operating time of each axis should be different.

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(2) Instruction processing in position control task program

Since the POS task operates in a structure in which one scan is completed within the positioning control cycle, the start
commands for the different axes executed in the same scan are simultaneously output. This is convenient when
precise synchronous control between axes is required.

Nth Positioning control period N+1th Positioning control period

Pulse output Output of Nth calculation
( 1,2 axis Direct start result)
1 th cycle
finished
Positioning Positioning Positioning
Input Output Input Output
control task and position POS Task Control POS Task Control
refresh Refresh refresh Refresh
calculation processing processing

M th scan M th scan M th scan

Wait for Wait for
Scan program program program program
execution execution
running running running

2 axis Direct 2axis Direct start

1 axis Direct input operation
input 1axis Direct start
operation

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 Chapter 5 Positioning Parameter & Operation Data

Chapter 5 Positioning Parameter & Operation Data

This chapter describes parameter and operation data to be set by software package with embedded positioning.
Item of Parameter and operation data should be set for each axis(But common parameter shall be applied to all axis)

5.1 Parameter & Operation data

This picture describe process of parameter and operation data saved in the PLC.

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4.2 기본 파라미

5.2 Basic Parameter

Here describes about basic parameter of embedded positioning.

5.2.1 Basic parameter

Item Setting range

㎜ :1 ∼ 2,147,483,647 [X10-2㎜/min]
Inch : 1 ∼ 2,147,483,647 [X10-3Inch/ min]
Speed limit 1)
degree : 1 ∼ 2,147,483,647 [X10-3 degree/ min]
pulse : 1 ∼ 200,000 [pulse/Sec]

Acceleration time 1
Acceleration time 2
0 ~ 2,147,483,647 [ms]
Acceleration time 3
Acceleration time 4
Deceleration time 1
Deceleration time 2
0 ~ 2,147,483,647 [ms]
Deceleration time 3
Deceleration time 4
Deceleration time for EMG stop 0 ~ 2,147,483,647 [ms]
Pulse per revolution 1 ~ 200,000,000
㎜ : 1 ∼ 200,000,000 [X10-4㎜]
(1 ∼ 200,000,000 [X10-1㎛])
Travel per revolution
Inch : 1 ∼ 200,000,000 [X10-5Inch]
degree : 1 ∼ 200,000,000 [X10-5 degree]
unit (bit 2 ~ 3) 0:Pulse, 1:mm, 2:Inch, 3:Degree
Control word Unit multiplier(bit 4 ~ 5) 0: x 1, 1: x 10, 2: x 100, 3: x 1000
Speed unit (bit 6) 0: unit/time, 1: rpm
Pulse output mode 0:CW/CCW, 1:PLS/DIR, 2:PHASE

㎜ :1 ∼ 2,147,483,647 [X10-2㎜/min]
Inch : 1 ∼ 2,147,483,647 [X10-3Inch/ min]
Bias speed 2)
degree : 1 ∼ 2,147,483,647 [X10-3 degree/ min]
pulse : 1 ∼ 200,000 [pulse/Sec]

1) The mm, inch, degree unit is not available when a value converted to the pulse/sec unit is greater than 200,000.
2) The bias speed can not greater than the speed limit.

Notes

For Deceleration time, when it stops by DEC. stop, DEC. time set in command is applied. At this time, if DEC. time is set
as 0 in command, DEC. time set in basic parameter is applied. In case it stops by EMG stop because of internal factor,
not external factor, EMG stop deceleration time in basic parameter is applied.

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5.2.2 Basic parameter setting

(1) Unit
(a) You can set the command unit for positioning control according to control object. The command unit (mm, inch, pulse,
degree) can be set for each axis separately.
(b) In case of changing the unit setting, as the value of other parameter and operation data does not change, the value of
parameter or operation data should be set within the setting range of the unit to be changed.
Ex) mm, inch, pulse : X-Y Table, Conveyor
degree : a body of rotation (360degree/revolution)

(2) Pulse per Revolution

(a) Only in case of using mm, inch, degree as a positioning command unit, you should set pulse per revolution
(b) In case of using SERVO, you should set the value of “the number of out put pulse per revolution”.
If this value does not correspond with parameter value of servo drive, command and motor action may be different.
Travel per pulse = Transfer per rotation (Al) / Pulse per rotation (Ap)
Ex1) Speed: 60mm/min, Al:2000um, Ap: 200pls/revolution
60mm/min = 1mm/sec = 1000um/sec
1000um = 0.5 Revolution = 100pls
 Pulse output speed is 100pls/sec when driving 60mm/min speed.

(3) Travel per rotation and unit multiplier

(a) Only in case of using mm, inch, degree as a positioning command unit, you should set travel per revolution and multiplier
(b) Actual Machine’s travel distance per revolution of motor is determined by the structure of machine.
If the lead of ball screw (mm/rev) is PB and the rate of deceleration is 1/n,
Transfer amount per revolution (AL) = PB ×1/n.
(c) Settable Travel per revolution (AI) is as below

Setting unit mm Inch degree

Travel per revolution 0.1 ~ 20000000.0 um 0.00001 ~ 2000.00000 inch 0.00001 ~ 2000.00000 degree

In case Transfer amount per revolution (AL) exceeds the above range, The travel per rotation (AI) should be set as follows:

• Transfer amount (AL) = PB ×1/n = Travel per rotation (AI) × Unit multiplier (Am)

[ Note]
In case unit is mm, unit multiplier (Am) can be 1,10,100,1000.
If the value of “PB ×1/n” exceeds 20,000,000.0㎛, it is required to adjust the unit multiplier so that the travel per rotation (Al) does not
exceed 20,000,000.0㎛.

Ex1) In case that (AL) = PB ×1/n = 2500000.0㎛(= 2500㎜)

 Transfer amount per revolution (AL) = (Al) × (Am) = 25000000 ×1

Ex2) In case that (AL) = PB ×1/n = 25000000.0㎛(= 25000㎜)

 Transfer amount per revolution (AL) = (Al) × (Am) = 25000000 ×10 = = 2500000 ×100

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(4) Speed Limit, Acceleration Time, Deceleration Time

(a) Speed Limit
The Speed limit means available maximum speed of positioning operation
All of the operating speed in positioning operation should be set to be lower than speed limit.
(b) Acceleration Time
Acceleration Time is the time required to reach the limit speed which is set by parameter from zero speed(stop state).
(It doesn’t mean the time require to reach the Target speed)
(c) Deceleration Time
Deceleration Time is the time required to reach zero speed(stop state) from the limit speed which is set by parameter.
(It doesn’t mean the time require to reach zero speed from the operating speed.)

(5) Pulse Output Enable/Disenable

Built-in Position use output. If you disable pulse output for the axes that you do not use, you can use it as a normal output
contact.
(6) Bias Speed
Because the stepping motor has unstable torque near zero speed, 0~bias speed is skipped in operation to smooth the
rotation of motor and reduce the positioning time..
(a) The setting range is 0 ∼ 200,000[pps] in case of pulse unit.
If the Unit parameter is not "Pulse", The bias speed should be not less than 1 when converted to "pulse unit" by
Travel per revolution and pulse per revolution. if this value is smaller than 1, The PLC occurs error code "105" and
adjust bias speed to satisfy above condition automatically.

[ Note ]
In case, Unit = mm, Pulse per revolution = 100 pls, Travel per revolution = 10000.0um, Unit multiplier
Available minimum bias speed can be calculated as below.
EX1) Travel per revolution (Al) = 10000.0um, Pulse per revolution(Ap)=1000pls
Trael per pulse = Travel per revolution (Al) / Pulse per revolution (Ap)
= 10000.0um/100pls
= 10.0um/pls = 0.6mm/min.

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Note
1. If Bias speed is set as high, total operation time shall be reduced but if the setting value is too high,
it may cause the occurrence of impact sound in the start/end time and forces the excessive effect to the
machine. Cares shall be taken in using..
2. The bias speed should be set within the range as follows :
1) Bias speed ≤ Positioning speed data
2) Bias speed ≤ Homing-low speed ≤ Homing-high speed
3) Bias speed ≤ JOG low speed ≤ JOG high speed
3. It causes error in connection with bias speed in the following example..
1) Bias speed > Positioning speed data : error code 153
2) Bias speed > Homing-high speed : error code 133
3) Bias speed > Homing-low speed : error code 134
4) Bias speed > JOG high speed : error code 121
5) Bias speed > JOG high speed : error code 122
6) Bias speed > inching speed : error code 123
7) Converted Bias speed > 1pulse/s: error code 105

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5.3 Extended Parameter

It describes about extended parameter of positioning module.

5.3.1 Contents of extended parameter

Extended parameter Items Setting Range
㎜ :-2,147,483,648 ~ 2,147,483,647[X10-4㎜]
Software upper limit (-2,147,483,648 ~ 2,147,483,647[X10-1㎛])
Inch:-2,147,483,648 ~ 2,147,483,647[X10-5Inch]
degree:-2,147,483,648 ~ 2,147,483,647[X10-5degree]
Software lower limit
pulse:-2,147,483,648 ~ 2,147,483,647[pulse]
mm: 1 ~ 2,147,483,647[X10-4㎜]
(1 ~ 2,147,483,647[X10-1㎛])
Infinite running repeat position Inch: 1 ~ 2,147,483,647[X10-5Inch]
degree: 1 ~ 2,147,483,647[X10-5degree]
pulse: 1 ~ 2,147,483,647[pulse]
mm: 0 ~ 65,535[X10-4㎜]
(0 ~ 65,535[X10-1㎛])
Backlash compensation amount inch: 0 ~ 65,535[X10-5Inch]
degree: 0 ~ 65,535[X10-5degree]
pulse: 0 ~ 65,535[pulse]
Position completion time 0 ~ 65,535[ms]
S-Curve ratio(%) 1 ~ 100
mm: 0 ~ 2,147,483,647[X10-4㎜]
(0 ~ 2,147,483,647[X10-1㎛])
Arc insertion position in 2-axis linear interpolation
Inch: 0 ~ 2,147,483,647[X10-5Inch]
continuous operation
degree: 0 ~ 2,147,483,647[X10-5degree]
pulse: 0 ~ 2,147,483,647[pulse]
Servo reset output ON duration 1~5000[ms]
Pulse output direction (bit 0) 0: CW, 1: CCW
Acceleration/Deceleration pattern (bit 1) 0:Trapezoid operation, 1:S-Curve operation
Control M Code mode(bit 2 ~ 3) 0: NONE, 1: WITH, 2: AFTER
word Interpolation speed selection (bit 4) 0: main axis speed, 1: synthetic speed
Software limit detection
0:Don’t detect, 1: Detect
during speed control (bit 5)

Extended parameter Items Setting Range

Speed/Position switching coordinate (bit 9) 0: Incremental, 1: Absolute

Reserved (bit 10 ~ 11) -
Infinite running repeat (bit 12) 0: Disable, 1: Enable
Control Interpolation continuous operation Type (bit 13) 0 : Pass target position, 1 : Pass near position
word Arc insertion in 2-axis linear interpolation
0 : Don’t insert , 1 : Insert arc continuous operation
continuous operation (bit 14)
Pos.-specified speed override coordinate
0: absolute, 1: incremental
(bit 15)

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5.3.2 Extended parameter setting

(1) Software upper/Lower Limit
(a) The function is designed so that the machine does not execute the positioning operation out of the range by setting
the range of machine available to move through software upper limit and software lower limit. That is, this function is
used to prevent any breakaway by incorrect operation position setting and incorrect operation by user program fault.
(b) External input upper/lower limit can be also set besides the software upper/lower limit.

(c) The range check of software upper/lower limit is done at the start of operation and during operating.
(d) If the software upper/lower limit is detected, error (Software upper limit error: 501, Software lower limit error: 502)
occurs and the pulse output of positioning module shall be disabled.
Therefore, when you want to operate again, it is required to reset error and release the ‘output inhibition’ before using.
(e) Setting range
Unit Software upper/lower limit range
pulse -2,147,483,648∼2,147,483,647[pulse]
mm -2,147,483,648∼2,147,483,647[X10-4㎜]
Inch -2,147,483,648∼2,147,483,647[X10-5Inch]
degree -2,147,483,648∼2,147,483,647[X10-5degree]
* Software upper limit value always should be higher than software lower limit, at least same

(f) If the software upper/lower limit was set by default value (upper limit: 2,147,483,647, lower limit: -2,147,483,648) or
same value, then it wouldn’t detect upper/lower limit.

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(2) Infinite running repeat position

(a) When using “Infinite running repeat” mode, it sets the repeated position value.
(b) This is applied when “Infinite running repeat” in the extended parameter is “1: Enable”. When this parameter setting
value is “0: Disable”, command position and current position is expressed within position expression range according
to value set in “Unit” of basic parameter.
(c) When “Infinite running repeat” parameter is “1: enable”, command position and current position is expressed as 0 ~
“infinite running repeat position-1”.

Infinite running
repeat position

(d) Setting range

Unit Infinite running repeat position range

pulse 1∼2,147,483,647[pulse]
mm 1∼2,147,483,647[X10-4㎜]
Inch 1∼2,147,483,647[X10-5Inch]
degree 1∼2,147,483,647[X10-5degree]

(3) Infinite running repeat

(a) It sets whether to enable or disable “Infinite running repeat”
(b) When you set “Infinite running repeat” as “1: enable”, command position and current position refreshes within the
range set in “Infinite running repeat position” periodically.
(c) When you don’t use “Infinite running repeat” function, set as “0: disable”.

(4) Backlash Compensation Amount

(a) In case that a gear, screw etc is combined to the motor axis, The tolerance that the machine does not work by the
wear, when the rotation direction changes, is called as ‘Backlash”. Therefore, when you change the rotation
direction, it is required to add the backlash compensation amount to the positioning amount for output.
(b) This is used for positioning operation, inching operation and jog operation
(c) Setting range

Unit Backlash setting range

pulse 0 ∼ 65,535[pulse]
㎜ 0 ∼ 65,535[X10-4㎜]
Inch 0 ∼ 65,535[X10-5Inch]
degree 0 ∼ 65,535[X10-5degree]

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(d) As presented in the following figure, if the position moved 1m to the right and again 1m to the left, it is not possible to
reach the original position by backlash. At this time, it is required to add backlash compensation amount.

Gear
1m movement right side (Forward)

1m movement left side (Reverse)

Bachlash
Backlash compansation

Transfer amount including Backlash compensation amount

Bachlash

(e) It compensates by adding backlash compensation pulse to current output pulse within speed limit.
In case backlash compensation amount is bigger than Max. output Pulse (Speed limit ⅹ Control cycle) for
one control cycle, distribute compensation amount to several control cycles

A,B,C,D : Relative position

P0 ,P1,P2,P3 : transfer amount of load

Speed Numbers in ( ), { } mean rotation amount of

motor P1 :(1500)
1500

P2 : 1500 P3 : 0
A: 1000 (1500 - compensation amount) {1500 – (compensation amount+1500)}
B: 500

C:0 D: 1500
P0 : 1000 Time
(1000)

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Notes
In case backlash compensation is bigger than Max. Pulse (Speed limit ⅹControl cycle) for one control cycle, progress
is as shown below. For example, in case that Speed limit is 100000 and backlash is 250, backlash compensation is
bigger than Max. output Pulse (100000pps ⅹ 0.001s = 100) for one control cycle, and performed for several control
cycles. In this case, the number of output pulse which comes from positioning module per one control cycle is different
according to Acc. time. Compensation pulse is added to above pulse for total pulse output to be smaller than Max.
output pulse for one control cycle. So the number of control cycle compensation acts is different.

One control cycle

(5) Positioning Completion Time

(a) Positioning completion signal shall be OFF after sustaining “ON” for Positioning Completion Time after positioning is
completed and positioning completion signal becomes “ON” in single operation, repeat operation, keep operation,
continuous operation, linear interpolation operation, circular interpolation operation, speed/position switching control
operation, inching operation
At this time, if all start command is executed while positioning completion signal is ON, completion signal shall be
OFF immediately. In case of keep operation and continuous mode operation, positioning completion signal will be
on after all steps end.
(b) The setting range is 0 ∼ 65,535 (unit: 1㎳).
(c) The action of single operation mode is as follows.

Speed
Dwell
Dwell Time
Time

Time

Start

Busy

Position Completion

set position completion time

set position completion time ≠ position completion

= position completion output time output time

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(d) The action of Keep operation mode is as follows :

Speed
Dwell Time
Dwell Time

Time

Start

Busy

Position Completion

Position Completion time

( e) The action of Continuous operation mode is as follows.

Speed

Dwell Time

Time

Start

Busy

Position Completion

Position Completion time

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(6) Pulse output direction

(a) This is used to set machine’s actual movement direction according to pulse output direction (rotation direction
of motor) of positioning function.
(b) If pulse output direction is set as “CW” and machine moves forward direction in case of forward direction op
eration, it is set correctly.
(c) If pulse output direction is set as “CW” and machine moves reverse direction in case of forward direction op
eration, it is not set correctly. Set the pulse output direction as “CCW”. In case of forward direction operation,
if machine moves forward direction, it is set correctly.
(d) In the following figure, pulse output level is set as Low Active”

PLS/DIR

FP

Forward Reverse
RP

Reverse Forward

CW Setting CCW Setting

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(7) M Code Output

(a) M code mode set by parameter shall be applied to all positioning data of the corresponding axis.
(b) Available to set M code number differently at each operation step no. of positioning data.
(c) M code number setting range : 1 ∼ 65,535
(d) Available to read and use M code for the identification of operation step no. in operation and the execution of auxiliary
works (Clamp, tool change etc).
(e) M code signal occurring during the operation shall be reset by “MOF” command.

Notes
If you execute the next step after the positioning is completed and M code signal is “ON”, the next operation step no. does not work
and the error code(233) will occur. Therefore, in order to execute the positioning of the next operation step number, M code signal
should be “OFF” by “MOF” command

(f) There are two kinds of M code mode according to the output timing of M code signal: With mode and After mode
(In case of setting NONE, There is no M code signal, even if M code No. was set.)

1) With mode
It turns on the M code signal and outputs M code number with start of positioning [Indirect start, direct start and
simultaneous start].

Speed

Dwell time Dwell time

Keep operation End operation

Time
Indirect start

In operation

M code On signal

M code No. m n 0

M code OFF command

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2) After mode
It turns on the M code signal and outputs M code number after completion of positioning [indirect start, direct start
and simultaneous start].

Speed

Dwell time Dwell time

Keep operation End operation
Time

Indirect start

M code on

M code on signal

M code No. 0 m 0 n 0

M code OFF command

(8) Interpolation speed selection

It selects whether to consider the operation speed of the position data as main axis speed or synthetic speed.
Main Main
AXIS AXIS

Synthetic
speed Main axis
Data

Sub Sub
AXIS AXIS
Calculated by PLC Calculated by PLC

< Synthetic Mode> < Main axis Mode>

(9) Software limit detect

(a) Selects whether to stop the operation or not when detecting software limit.
(b) If the software upper/lower limit is set as default value (upper limit: 2,147,483,647, lower limit: -2,147,483,648) or
same value, it wouldn’t detect software upper/lower limit.

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(10) Acceleration/Deceleration Pattern

(a) There are 2 kinds of Acceleration/Deceleration operation pattern: Trapezoid operation and S-Curve operation.
(b) In case of positioning operation, it is available to select operation pattern (either trapezoid operation or S-Curve operation) at the
section of acceleration and de deceleration.
(c) As it is not possible to use S-Curve operation pattern in case of continuous operation mode and speed override, care should be
taken in setting.
(d) By using S-Curve acceleration/deceleration, it is available to protect the motor from the load effect at the point that the motor starts
to move the moving object and stops it.

Speed Speed

Acc/Dec. section is linear Acc/Dec. section is Sinusoidal curve

Time Time
<Trapezoidal method> <S-Curve method>

(11) S-curve rate

(a) In case of selecting S-Curve operation as an acceleration/deceleration pattern, S-Curve rate (1~100%) should be
set.
(b) According to S-Curve rate, S-Curve operation pattern shall be formed in accordance with Sinusoidal curve.
(c) If S-Curve rate is 1%, it becomes the same as trapezoid operation and if the 100% rate is set, it becomes the
acceleration/deceleration curve which is the closest to the Sinusoidal Curve.
(d) The figure as below shows the example of S-Curve rate setting

Speed S-Curve rate

100% 100%

50% 50%

1% 1%

Time

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(12) Linear interpolation positioning method

In case control method is linear interpolation or circular interpolation and operation method is continuous operation,
positioning control will be different in accordance with the value set in “Int continuous opr. Type”.
The two method types of interpolation control continuous operation are as follows;
- Pass target position (Passes designated target position)
- Pass near position (Before reaching target position of current step, moves to target position of next step
Setting range of the Interpolation continuous operation positioning method is as follows;

Items Setting value Description

In case of continuous operation from current step to next step, it passes target
0 : Pass target position
Interpolation position of current step.
continuous
operation method In case of continuous operation from current step to next step, it passes near
1 : Pass near position
target position of current step

For further information, please refer to operation mode (4) continuous operation of 9.2.2 positioning control.

(13) Arc insertion during 2-axis linear interpolation continuous operation

When executing linear interpolation, determine whether to add arc during 2-axis linear interpolation continuous operation.
Here describes Arc insertion during 2-axis linear interpolation continuous operation
Setting item Setting Value Content

Arc insertion during 2-axis 0 : Don’t insert When executing 2-axis linear continuous interpolation, doesn’t inserts arc..
linear interpolation
continuous operation 1 : insert arc When executing 2-axis linear continuous interpolation, inserts arc.

For further information about Arc insertion during 2-axis linear interpolation continuous operation, please refer to
(4) 2-axis linear interpolation continuous operation arc insertion of 2-axis linear interpolating control of 9.2.6.

(14) Arc insertion position

When 「Arc insertion」 was set as “insert arc”, confirm the position where it was set by ‘inputting circular arc continuous
operation’, reset start position of circular interpolation(Goal position of linear path 1) and goal position
(Start position of linear path 2).
This is the setting of ‘Position-specified speed override coordinate’.
Item Setting value Content
Position of inputting circular arc
Set the position that circular will be inputted. It is relative distance from
from axis 2 linear interpolation 0 ~ 2,147,483,647
goal position..
continuous operation
For further information about inputting circular arc from axis 2 linear interpolation continuous operation, please refer to (4)
inputting circular arc from axis 2 linear interpolation continuous operation of control linear interpolation (9.2.6).

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(15) Position-specified speed override coordinate

Position-specified speed override command is the command changing the operation speed when the object reaches
the specified position. At this time, operation may be different according to the type of position value. Position value can
be absolute position value or incremental position value.

This is the setting of ‘Position-specified speed override coordinate’.

Item Setting value Content

0 : ABS Speed changes at the specified absolute position.

Position-specified
speed override coordinate
1 : INC Speed changes at the position as far as the set value from start position.

For further information, refer to 9.5.6 position-specified speed override.

(16) Speed/Position switching coordinate

If “Speed/Position switching command” is executed during speed control, speed control changes into position control
and executes position control with the value set in target position. At this time, this sets whether to consider the target
position as absolute position value or incremental position value.

This is the setting of “Speed/Position switching coordinate”.

Item Setting value Content

Executes positioning as far as the set value from position where
0 : INC
Speed/position switching speed/position switching command is executed.
coordinate Considers the set value as absolute position and executes positioning
1 : ABS
into the set absolute position.
For further information, refer to 9.2.14 speed/position switching control.

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5.4 Manual Operation Parameter

Here describes Manual operation parameter of embedded positioning.
Manual operation parameter use in event that operation of JOG, Inching is used

5.4.1 Manual Operation Parameter

Manual operating parameter item Setting range
㎜ :1 ∼ 2,147,483,647 [X10-2㎜/ min]
JOG high speed
Inch : 1 ∼ 2,147,483,647 [X10-3Inch/ min]
degree : 1 ∼ 2,147,483,647 [X10-3 degree/min]
JOG low speed
pulse : 1 ∼ 200,000 [pulse/sec]
JOG acceleration speed (ms)
0 ~ 2,147,483,647 [ms]
JOG deceleration speed (ms)
㎜ :1 ∼ 65,535[X10-2㎜/min]
Inch : 1 ∼ 65,535[X10-3Inch/min]
Inching Speed
degree : 1 ∼ 65,535[X10-3 degree/min]
pulse : 1 ∼ 65,535[pulse/sec]

5.4.2 Manual Operation Parameter Setting

(1) JOG high Speed
(a) Jog speed is related to Jog operation (a kind of manual operation) and has 2 types of operation : Jog low speed
operation and Jog high speed operation.
(b) For further information, please refer to 9.3.1 JOG Operation.
(c) JOG high speed operation has operation pattern as acceleration, constant speed, deceleration section. Therefore,
acceleration section and deceleration section is controlled by JOG acceleration/deceleration time.
(d) Jog high speed setting range
All of control by embedded positioning is made within speed limit. Therefore, jog high speed also couldn’t exceed the
speed limit and must be larger than jog low speed.
(Notices when setting the high speed : Bias speed ≤ Jog low speed ≤ Jog high speed ≤ Speed limit)

(2) JOG Low Speed

(a) JOG low speed operation has operation pattern as acceleration, constant speed, deceleration section.
(b) JOG low speed setting range : Bias speed ∼ Jog high speed

(3) JOG Acceleration/Deceleration Time

(a) This means JOG acceleration/deceleration time when Jog high speed and low speed operation.
(b) JOG acceleration/deceleration time setting range : 0 ∼ 2,147,483,647 [ms]
In case of 0, operates according to acceleration time 1 and deceleration time 1 of parameter..

(4) Inching Speed

(a) The speed necessary for inching operation is set here.
(b) Inching speed setting range : 1 ∼ 65,535(unit: 1pps)

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5.5 Homing Parameter

Here is describes about homing parameter of embedded positioning.
Homing parameter is needed when positioning module return to origin.

5.5.1 Homing Parameter

Homing Parameter option Setting range
㎜ : -2147483648 ∼ 2147483647 [X10-4㎜]
(-2147483648 ∼ 2147483647 [X10-1㎛])
Origin address Inch : -2147483648 ∼ 2147483647 [X10-5Inch]
degree : -2147483648 ∼ 2147483647 [X10-5degree]
pulse : -2147483648 ∼ 2147483647 [pulse]
㎜ : Bias Speed ∼ Speed Limit(Homing Low Speed<=Homing high Speed)
Homing-high speed
Inch : Bias Speed ∼ Speed Limit(Homing Low Speed<=Homing high Speed)
degree : Bias Speed ∼ Speed Limit(Homing Low Speed<=Homing high Speed)
Homing-low speed
pulse : Bias Speed ∼ Speed Limit(Homing Low Speed<=Homing high Speed)
Homing Acceleration time
0 ~ 2,147,483,647 [ms]
Homing deceleration time
Homing dwell time 0 ~ 65,535[ms]
㎜ : -2147483648 ∼ 2147483647 [X10-3㎜]
(-2147483648 ∼ 2147483647 [X10-1㎛])
Origin compensation amount Inch : -2147483648 ∼ 2147483647 [X10-5Inch]
degree : -2147483648 ∼ 2147483647 [X10-5degree]
pulse : -2147483648 ∼ 2147483647 [pulse]
Homing restart waiting time 0 ~ 65,535[ms]
0:Dog/Home(Off), 1: Dog/Home (On), 2:Upper-Lower Limit/Home,
Control Homing mode(bit 0 ~ 2)
3:Dog, 4:High Speed Homing, 5: Upper-Lower Limit, 6: Home
word
Homing direction(bit 3) 0:forward direction, 1:reverse direction

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5.5.2 Homing parameter setting

(1) Homing Method
(a) There are 7 kinds of Homing method.

Homing method XG-PM Software package indication

Origin detection after DOG OFF 0: DOG/origin(OFF)
Origin detection after deceleration when DOG ON 1: DOG/origin(ON)
Origin detection by the origin and Upper/Lower limit 2: High/low limit/origin
Origin detection by DOG 3: DOG
High speed homing 4: High speed origin
Origin detection by Upper/Lower limit 5: High/low limit
Origin detection by HOME 6: HOME

(b) For further information of homing method, please refer to 9.1 homing of chapter 8

(2) Homing direction

(a) There are 2 kinds of homing direction, forward direction and reverse direction.
(b) In case of homing command was set by forward, begin to homing operation to currently increasing direction of position,
searching needed external signal for homing.
(c) In case of homing command was set by reverse, begin to homing operation to currently decreasing direction of
position, searching needed external signal for homing.

(3) Origin Address

(a) When homing is completed by homing command, the value set by homing address shall be used to change the
present address value.
(b) Setting range of homing address: -2,147,483,648 ∼ 2,147,483,647(unit: pulse)

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(4) Origin compensation amount

(a) If the machine origin is deviated slightly – the difference between the setting value and the actual transfer amount
caused by the mechanical tolerance - at the origin detection (Z phase input), this is used to compensate the tolerance.
(b) If origin compensation amount is set, PLC outputs additional pulses as much as data amount set as origin
compensation amount after detecting origin. If origin compensation amount is (+), it moves to the homing direction.
if origin compensation amount is (-), it moves to the opposite direction of homing.
(c) Origin compensation amount setting range : -2,147,483,648 ∼ 2,147,483,647 (unit: pulse)
(d) This picture is one of the examples about homing method that was applied by homing compensation amount from
“Origin detection after DOG OFF”.

Homing High Speed

Homing Dwell Time

Origin
Homing Low Speed Compensation
amount

Homing

DOG

HOME

Completion of
Homing

(5) Homing-High speed

(a) There are 2 kinds of homing speed : high speed and low speed.
(b) There is two stage in homing action ; ‘Detecting Home'& ‘Detecting Home area’.
PLC stop moving immediately when detects the Home signal. therefore when homing speed is fast, there can be
difference between "the origin signal" and "the stopped postion of machine" . Therefore, The moving speed must be
low enough to stop in the correct home signal position and this speed is "homing low speed". But, need to move as
fast as possible until detecting " Home Area(DOG)". This speed is is "homing High speed".
(c) All of the control by positioning module doing work within speed limit. And Homing high speed also can’t exceed speed
limit. And, Homing high speed must be faster than or same with homing low speed.
• Bias speed ≤ Homing-low speed ≤ Homing-high speed ≤ Speed limit

(6) Homing-Low speed

(a) The speed that acts to the constant speed section from high speed section via deceleration section by homing
command.

Notes
When setting the homing speed, it is recommended to set the homing-low speed as low speed as possible.
If setting the low speed as “too fast”, it may cause the incorrect origin signal detection.

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(7) Homing restart waiting time

(a) It is standby time until restart "Homing" automatically in case that can't complete "Homing" by detection of high/low
limit during homing operation. (b) Motor do not move while it was set by reset time.
(b) Motor do not move while this time.

(8) Homing accelerating speed/ deceleration speed

(a) When operates by homing command, it will be accelerate or decelerate by the homing acceleration time and homing
deceleration time".
(b) Available range is 0 ~ 2,147,483,647 [ms].
if it is set by ‘0’, It will be accelerate or decelerate according to acceleration/deceleration time1 of basic parameter
when homing.

(9) Homing dwell time

(a) This is the time needed to maintain the precise stop accuracy of SERVO motor when using the SERVO motor for
positioning.
(b) Practically, Dwell time is the time needed to remove the residual pulse of deviation counter after completion of
positioning and especially Dwell time when returning to the origin is called as “homing dwell time”.
(c) Setting range of Homing dwell time : 0 ∼ 65,535(unit: 1㎳)

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5.6 I/O Signal Parameter

Here describes using input/output signal parameter in embedded positioning.
Input/output signal parameter use to decide active level of input signal.

5.6.1 I/O Signal Parameter

Input/output signal parameter Item Setting range

High limit signal
Low limit signal
DOG signal 0 : A contact(Normaly Open), 1 : B contact(Normaly Close)
Home signal
Deviation signal
Upper limit signal All P area
lower limit signal All P area
DOG signal Output P area
HOME signal All P area

5.6.2 Setting Range of I/O Signal Parameter

In case of setting the input signal by A contact, it acts when external is ON and in case of setting by B contact, it acts when
external signal is OFF.

(1) If setting the upper limit signal of input signal parameter by A contact and the lower limit signal by B contact, the upper limit
is detected when external upper limit signal is ON while the lower limit is detected when external upper signal is OFF.
(2) If selecting Emergency stop from External stop selection of extended parameter, the external input signal is used by
Emergency stop signal. And if setting Emergency stop signal of input signal parameter by A contact, the positioning
module stop immediately when Emergency stop signal is ON. On the contrary, if setting Emergency stop signal of input
signal parameter by B contact, the positioning module stop immediately when external Emergency stop signal is OFF.
(3) If setting the home signal of input signal parameter by A contact, the origin is detected when external home signal is
‘Rising edge’, while if setting by B contact, the origin is detected when external home signal is ‘Falling edge’.

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5.7 Common Parameter

Here describes common parameter of embedded positioning.
The parameter which was related with embedded positioning is applied to all of the parameter.

5.7.1 Common parameter

Common Parameter Item Setting range

Pulse output level 0: Low Active, 1: High Active
Control word Speed override 0: % designate, 1 : Speed designate
Control period 1~10ms

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5.7.2 Common Parameter Setting

(1) Speed override

(a) When operate changing speed command (Speed override, Positioning speed override, etc), select speed(will be
changed) or percentage of goal speed.
(b) In case of setting percentage (%) can set each from 0.01% to 655.35%( unit: 0.01%)
(4) Continuous Operarion
(a) The embedded positioning function generate speed profile for each predetermined period.
If continuous operation is disabled, Speed profile will be generated every 1ms and will be generated every 5ms if
enabled
(b) if Continuous Operation parameter is disabled, Continuous operation command can not be executed
(Error Code 160 occurs)
(c) The figure below shows example of generated speed profile of trapezoidal acceleration.

Speed

Ideal Speed profile

Generated Speed profile

Time
Control
period

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5.8 Operation Data

Here describes Operation Data of positioning module.
Can set 400 operation data per each axis, operation of circular interpolation and Linear interpolation act in accordance with
information of operation data.

5.8.1 Operation Data

Operation data item Setting range

㎜ : -2147483648 ∼ 2147483647 [X10-4㎜]
Goal position
(-2147483648 ∼ 2147483647 [X10-1㎛])
Inch : -2147483648 ∼ 2147483647 [X10-5Inch]
Circular interpolation aux. Position *1 degree : -2147483648 ∼ 2147483647 [X10-5degree]
pulse : -2147483648 ∼ 2147483647 [pulse]
㎜ : Bias Speed ∼ Speed Limit
Inch : Bias Speed ∼ Speed Limit
Operation speed
degree : Bias Speed ∼ Speed Limit
pulse : Bias Speed ∼ Speed Limit
Dwell time 0 ~ 65,535[ms]
M Code no. 0 ~ 65,535

Setting the axis of ordinates Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- - - - 축4 축3 축2 축1

Helical interpolation axis 0, 1 axis ~ 4 axis (Set‘0’,normal circular interpolation)

The number of circular interpolation turn 0~65,535
Coordinate (bit 0) 0:absolute, 1:incremental
0:Single axis positioning, 1: Single axis speed control
Control method (bit 1~3) 2: Single axis Feed control, 3: linear interpolation,
4: Circular interpolation
Operation method 0:Singular, 1:Repeat
Control
Operation pattern 0:end, 1:Keep, 2: Continuous
Word
Circular size (bit 7) 0: Arc <180 1: Arc >=180
Acceleration No. (bit 8~9) 0~3
Deceleration No. (bit 10~11) 0~3
Circular interpolation method(bit 12~13) 0:midpoint, 1:central point, 2:radius
Circular interpolating direction (bit 14) 0:CW, 1:CCW

Notes
*1 The circular interpolation can not be executed in degree unit. Therefore it is idle to set value at the circular interpolating
auxiliary position item.

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4.8.2 Operation Data Setting

(1) Step No
(a) The setting range of positioning data as serial no. is 0 ∼ 400.
(b) The first Starting step of operation data is no.1 step.

Notes
In case of designating step number as ‘0’ with indirect start, Simultaneous start, Position synchronous start, it means
current operation step.

(2) Coordinate
(a) Coordinate of position data includes absolute coordinate and incremental coordinate.
1) Absolute Method
a) This carries out the positioning control from the current position to the goal position
(the goal position assigned by positioning data).
b) Positioning is carried out based on the assigned position of homing (origin address).
c) Transfer direction shall be determined by the current position and goal position.
▶ Start position < Goal position : forward direction positioning
▶ Start position > Goal position : reverse direction positioning
[Example]
■ When current position : 1000 , Goal position : 8000, forward direction transfer amount is 7000(8000-1000).

0 1000 8000

Transfer amount: 7000

Current position Goal position

Notes
Positioning by Absolute method (Absolute coordinate) can start only in the state that the origin is determined.
If starting in the state that the origin is not determined, Error will occur.

2) Incremental method
a) This carries out the positioning control as much as goal transfer amount from the current position.
b) Transfer direction shall be determined by the sign of transfer amount..
■ When transfer direction is (+) or no sign : forward direction positioning (position increase direction)
■ When transfer direction is ( - ) : reverse direction positioning (position decrease direction)

Current position

Reverse Forward

Transfer direction when transfer amount is (-) Transfer direction when transfer amount is (+)

[Example]

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■ When current position : 5000 , Goal position : -7000, the positioning shall be done at –2000 position.

-2000 0 5000

Reverse positioning control (transfer amount -7000)

Goal position Current position

(3) Control Method

(a) Select the control method: single-axis position control, single-axis Speed control, single-axis Feed control, linear
interpolation, circular interpolation.
(b) For further information, please refer to 9.2 Positioning control of Chapter 8 “Function”.

Notes
Set coordinate and control method in all at the same time in “control method” item with positioning software package.
And the software package “Control Method” item is same as follows
Absolute, Single-axis Positioning Control / Absolute, Single-axis Speed Control
/ Absolute, Single-axis FEED control / Absolute, linear Interpolation / Absolute, Circular Interpolation
/ Relative, Single-axis Positioning Control / Relative, Single-axis Speed Control / Relative, Single-axis FEED control
/ Relative, linear Interpolation / Relative, Circular Interpolation

(4) Operation Pattern (End/Keep/Continuous)

(a) Operation pattern is setting item, how can step of operation data connect with next step and operate.
(b) Select one operation pattern from End, Keep, Continuous operation.
(c) For further information, please refer to 9.2.2 operation mode of Positioning control of Chapter 9 “Function”.

(5) Operation Method (Singular/Repeat)

(a) Operating Method is an option for selecting a operating step after finish operating step from the driving data setting
step.
(b) In case of setting singular, it will be select next step after finish operating settled step. If you set by Repeat, It will be
select settled Repeat step after finish operating settled step.
(c) Select one positioning operation pattern from Singular, Repeat operation.
(d) For further information, please refer to 9.2.2 operation mode of positioning control of Chapter 8 “Function”.

Notes
Set operation pattern and operation method at the “operation method” item with SM-PM software package.
These are “operation method” item;
Singular,End / Singular,Keep / Singular,Continuous / Repeat,End / Repeat,Continuous / Repeat,Continuous.

(6) Goal Position

(a) This is the area to set the transfer amount of position data as “position value”.
(b) The setting range is –2,147,483,648 ∼ 2,147,483,647[unit]

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(7) M Code
(a) M code is applied to the whole axis in a bundle by M code mode set by positioning parameter and is given to each
operation step no. as a Number within the setting range to use at Program.
(b) The setting range is 1 ∼ 65,535
(c) M code no. can be identified by read by the operation state code
(d) For further information, please refer to M code output of chapter 5.3.2.(7)

(8) Acceleration/Deceleration No
(a) The dual acceleration/deceleration time setting is available by setting the acceleration/deceleration time 1/2/3/ 4 of
basic parameter as acceleration/deceleration no. 1/2/3/4 respectively.

(9) Operation Speed

(a) Operation speed is the goal speed which it is applied when it operate positioning
(b) Operation speed is set within the range that does not exceed Speed limit of basic parameter.

(10) Dwell Time

(a) This is the waiting time before carrying out the next positioning operation after completing one positioning operation.
(b) Setting range is 0 ∼ 65,535 (㎳).
(c) Especially, in case of using SERVO motor, this is the data to set the waiting time by the stable stop state as positioning
module is in the stop state but actual SERVO motor does not reach to the goal position or in transition state.
(d) While dwell time is active, the corresponding axis of positioning module maintains “ON” of the “Busy Flag” and if dwell
time proceeds, “Busy Flag” becomes “OFF” and the positioning end signal becomes “ON”.

(11) Setting Axis of ordinates

(a) This is an option for axis of ordinates of driving shaft when should operate at least over 2 axis such as linear
interpolation or circular interpolation.
(b) Setting each bit from 1 axis to 4 axis. Each bit is as follows
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
- - - - Axis 4 Axis 3 Axis 2 Axis 1
(c) Could choice multiple axes. For example, If choice axis 2 and axis 4 as axis of ordinates, set “000A’by hexadecimal in
setting axis of ordinates.

(12) Circular interpolating auxiliary position

(a) This is an option for setting auxiliary data when the circular interpolation operates.
(b) According to circular interpolation, mean of circular interpolating auxiliary position is decided.
It means midpoint which is through by circular arc in midpoint method.
It is central point of circular arc in central point method. And It is radius of circular arc in radius method.
(c) In case that circular interpolation method is radius, be valid only value of circular interpolating auxiliary position of
principal axis.
(d) For further information, please refer to “Circular interpolating control” of 9.2.9 ~ 9.2.11.

(13) Circular interpolating method

(a) This is an option for method setting from circular interpolating operation.
(b) There are three method for circular interpolation; midpoint, central point, radius.
(c) For further information, please refer to “Circular interpolation control” of 9.2.9 ~ 9.2.11.

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(14) Circular interpolating direction

(a) This is an option for setting direction of drawing circle from circular interpolating operation when the operation starts.
(b) Circular interpolation direction is based on drawing circular interpolation when the principal axis is axis ‘X’ and the axis
of ordinates is axis ‘Y’.
(c) This option is ignored from circular interpolation of midpoint because circular interpolating direction is selected by
position of midpoint.
(d) For further information, please refer to circular interpolation of 9.2.9 ~ 9.2.11.

(15) Circular arc size

(a) When circular interpolating method is set by radius method, User can select one of 2 circular arcs.
(b) Select one of over the 180-degree circular interpolation or under the 180-degree circular interpolation.
(c) This option is ignored in the circular interpolation of midpoint method and central point method.
(d) For further information, please refer to designating radius circular interpolation of 9.2.11

Notes
Positioning software package set as follows at a time;
- circular arc method, circular interpolating direction, circular arc size with ‘Circular interpolating mode’.
Software package ‘Circular interpolating mode’ is as follows ;
- Midpoint / Central point, CW / Central point, CCW / Radius, CW, Circular arc < 180-degree / Radius , CW ,
Circular arc >= 180-degree / Radius, CCW, Circular arc < 180-degree / Radius, CCW, Circular arc >= 180-degree

(16) The number of circular interpolating turn

(a) This is an option setting the number of rotation of circular arc when operating over the 360-degree.
(b) Setting range is 1 ~ 65,535.

(17) Helical interpolation axis

(a) It is item which is setting axis for linear operation in operating helical interpolation.
(b) Settled axis from helical interpolation rectilinearly operates to settled position at the goal position.
(c) For further information, please refer to helical interpolating control of 9.2.12.

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Chapter 6 Internal Memory and I/O Signal

6.1 Internal Memory
Here describes the internal memory used for positioning module if ML50 Main unit
Internal memory is used when executing direct Data read/write between positioning module and PLC CPU by using
PUP(PUTP), GET(GETP) command instead of using the dedicated command. For Data read/write using the dedicated
command, please refer to 7.2 Dedicated Command

6.1.1 Step Data during Point Start

(1) Memory Address of POINT Start Step Data

Memory Address
Description
1 axis 2 axis 3 axis 4 axis 5 axis 6 axis
2A1 32D 3B9 445 4D1 55D Point Operation Step 1
2A2 32E 3BA 446 4D2 55E Point Operation Step 2
2A3 32F 3BB 447 4D3 55F Point Operation Step 3
2A4 330 3BC 448 4D4 560 Point Operation Step 4
2A5 331 3BD 449 4D5 561 Point Operation Step 5
2A6 332 3BE 44A 4D6 562 Point Operation Step 6
2A7 333 3BF 44B 4D7 563 Point Operation Step 7
2A8 334 3C0 44C 4D8 564 Point Operation Step 8
2A9 335 3C1 44D 4D9 565 Point Operation Step 9
2AA 336 3C2 44E 4DA 566 Point Operation Step 10
2AB 337 3C3 44F 4DB 567 Point Operation Step 11
2AC 338 3C4 450 4DC 568 Point Operation Step 12
2AD 339 3C5 451 4DD 569 Point Operation Step 13
2AE 33A 3C6 452 4DE 56A Point Operation Step 14
2AF 33B 3C7 453 4DF 56B Point Operation Step 15
2B0 33C 3C8 454 4E0 56C Point Operation Step 16
2B1 33D 3C9 455 4E1 56D Point Operation Step 17
2B2 33E 3CA 456 4E2 56E Point Operation Step 18
2B3 33F 3CB 457 4E3 56F Point Operation Step 19
2B4 340 3CC 458 4E4 570 Point Operation Step 20

(2) POINT Start Step Data Setting

(a) The POINT start step data setting command for POINT start during POINT operation is XPM_PST.
(b) References for XPM_PST (command of MLU-H2/HP point operating) and XPWR (command of point operating
step data setting) are on ‘Chapter 7.3.38’.
(c) In PLC program, POINT operation data setting during POINT operation should be done in the step before POINT
operation command is executed for normal action of POINT operation.

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6.1.2 Teaching Data

(1) Memory Address of Teaching Data
Memory Address
Description
1 axis 2 axis 3 axis 4 axis 5axis 6 axis
280 30C 398 424 4B0 53C Teaching Data1(LOWER)
281 30D 399 425 4B1 53D Teaching Data1(UPPER)
282 30E 39A 426 4B2 53E Teaching Data2(LOWER)
283 30F 39B 427 4B3 53F Teaching Data2(UPPER)
284 310 39C 428 4B4 540 Teaching Data3(LOWER)
285 311 39D 429 4B5 541 Teaching Data3(UPPER)
286 312 39E 42A 4B6 542 Teaching Data4(LOWER)
287 313 39F 42B 4B7 543 Teaching Data4(UPPER)
288 314 3A0 42C 4B8 544 Teaching Data5(LOWER)
289 315 3A1 42D 4B9 545 Teaching Data5(UPPER)
28A 316 3A2 42E 4BA 546 Teaching Data6(LOWER)
28B 317 3A3 42F 4BB 547 Teaching Data6(UPPER)
28C 318 3A4 430 4BC 548 Teaching Data7(LOWER)
28D 319 3A5 431 4BD 549 Teaching Data7(UPPER)
28E 31A 3A6 432 4BE 54A Teaching Data8(LOWER)
28F 31B 3A7 433 4BF 54B Teaching Data8(UPPER)
290 31C 3A8 434 4C0 54C Teaching Data9(LOWER)
291 31D 3A9 435 4C1 54D Teaching Data9(UPPER)
292 31E 3AA 436 4C2 54E Teaching Data10(LOWER)
293 31F 3AB 437 4C3 54F Teaching Data10(UPPER)
294 320 3AC 438 4C4 550 Teaching Data11(LOWER)
295 321 3AD 439 4C5 551 Teaching Data11(UPPER)
296 322 3AE 43A 4C6 552 Teaching Data12(LOWER)
297 323 3AF 43B 4C7 553 Teaching Data12(UPPER)
298 324 3B0 43C 4C8 554 Teaching Data13(LOWER)
299 325 3B1 43D 4C9 555 Teaching Data13(UPPER)
29A 326 3B2 43E 4CA 556 Teaching Data14(LOWER)
29B 327 3B3 43F 4CB 557 Teaching Data14(UPPER)
29C 328 3B4 440 4CC 558 Teaching Data15(LOWER)
29D 329 3B5 441 4CD 559 Teaching Data15(UPPER)
29E 32A 3B6 442 4CE 55A Teaching Data16(LOWER)
29F 32B 3B7 443 4CF 55B Teaching Data16(UPPER)

(2) Setting
(a) The command of Teaching data setting is XPM_ATEA
(b) References for XPM_ATEA (command of Teaching) and XPM_WRT (command of Teaching Data Setting ) are
on ‘Chapter 7.3.25’.
(c) In PLC program, in order to carry out the normal action of Teaching command, the Teaching data setting should
be done in the step before Teaching command is executed.

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6.1.3 Step Data of Simultaneous Start

(1) Step Data of Simultaneous Start Memory Address

Memory Address
Description
1 axis 2 axis 3 axis 4 axis 5 axis 6 axis
2B6 342 3CE 45A 4E6 572 Simultaneous Start 1axis Step
Number
2B7 343 3CF 45B 4E7 573 Simultaneous Start 2axis Step
Number
2B8 344 3D0 45C 4E8 574 Simultaneous Start 3axis Step
Number
2B9 345 3D1 45D 4E9 575 Simultaneous Start 4axis Step
Number
2BA 346 3D2 45E 4EA 576 Simultaneous Start 5axis Step
Number
2BB 347 3D3 45F 4EB 577 Simultaneous Start 6axis Step
Number

(2) Setting
(a) The command for Step Data of Simultaneous Start setting is XPM_SST
(b) References for XPM_SST (command of Simultaneous Start) on ‘Chapter 7.3.5
(c) In PLC program, in order to carry out the normal action of Simultaneous Start, the Step data setting of
Simultaneous Start should be done in the step before Simultaneous Start command is executed.

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6.1.4 Status Information

(1) Memory Address of Status Information

XSRD Command Memory Address

Description
Device Offset 1 axis 2 axis 3 axis 4 axis 5 axis 6 axis
0 2C0 34C 3D8 464 4F0 57C Operation state bit information (Lower)
1 2C1 34D 3D9 465 4F1 57D Operation state bit information (Upper)
2 2C2 34E 3DA 466 4F2 57E Axis information
3 2C3 34F 3DB 467 4F3 57F External I/O signal state
4 2C4 350 3DC 468 4F4 580 Current Position ( LOWER)
5 2C5 351 3DD 469 4F5 581 Current Position ( UPPER)
6 2C6 352 3DE 46A 4F6 582 Current Position ( LOWER)
7 2C7 353 3DF 46B 4F7 583 Current Position ( UPPER)
8 2C8 354 3E0 46C 4F8 584 Step Number
9 2C9 355 3E1 46D 4F9 585 M Code Number
10 2CA 356 3E2 46E 4FA 586 Current error information
11 2CB 357 3E3 46F 4FB 587 Error information 1
12 2CC 358 3E4 470 4FC 588 Error information 2
13 2CD 359 3E5 471 4FD 589 Error information 3
14 2CE 35A 3E6 472 4FE 58A Error information 4
15 2CF 35B 3E7 473 4FF 58B Error information 5
16 2D0 35C 3E8 474 500 58C Error information 6
17 2D1 35D 3E9 475 501 58D Error information 7
18 2D2 35E 3EA 476 502 58E Error information 8
19 2D3 35F 3EB 477 503 58F Error information 9
20 2D4 360 3EC 478 504 590 Error information 10
21 2D5 361 3ED 479 505 591 Encoder Value1 (LOWER)
22 2D6 362 3EE 47A 506 592 Encoder Value1 (UPPER)
23 2D7 363 3EF 47B 507 593 Encoder Value2 (LOWER)
24 2D8 364 3F0 47C 508 594 Encoder Value2 (UPPER)
25 2D9 365 3F1 47D 509 595 Encoder Value3 (LOWER)
26 2DA 366 3F2 47E 50A 596 Encoder Value3 (UPPER)
27 2DB 367 3F3 47F 50B 597 Encoder Value4 (LOWER)
28 2DC 368 3F4 480 50C 598 Encoder Value4 (UPPER)

(2) Setting
(a) The area of state information of internal memory is the Read only area. Thus, it is available to use only by GET,
GETP command. (PUT, PUTP command is not allowed to use in this area).
(b) The command of State Information ready only is XPM_SRD
(c) If you use only command XPM_SRD, the information of axis status is read at the same time.
(d) If you want to choose to read among the state information, it is available to read memory address of above table
using by GET/GETP

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(e) Status Information details

1) Operation State Bit Information (Lower)
Memory Address
Information
1 axis 2 axis 3 axis 4 axis 3 axis 4 axis

2C0 34C 3D8 464 4F0 57C Operation State Bit Information (LOWER)

Bit 0 In operation [0: Stop 1: In operation]

Bit 1 Error [0: No Error 1: Error]

Bit 2 Position Completed [0: Not completed, 1: Completed]

Bit 3 M code signal [0: M code Off, 1: M code On]

Bit 4 Homing state [0: Not Fixed, 1:Fixed]

Bit 5 No use

Bit 6 Stop state [0: Not stop by stop command, 1: Stop by stop command]

Variable Data [0: Variable data access finished,

Bit 7
Read/Write 1: Variable data access is on going]

Bit 8 Upper Limit Detection [0: No Detection, 1: Detection]

Bit 9 Lower Limit Detection [0: No Detection, 1: Detection]

Bit 10 Emergency Stop state [0: Normal, 1: Emergency Stop]

Bit 11 Direction [0: Forward, 1: Reverse]

Bit 12 Acceleration State [0: Not Accelerating, 1: Accelerating]

Bit 13 Constant Speed state [0: Not Constant speed, 1: Constant speed]

Bit 14 Deceleration state [0: Not Decelerating, 1: Decelerating]

Bit 15 Dwell State [0: No Dwelling, 1: Dwelling]

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2) Operation State Bit Information (Upper)

Memory Address
Information
1 axis 2 axis 3 axis 4 axis 5 axis 6 axis
2C1 34D 3D9 465 4F1 57D Operation State Bit Information

Bit 0 [SNG] Position Controlling [0: Position not in control, 1: Position in control]

Bit 1 [SNG]Speed Controlling [0: Speed not in control, 1: Speed in control]

Bit 2 Linear Interpolation [0: Not in operation, 1: In operation]

Bit 3 No use [0]

Circular Interpolation
Bit 4 [0: Not in operation, 1: In operation]
in Operation

Bit 5 Homing Operating [0: Not in operation, 1: In operation]

Synchronous Start by
Bit 6 [0: Not in operation, 1: In operation]
Position in Operation
Synchronous Start by
Bit 7 [0: Not in operation, 1: In operation]
speed in Operation

Bit 8 JOG Operation [0: Not in operation, 1: In operation]

Bit 9 No use [0]

Bit 10 Inching in Operation

Bit 11 No use [0]

Bit 12 RTP in Operation [0: Not in operation, 1: In operation]

Bit 13 CAM in Operation [0: Not in operation, 1: In operation]

Bit 14 FEED in Operation

Bit 15 Circular in Operation [0: Not in operation, 1: In operation]

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3) Axis Information

Memory Address
Information
1 axis 2 axis 3 axis 4 axis 5 axis 6 axis
2C2 34E 3DA 466 4F2 57E Axis Information

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4) External I/O Signal State

Memory Address
Information
1 axis 2 axis 3 axis 4 axis 5 axis 6 axis
2C3 34F 3DB 467 4F3 57F External I/O Signal State

Bit 0

Bit 1
No use [0]
Bit 2

Bit 3

Bit 4 Upper limit Signal [0: Upper limit Signal OFF, 1: Upper limit Signal ON]

Bit 5 Lower limit Signal [0: Lower limit Signal OFF, 1: Lower limit Signal ON]

Bit 6 HOME [0: HOME signal OFF, 1: HOME signal ON]

Bit 7 DOG [0: DOG signal OFF, 1: DOG signal ON]

Bit 8

Bit 9

Bit 10

Bit 11
No use [0]
Bit 12

Bit 13

Bit 14

Bit 15

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6.2 K area Signal

Here describes the contents and functions of K area signal for the exchange of data between Positioning and CPU.

6.2.1 Contents of K area Signal

(1) Built-in positioning signal displays on K area.

(2) Built-in Positioning ready signal (%KX7007) becomes “ON” only when Modules are in normal state in H/W and it
always keeps “ON” regardless of PLC operation mode.
(3) Output Signal
This is the signal, which transfers to positioning module from PLC CPU.

Comment Variable K area Type R/W

1Axis Busy _POS_1_Busy %KX6720 BIT R

2Axis Busy _POS_2_Busy %KX7040 BIT R

3Axis Busy _POS_3_Busy %KX7360 BIT R

4Axis Busy _POS_4_Busy %KX7680 BIT R

5Axis Busy _POS_5_Busy %KX8000 BIT R

6Axis Busy _POS_6_Busy %KX8320 BIT R

1Axis Error _POS_1_Err %KX6721 BIT R

2Axis Error _POS_2_Err %KX7041 BIT R

3Axis Error _POS_3_Err %KX7361 BIT R

4Axis Error _POS_4_Err %KX7681 BIT R

5Axis Error _POS_5_Err %KX8001 BIT R

6Axis Error _POS_6_Err %KX8321 BIT R

1Axis Position Complete _POS_1_Done %KX6722 BIT R

2Axis Position Complete _POS_2_Done %KX7042 BIT R

3Axis Position Complete _POS_3_Done %KX7362 BIT R

4Axis Position Complete _POS_4_Done %KX7682 BIT R

5Axis Position Complete _POS_5_Done %KX8002 BIT R

6Axis Position Complete _POS_6_Done %KX8322 BIT R

1Axis M Code ON _POS_1_McodeOn %KX6723 BIT R

2Axis M Code ON _POS_2_McodeOn %KX7043 BIT R

3Axis M Code ON _POS_3_McodeOn %KX7363 BIT R

4Axis M Code ON _POS_4_McodeOn %KX7683 BIT R

5Axis M Code ON _POS_5_McodeOn %KX8003 BIT R

6Axis M Code ON _POS_6_McodeOn %KX8323 BIT R

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Comment Variable K area Type R/W

1Axis Home Complete _POS_1_OriginFix %KX6724 BIT R
2Axis Home Complete _POS_2_OriginFix %KX7044 BIT R
3Axis Home Complete _POS_3_OriginFix %KX7364 BIT R
4Axis Home Complete _POS_4_OriginFix %KX7684 BIT R
5Axis Home Complete _POS_5_OriginFix %KX8004 BIT R
6Axis Home Complete _POS_6_OriginFix %KX8324 BIT R
1Axis Output Enable _POS_1_PlsOutEn %KX6725 BIT R
2Axis Output Enable _POS_2_PlsOutEn %KX7045 BIT R
3Axis Output Enable _POS_3_PlsOutEn %KX7365 BIT R
4Axis Output Enable _POS_4_PlsOutEn %KX7685 BIT R
5Axis Output Enable _POS_5_PlsOutEn %KX8005 BIT R
6Axis Output Enable _POS_6_PlsOutEn %KX8325 BIT R
1Axis Stop _POS_1_Stop %KX6726 BIT R
2Axis Stop _POS_2_Stop %KX7046 BIT R
3Axis Stop _POS_3_Stop %KX7366 BIT R
4Axis Stop _POS_4_Stop %KX7686 BIT R
5Axis Stop _POS_5_Stop %KX8006 BIT R
6Axis Stop _POS_6_Stop %KX8326 BIT R
1Axis Variable Data Read/Write _POS_1_VarWriteBusy %KX6727 BIT R
2Axis Variable Data Read/Write _POS_2_VarWriteBusy %KX7047 BIT R
3Axis Variable Data Read/Write _POS_3_VarWriteBusy %KX7367 BIT R
4Axis Variable Data Read/Write _POS_4_VarWriteBusy %KX7687 BIT R
5Axis Variable Data Read/Write _POS_5_VarWriteBusy %KX8007 BIT R
6Axis Variable Data Read/Write _POS_6_VarWriteBusy %KX8327 BIT R
1Axis Upper Limit Detection _POS_1_ULimit %KX6728 BIT R
2Axis Upper Limit Detection _POS_2_ULimit %KX7048 BIT R
3Axis Upper Limit Detection _POS_3_ULimit %KX7368 BIT R
4Axis Upper Limit Detection _POS_4_ULimit %KX7688 BIT R
5Axis Upper Limit Detection _POS_5_ULimit %KX8008 BIT R
6Axis Upper Limit Detection _POS_6_ULimit %KX8328 BIT R
1Axis Lower Limit Detection _POS_1_LLimit %KX6729 BIT R
2Axis Lower Limit Detection _POS_2_LLimit %KX7049 BIT R
3Axis Lower Limit Detection _POS_3_LLimit %KX7369 BIT R
4Axis Lower Limit Detection _POS_4_LLimit %KX7689 BIT R
5Axis Lower Limit Detection _POS_5_LLimit %KX8009 BIT R
6Axis Lower Limit Detection _POS_6_LLimit %KX8329 BIT R

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Comment Variable K area Type R/W

1Axis Emergency Stop _POS_1_Estop %KX6730 BIT R
2Axis Emergency Stop _POS_2_Estop %KX7050 BIT R
3Axis Emergency Stop _POS_3_Estop %KX7370 BIT R
4Axis Emergency Stop _POS_4_Estop %KX7690 BIT R
5Axis Emergency Stop _POS_5_Estop %KX8010 BIT R
6Axis Emergency Stop _POS_6_Estop %KX8330 BIT R
1Axis CW/CCW _POS_1_Dir %KX6731 BIT R
2Axis CW/CCW _POS_2_Dir %KX7051 BIT R
3Axis CW/CCW _POS_3_Dir %KX7371 BIT R
4Axis CW/CCW _POS_4_Dir %KX7691 BIT R
5Axis CW/CCW _POS_5_Dir %KX8011 BIT R
6Axis CW/CCW _POS_6_Dir %KX8331 BIT R
1Axis Acceleration state _POS_1_Acc %KX6732 BIT R
2Axis Acceleration state _POS_2_Acc %KX7052 BIT R
3Axis Acceleration state _POS_3_Acc %KX7372 BIT R
4Axis Acceleration state _POS_4_Acc %KX7692 BIT R
5Axis Acceleration state _POS_5_Acc %KX8012 BIT R
6Axis Acceleration state _POS_6_Acc %KX8332 BIT R
1Axis Constant speed state _POS_1_Const %KX6733 BIT R
2Axis Constant speed state _POS_2_Const %KX7053 BIT R
3Axis Constant speed state _POS_3_Const %KX7373 BIT R
4Axis Constant speed state _POS_4_Const %KX7693 BIT R
5Axis Constant speed state _POS_5_Const %KX8013 BIT R
6Axis Constant speed state _POS_6_Const %KX8333 BIT R
1Axis Deceleration state _POS_1_Dec %KX6734 BIT R
2Axis Deceleration state _POS_2_Dec %KX7054 BIT R
3Axis Deceleration state _POS_3_Dec %KX7374 BIT R
4Axis Deceleration state _POS_4_Dec %KX7694 BIT R
5Axis Deceleration state _POS_5_Dec %KX8014 BIT R
6Axis Deceleration state _POS_6_Dec %KX8334 BIT R
1Axis Dwell state _POS_1_Dwell %KX6735 BIT R
2Axis Dwell state _POS_2_Dwell %KX7055 BIT R
3Axis Dwell state _POS_3_Dwell %KX7375 BIT R
4Axis Dwell state _POS_4_Dwell %KX7695 BIT R
5Axis Dwell state _POS_5_Dwell %KX8015 BIT R
6Axis Dwell state _POS_6_Dwell %KX8335 BIT R

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Comment Variable K area Type R/W

1Axis POSition control _POS_1_Position %KX6736 BIT R
2Axis Position control _POS_2_Position %KX7056 BIT R
3Axis Position control _POS_3_Position %KX7376 BIT R
4Axis Position control _POS_4_Position %KX7696 BIT R
5Axis Position control _POS_5_Position %KX8016 BIT R
6Axis Position control _POS_6_Position %KX8336 BIT R
1Axis Speed control _POS_1_Speed %KX6737 BIT R
2Axis Speed control _POS_2_Speed %KX7057 BIT R
3Axis Speed control _POS_3_Speed %KX7377 BIT R
4Axis Speed control _POS_4_Speed %KX7697 BIT R
5Axis Speed control _POS_5_Speed %KX8017 BIT R
6Axis Speed control _POS_6_Speed %KX8337 BIT R
1Axis Linear interpolation running _POS_1_LinearInt %KX6738 BIT R
2Axis Linear interpolation running _POS_2_LinearInt %KX7058 BIT R
3Axis Linear interpolation running _POS_3_LinearInt %KX7378 BIT R
4Axis Linear interpolation running _POS_4_LinearInt %KX7698 BIT R
5Axis Linear interpolation running _POS_5_LinearInt %KX8018 BIT R
6Axis Linear interpolation running _POS_6_LinearInt %KX8338 BIT R
1Axis Circular interpolation running _POS_1_CircleInt %KX6740 BIT R
2Axis Circular interpolation running _POS_2_CircleInt %KX7060 BIT R
3Axis Circular interpolation running _POS_3_CircleInt %KX7380 BIT R
4Axis Circular interpolation running _POS_4_CircleInt %KX7700 BIT R
5Axis Circular interpolation running _POS_5_CircleInt %KX8020 BIT R
6Axis Circular interpolation running _POS_6_CircleInt %KX8340 BIT R
1Axis Homing _POS_1_Home %KX6741 BIT R
2Axis Homing _POS_2_Home %KX7061 BIT R
3Axis Homing _POS_3_Home %KX7381 BIT R
4Axis Homing _POS_4_Home %KX7701 BIT R
5Axis Homing _POS_5_Home %KX8021 BIT R
6Axis Homing _POS_6_Home %KX8341 BIT R
1Axis POSition sync running _POS_1_PosSync %KX6742 BIT R
2Axis Position sync running _POS_2_PosSync %KX7062 BIT R
3Axis Position sync running _POS_3_PosSync %KX7382 BIT R
4Axis Position sync running _POS_4_PosSync %KX7702 BIT R
5Axis Position sync running _POS_5_PosSync %KX8022 BIT R
6Axis Position sync running _POS_6_PosSync %KX8342 BIT R

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Comment Variable K area Type R/W

1Axis speed sync running _POS_1_SpdSync %KX6743 BIT R
2Axis speed sync running _POS_2_SpdSync %KX7063 BIT R
3Axis speed sync running _POS_3_SpdSync %KX7383 BIT R
4Axis speed sync running _POS_4_SpdSync %KX7703 BIT R
5Axis speed sync running _POS_5_SpdSync %KX8023 BIT R
6Axis speed sync running _POS_6_SpdSync %KX8343 BIT R
1Axis Jog running _POS_1_JogBusy %KX6744 BIT R
2Axis Jog running _POS_2_JogBusy %KX7064 BIT R
3Axis Jog running _POS_3_JogBusy %KX7384 BIT R
4Axis Jog running _POS_4_JogBusy %KX7704 BIT R
5Axis Jog running _POS_5_JogBusy %KX8024 BIT R
6Axis Jog running _POS_6_JogBusy %KX8344 BIT R
1Axis Inching running _POS_1_Inching %KX6746 BIT R
2Axis Inching running _POS_2_Inching %KX7066 BIT R
3Axis Inching running _POS_3_Inching %KX7386 BIT R
4Axis Inching running _POS_4_Inching %KX7706 BIT R
5Axis Inching running _POS_5_Inching %KX8026 BIT R
6Axis Inching running _POS_6_Inching %KX8346 BIT R
1Axis RTP running _POS_1_RtpVusy %KX6748 BIT R
2Axis RTP running _POS_2_RtpVusy %KX7068 BIT R
3Axis RTP running _POS_3_RtpVusy %KX7388 BIT R
4Axis RTP running _POS_4_RtpVusy %KX7708 BIT R
5Axis RTP running _POS_5_RtpVusy %KX8028 BIT R
6Axis RTP running _POS_6_RtpVusy %KX8348 BIT R
1Axis CAM running _POS_1_Cam %KX6749 BIT R
2Axis CAM running _POS_2_Cam %KX7069 BIT R
3Axis CAM running _POS_3_Cam %KX7389 BIT R
4Axis CAM running _POS_4_Cam %KX7709 BIT R
5Axis CAM running _POS_5_Cam %KX8029 BIT R
6Axis CAM running _POS_6_Cam %KX8349 BIT R
1Axis Feed control running _POS_1_Feed %KX6750 BIT R
2Axis Feed control running _POS_2_Feed %KX7070 BIT R
3Axis Feed control running _POS_3_Feed %KX7390 BIT R
4Axis Feed control running _POS_4_Feed %KX7710 BIT R
5Axis Feed control running _POS_5_Feed %KX8030 BIT R
6Axis Feed control running _POS_6_Feed %KX8350 BIT R

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Comment Variable K area Type R/W

1Axis Ellipse interpolation running _POS_1_Ellipse %KX6751 BIT R
2Axis Ellipse interpolation running _POS_2_Ellipse %KX7071 BIT R
3Axis Ellipse interpolation running _POS_3_Ellipse %KX7391 BIT R
4Axis Ellipse interpolation running _POS_4_Ellipse %KX7711 BIT R
5Axis Ellipse interpolation running _POS_5_Ellipse %KX8031 BIT R
6Axis Ellipse interpolation running _POS_6_Ellipse %KX8351 BIT R
1Axis Main axis _POS_1_MstAxis %KX6752 NIBBLE R
2Axis Main axis _POS_2_MstAxis %KX7072 NIBBLE R
3Axis Main axis _POS_3_MstAxis %KX7392 NIBBLE R
4Axis Main axis _POS_4_MstAxis %KX7712 NIBBLE R
5Axis Main axis _POS_5_MstAxis %KX8032 NIBBLE R
6Axis Main axis _POS_6_MstAxis %KX8352 NIBBLE R
1Axis main/slave status _POS_1_AxisStatus %KX6756 BIT R
2Axis main/slave status _POS_2_AxisStatus %KX7076 BIT R
3Axis main/slave status _POS_3_AxisStatus %KX7396 BIT R
4Axis main/slave status _POS_4_AxisStatus %KX7716 BIT R
5Axis main/slave status _POS_5_AxisStatus %KX8036 BIT R
6Axis main/slave status _POS_6_AxisStatus %KX8356 BIT R
1Axis Positive limit signal _POS_1_ULSigStatus %KX6772 BIT R
2Axis Positive limit signal _POS_2_ULSigStatus %KX7092 BIT R
3Axis Positive limit signal _POS_3_ULSigStatus %KX7412 BIT R
4Axis Positive limit signal _POS_4_ULSigStatus %KX7732 BIT R
5Axis Positive limit signal _POS_5_ULSigStatus %KX8052 BIT R
6Axis Positive limit signal _POS_6_ULSigStatus %KX8372 BIT R
1Axis Negative limit signal _POS_1_LLSigStatus %KX6773 BIT R
2Axis Negative limit signal _POS_2_LLSigStatus %KX7093 BIT R
3Axis Negative limit signal _POS_3_LLSigStatus %KX7413 BIT R
4Axis Negative limit signal _POS_4_LLSigStatus %KX7733 BIT R
5Axis Negative limit signal _POS_5_LLSigStatus %KX8053 BIT R
6Axis Negative limit signal _POS_6_LLSigStatus %KX8373 BIT R
1Axis Home signal _POS_1_HomeSigStatus %KX6774 BIT R
2Axis Home signal _POS_2_HomeSigStatus %KX7094 BIT R
3Axis Home signal _POS_3_HomeSigStatus %KX7414 BIT R
4Axis Home signal _POS_4_HomeSigStatus %KX7734 BIT R
5Axis Home signal _POS_5_HomeSigStatus %KX8054 BIT R
6Axis Home signal _POS_6_HomeSigStatus %KX8374 BIT R

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Comment Variable K area Type R/W

1Axis Dog signal _POS_1_DogSigStatus %KX6775 BIT R
2Axis Dog signal _POS_2_DogSigStatus %KX7095 BIT R
3Axis Dog signal _POS_3_DogSigStatus %KX7415 BIT R
4Axis Dog signal _POS_4_DogSigStatus %KX7735 BIT R
5Axis Dog signal _POS_5_DogSigStatus %KX8055 BIT R
6Axis Dog signal _POS_6_DogSigStatus %KX8375 BIT R
1Axis Current Position _POS_1_CurPos %KD212 DINT R
2Axis Current Position _POS_2_CurPos %KD222 DINT R
3Axis Current Position _POS_3_CurPos %KD232 DINT R
4Axis Current Position _POS_4_CurPos %KD242 DINT R
5Axis Current Position _POS_5_CurPos %KD252 DINT R
6Axis Current Position _POS_6_CurPos %KD262 DINT R
1Axis Current Speed _POS_1_CurSpd %KD213 DWORD R
2Axis Current Speed _POS_2_CurSpd %KD223 DWORD R
3Axis Current Speed _POS_3_CurSpd %KD233 DWORD R
4Axis Current Speed _POS_4_CurSpd %KD243 DWORD R
5Axis Current Speed _POS_5_CurSpd %KD253 DWORD R
6Axis Current Speed _POS_6_CurSpd %KD263 DWORD R
1Axis Step Number _POS_1_Step %KW428 WORD R
2Axis Step Number _POS_2_Step %KW448 WORD R
3Axis Step Number _POS_3_Step %KW468 WORD R
4Axis Step Number _POS_4_Step %KW488 WORD R
5Axis Step Number _POS_5_Step %KW508 WORD R
6Axis Step Number _POS_6_Step %KW528 WORD R
1Axis M Code number _POS_1_MCodeNum %KW429 WORD R
2Axis M Code number _POS_2_MCodeNum %KW449 WORD R
3Axis M Code number _POS_3_MCodeNum %KW469 WORD R
4Axis M Code number _POS_4_MCodeNum %KW489 WORD R
5Axis M Code number _POS_5_MCodeNum %KW509 WORD R
6Axis M Code number _POS_6_MCodeNum %KW529 WORD R
1Axis Error Code _POS_1_ErrCode %KW430 WORD R
2Axis Error Code _POS_2_ErrCode %KW450 WORD R
3Axis Error Code _POS_3_ErrCode %KW470 WORD R
4Axis Error Code _POS_4_ErrCode %KW490 WORD R
5Axis Error Code _POS_5_ErrCode %KW510 WORD R
6Axis Error Code _POS_6_ErrCode %KW530 WORD R

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Comment Variable K area Type R/W

1Axis Target position _POS_1_TargetPos %KD216 DINT R
2Axis Target position _POS_2_TargetPos %KD226 DINT R
3Axis Target position _POS_3_TargetPos %KD236 DINT R
4Axis Target position _POS_4_TargetPos %KD246 DINT R
5Axis Target position _POS_5_TargetPos %KD256 DINT R
6Axis Target position _POS_6_TargetPos %KD266 DINT R
1Axis Target speed _POS_1_TargetSpd %KD217 DWORD R
2Axis Target speed _POS_2_TargetSpd %KD227 DWORD R
3Axis Target speed _POS_3_TargetSpd %KD237 DWORD R
4Axis Target speed _POS_4_TargetSpd %KD247 DWORD R
5Axis Target speed _POS_5_TargetSpd %KD257 DWORD R
6Axis Target speed _POS_6_TargetSpd %KD267 DWORD R
1Axis Positive jog command _POS_1_CwJogStart %KX6976 BIT R/W
2Axis Positive jog command _POS_2_CwJogStart %KX7296 BIT R/W
3Axis Positive jog command _POS_3_CwJogStart %KX7616 BIT R/W
4Axis Positive jog command _POS_4_CwJogStart %KX7936 BIT R/W
5Axis Positive jog command _POS_5_CwJogStart %KX8256 BIT R/W
6Axis Positive jog command _POS_6_CwJogStart %KX8576 BIT R/W
1Axis Negative jog command _POS_1_CcwJogStart %KX6977 BIT R/W
2Axis Negative jog command _POS_2_CcwJogStart %KX7297 BIT R/W
3Axis Negative jog command _POS_3_CcwJogStart %KX7617 BIT R/W
4Axis Negative jog command _POS_4_CcwJogStart %KX7937 BIT R/W
5Axis Negative jog command _POS_5_CcwJogStart %KX8257 BIT R/W
6Axis Negative jog command _POS_6_CcwJogStart %KX8577 BIT R/W
1Axis Jog speed command _POS_1_JogLowHigh %KX6978 BIT R/W
2Axis Jog speed command _POS_2_JogLowHigh %KX7298 BIT R/W
3Axis Jog speed command _POS_3_JogLowHigh %KX7618 BIT R/W
4Axis Jog speed command _POS_4_JogLowHigh %KX7938 BIT R/W
5Axis Jog speed command _POS_5_JogLowHigh %KX8258 BIT R/W
6Axis Jog speed command _POS_6_JogLowHigh %KX8578 BIT R/W
Internal position control ready _POS_Rdy %KX7007 BIT R
Internal position control data saving _POS_Writing %KX7006 BIT R
Encoder1 current position _ENC1_CurPos %KD269 DINT R
Encoder2 current position _ENC2_CurPos %KD270 DINT R
Encoder3 current position _ENC3_CurPos %KD271 DINT R
Encoder4 current position _ENC4_CurPos %KD272 DINT R

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Comment Variable K area Type R/W

Current internal position control time(us) _POS_TASK_SCAN_CUR %KW546 WORD R
Maximum internal position control time(us) _POS_TASK_SCAN_MAX %KW547 WORD R
Internal position control period error _POS_TASK_SCAN_ERR %KW548 WORD R

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6.2.2 Usage of I/O Signal

(1) JOG Operation
(a) Forward/Reverse Jog Signals show the direction of Jog Operation. The Jog operation shall be divided into
Forward/Reverse direction according to the On/Off signals. When Forward Jog Signal is On, it starts Forward
Operation and When Jog Signal is Off, it starts Reverse Operation. When both signals Off, it stops Jog Signals.
When both signals On, it does Forward Jog Signal.

Forward Jog Signal Reverse Jog Signal Jog Operation Status

On Off Forward Jog Operation
Off On Reverse Jog Operation
Off Off Stop
On On Forward Jog Operation

(b) If Jog direction is changed during Jog operation, it slows down at first and then operates as the direction it changed.
(c) According to value of Jog low/high Signals, it could operate with low/high speed. When jog low/high signals Off, it
operates with low speed and when they are ON, it operates with high speed.
(d) If you change value of low/high jog signals during Jog operation, there will be no stop and apply the speed as you
changed.

Speed

JOG High Speed

JOG Low Speed

Time

JOG Low Speed

JOG High Speed

JOG in
Operation
Forward JOG
Signal
Reverse JOG
Signal
JOG Low/High
Speed Signal

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Chap.7 Commands

Chap.7 Function block

It describes the function blocks used for the high-performance ML50 embedded positioning.

7.1 Common items of function blocks

The common I/O variables used for the positioning function blocks are as follows.
I/O Variable Name Data type Details
Execution request of function block
REQ BOOL -If the conditions connected to this area are established during executing the program and it
leads to “0→1” (edge or level), function blocks will run.
Base position number.
- The area is used to set up the numbers of the bases where positioning modules are
BASE USINT
equipped.
Input - Embedded positioning base No.: 0(Fixed)
Embedded positioning slot
SLOT USINT - The area is used to set up the numbers of slots where positioning modules are equipped.
- Embedded positioning slot No.: 1(Fixed)
Used axis No.
AXIS USINT - 1 ~ 6: 1 axis ~ 46axis
- If the values other than set value are selected, “error6” will occur.
Displaying the status that the execution of function blocks is completed.
DONE BOOL -When the function block is completed without error, “1” will be output and maintained until
Output next execution; If error occurs, “0” will be output.
Displaying error state
STAT UINT
- The area outputs the error No. when errors occur during executing function blocks.

(1) The errors that occur in STAT variables of the positioning function blocks are as follows.

STAT Details Description

0 Normal If function blocks are normally executed, DONE=1, STAT=0 will be output.
1 Base No. setting error It occurs when the base No.(BASE)’s set values are out of the range.
3 Slot No. setting error It occurs when the slot No.(SLOT)’s set values are out of the range(1 ~ 11).
It occurs when the module is not installed in the position that is specified as BASE,
4 Empty slot error
SLOT.
Mismatch of positioning It occurs when other modules are installed instead of the positioning modules in
5
modules the position that is specified as BASE, SLOT.
6 Axis No. error It occurs when the axis No.(AXIS)’s set values are out of the range(1 ~ 4).
It occurs when the previous function block that was executed prior to the current
one has not yet read by the positioning module. After the previously executed
Overlapping execution error of
10 function block is read by the positioning module, execute the other function block. It
function blocks
takes maximum 10ms for the positioning module to read the function block after
execution.
It occurs when the set values of variables are out of the range except BASE,
11 Input variables setting error SLOT, AXIS. Check the range of settable values for the variables in each function
block.
101 The error occurs from the positioning module as a result of executing function
Positioning module error
~ 811 blocks.

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(2) The setting ranges of the position and speed of the positioning function blocks are as follows. In this manual, pulse
and speed are based on the unit of pulse/sec

Area Setting unit Setting range

pulse -2,147,483,648 ~ 2,147,483,647[pulse]
mm -2,147,483,648 ~ 2,147,483,647[x 10-4mm]
Position
inch -2,147,483,648 ~ 2,147,483,647[x 10-5inch]
degree -2,147,483,648 ~ 2,147,483,647[x 10-5degree]

pulse/second 1 ∼ 2,000,000 [pulse/second]

mm/minute 1 ∼ 2,147,483,647 [X10-2㎜/minute]

Speed
inch/minute 1 ∼ 2,147,483,647 [X10-3Inch/minute]

degree/minute 1 ∼ 2,147,483,647 [X10-3 degree/minute]

(3) For the type and size of the data mainly used for the positioning function blocks, refer to the below table.

No. Reserved Data type Size(Bit) Range

word
1 BOOL Boolean 1 0, 1
2 SINT Short Integer 8 -128 ~ 127
3 USINT Unsigned Short Integer 8 0 ~ 255
4 INT Integer 16 -32768 ~ 32767
5 UINT Unsigned Integer 16 0 ~ 65535
6 DINT Double Integer 32 -2147483648 ~ 2147483647
7 UDINT Unsigned Double Integer 32 0 ~ 4294967295

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7.1.1 Pulse Width modulation output command

• Pulse width modulation (APM_PWM) is the operation to turn the output contact on/off with a fixed period and a specified
duty ratio.
• MLU-H2 can output two contacts %QX0.0.0 and QX0.0.1, MLU-HP can output six contacts
• PWM operation can be output with the positioning pulse example, to output PWM to the %QX0.0.0 contact, disabled.
For example, to output PWM to the %QX0.0.0 contact, disable the pulse output enable setting of the positioning 1 axis
basic parameter using % QX0.0.0 contact as output.

(1) Pulse width modulation output command (APM_PWM)

Function Block Type Details

Input
REQ : Request for executing function block
APM_PWM SLOT : Setting up the numbers of the bases
BOOL REQ DONE BOOL where modules are equipped.
SLOT STAT UINT (MLU-H2, MLU-HP are fixed as 1)
USINT
AXIS : Specifying contact point to command.
USINT AXIS
0~5 : %QX0.0.0~%QX0.0.5
UINT FREQ FREQ : Setting the output cycle. (ms)
UINT DUTY 1~20000
DUTY : OFF Duty rate (%)
0~100

Output
DONE : Keeping 1 after the initial operation
STAT : Outputting error No. that occurred during
executing function blocks.

(a) Function
This instruction is used to issue a PWM output command on the MLU-H2/HP output contact.
While the input condition is ON, the pulse is output to the contact specified by ax of ML50 output contact with the
cycle set to n1 and the OFF duty set to n2.

(b) Error
If the value specified FREQ or DUTY is out of the settable range, error codes 603 and 604 are output to STAT,
respectively, and the command is not executed.

Note
• It is not applicable even if the output cycle is changed during PWM output.

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(2) Example of using command

The operation of the PWM command is explained using the following program as an example.
An example of using the PWM command is described based on %QX0.0.0.

(a) Program example

(b) Used Device

Device Description
%MX0 PWM output command signal

(c) Program Operation

• %QX0.0.0 contact outputs the PWM signal out while %MX0 used as PWM command signal is on.
(It doesn’t work in case of the basic parameter pulse output of the embedded positioning 1 axis using %QX0.0.0
is set to output.)
• If the PWM command executed, the pulse will output as specified output cycle (500ms in this case) and off duty
(30 % in this case).

7.2 Positioning module function block

No. Name Description Operating conditions

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1 XPM_ORG Homing Start Edge

2 XPM_FLT Floating Origin Setting Edge
3 XPM_DST Direct Start Edge
4 XPM_IST Indirect Start Edge
5 XPM_SST Simultaneous Start Edge
6 XPM_VTP Speed/Position Switching Control Edge
7 XPM_VTPP Position specified Speed/Position Switching Control Edge
8 XPM_PTV Position/Speed Switching Control Edge
9 XPM_STP Deceleration Stop Edge
10 XPM_SKP Skip Operation Edge
11 XPM_SSP Position Synchronization Edge
12 XPM_SSS Speed Synchronization Edge
13 XPM_SSSP Position Assigned Speed Synchronization Edge
14 XPM_POR Position Override Edge
15 XPM_SOR Speed Override Edge
16 XPM_PSO Position Assigned Speed Override Edge
17 XPM_NMV Continuous Operation Edge
18 XPM_INC Inching Operation Edge
19 XPM_RTP Repeat Step Number Change Edge
20 XPM_SNS Start Step Change Edge
21 XPM_SRS Repeat operation step no. change Edge
22 XPM_MOF M Code Release Edge
23 XPM_PRS Current Position Change Edge
Encoder Value Preset (MLU-H2, MLU-HP Edge
24 XPM_EPREB
Embedded Position Only)
25 XPM_ATEA Teaching array Edge
26 XPM_SBP Basic parameter teaching Edge
27 XPM_SEP Extended parameter teaching Edge
28 XPM_SHP Homing parameter teaching Edge
29 XPM_SMP Manual operation parameter teaching Edge
30 XPM_SIP I/O signal parameter teaching Edge
31 XPM_SCP Common Parameter Teaching Edge
32 XPM_SMD Operation Data Teaching Edge
33 XPM_VRD Read Variable Data Edge
34 XPM_VWR Write Variable Data Edge
35 XPM_EMG Emergency Stop Edge
36 XPM_RST Error Reset Edge
37 XPM_HRST Error History Reset Edge
38 XPM_PST Point Start Edge
39 XPM_WRT Parameter/operation data save Edge
40 XPM_CRD Operation Information Read Level
41 XPM_SRD Operation State Read Level
Encoder Value Read(MLU-H2, MLU-HP Level
42 XPM_ENCRDB
Embedded Position Only)
43 XPM_JOG JOG Operation Level
44 XPM_CAM CAM Operation Edge
45 XPM_CAMO Main Axis Offset CAM Operation Edge
46 XPM_ELIN Ellipse Interpolation Edge

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47 XPM_RSTR Restart Edge

Notice
1. Dedicated commands for the embedded positioning can be divided into; the command that works on the rising edge, namely,
when input conditions are “On”, it performs operations only once. To perform operations again, input conditions should be “Off” and
then, “On”; the command that works at a high level, namely, it keeps performing operations while input conditions are “On” and
when input conditions are “Off”, it does not work.

Notice

▷ With the exception of XPM_SRD, XPM_CRD, XPM_ENCRD, the only one positioning function block should be executed
for the axis within a single scan. If you use the program as the below example, the function block will not work properly.

When executing different function blocks When executing the same function blocks

▷ For the different axis, you can simultaneously execute the same function blocks.

However, in the case of XPM_VRD, you cannot simultaneously execute function blocks within a single scan not only
for the same axis but also for different ones. If you execute the XPM_VRD commands at the same time in one scan,
the error code 811 will occur and XPM_VRD will not work after the first XPM_VRD.

7.3 How to use function block dedicated for positioning module

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7.3.1 Homing Start (XPM_ORG)

Function Block Type Details

Input
REQ : Request for executing function blocks
BASE : Setting up the numbers of the bases where
XPM_ORG modules are equipped
BOOL REQ DONE BOOL SLOT : Setting up the numbers of slots where modules
USINT BASE STAT UINT are equipped
USINT SLOT AXIS : Specifying the axis to give commands
USINT AXIS 1 ~ 6: 1 axis ~ 6 axis
Output
DONE : Keeping 1 after the initial operation
STAT : Outputting error No. that occurred during
executing function blocks

(1) It gives homing command to the positioning module.

(2) It is the operation command to find the origin of the machine based on homing mode with direction, compensation
amount, speed(high speed, low speed), address and dwell time that are set as homing parameters of each axis.
(3) The homing command is sent to the axis specified as AXIS of the embedded positioning.
(4) In AXIS, you can set up the axis to command and select one among 1~6. If the values other than set value are
selected, “Error 6” will occur.
(5) When the homing command is normally performed, homing will start up based on the way set in “homing mode” of
“Homing parameters”.
(6) Refer to “9.1 Homing” for details on the home return operation.

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7.3.2 Setting the floating origin point (XPM_FLT)

Function Block Type Details

Input
REQ : Request for executing function blocks
BASE : Setting up the numbers of the bases where modules are
XPM_FLT equipped
BOOL REQ DONE BOOL SLOT : Setting up the numbers of slots where modules are
USINT BASE STAT UINT equipped
USINT SLOT AXIS : Specifying the axis to give commands

USINT 1 ~ 6: 1 axis ~ 6 axis

AXIS
Output
DONE : Keeping 1 after the initial operation
STAT : Outputting error No. that occurred during executing
function blocks

(1) If the floating origin setting command is executed, the current position is changed to the origin address of the origin
return parameter, and the origin determination signal (bit) is turned on.
(2) Floating origin setting is set at the current position at the time the command is executed, different from homing, and
can be set only when the axis is not in the operation.
(3) In AXIS, you can set up the axis to command based on the below setting range. If the values other than set value are
selected, “error 6” will occur. Setting range: 1 ~ 6 (1 axis ~ 6 axis)

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7.3.3 Direct start (XPM_DST)

Function Block Type Details

Input
REQ : Request for executing function blocks
BASE : Setting up the numbers of the bases where
modules are equipped
SLOT : Setting up the numbers of slots where modules
are equipped
XPM_DST AXIS : Specifying the axis to give commands
1 ~ 6: 1 ~ 6 axis
BOOL REQ DONE BOOL
ADDR : Setting up the target position address
USINT BASE STAT UINT -2147483648 ~ +2147483647
USINT SLOT SPEED : Setting up the target speed
USINT AXIS DWELL : Setting up dwell time
DINT ADDR 0 ~ 65535[ms]
UDINT SPEED M code : Setting up M code value
CTRL : Control mode setting
UINT DWELL
0: position control, 1: speed control,
UINT MCODE 2: Feed control, 3: the shortest distance control
USINT CTRL ABS/INC: Setting absolute coordinate/relative coordinate
BOOL ABS/INC 0: absolute coordinate, 1: relative coordinate
USINT ACC_SEL ACC_SEL: Setting up acceleration time No.
USINT DEC_SEL 0: acceleration time1, 1: acceleration time2
2: acceleration time3, 3: acceleration time4
DCC_SEL: Setting up deceleration time No.
0: deceleration time 1, 1: deceleration time 2
2: deceleration time 3, 3: deceleration time 4
Output
DONE : Keeping 1 after the initial operation
STAT : Outputting error No. that occurred during
executing function blocks

(1) The direct start command is designated to the axis specified as AXIS of the embedded positioning.
(2) It can be used when you want to operate directly the machine by setting the target position address, operating speed,
dwell time, M code No., control mode, coordinate, acceleration and deceleration time No. rather than depending on
operating data.
(3) In AXIS, you can set up the axis to command and select one among 1~6. If the values other than set value are
selected, “Error 6” will occur.
(4) In case of the values set for SPEED, CTRL, TIME_SEL exceed the setting range, “error11” will occur in STAT.

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7.3.4 Indirect start (XPM_IST)

Function Block Type Details

Input
REQ : Request for executing function blocks
BASE : Setting up the numbers of the bases where
XPM_IST modules are equipped
BOOL REQ DONE BOOL SLOT : Setting up the numbers of slots where modules
USINT BASE STAT UINT are equipped
USINT SLOT AXIS : Specifying the axis to give commands
USINT 1 ~ 6: 1 axis ~ 6 axis
AXIS
STEP : Step No. to operate
UINT STEP
0 ~ 400
Output
DONE : Keeping 1 after the initial operation
STAT : Outputting error No. that occurred during
executing function blocks

(1) The indirect start command is designated to the axis specified as AXIS of the embedded positioning.
(2) It can be used when you want to operate the machine by setting operation step No. of the axis that is set as operating
data.
(3) In AXIS, you can set up the axis to command and select one among 1 ~ 6. If the values other than set value are
selected, “error 6” will occur.
(4) In case the set value of STEP exceed the setting range (0 ~ 400), “error11” will occur in STAT.
(5) If you set 0 for STEP, the current step will be operated
(6) Depending on the operation pattern of the operated step (END, Keep, Continuous), several steps may be operated
by one indirect start command if the operation pattern is keep or continuous. Continuous operation is available in
case of the continuous parameter allow/disable is set to “allow”.
(7) The linear interpolation and a circular arc interpolation, helical interpolation is performed with indirect start command
by setting control mode of operating data.

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7.3.5 Simultaneous start (XPM_SST)

Function Block Type Details

Input
REQ : Request for executing function blocks
XPM_SST BASE : Setting up the numbers of the bases where
BOOL REQ DONE BOOL modules are equipped
SLOT : Setting up the numbers of slots where modules
USINT BASE STAT UINT
are equipped
USINT SLOT SST_AXIS : Setting synchronous start axis
USINT SST_AXIS 0bit ~ 5bit: 1axis ~ 6axis
UINT A1_STEP Setting the bit for each axis
UINT A2_STEP A1_STEP : 1axis step No. to start up
UINT A3_STEP A2_STEP : 2axis step No. to start up
A3_STEP : 3axis step No. to start up
UINT A4_STEP
A4_STEP : 4axis step No. to start up
UINT A5_STEP
A5_STEP : 5axis step No. to start up
UINT A6_STEP A6_STEP : 6axis step No. to start up
UINT A7_STEP A7_STEP : N/A
UINT A8_STEP A8_STEP : N/A
Output
DONE : Keeping 1 after the initial operation
STAT : Outputting error No. that occurred during
executing function blocks

(1) The simultaneous start command is designated to the axis specified as AXIS of the embedded positioning.
(2) It can be used when you want to start the operation of more than 2 axis simultaneously.
(3) In A1_STEP ~ A6_STEP, set the number of step to be operated by simultaneous start of each axis from 1 axis to
6 axis.
(4) If the values other than set value are selected, “error 6” will occur. Set each bit by setting as below.
7bit 6bit 5bit 4bit 3bit 2bit 1bit 0bit
- - 6aixs 5axis 4axis 3axis 2axis 1axis

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7.3.6 Speed/position switching control (XPM_VTP)

Function Block Type Details

Input
REQ : Request for executing function blocks
BASE : Setting up the numbers of the bases where
XPM_VTP modules are equipped
BOOL REQ DONE BOOL SLOT : Setting up the numbers of slots where modules
USINT BASE STAT UINT are equipped
USINT SLOT AXIS : Specifying the axis to give commands
USINT AXIS 1 ~ 6: 1axis ~ 6axis
Output
DONE : Keeping 1 after the initial operation
STAT : Outputting error No. that occurred during
executing function blocks

(1) The speed/position switching control command is designated to the axis specified as AXIS of the embedded
positioning.
(2) When the speed/position control switching command is given to the specified axis where speed operation was
applied, the operation mode will be converted from speed control into position control and positioning operation will
run with the position value set when starting speed control.
(3) In AXIS, you can set up the axis to command based on the below setting range. If the values other than set value are
selected, “error6” will occur. Setting range: 1 ~ 6(1axis ~ 6axis)

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7.3.7 Position specified Speed/Position Switching Control (XPM_VTPP)

Function Block Type Details

Input
REQ : Request for executing function blocks
BASE : Setting up the numbers of the bases where
modules are equipped
SLOT : Setting up the numbers of slots where modules
are equipped
AXIS : Specifying the axis to give commands
1 ~ 6: 1axis ~ 6axis
POS : Travel amount of position
-2,147,483,648 ~ 2,147,483,647
Output
DONE : Keeping 1 after the initial operation
STAT : Outputting error No. that occurred during
executing function blocks

(1) The position specified speed/position switching command is designated to the axis specified as AXIS of the
embedded positioning.
(2) When the position specified speed/position switching command is given to the specified axis where speed control
operation was applied, the operation mode will be converted from speed control into position control and then, positioning
operation will run as far as the position travel amount set in POS.
(3) In AXIS, you can set up the axis to command based on the below setting range. If the values other than set value are
selected, “error6” will occur. Setting range: 1 ~ 6(1axis ~ 6axis)

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7.3.8 Position/speed switching control (XPM_PTV)

Function Block Type Details

Input
REQ : Request for executing function blocks
BASE : Setting up the numbers of the bases where
XPM_PTV modules are equipped
BOOL REQ DONE BOOL SLOT : Setting up the numbers of slots where modules
USINT BASE STAT UINT are equipped
USINT SLOT AXIS : Specifying the axis to give commands
USINT AXIS 1 ~ 6: 1axis ~ 6axis
Output
DONE : Keeping 1 after the initial operation
STAT : Outputting error No. that occurred during
executing function blocks

(1) The position/speed switching command is designated to the axis specified as AXIS of the embedded positioning.
(2) When the position/speed control switching command is given to the axis where position control operation was applied
with the determined travel amount, the operation mode will be converted from position control into speed control.
It will run until the factors of stoppage such as deceleration stop, etc occur.
(3) When this command is executed, speed control will be applied with the undetermined origin.
(4) In AXIS, you can set up the axis to command based on the below setting range. If the values other than set value are
selected, “error6” will occur. Setting range: 1 ~ 6(1axis ~ 6axis)

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7.3.9 Deceleration Stop (XPM_STP)

Function Block Type Details

Input
REQ : Request for executing function blocks
BASE : Setting up the numbers of the bases
where modules are equipped
XPM_STP SLOT : Setting up the numbers of slots where
REQ modules are equipped
BOOL DONE BOOL
AXIS : Specifying the axis to give commands
USINT BASE STAT UINT
1 ~ 6: 1axis ~ 6axis
USINT SLOT DEC_TIME : Deceleration down-time
USINT AXIS 0: Acceleration/deceleration time applied
UDINT DEC_TIME when operation starts
1 ~ 2147483647: 1 ~ 2147483647ms
Output
DONE : Keeping 1 after the initial operation
STAT : Outputting error No. that occurred during
executing function blocks

(1) The deceleration stop command is designated to the axis specified as AXIS of the embedded positioning.
(2) If the stop command is given during running by operating data, after deceleration stop, the operation restarts by the
start command.
(3) If deceleration stop command is executed in speed synchronization or position synchronization, CAM operation,
depending on the current operating control state, speed synchronization or position synchronization, CAM operation
will be finished.
(4) The deceleration stop command can be executed not only in acceleration and constant speed area but also
in deceleration area.
(5) The deceleration time that means the time from start to stop can be set in the range of 0 ~ 2,147,483,647ms.
If the value is set as 0, it will stop by the set deceleration time when operation starts.
(6) The deceleration time means the time required from the speed limit of the axis’s basic parameters to stop.
(7) In AXIS, you can set up the axis to command and select one among 1~6. If the values other than set value are
selected, “error 6” will occur.

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7.3.10 Skip Operation (XPM_SKP)

Function Block Type Details

Input
REQ : Request for executing function blocks
BASE : Setting up the numbers of the bases
XPM_SKP where modules are equipped
BOOL REQ DONE BOOL SLOT : Setting up the numbers of slots where
USINT BASE STAT UINT modules are equipped
USINT SLOT AXIS : Specifying the axis to give commands
1 ~ 6: 1axis ~ 6axis
USINT AXIS
Output
DONE : Keeping 1 after the initial operation
STAT : Outputting error No. that occurred
during executing function blocks

(1) The skip operation command is designated to the axis specified as AXIS of the embedded positioning.
(2) It is used to move to the next step without running the operation step. In other words, stop and end the operation of
the step currently in operation, and continue the operation in the next step.
(3) Each time run this command, it will skip the current operating step and move to the next one.
(4) In AXIS, you can set up the axis to command based on the below setting range. If the values other than set value
are selected, “error 6” will occur. Setting range: 1 ~ 6(1axis ~ 6axis)

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7.3.11 Position synchronization (XPM_SSP)

Function Block Type Details

Input
REQ : Request for executing function blocks
BASE : Setting up the numbers of the bases
where modules are equipped
SLOT : Setting up the numbers of slots where
modules are equipped
XPM_SSP AXIS : Specifying the axis to give commands
BOOL REQ DONE BOOL 1 ~ 6: 1axis ~ 6axis
USINT BASE STAT UINT STEP : Step No. to operate
USINT SLOT 0 ~ 400
USINT AXIS MST_AXIS : Setting position synchronization of the
major axis
UINT STEP
1 ~ 6: 1 ~ 6axis, 9~12: encoder 1~4
USINT MST_AXIS
MST_ADDR : Setting the position of the major axis to
DINT MST_ADDR perform position synchronization

-2,147,483,648 ∼ 2,147,483,647

Output
DONE : Keeping 1 after the initial operation
STAT : Outputting error No. that occurred
during executing function blocks

(1) The position synchronization command is designated to the axis specified as AXIS of the embedded
positioning.
(2) The axis that gives command is regarded as the minor axis. When the axis set as the major axis reaches
the established synchronized position, the operation step set by the command axis will run.
(3) In AXIS, you can set up the axis to command based on the below setting range. If the values other than set value
are selected, “error 6” will occur. Setting range: 1 ~ 6(1axis ~ 6axis)
(4) In MST_AXIS, you can set up the major axis of position synchronization among the below range. If the values
other than set value are selected, “error 11” will occur. Setting range: 1 ~ 6(1axis ~ 6axis), 9 ~12(encoder 1 ~ 4)

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7.3.12 Speed synchronization (XPM_SSS)

Function Block Type Details

Input
REQ : Request for executing function blocks
BASE : Setting up the numbers of the bases
where modules are equipped
XPM_SSS SLOT : Setting up the numbers of slots where
BOOL REQ DONE BOOL modules are equipped
USINT BASE STAT UINT AXIS : Specifying the axis to give commands
USINT SLOT 1 ~ 6: 1axis ~ 6axis
MST_AXIS : Setting the major axis for speed
USINT AXIS synchronization
USINT MST_AXIS 1 ~ 6: 1axis ~ 6axis, 9 ~ 12: encoder 1 ~ 4
UINT MST_RAT MST_RAT : Setting the major axis’s speed ratio
-32768 ~ 32767
UINT SLV_RAT
SLV_RAT : Setting the minor axis’s speed ratio
-32768 ~ 32767
Output
DONE : Keeping 1 after the initial operation
STAT : Outputting error No. that occurred
during executing function blocks

(1) The speed synchronization command is designated to the axis specified as AXIS of the embedded positioning.
(2) It is used to control the operating speed between two axes at the set ratio.
(3) There is no rule about the size between the major axis’s speed ratio and the minor axis’s speed ratio. In other
words, if the major axis’s speed ratio is bigger than the minor axis’s speed ratio, the major axis moves faster than
the minor axis; if the minor axis’s speed ratio is bigger than the major axis’s speed ratio, the minor axis moves faster
than the major axis.
(4) In AXIS, you can set up the axis to command based on the below setting range. If the values other than set value are
selected, “error 6” will occur. Setting range: 1 ~ 6(1axis ~ 5axis)
(5) In MST_AXIS, you can set up the major axis of speed synchronization among the below range. If the values other
than set value are selected, “error 11” will occur. Setting range: 1 ~ 6(1axis ~ 6axis), 9~12(encoder 1~4)
(6) Minor axis’s operating direction runs in the same direction of major axis in case of the speed synchronization ratio
(minor axis ratio/major axis ratio) is a positive number, and runs in the opposite direction of the major axis in case of
the speed synchronization ratio is a negative number. For example, if the major ratio is set as 3 and the minor ratio is
set as 2, while major axis moving 3000, minor axis will moving 2000.

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7.3.13 Position Assigned Speed Synchronization (XPM_SSSP)

Function Block Type Details

Input
REQ : Request for executing function blocks
BASE : Setting up the numbers of the bases where
modules are equipped
XPM_SSSP SLOT : Setting up the numbers of slots where modules
are equipped
BOOL REQ DONE BOOL
AXIS : Specifying the axis to give commands
USINT BASE STAT UINT
1 ~ 6: 1axis ~ 6axis
USINT SLOT MST_AXIS : Setting the major axis for speed
USINT AXIS synchronization
USINT MST_AXIS 1 ~ 6: 1axis ~ 6axis, 9 ~ 12: encoder 1~ 4
MST_RAT : Setting the major axis’s speed ratio
UINT MST_RAT
-32768 ~ 32767
UINT SLV_RAT SLV_RAT : Setting the minor axis’s speed ratio
DINT POS -32768 ~ 32767
POS : Target position
-2,147,483,648 ~ 2,147,483,647
Output
DONE : Keeping 1 after the initial operation
STAT : Outputting error No. that occurred
during executing function blocks

(1) The position assigned speed synchronization command is designated to the axis specified as AXIS of
the embedded positioning.
(2) It is used to control the operating speed between two axes at the set ratio. If the minor axis’s position reaches
the point set by POS, it will stop after finishing speed synchronization.
(3) There is no rule about the size between the major axis’s speed ratio and the minor axis’s speed ratio.
Namely, if the major axis’s speed ratio is bigger than the minor axis’s speed ratio, the major axis moves faster than
the minor axis; if the minor axis’s speed ratio is bigger than the major axis’s speed ratio, the minor axis moves faster
than the major axis.
(4) In AXIS, you can set up the axis to command based on the below setting range. If the values other than set value
are selected, “error 6” will occur. Setting range: 1 ~ 6(1axis ~ 6axis)
(5) In MST_AXIS, you can set up the major axis of speed synchronization among the below range. If the values other
than set value are selected, “error 11” will occur. Setting range: 1 ~ 6(1axis ~ 6axis), 9 ~ 12(encoder 1 ~ 4)
(6) Minor axis’s operating direction runs in the same direction of major axis in case of the speed synchronization ratio
(minor axis ratio/major axis ratio) is a positive number, and runs in the opposite direction of the major axis in case of
the speed synchronization ratio is a negative number. For example, if the major ratio is set as 3, the minor ratio is
set as 2, target position is set as 1,000,000, while major axis moving 3000, minor axis will moving 2000. Likewise,
it will stop when the position of minor axis is 1,000,000.

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7.3.14 Position override (XPM_POR)

Function Block Type Details

Input
REQ : Request for executing function blocks
BASE : Setting up the numbers of the bases where
modules are equipped
XPM_POR SLOT : Setting up the numbers of slots where modules
BOOL REQ DONE BOOL are equipped
USINT BASE STAT UINT AXIS : Specifying the axis to give commands
USINT SLOT 1 ~ 6: 1axis ~ 6axis
USINT AXIS POR_ADDR : Setting the new target position
DINT POR_ADDR -2,147,483,648 ∼ 2,147,483,647
Output
DONE : Keeping 1 after the initial operation
STAT : Outputting error No. that occurred
during executing function blocks

(1) The position override command is designated to the axis specified as AXIS of the embedded positioning.
(2) It is used to change the target position while the command axis is running.
(3) If you perform position override after passing the point for position override, it will stop at the current position and then,
changes its direction and moves to the position set in POR_ADDR.
(4) In POR_ADDR, you can set up the target position to change.
(5) The value set for the position override is absolute coordinate position.
(6) In AXIS, you can set up the axis to command based on the below setting range. If the values other than set value are
selected, “error6” will occur. Setting range: 1 ~ 6(1axis ~ 6axis)

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7.3.15 Speed override (XPM_SOR)

Function Block Type Details

Input
REQ : Request for executing function blocks
BASE : Setting up the numbers of the bases
XPM_SOR
where modules are equipped
BOOL REQ DONE BOOL
SLOT : Setting up the numbers of slots where modules
USINT BASE STAT UINT are equipped
USINT SLOT AXIS : Specifying the axis to give commands
USINT AXIS 1 ~ 6: 1axis ~ 6axis
UDINT SOR_SPD SOR_SPD :Setting new operating speed value
Output
DONE : Keeping 1 after the initial operation
STAT : Outputting error No. that occurred during
executing function blocks

(1) The speed override command is designated to the axis specified as AXIS of the embedded positioning.
(2) It is used to change the operating speed while the command axis is running.
(3) SOR_SPD can be set as “%” or “speed value (unit/time)” based on the values set in “speed override” of the
command parameters.
• In case the unit of speed override value is %, the setting area is 1 ~ 65,535 that indicates 0.01% ~ 655.35%.
• In case the unit of speed override value is speed value, the setting area is 1 ~ speed limit and at this time, the speed
limit is the vale set in “speed limit” of basic parameters. In addition, the unit of speed override value follows the axis’s
unit.
(6) In AXIS, you can set up the axis to command based on the below setting range. If the values other than set value are
selected, “error 6” will occur. Setting range: 1 ~ 6(1axis ~ 6axis)

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7.3.16 Position Assigned Speed Override (XPM_PSO)

Function Block Type Details

Input
REQ : Request for executing function blocks
BASE : Setting up the numbers of the bases
XPM_PSO where modules are equipped
REQ SLOT : Setting up the numbers of slots where
BOOL DONE BOOL
modules are equipped
USINT BASE STAT UINT
AXIS : Specifying the axis to give commands
USINT SLOT 1 ~ 6: 1axis ~ 6axis
USINT AXIS PSO_ADDR : Position to change speed
DINT PSO_ADDR
-2,147,483,648 ∼ 2,147,483,647
UDINT PSO_SPD
PSO_SPD : Setting the new operating speed value
Output
DONE : Keeping 1 after the initial operation
STAT : Outputting error No. that occurred
during executing function blocks

(1) The position assigned speed override command is designated to the axis specified as AXIS of the embedded
positioning.
(2) It is used to change the operating speed after reaching a certain position in the state that the command axis is running.
(3) PSO_SPD can be set as “%” or “speed value (unit/time)” based on the values set in “speed override” of the
command parameters.
• In case the unit of speed override value is %, the setting area is 1 ~ 65,535 that indicates 0.01% ~ 655.35%.
• In case the unit of speed override value is speed value, the setting area is 1 ~ speed limit and at this time, the speed
limit is the vale set in “speed limit” of basic parameters. In addition, the unit of speed override value follows the axis’s
unit.
(4) In AXIS, you can set up the axis to command based on the below setting range. If the values other than set value are
selected, “error 6” will occur. Setting range: 1 ~ 6(1axis ~ 6axis)

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7.3.17 Continuous operation (XPM_NMV)

Function Block Type Details

Input
REQ : Request for executing function blocks
BASE : Setting up the numbers of the bases
XPM_NMV where modules are equipped
BOOL REQ DONE BOOL SLOT : Setting up the numbers of slots where modules
USINT BASE STAT UINT are equipped
USINT SLOT AXIS : Specifying the axis to give commands
1 ~ 6: 1axis ~ 6axis
USINT AXIS
Output
DONE : Keeping 1 after the initial operation
STAT : Outputting error No. that occurred during
executing function blocks

(1) The command for continuous operation is sent to the axis specified as AXIS of the embedded positioning.
(2) It is used to move to the next operating step without stopping the command axis in the currently operating step.
(3) When the continuous operation command is executed, the currently operating step No. is changed into the next step
No. and position operation will proceed with the next step’s speed and target position. The connection with the next
step is performed by the continuous operation pattern.
(4) The continuous operation command changes the operation pattern of the currently running step only and does not
change the operation data.
(5) In AXIS, you can set up the axis to command based on the below setting range. If the values other than set value are
selected, “error6” will occur. Setting range: 1 ~ 6(1axis ~ 6axis)

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7.3.18 Inching Operation (XPM_INC)

Function Block Type Details

Input
REQ : Request for executing function blocks
BASE : Setting up the numbers of the bases where
modules are equipped
SLOT : Setting up the numbers of slots where modules
XPM_INC
are equipped
BOOL REQ DONE BOOL AXIS : Specifying the axis to give commands
USINT BASE STAT UINT 1 ~ 6: 1axis ~ 6axis
USINT SLOT INCH_VAL: Amount of travel to move through inching
USINT AXIS operation
DINT INCH_VAL
-2,147,483,648 ∼ 2,147,483,647

Output
DONE : Keeping 1 after the initial operation
STAT : Outputting error No. that occurred during
executing function blocks

(1) The inching operation command is designated to the axis specified as AXIS of the embedded positioning.
(2) Inching operation is a kind of manual operations. It is used to process minute movements as quantitative operation.
(3) The speed of inching operation is set in manual operation parameters.
(4) In AXIS, you can set up the axis to command and select one among 1~6. If the values other than set value are
selected, “error 6” will occur.

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7.3.19 Return to the position of pre-manual operation (XPM_RTP)

Function Block Type Details

Input
REQ : Request for executing function blocks
BASE : Setting up the numbers of the bases where
XPM_RTP
modules are equipped
BOOL REQ DONE BOOL
SLOT : Setting up the numbers of slots where modules
USINT BASE STAT UINT are equipped
USINT SLOT AXIS : Specifying the axis to give commands
USINT AXIS 1 ~ 6: 1axis ~ 6axis
Output
DONE : Keeping 1 after the initial operation
STAT : Outputting error No. that occurred during
executing function blocks

(1) The command for returning to the position of pre-manual operation is designated to the axis specified as AXIS of
the embedded positioning.
(2) When the position is changed by manual operation after positioning, the command can be used to return to
the position of pre-manual operation.
(3) In AXIS, you can set up the axis to command and select one among 1~6. If the values other than set value are
selected, “error 6” will occur.

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7.3.20 Start step change (XPM_SNS)

Function Block Type Details

Input
REQ : Request for executing function blocks
BASE : Setting up the numbers of the bases where
XPM_SNS modules are equipped
BOOL REQ DONE BOOL SLOT : Setting up the numbers of slots where modules
USINT BASE STAT UINT are equipped
USINT SLOT AXIS : Specifying the axis to give commands
1 ~ 6: 1axis ~ 6axis
USINT AXIS
STEP : Setting the operation step No. to run
UINT STEP
1 ~ 400
Output
DONE : Keeping 1 after the initial operation
STAT : Outputting error No. that occurred during
executing function blocks

(1) The change start step command is designated to the axis specified as AXIS of the embedded positioning.
(2) It is used to change the operation step of the command axis.
(3) In AXIS, you can set up the axis to command based on the below setting range. If the values other than set value are
selected, “error 6” will occur. Setting range:1 ~ 6(1axis ~ 6axis)
(4) In STEP, you can set up the step No. to start the repetitive operation. The range of set values is 1 ~ 400 and if the
values other than set value are selected, “error 11” will occur.

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7.3.21 Repeat operation step no. change (XPM_SRS)

Function Block Type Details

Input
REQ : Request for executing function blocks
BASE : Setting up the numbers of the bases where
XPM_SRS
modules are equipped
BOOL REQ DONE BOOL
SLOT : Setting up the numbers of slots where modules
USINT BASE STAT UINT are equipped
USINT SLOT AXIS : Specifying the axis to give commands
USINT AXIS 1 ~ 6: 1axis ~ 6axis
UINT STEP STEP : Setting the repetitive step No. to change
1 ~ 400
Output
DONE : Keeping 1 after the initial operation
STAT : Outputting error No. that occurred during
executing function blocks

(1) The repeat operation step no. change command is designated to the axis specified as AXIS of the embedded
positioning.
(2) The command is used to start the operation in a certain operating step by specifying the start step No. of repetitive
operation when running the repetitive operation that the command is given during running with the operation data, it
returns to the repetitive operation step.
(3) In AXIS, you can set up the axis to command based on the below setting range. If the values other than set value are
selected, “error 6” will occur. Setting range: 1 ~ 6(1axis ~ 6axis)
(4) In STEP, you can set up the step no. to start the repetitive operation. The range of set values is 1 ~ 400 and if the
values other than set value are selected, “error 11” will occur.

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6.10.2 M Code Release (XPM_MOF)

Function Block Type Details

Input
REQ : Request for executing function blocks
BASE : Setting up the numbers of the bases where
XPM_MOF modules are equipped
BOOL REQ DONE BOOL SLOT : Setting up the numbers of slots where modules
USINT BASE STAT UINT are equipped
USINT SLOT AXIS : Specifying the axis to give commands
1 ~ 6: 1axis ~ 6axis
USINT AXIS
Output
DONE : Keeping 1 after the initial operation
STAT : Outputting error No. that occurred during
executing function blocks

(1) The command for clearing M code is sent to the axis specified as AXIS of the embedded positioning.
(2) In case the M code is set as ‘With’ or ‘After Mode’ in each axis’s parameters, when the command axis’s M code signal
is On, it can be used to turn Off this signal. Namely, it changes the M code signal into Off and M code No. into On.
(3) In AXIS, you can set up the axis to command based on the below setting range. If the values other than set value are
selected, “error 6” will occur. Setting range: 1 ~ 6(1axis ~ 6axis)
(4) It can be performed while operating,

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6.8.11 Current position change (XPM_PRS)

Function Block Type Details

Input
REQ : Request for executing function blocks
BASE : Setting up the numbers of the bases where
modules are equipped
XPM_PRS
SLOT : Setting up the numbers of slots where
BOOL REQ DONE BOOL
modules are equipped
USINT BASE STAT UINT AXIS : Specifying the axis to give commands
USINT SLOT 1 ~ 6: 1axis ~ 6axis
USINT AXIS PRS_ADDR : Setting the current position value to change
DINT PRS_ADDR
-2,147,483,648 ∼ 2,147,483,647
Output
DONE : Keeping 1 after the initial operation
STAT : Outputting error No. that occurred during executing
function blocks

(1) The current position change command is designated to the axis specified as AXIS of the embedded positioning.
(2) The command is used to change the current position into an arbitrary position. If it is executed with the undetermined
origin, the signal for determining the origin will be On and the current position will be changed into the set value
(PRS_ADDR).
(3) In AXIS, you can set up the axis to command based on the below setting range. If the values other than set value are
selected, “error 6” will occur. Setting range: 1 ~ 6(1axis ~ 6axis)

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7.3.24 Encoder value preset (XPM_EPREB)

Function Block Type Details

Input
REQ : Request for executing function blocks
BASE : Setting up the numbers of the bases where
modules are equipped
XPM_EPREB SLOT : Setting up the numbers of slots where modules
BOOL REQ DONE BOOL are equipped
USINT BASE STAT UINT AXIS : Specifying the axis to give commands
USINT SLOT 1 ~ 6: 1axis ~ 6axis
USINT AXIS ENC : Encoder number
USINT ENC 0 ~ 3: encoder 1 ~ encoder 4
DINT EPRE_VAL EPRE_VAL : Set encoder preset value
(encoder min. ~ encoder max. -1)
Output
DONE : Keeping 1 after the initial operation
STAT : Outputting error No. that occurred during executing
function blocks

(1) The encoder value preset command is designated to the axis specified as AXIS of the embedded positioning.
(2) The command is used to change the current value of the encoder to the setting value of EPRE_VAL
(3) The input range of EPRE_VAL is “Minimum value of Ring-count ~ Maximum value of Ring-count -1” if the embedded
Positioning set as ring-count.
(4) In AXIS, you can set up the axis to command based on the below setting range. If the values other than set value are
selected, “error 6” will occur. Setting range: 1 ~ 6(1axis ~ 6axis)
(a) The input range of the encoder position value is from the ring-count minimum value ~ ring-count maximum
value -1. If the values other than set value are selected, error code 535 will occur and preset is not performed.
(b) Set the encoder (OP3) value between 0 ~ 3. If the values other than set value are selected, “error 11” will occur
and preset is not performed.
(c) If the major axis to be changed the position is operating, error code 532 will occur, and the preset is not performed.
(d) The encoder value preset command has no area to select the command axis. If an error occurs, it is displayed on
the axis 1 error code.
(e) To operate the encoder value preset command, the high-speed count channel mapped with the encoder must to
be enabled

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7.3.25 Teaching Array (XPM_ATEA)

Function Block Type Details

Input
REQ : Request for executing function blocks
BASE : Setting up the numbers of the bases where modules
are equipped
SLOT : Setting up the numbers of slots where modules are
equipped
XPM_ATEA AXIS : Specifying the axis to give commands
BOOL REQ DONE BOOL 1 ~ 6: 1axis ~ 6axis
USINT BASE STAT UINT STEP : Setting the step No. to teach
USINT SLOT 0 ~ 400
USINT AXIS RAM/ROM : Selecting RAM teaching and ROM teaching type
UINT STEP 0 : RAM teaching, 1 : ROM teaching
BOOL RAM/ROM POS/SPD : Selecting position teaching and speed teaching
BOOL POS/SPD type
USINT TEA_CNT 0 : position teaching, 1 : speed teaching
DINT[16] TEA_VAL TEA_CNT : Setting the number of teaching data
1 ~ 16
TEA_VAL : Setting teaching values
Output
DONE : Keeping 1 after the initial operation
STAT : Outputting error No. that occurred during executing
function blocks

(1) The teaching array command is designated to the axis specified as AXIS of the embedded positioning.
(2) The speed teaching can be used when a user wants to apply the arbitrary speed value to a specific step’s operating
data; the position teaching can be used when a user wants to set the arbitrary position value for a specific step’s
operating data.
(3) It is used when you want to change the target position or speed values up to 16EA at once by using the multiple
teaching function blocks.
(4) In AXIS, you can set up the axis to command and select one among 1~6. If the values other than set value are
selected, “error6” will occur.
(5) The teaching command can be executed only when all axis are in a stopped state.
(6) In STEP, you can set the step No. of the operating data to teach and select one among 0 ~ 400. If the values other
than set value are selected, “error 11” will occur.
(7) In TEA_CNT, you can set the number of teaching data up to 16EA. If the values other than set value are selected,
“error 11” will occur.
(8) The operating data that is set as “0” in RAM/ROM and changed by teaching commands is valid only while the power
is On. If you want to maintain the changed operating data even while the power is Off, set the RAM/ROM as “1” and
perform the teaching commands or after teaching operating data, save the changed parameter value to the Flash by
using the commands for saving parameters/operating data(XPM_WRT).
(9) If you change the data through ROM teaching, it will be saved to the FLASH together with the previous operating data
changed by RAM teaching including the operating data changed by the current commands. However, for different
axis other than the relevant ones, the previous data will not be saved to the FLASH.

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7.3.26 Basic parameter teaching (XPM_SBP)

Function Block Type Details

Input
REQ : Request for executing function blocks
BASE : Setting up the numbers of the bases where
modules are equipped
XPM_SBP SLOT : Setting up the numbers of slots where modules
BOOL REQ DONE BOOL are equipped
USINT BASE STAT UINT AXIS : Specifying the axis to give commands
1 ~ 6: 1 ~ 6axis
USINT SLOT
BP_VAL : Basic parameter values to change
USINT AXIS
BP_NO : Basic parameter items No. to change
UDINT BP_VAL
RAM/ROM : Method on how to save parameters
USINT BP_NO
0: SAVING TO RAM
BOOL RAM/ROM
1: SAVING TO ROM
Output
DONE : Keeping 1 after the initial operation
STAT : Outputting error No. that occurred during
executing function blocks

(1) The basic parameter teaching command is designated to the specified axis in AXIS of the embedded positioning.
(2) The parameter value that is set as “0” in RAM/ROM and changed by the basic parameter teaching commands is
valid only while the power is On. If you want to maintain the changed parameter value even while the power is Off, set
the value as “1” in RAM/ROM and perform the basic parameter teaching commands or after teaching basic
parameters, save the changed parameter value to the Flash by using the commands for saving parameters/operating
data (XPM_WRT).
(3) In AXIS, you can set up the axis to command and select one among 1~6. If the values other than set value are
selected, “error6” will occur.
(4) The command for setting basic parameters can be executed only when all axis are in a stopped state.
(5) If you change the data through ROM teaching, it will be saved to the FLASH together with the previous parameters
changed by RAM teaching including the parameters changed by the current commands. However, for different axis
other than the relevant ones, the previous data will not be saved to the FLASH.
(6) You can set up the values for basic parameter items No. as below.
Set value Item Setting range

㎜ : 0 ∼ 2,147,483,647 [X10-2㎜/minute]

Inch : 0 ∼ 2,147,483,647 [X10-3Inch/minute]

1 Speed limit
degree : 0 ∼ 2,147,483,647 [X10-3 degree/minute]

pulse : 0 ∼ 2,000,000 [pulse/second]

2 Acceleration time 1
3 Acceleration time 2
0 ~ 2,147,483,647 [ms]
4 Acceleration time 3
5 Acceleration time 4

Set value Item Setting range

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6 Deceleration time 1
7 Deceleration time 2
0 ~ 2,147,483,647 [ms]
8 Deceleration time 3
9 Deceleration time 4
10 Abrupt stop deceleration time 0 ~ 2,147,483,647 [ms]
The number of divided output
11
pulses per revolution 1 ~ 200,000,000
12 Travel distance per revolution
13 Unit 0:Pulse, 1:mm, 2:Inch, 3:Degree
14 Unit double precision 0: x 1, 1: x 10, 2: x 100, 3: x 1000
15 Speed command unit 0: unit/time, 1: rpm
16 Bias speed 1 ~ speed limit
17 Pulse output enable 0: disable, 1: enable

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7.3.27 Extended parameter teaching (XPM_SEP)

Function Block Type Details

Input
REQ : Request for executing function blocks
BASE : Setting up the numbers of the bases where
modules are equipped
XPM_SEP SLOT : Setting up the numbers of slots where modules
are equipped
BOOL REQ DONE BOOL
AXIS : Specifying the axis to give commands
USINT BASE STAT UINT 1 ~ 6: 1axis ~ 6axis
USINT SLOT EP_VAL : Extended parameter values to change
USINT AXIS EP_NO : Extended parameter items No. to change
DINT EP_VAL RAM/ROM : Method on how to save parameters
USINT 0: SAVING TO RAM
EP_NO
BOOL RAM/ROM 1: SAVING TO ROM
Output
DONE : Keeping 1 after the initial operation
STAT : Outputting error No. that occurred during
executing function blocks

(1) The extended parameter teaching is sent to the axis specified as AXIS of the embedded positioning.
(2) The parameter value that is set as “0” in RAM/ROM and changed by the extended parameter setting commands is
valid only while the power is On. If you want to maintain the changed parameter value even while the power is Off, set
the value as “1” in RAM/ROM and perform the extended parameter teaching commands or after teaching extended
parameters, save the changed parameter value to the Flash by using the commands for saving parameters/operating
data(XPM_WRT).
(3) In AXIS, you can set up the axis to command and select one among 1~6. If the values other than set value are
selected, “error6” will occur.
(4) The command for setting extended parameters can be executed only when all axis are in a stopped state.
(5) You can set up the values for extended parameter items No. as below.

Set Value Item Setting range

1 Soft upper limit ㎜ :-2147483648 ~ 2147483647[X10-4㎜]

Inch:-2147483648 ~ 2147483647[X10-5Inch]
degree:-2147483648 ~ 2147483647[X10-5degree]
2 Soft lower limit pulse:-2147483648 ~ 2147483647[pulse]

mm: 0 ~ 65,535[X10-4㎜]
inch: 0 ~ 65,535[X10-5Inch]
3 Compensation amount of backlash
degree: 0 ~ 65,535[X10-5degree]
pulse: 0 ~ 65,535[pulse]
4 Completion time of positioning 0 ~ 65,535[ms]
5 S-curve ratio 1 ~ 100
mm: 0 ~ 2147483647[X10-4㎜]
2 axis linear interpolated continuous
Inch: 0 ~ 2147483647[X10-5Inch]
6 operation with insertion position of a
degree: 0 ~ 2147483647[X10-5degree]
circular arc
pulse: 0 ~ 2147483647[pulse]

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Set Value Item Setting range

7 Acceleration/deceleration pattern 0: Trapezoidal operation, 1: S-curve operation
8 M code mode 0: None, 1: With, 2: After
Detection of upper / lower limit during
9 0: No detected, 1: Detected
speed control
Interpolated continuous operation
10 0: Passing the target position , 1: Passing the vicinity
positioning type
2 axis linear interpolated continuous 0: No insertion of a circular arc, 1: Continuous operation with
11
operation with insertion of a circular arc insertion of a circular arc
12 Positioning speed override coordinate 0: Absolute coordinate, 1: Relative coordinate
13 Pulse output direction 0: Forward, 1:Reverse
mm: 1 ~ 2147483647[X10-4㎜]
Inch: 1 ~ 2147483647[X10-5Inch]
14 Position repeating Infinite length
degree: 1 ~ 2147483647[X10-5degree]
pulse: 1 ~ 2147483647[pulse]
15 Repetition of Infinite length 0: Prohibited, 1: Allowed
16 Speed/position switching coordinate 0: Relative coordinate, 1: Relative coordinate
17 Selection of interpolation speed 0: Major axis speed 1: Resultant speed

(6) If you change the data through ROM teaching, it will be saved to the FLASH together with the previous parameters
changed by RAM teaching including the parameters changed by the current commands. However, for different axis
other than the relevant ones, the previous data will not be saved to the FLASH.

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7.3.28 Homing parameters teaching (XPM_SHP)

Function Block Type Details

Input
REQ : Request for executing function blocks
BASE : Setting up the numbers of the bases where
modules are equipped
XPM_SHP SLOT : Setting up the numbers of slots where modules
BOOL REQ DONE BOOL are equipped
USINT BASE STAT UINT AXIS : Specifying the axis to give commands
(1 ~ 6: 1axis ~ 6axis)
USINT SLOT
HP_VAL : Homing parameter values to change
USINT AXIS
HP_NO : Items No. of homing parameters to change
DINT HP_VAL
RAM/ROM : Method on how to save parameters
USINT HP_NO
(0: RAM, 1: ROM)
BOOL RAM/ROM
Output
DONE : Keeping 1 after the initial operation
STAT : Outputting error No. that occurred during
executing function blocks

(1) The homing parameter teaching command is designated to the axis specified as AXIS of the embedded positioning.
(2) The parameter value that is set as “0” in RAM/ROM and changed by the homing parameter teaching commands is
valid only while the power is On. If you want to maintain the changed parameter value even while the power is Off, set
the RAM/ROM as “1” and perform the homing parameter teaching commands or after teaching homing parameters,
save the changed parameter value to the Flash by using the commands for saving parameters/operating
data(XPM_WRT).
(3) In AXIS, you can set up the axis to command and select one among 1~4. If the values other than set value are
selected, “error6” will occur.
(4) The command for setting homing parameters can be executed only when all axis are in a stopped state.
(5) You can set up the values for homing parameter items No. as below.
Set value Item Setting range

㎜ : -2147483648 ∼ 2147483647 [X10-4㎜]

Inch : -2147483648 ∼ 2147483647 [X10-5Inch]

1 Home position
degree : -2147483648 ∼ 2147483647 [X10-5degree]

pulse : -2147483648 ∼ 2147483647 [pulse]

2 Homing high speed ㎜ : 1 ∼ 2,147,483,647 [X10-2㎜/minute]

Inch : 1 ∼ 2,147,483,647 [X10-3Inch/minute]

3 Homing low speed degree : 1 ∼ 2,147,483,647 [X10-3 degree/minute]

pulse : 1 ∼ 2,000,000 [pulse/second]

4 Homing acceleration 0 ~ 2,147,483,647 [ms]

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time
Homing deceleration
5
time
6 Homing dwell time 0 ~ 65,535[ms]
㎜ : -2147483648 ∼ 2147483647 [X10-3㎜]
Compensation amount Inch : -2147483648 ∼ 2147483647 [X10-5Inch]
7
of origin degree : -2147483648 ∼ 2147483647 [X10-5degree]
pulse : -2147483648 ∼ 2147483647 [pulse]
8 Homing restart-up time 0 ~ 65,535[ms]
0:Approximate origin/origin(Off), 1:Approximate origin/origin(On),
9 Homing mode 2:Upper·lower limit/origin,
3:Approximate origin, 4:High speed origin, 5:Upper·lower limit, 6:Origin

10 Homing direction 0:Forward, 1:Reverse

(6) If you change the data through ROM teaching, it will be saved to the FLASH together with the previous parameters
changed by RAM teaching including the parameters changed by the current commands. However, for different axis
other than the relevant ones, the previous data will not be saved to the FLASH.

7.3.29 Manual operation parameters teaching(XPM_SMP)

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Function Block Type Details

Input
REQ : Request for executing function blocks
BASE : Setting up the numbers of the bases where
modules are equipped
SLOT : Setting up the numbers of slots where
XPM_SMP modules are equipped
BOOL REQ DONE BOOL AXIS : Specifying the axis to give commands
USINT BASE STAT UINT 1 ~ 6: 1axis ~ 6axis
USINT SLOT MP_VAL : Manual operation parameter values to
change
USINT AXIS
MP_NO : Manual operation parameter items No. to
UDINT MP_VAL change
USINT MP_NO RAM/ROM : Method on how to save parameters
BOOL RAM/ROM 0: SAVING TO RAM
1: SAVING TO ROM
Output
DONE : Keeping 1 after the initial operation
STAT : Outputting error No. that occurred during
executing function blocks

(1) The manual operation parameters teaching command is designated to the axis specified as AXIS of the embedded
positioning.
(2) The parameter value that is set as “0” in RAM/ROM and changed by the commands for teaching manual operation
parameters is valid only while the power is On. If you want to maintain the changed parameter value even while the
power is Off, set the RAM/ROM as “1” and perform the commands for teaching manual operation parameters or after
setting manual operation parameters, save the changed parameter value to the Flash by using the commands for
saving parameters/operating data(XPM_WRT).
(3) In AXIS, you can set up the axis to command and select one among 1~6. If the values other than set value are
selected, “error6” will occur.
(4) The command for setting manual operation parameters can be executed only when all axis are in a stopped state.
(5) You can set up the values for manual operation parameter items No. as below.

Set value Item Setting range

㎜ : 1 ∼ 2,147,483,647 [X10-2㎜/minute]
1 JOG high speed
Inch : 1 ∼ 2,147,483,647 [X10-3Inch/minute]
degree : 1 ∼ 2,147,483,647 [X10-3 degree/minute]
2 JOG low speed
pulse : 1 ∼ 2,000,000 [pulse/second]
3 JOG acceleration time
0 ~ 2,147,483,647 [ms]
4 JOG deceleration time
㎜ : 1 ∼ 65,535[X10-2㎜/minute]
Inch : 1 ∼ 65,535[X10-3Inch/minute]
5 Inchingspeed
degree : 1 ∼ 65,535[X10-3 degree/minute]
pulse : 1 ∼ 65,535[pulse/second]

(6) If you change the data through ROM teaching, it will be saved to the FLASH together with the previous parameters
changed by RAM teaching including the parameters changed by the current commands. However, for different axis
other than the relevant ones, the previous data will not be saved to the FLASH.

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7.3.30 I/O signal parameter teaching (XPM_SIP)

Function Block Type Details

Input
REQ : Request for executing function blocks
BASE : Setting up the numbers of the bases where
modules are equipped
SLOT : Setting up the numbers of slots where modules
XPM_SIP are equipped
BOOL REQ DONE BOOL AXIS : Specifying the axis to give commands
USINT BASE STAT UINT 1 ~ 6: 1axis ~ 6axis
USINT SLOT IP_VAL : External signal parameter value to change
USINT AXIS Set the signal allocated for each Bit
UINT IP_VAL RAM/ROM : Method on how to save parameters
0: SAVING TO RAM
BOOL RAM/ROM
1: SAVING TO ROM
Output
DONE : Keeping 1 after the initial operation
STAT : Outputting error No. that occurred during
executing function blocks

(1) The I/O signal parameter teaching command is designated to the axis specified as AXIS of the embedded
positioning.
(2) The parameter value that is set as “0” in RAM/ROM and changed by the commands for teaching external signal
parameters is valid only while the power is On. If you want to maintain the changed parameter value even while the
power is Off, set the RAM/ROM as “1” and perform the commands for teaching external signal parameters or after
setting external signal parameters, save the changed parameter value to the Flash by using the commands for
saving parameters/operating data(XPM_WRT).
(3) In AXIS, you can set up the axis to command and select one among 1~6. If the values other than set value are
selected, “error6” will occur.
(4) The command for setting input signal parameters can be executed only when all axis are in a stopped state.
(5) The set value of each external signal setting area indicates the below. 0: A contact, 1: B contact
(6) The external signals allocated for each Bit of I/O signal parameters to change are as follows. If bit set value is 3 (b11),
the signal setting will ignored and maintain previous set value.

Bit Signal Setting Range

0~1 Upper limit signal 0: not used, 1: A contact, 2: B contact, C: maintain previous value
2~3 Lower limit signal 0: not used, 1: A contact, 2: B contact, C: maintain previous value
4~5 Approximate origin signal 0: not used, 1: A contact, 2: B contact, C: maintain previous value
6~7 Origin signal 0: not used, 1: A contact, 2: B contact, C: maintain previous value
8~9 Deviation clear signal 0: not used, 1: A contact, 2: B contact, C: maintain previous value
10 ~ 15 N/A -

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Note
To use I/O signal of the MLU-H embedded positioning, must mapped I, Q device.
I, Q device set as %IX0.0.0 or QX0.0.0 for initial value. If you don’t mapping I, Q device on I/O signal and enable I/O
signal to XPM_SIP, it is applied based on the initial setting value.
For proper operation, mapping the I, Q device on each I/O signal using SoftMaster before setting I/O signal parameter
to XPM_SIP.

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7.3.31 Common parameters teaching (XPM_SCP)

Function Block Type Details
Input
REQ : Request for executing function blocks
BASE : Setting up the numbers of the bases where
modules are equipped
XPM_SCP SLOT : Setting up the numbers of slots where modules
BOOL REQ DONE BOOL are equipped
USINT BASE STAT UINT AXIS : Specifying the axis to give commands
1 ~ 6: 1axis ~ 6axis
USINT SLOT
CP_VAL : Values of common parameters to change
USINT AXIS CP_NO : Common parameter items No. to change
DINT CP_VAL RAM/ROM : Method on how to save parameters
USINT CP_NO 0: SAVING TO RAM
BOOL RAM/ROM 1: SAVING TO ROM
Output
DONE : Keeping 1 after the initial operation
STAT : Outputting error No. that occurred during
executing function blocks

(1) The common parameter teaching command is designated to the axis specified as AXIS of the embedded positioning.
(2) The parameter value that is set as “0” in RAM/ROM and changed by the commands for teaching common
parameters is valid only while the power is On. If you want to maintain the changed parameter value even while the
power is Off, set the RAM/ROM as “1” and perform the commands for teaching common parameters or after
teaching common parameters, save the changed parameter value to the Flash by using the commands for saving
parameters/operating data(XPM_WRT).
(3) In AXIS, you can set up the axis to command and select one among 1~6. If the values other than set value are
selected, “error6” will occur.
(4) You can set up the values for common parameter items No. as below.

Set value Item Setting range

1 Speed override mode 0 : Designation of %, 1 : Designation of speed
2 Pulse output level 0 : Low Active, 1 : High Active
3 Control cycle 1~10(ms), maintain previous value when setting other value

(5) If you change the data through ROM teaching, the operation data that has been changed to RAM teaching previously
including the operation data changed by the current command is also permanently saved.
(6) The common parameter setting command can be executed when all axes are stopped.

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7.3.32 Operation data teaching (XPM_SMD)

Function Block Type Details

Input
REQ : Request for executing function blocks
BASE : Setting up the numbers of the bases where
modules are equipped
XPM_SMD SLOT : Setting up the numbers of slots where modules
BOOL REQ DONE BOOL are equipped
USINT BASE STAT UINT AXIS : Specifying the axis to give commands
USINT SLOT 1 ~ 6: 1axis ~ 6axis
USINT AXIS STEP : Operation step No. to change
USINT STEP 0 ~ 400
DINT MD_VAL MD_VAL : Operating data value to change
USINT MD_NO MD_NO : Operating data items No. to change
BOOL RAM/ROM RAM/ROM : Method on how to save parameters
0: SAVING TO RAM, 1: SAVING TO ROM
Output
DONE : Keeping 1 after the initial operation
STAT : Outputting error No. that occurred during
executing function blocks

(1) The operation data teaching command is designated to the axis specified as AXIS of the embedded positioning.
(2) The operating data that is set as “0” in RAM/ROM and changed by the commands for teaching operating data is valid
only while the power is On. If you want to maintain the changed operating data even while the power is Off, set the
RAM/ROM as “1” and perform the commands for teaching operating data or after teaching operating data, save the
changed parameter value to the Flash by using the commands for saving parameters/operating data(XPM_WRT).
(3) In AXIS, you can set up the axis to command and select one among 1~6. If the values other than set value are
selected, “error6” will occur.
(4) The operation data teaching command can be executed while the axis is running, but for the step in operation,
it operates according to the setting value before teaching. When the operation is started again after the end of
operation, the operation is performed according to the setting value changed to teaching.
(5) You can set up the values for operation data teaching items No. as below.

Set value Item Set Range

㎜ : -2147483648 ∼ 2147483647 [X10-4㎜]
Inch : -2147483648 ∼ 2147483647 [X10-5Inch]
1 Set Position
degree : -2147483648 ∼ 2147483647 [X10-5degree]
pulse : -2147483648 ∼ 2147483647 [pulse]
Circular interpolation Within possible position range of the circular interpolation
2
auxiliary position setting
㎜ : 0 ∼ 2,147,483,647 [X10-2㎜/min]
Inch : 0 ∼ 2,147,483,647 [X10-3Inch/min]
3 Operating speed
degree : 0 ∼ 2,147,483,647 [X10-3 degree/min]
pulse : 0 ∼ 2,000,000 [pulse/sec]
4 Dwell time 0 ~ 65,535[ms]
5 Mcode No. 0 ~ 65,535

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Bit unit setting

6 Minor axis setting Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1
7 Helical interpolation axis 0, axis1 ~ axis6 (0: General circular interpolation)
Circular interpolation
8 0~65,535
turns
9 Coordinate 0: absolute, 1: relative
0:single-axis position control, 1:single axis speed control,
10 Control method 2:single- axis Feed control,
3:linear interpolation, 4:circular interpolation
11 Operating method 0:single, 1:repeat
12 Operating pattern 0:end, 1:keep, 2:continue
13 Size of circular arc 0:circular arc<180 1:circular arc>=180
14 Acc. No 0~3
15 Dec. No. 0~3
Circular interpolation
16 0:middle point, 1:center point, 2:radius
mode
Direction of circular
17 0:CW, 1:CCW
interpolation

(6) If you change the data through ROM teaching, the operation data that has been changed to RAM teaching previously
including the operation data changed by the current command is also permanently saved.

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7.3.33 Read Variable Data (XPM_VRD)

Function Block Type Details

Input
REQ : Request for executing function blocks
BASE : Setting up the numbers of the bases
where modules are equipped
SLOT : Setting up the numbers of slots where
XPM_VRD
modules are equipped
BOOL REQ DONE BOOL AXIS : Specifying the axis to give commands
BASE STAT USINT 1 ~ 6: 1axis ~ 6axis
USINT
S_ADDR : Start address of the module internal
USINT SLOT VAR UINT[128] memory of the data to read
USINT AXIS 0 ~ 143367
OFFSET : Offset of between data blocks to read
UDINT S_ADDR 0 ~ 143367
UDINT OFFSET SIZE : Size of data blocks to read
1 ~ 128
UINT SIZE
CNT : The number of data blocks to read
UNIT CNT 1 ~ 128

Output
DONE : Keeping 1 after the initial operation
STAT : Outputting error No. that occurred during
executing function blocks
VAR : PLC device where the read data is stored.

(1) The read variable data command is designated to the positioning module to read directly parameters, operating data,
CAM data.
(2) It is possible to read the desired data by specifying parameters and operating data, CAM data’s module internal
memory address directly.
(3) Among parameters, operating data, CAM data of the embedded positioning, the command is to read as much data
as the “SIZE” in WORDs from the position set as “S_ADDR” in positioning module internal memory to the specified
device of “VAR”. In case “CNT” is more than 2, it reads the blocks one by one, which are as distant as “OFFSET” from
the “S_ADDR” position as many times as “CNT”-1 and saves them to the specified device of “VAR”.
(4) The maximum data size(SIZE x CNT) that can be read with a command is 128 WORD.
(5) The command for “Read Variable Data” can run even during operation.
(6) In AXIS, you can set up the axis to command and select one among 1~6. If the values other than set value are
selected, “error 6” will occur.
(7) In case the size(SIZE x CNT) of the data to read is 0 or exceeds 128 WORD, error “11” will occur in STAT.
(8) Although reading variable data is executed for different axis, it can run only once in one scan. If you run reading
variable data more than twice in one scan, error code(811) will occur and the remaining operations except the first
reading variable data will not work.

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7.3.34 Write variable data (XPM_VWR)

Function Block Type Details

Input
REQ : Request for executing function blocks
BASE : Setting up the numbers of the bases where
modules are equipped
XPM_VWR SLOT : Setting up the numbers of slots where modules
BOOL REQ DONE BOOL are equipped
USINT BASE STAT USINT AXIS : Specifying the axis to give commands
1 ~ 6: 1axis ~ 6axis
USINT SLOT
VAR : PLC device where the data to write is saved
USINT AXIS T_ADDR : Start address of the module internal
UINT[128] VAR memory of the data to write
UDINT T_ADDR 0 ~ 143367
UDINT OFFSET OFFSET : Offset of between data blocks to write
0 ~ 65535
UINT SIZE SIZE : Size of the data blocks to write
UINT CNT 1 ~ 128
CNT : Number of data blocks to write
1 ~ 128
Output
DONE : Keeping 1 after the initial operation
STAT : Outputting error No. that occurred during
executing function blocks

(1) The write variable data command is designated to the positioning module to write directly parameters, operating data,
CAM data.
(2) It is possible to write the desired data by specifying parameters and operating data, CAM data’s module internal
memory address directly.
(3) Among parameters, operating data, CAM data of the embedded positioning internal memory, the command is to write
as much data as the “SIZE” in WORDs from the “T_ADDR”position of the PLC program to the specified device of
“VAR”. In case the number of blocks, “CNT” is more than 2, it writes the data one by one to the blocks which are as
distant as “OFFSET” from the ones located in “T_ADDR” position as many times as “CNT”-1.
(4) The maximum data size(SIZE x CNT) that can be written with a command is 128 WORD.
(5) The command for “Writing Variable Data” cannot run during operation.
(6) In AXIS, you can set up the axis to command and select one among 1~6. Establishing the values other than set ones
will lead to “error6”.
(7) In case the size(SIZE x CNT) of the data to read is 0 or exceeds 128 WORD, error “11” will occur in STAT.
(8) If the number of blocks(CNT) is more than 2 and block offset(OFFSET) is smaller than the block size(CNT), the
module internal memory blocks where the data will be written are overlapping so error “11” will occur in STAT.
(9) When executing XPM_WRT, compatibility of data should be checked for all access areas. Especially, the user CAM
area is set as 0 initially but if you input 0 again through XPM_WRT, data compatibility error will occur(error code
704~708). For data setting of the user CAM area, refer to 9.4.4 User CAM Operation.

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7.3.35 Emergency Stop (XPM_EMG)

Function Block Type Details

Input
REQ : Request for executing function blocks
BASE : Setting up the numbers of the bases
XPM_EMG where modules are equipped
BOOL REQ DONE BOOL SLOT : Setting up the numbers of slots where
USINT BASE STAT UINT modules are equipped
AXIS : Specifying the axis to give commands
USINT SLOT
1 ~ 6: 1axis ~ 6axis
USINT AXIS
Output
DONE : Keeping 1 after the initial operation
STAT : Outputting error No. that occurred during
executing function blocks

(1) The emergency stop command is designated to the axis specified as AXIS of the embedded positioning.
(2) It is used when you have to stop the operation immediately due to emergency. The axis where this command is
applied will be in a stopped state.
(3) During Emergency Stop, the deceleration time is the value set in “Deceleration time at abrupt stop” of the basic
parameters of each axis.
(4) In AXIS, you can set up the axis to command and select one among 1~6. If the values other than set value are
selected, “error 6” will occur.

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7.3.36 Error reset (XPM_RST)

Function Block Type Details

Input
REQ : Request for executing function blocks
BASE : Setting up the numbers of the bases where
XPM_RST modules are equipped
SLOT : Setting up the numbers of slots where modules
BOOL REQ DONE BOOL
are equipped
USINT BASE STAT UINT
AXIS : Specifying the axis to give commands
USINT SLOT 1 ~ 6: 1axis ~ 6axis
USINT AXIS SEL : Selecting axis error/common error
BOOL SEL 0: axis error (Set as 0 all the time)
Output
DONE : Keeping 1 after the initial operation
STAT : Outputting error No. that occurred during
executing function blocks

(1) The error reset command is sent to the axis specified as AXIS of the embedded positioning.
(2) In AXIS, you can set up the axis to command based on the below setting range. If the values other than set value are
selected, “error 6” will occur. Setting range: 1 ~ 6(1axis ~ 6axis)
(3) When parameters exceed the setting range or errors occur during operation, the command is used to reset the errors.
(4) In SEL, you can select the error type to reset. If the value is “0”, the error occurred in the command axis of each axis will be
reset. In XEM embedded positioning, the value should be set as “0” all the time. If the value is “1”, “error 11” will occur.

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7.3.37 Error history reset (XPM_HRST)

Function Block Type Details

Input
REQ : Request for executing function blocks
XPM_HRST BASE : Setting up the numbers of the bases where
modules are equipped
BOOL REQ DONE BOOL
SLOT : Setting up the numbers of slots where modules
USINT BASE STAT UINT
are equipped
USINT SLOT AXIS : Specifying the axis to give commands
USINT AXIS 1 ~ 6: 1axis ~ 6axis
Output
DONE : Keeping 1 after the initial operation
STAT : Outputting error No. that occurred during
executing function blocks

(1) The error history reset command is designated to the axis specified as AXIS of the embedded positioning.
(2) In AXIS, you can set up the axis to command based on the below setting range. If the values other than set value are
selected, “error 6” will occur. Setting range: 1 ~ 6(1axis ~ 6axis)
(3) When parameters exceed the setting range or errors occur during operation, it saves the errors to the module up to
10. The command is used to reset the error history.

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7.3.38 Point operation (XPM_PST)

Function Block Type Details

Input
REQ : Request for executing function blocks
BASE : Setting up the numbers of the bases where
modules are equipped
XPM_PST SLOT : Setting up the numbers of slots where modules
BOOL REQ DONE BOOL are equipped
USINT BASE STAT UINT AXIS : Specifying the axis to give commands
1 ~ 6: 1axis ~ 6axis
USINT SLOT
PST_CMT : Setting the number of point operation steps
USINT AXIS
1 ~ 20
USINT PST_CNT
PST_VAL : Setting point operation step No.
UINT[20] PST_VAL
0 ~ 400
Output
DONE : Keeping 1 after the initial operation
STAT : Outputting error No. that occurred during
executing function blocks

(1) The start-up command is sent to the axis specified as AXIS of the embedded positioning.
(2) In AXIS, you can set up the axis to command and select one among 1~6. If the values other than set value are
selected, “error 6” will occur.
(3) It can be used to operate continuously the machine without a stop by setting operation steps up to 20 during
PTP(Point to Point) operation with only one command. If PST_CNT or PST_VAL has the values other than set
ones, “error6” will occur.
(4) Point operation allows the maximum of 20 point steps. Accordingly, the variables of UNIT array type with 20 elements
can be used for PST_VAL.

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7.3.39 Parameter/operation data save (XPM_WRT)

Function Block Type Details
Input
REQ : Request for executing function blocks
BASE : Setting up the numbers of the bases where
modules are equipped
XPM_WRT SLOT : Setting up the numbers of slots where modules are
BOOL REQ DONE BOOL equipped
USINT BASE STAT UINT AXIS : Specifying the axis to give commands
USINT SLOT 1 ~ 6: 1axis ~ 6axis
USINT AXIS WRT_AXIS : Setting axis to save
USINT WRT_AXIS (by setting each bit)
0bit ~ 5bit: 1axis ~ 6axis
Output
DONE : Keeping 1 after the initial operation
STAT : Outputting error No. that occurred during executing
function blocks

(1) The parameter/operation data save command is designated to the axis specified as AXIS of the embedded
positioning.
(2) In AXIS, you can set up the axis to command and select one among 1~4. If the values other than set value are
selected, “error 6” will occur.
(3) After function blocks are normally performed, it saves the current parameters and operating data of the axis set in
WRT_AXIS to the Flash so that the data can be maintained even when the power is off.
(4) For setting WRT_AXIS, select the Bit corresponding to each axis.

15 ~ 4 Bit 5Bit 4Bit 3Bit 2Bit 1Bit 0Bit

N/A 6axis 5axis 4axis 3axis 2axis 1axis
For example, to select 2 axis and 3 axis, you can set them as “16#06”.
(5) If you modify the data with the command for writing variable data (XPM_VWR), the CAM data that changed during
XPM_WRT will be saved to the Flash.
(6) The parameter/operation data save command is cannot be executed when the axis is running.

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7.3.40 Operation Information Read (XPM_CRD)

Function Block Type Details

Input
REQ : Request for executing function blocks
BASE : Setting up the numbers of the bases where
modules are equipped
XPM_CRD SLOT : Setting up the numbers of slots where
BOOL REQ DONE BOOL modules are equipped
BASE AXIS : Specifying the axis to give commands
USINT STAT UINT
1 ~ 6: 1axis ~ 6axis
USINT SLOT ERR UINT
Output
USINT AXIS CERR UINT
DONE : Keeping 1 after the initial operation
CA DINT
STAT : Outputting error No. that occurred during
CV DINT
executing function blocks
SA DINT
ERR :Displaying axis error
SV DINT
CERR : Displaying common error
TRQ INT
CA : Displaying command position
STEP UINT
CV : Displaying command speed
MCD UINT SA : Displaying the current position
SV : Displaying the current speed
TRQ: Displaying the current torque
STEP : Displaying the current operating data step No.
MCD : Displaying the current M code value

(1) The current operating state of the specified axis is read in the AXIS of the embedded positioning.
(2) The read operating data is saved to the variables set in the output of function blocks.
(3) In AXIS, you can set up the axis to command and select one among 1~6(1axis~6axis).
If the values other than set value are selected, “error6” will occur.
(4) You can read and monitor the command position, command speed, current position, current speed, torque, operating
data No., M code values of the set axis or use them as conditions for the user program. (Embedded positioning, there
is no torque data)
(5) “-“ speed of the command speed(CV) or the current speed(SV) indicates the reverse direction.
(6) Embedded positioning is the pulse output type; the current position and the current speed indicate the same values
with the command position, command speed.
(7) TRQ indicates the current Servo Drive’s torque state and XECU embedded positioning that is the pulse output type is
displayed as 0.

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7.3.41 Operation State Read (XPM_SRD)

Function Block Type Details

Input
REQ : Request for executing function blocks
BASE : Setting up the numbers of the bases where
modules are equipped
XPM_SRD SLOT : Setting up the numbers of slots where modules
BOOL REQ DONE BOOL are equipped
USINT BASE STAT UINT AXIS : Specifying the axis to give commands
USINT SLOT ST1 BOOL[8] 1 ~ 6: 1axis ~ 6axis
USINT AXIS ST2 BOOL[8] Output
ST3 BOOL[8] DONE : Keeping 1 after the initial operation
ST4 BOOL[8] STAT : Outputting error No. that occurred during
ST5 BOOL[8] executing function blocks
ST1 : State 1
ST6 BOOL[8]
ST2 : State 2
ST7 BOOL[8]
ST3 : State 3
ST4 : State 4
ST5 : State 5
ST6 : State 6
ST7 : State 7

(1) The command to read the bit information of the current operating state of the specified axis is sent to the AXIS of the
embedded positioning.
(2) The read bit information of the current operating state is saved to the variables set in ST1 ~ ST7
(3) In AXIS, you can set up the axis to command and select one among 1~6. If the values other than set value are
selected, “error6” will occur.
(4) The details of output variables ST1 ~ ST7 of the function block to read the current operating state bit can be used for
The program.

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Bit Description Bit Description

[0] Operating(0:Stop, 1:BUSY) [4] Origin determination
state(0:undetermined, 1:determined)
ST1 [1] Error state [5] -
[2] Completion of positioning [6] Stop state
[3] M code On signal(0:Off, 1:On) [7] -
[0] Detection of the external upper limit [4] Accelerating
[1] Detection of the external lower limit [5] At constant speed
ST2
[2] Emergency Stop state [6] Decelerating
[3] Direction(0:forward, 1:reverse) [7] Dwelling
[0] 1 axis position control operating [4] Circular interpolation operating
[1] 1 axis speed control operating [5] Homing operating
ST3
[2] Linear interpolation operating [6] Position synchronous operating
[3] - [7] Speed synchronous operating
[0] JOG operating [4] In the process of returning to the position
of pre-manual operation
ST4 [1] - [5] CAM control operating
[2] Inching operating [6] Feed control operating
[3] - [7] Ellipse interpolation operating
[0] Major axis data [4] Axis state(0:minor axis, 1: major axis)
[1] 1 ~ 6: 1axis ~ 6axis [5] -
ST5
[2] 9 ~ 12: encoder 1 ~ 6 [6] -
[3] [7] -
[0] Emergency Stop/deceleration Stop [4] External upper limit signal
signal
ST6 [1] - [5] External lower limit signal
[2] - [6] Origin signal
[3] - [7] Approximate origin signal
[0] - [4] Servo On output signal
[1] - [5] Servo alarm reset signal
ST7
[2] - [6] -
[3] - [7] -

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7.3.42 Encoder value read (XPM_ENCRDB)

Function Block Type Details

Input
REQ : Request for executing function blocks
BASE : Setting up the numbers of the bases where
modules are equipped
XPM_ENCRDB SLOT : Setting up the numbers of slots where modules
BOOL REQ DONE BOOL are equipped
USINT BASE STAT UINT ENC : Encoder No. (set as 0 all the time)
USINT SLOT ENC_VAL DINT 0 ~ 3: Encoder 1 ~ Encoder 4
USINT ENC Output
DONE : Keeping 1 after the initial operation
STAT : Outputting error No. that occurred during
executing function blocks
ENC_VAL : Encoder’s current values

(1) The encoder value read command is designated to the embedded positioning.
(2) Then, the obtained current values of the encoder are displayed in ENC_VAL,
(3) You can set up the encoder to read in ENC.

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7.3.43 JOG Operation (XPM_JOG)

Function Block Type Details

Input
REQ : Request for executing function blocks
BASE : Setting up the numbers of the bases where
modules are equipped
SLOT : Setting up the numbers of slots where modules
XPM_JOG are equipped
BOOL REQ DONE BOOL AXIS : Specifying the axis to give commands
USINT BASE STAT UINT 1 ~ 6: 1axis ~ 6axis
USINT SLOT JOG_DIR : Setting the rotating direction during
USINT AXIS JOG operation
BOOL JOG_DIR 0:forward, 1:reverse
BOOL LOW/HIGH LOW/HIGH : Setting the JOG speed during
JOG operation
0:JOG low-speed operation, 1:JOG high-speed
operation
Output
DONE : Keeping 1 after the initial operation
STAT : Outputting error No. that occurred during
executing function blocks

(1) The JOG operation command is designated to the axis specified as AXIS of the embedded positioning.
(2) It is the manual operation function for a test and is used to verify the system operations, wiring state, position address
for teaching. You can choose either high speed or low speed.
(3) The operating conditions of JOG function block are level type. Namely, when the access condition of input variables
REQ is On, pulses are output based on the set value; when the access condition of input variables REQ is Off,
it stops.
(4) If you change the set values of LOW/HIGH in the state that operating conditions are On(during JOG operation),
speed will be changed without stopping JOG operation; if you change set values of LOW/HIGH, after deceleration
stop and change of direction, JOG operation will be continued.
(5) In AXIS, you can set up the axis to command and select one among 1~6. If the values other than set value are
selected, “error 6” will occur.

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7.3.44 CAM Operation (XPM_CAM)

Function Block Type Details

Input
REQ : Request for executing function blocks
BASE : Setting up the numbers of the bases where
XPM_CAM modules are equipped
REQ SLOT : Setting up the numbers of slots where modules
BOOL DONE BOOL
are equipped
USINT BASE STAT UINT
AXIS : Specifying the axis to give commands
USINT SLOT 1 ~ 6: 1axis ~ 6axis
USINT AXIS MST_AXIS : Setting the major axis
USINT MST_AXIS 1 ~ 6: 1axis ~ 6axis, 9 ~ 12: encoder 1 ~ 4
USINT CAM_BLK CAM_BLK : Setting CAM blocks
1 ~ 9: 1block ~ 9block
Output
DONE : Keeping 1 after the initial operation
STAT : Outputting error No. that occurred during
executing function blocks

(1) The CAM operation command is sent to the axis specified as AXIS of the embedded positioning.
(2) The command performs CAM operation for the relevant axis by using CAM major axis and CAM data blocks.
(3) When executing the CAM operation command, although the minor axis (one set in AXIS) is displayed as ‘During
Operation’, the motor actually does not run. When the axis set as the major one starts up, the motor starts running to
the position of the minor axis corresponding to the major axis’s position based on CAM data blocks’ values set in
CAM block (CAM_BLK).
(4) In AXIS, you can set up the axis to command based on the below setting range. If the values other than set value are
selected, “error6” will occur. Setting range: 1 ~ 6(1axis ~ 6axis)
(5) In MST_AXIS, you can set up the major axis of CAM operation among the below range. If the values other than set
value are selected, “error 11” will occur.
Setting range: 1 ~ 6(1axis ~ 6axis), 9 ~ 12 (encoder 1 ~ 4)
(6) In CAM_BLK, you can set up the CAM block No. to run among the below range. If the values other than set value are
selected, “error 11” will occur.
Setting range: 1 ~ 9(block1 ~ block9)
(7) You can set up CAM data in the positioning package with the maximum of 8 blocks.
(8) To use User CAM Operation, set the CAM block No. as 9.
(9) In the case of User CAM Operation, even during operation, you can change the user CAM data with the command
for writing variable data
(10) For more details on User CAM Operation, refer to “9.4.4 User CAM Operation”.

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7.3.45 Main Axis Offset CAM Operation (XPM_CAMO)

Function Block Type Details

Input
REQ : Request for executing function blocks
BASE : Setting up the numbers of the bases where
modules are equipped
SLOT : Setting up the numbers of slots where modules
are equipped
AXIS : Specifying the axis to give commands
1 ~ 6: 1axis ~ 6axis
MST_AXIS : Setting the major axis
1 ~ 6: 1axis ~ 6axis, 9 ~ 12: encoder 1 ~ 4
CAM_BLK : Setting CAM block
1 ~ 9: 1block ~ 9block
MST_OFFSET : Setting the travel amount of the major
axis’s offset position
-2147483648 ~ 2147483647

Output
DONE : Keeping 1 after the initial operation
STAT : Outputting error No. that occurred during
executing function blocks

(1) The CAM operation command is designated to the axis specified as AXIS of the embedded positioning.
(2) The command performs CAM operation for the relevant axis by using CAM major axis and CAM data blocks.
(3) When executing the CAM operation command, although the minor axis (one set in AXIS) is displayed as
‘During Operation’, the motor actually does not run. After the axis set as the major one starts up and it moves as far as
the travel amount of the major axis’s offset position, the motor starts running to the position of the minor axis
corresponding to the major axis’s position based on CAM data blocks’ values set in CAM block (CAM_BLK).
(4) In AXIS, you can set up the axis to command based on the below setting range. If the values other than set value are
selected, “error6” will occur. Setting range: 1 ~ 6(1axis ~ 6axis)
(5) In MST_AXIS, you can set up the major axis of CAM operation among the below range. If the values other than set
value are selected, “error 11” will occur. Setting range: 1 ~ 6(1axis ~ 6axis), 9 ~ 12(encoder 1 ~ 12)
(6) In CAM_BLK, you can set up the CAM block No. to run among the below range. If the values other than set value are
selected, “error 11” will occur. Setting range: 1 ~ 9(block1 ~ block9)
(7) You can set up CAM data in the positioning package with the maximum of 9 blocks(User CAM block: 1EA).

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7.3.6 Ellipse interpolation (XPM_ELIN)

Function Block Type Details

Input
REQ : Request for executing function blocks
BASE : Setting up the numbers of the bases where
modules are equipped
XPM_ELIN SLOT : Setting up the numbers of slots where modules
BOOL REQ DONE BOOL are equipped
USINT BASE STAT UINT AXIS : Specifying the axis to give commands
USINT SLOT 1 ~ 6: 1axis ~ 6axis
USINT AXIS STEP : Step No. to operate
UINT STEP RATIO : ellipse ratio(%)
UINT RATIO DEG : Operating angle
UINT DEG Output
DONE : Keeping 1 after the initial operation
STAT : Outputting error No. that occurred during
executing function blocks

(1) The command for ellipse interpolation is sent to the axis specified as AXIS of the embedded positioning.
(2) For the specified step of STEP in the specified axis, the ellipse interpolation is performed at the angle set in DEG in
the ratio set in RATIO.
(3) The ellipse interpolation distorts the operating data of the step that is set as circular interpolation in the ratio of ellipse
ratio(RATIO) and performs ellipse operation at the operating angle set in DEG. Therefore, the step of the operating
data set in STEP should be set up based on circular interpolation control.
(4) The ellipse ratio can be set in the range of 1 ~ 65535 and its unit is [X10-2 %]. Namely, if the value is set as 65535,
you will get 655.35%.
(5) The operating angle can be set in the range of 1 ~ 65535 and its unit is [X10-1 degree]. Namely, if the value is set as
3650, you will get 365.0 degree.
(6) In AXIS, you can set up the axis to command and select one among 1~6. If the values other than set value are
selected, “error 6” will occur.

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7.3.47 Restart (XPM_RSTR)

Function Block Type Details

Input
REQ : Request for executing function blocks
BASE : Setting up the numbers of the bases where
XPM_RSTR modules are equipped
BOOL REQ DONE BOOL SLOT : Setting up the numbers of slots where modules
USINT BASE STAT UINT are equipped
AXIS : Specifying the axis to give commands
USINT SLOT
1 ~ 6: 1axis ~ axis
USINT AXIS
Output
DONE : Keeping 1 after the initial operation
STAT : Outputting error No. that occurred during executing
function blocks

(1) The restart command is designated to the AXIS (command axis) of the embedded positioning.
(2) It is used to restart up the axis that went through deceleration stop during operation and the axis where the command
is executed will restart with the previous operating data.
(3) If other operations are performed before restart up the axis that went through deceleration stop, the restart-up
command will not run.
(4) In AXIS, you can set up the axis to command and select one among 1~6. If the values other than set value are
selected, “error 6” will occur.

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Chapter 8 Program
Here describes the basic program that operate positioning module case by using its commands.

8.1 Example of Programming

8.1.1 General description
Here we supposed the embedded positioning of PLC. In the real usage, you need to change its value according to your
system configuration.

8.1.2 Current State Read

(1) Operation state read (XPM_SRD)

(a) Module ready state

When the positioning module is ready to receive the command without abnormality after the power is turned on,
it becomes "On".
(b) Address of Positioning Module
The high performance MLU embedded positioning is fixed on slot 1.

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(c) Axis for command

If you want to make a command for each axis, you must set the axis on which to issue the command. MLU-HP can
control up to 6 axes and MLU-H2 can control up to 2 axes. In command, 1 ~ 6 refer to 1 ~ 6 axes.
(d) Bit information save area
Use XPM_SRD to set the device to store the bit state value of the axis read from the positioning module. This
device can be used as a condition in the sequence program. For example, in the above example program, the
current bit state of 1 axis is stored in% MB0 ~% MB6. Refer to "7.3.41 Read Current Operation Status Bit
Information (XPM_SRD)" for a detailed description of the stored device. The bit information stored in the device can
be used as a condition for executing another command. For example, to use the signal during operation of axis 1 in
the above example program, set it to% MB0.0. To apply the error status of axis 2, set it to% MB10.1.
(e) Execution complete state
If the function block is completed without error, "1" is output and "1" is maintained until the next execution. If an error
occurs, "0" is output.
(f) Error state
If an error occurs during execution of function block, error number is output.

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(2) Read Operation information

(a) Module ready state

When the positioning module is ready to receive the command without abnormality after the power is turned on,
it becomes "On".
(b) Address of Positioning Module
The high performance MLU embedded positioning is fixed on slot 0.
(c) Axis for command
If you want to make a command for each axis, you must set the axis on which to issue the command. MLU-HP can
control up to 6 axes and MLU-H2 can control up to 2 axes. In command, 1 ~ 6 refer to 1 ~ 6 axis.
(d) Bit information save area
Use XPM_CRD to set the device to store the operation state value of the axis read from the positioning module. You
can use this device as a monitoring value in a sequence program. For example, in the above example program, the
current position value of 1 axis is stored in% MD8. Refer to "7.3.40 Read Operation Information (XPM_CRD)" for a
detailed description of the stored device.
(e) Execution complete state
If the function block is completed without error, "1" is output and "1" is maintained until the next execution. If an error

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occurs, "0" is output.

(f) Error state
If an error occurs during execution of function block, error number is output.

(3) Read encoder value

(a) Module ready state

When the positioning module is ready to receive the command without abnormality after the power is turned on,
it becomes "On".
(b) Positioning module mounting position
In order to lower the command, you must set the position where the positioning module to place the command is to
be mounted. The high performance MLU embedded positioning is fixed on slot 0, base 1.
(c) Encoder number
Set encoder number to read encoder value.
(d) Encder Value
Set encoder number to read encoder value.
(e) Execution complete state
If the function block is completed without error, "1" is output and "1" is maintained until the next execution. If an error
occurs, "0" is output.
(f) Error state
If an error occurs during execution of function block, error number is output.

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8.1.3 Operation Test

(1) Floating Origin Setting
Decide origin of current motor’s position without set a machinery origin.

(a) Condition of running a Floating Origin Setting

The condition for executing the command XPM_FLT.
(b) Operating state of each axis
When the example program of "8.1.2 Reading current status" is applied, it is "operating" signal for each axis. Turns
on when the axis is running. Since the floating origin setting command can not be executed when the axis is in
operation, the condition is set so that the axis is not in operation. If the floating origin setting command is executed
while the axis is in operation, error 211 occurs.
(c) Error state for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Error state” for each axis. It turns
on when an error occurred. Operation will only work when there is no error. If you want to operate a system
regardless of errors, you can just inactivate the function.
(d) Ready signal for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Drive Ready” for each axis. This
command only works when this is the condition for Floating Origin Setting is on. If it is not set as “ON,” the “error 212”
would be appeared.
(b) Address of Positioning Module
The high performance MLU embedded positioning is fixed on slot 0.
(e) Axis for command
If you want to make a command for each axis, you must set the axis on which to issue the command. MLU-HP can
control up to 6 axes and MLU-H2 can control up to 2 axes. In command, 1 ~ 6 refer to 1
~ 6 axis.
(f) Execution complete state
If the function block is completed without error, "1" is output and "1" is maintained until the next execution. If an error
occurs, "0" is output.
(g) Error state
If an error occurs during execution of function block, error number is output

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Chapter 8 Program

(2) Jog Operation

(a) Condition of Jog Operation

This is the condition for executing jog operation command. In the above example program, if Jog operation
contact is OFF, 1 axis and 2 axis are negative jog low speed operation, and when Jog operation contact is ON, 1
axis and 2 axis are forward jog high speed operation.
(b) Operating state by axis
Jog Operation can only be working when the state of axis set as Jog Operation. In this example above, specific
axis set as Jog Operation otherwise it is not operating.
(c) State of driving control by axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Jog Operating” for each axis.
It turns on when it is operating. Jog Operation configuration can be changed while it is operating.
(d) Error state for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Error state” for each axis. It
turns on when an error occurred. Operation will only work when there is no error. If you want to operate a system
regardless of errors, you can just inactivate the function.
(e) Ready signal for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Drive Ready” for each axis.
This command only works when the condition of Jog Operation is on. If it is not set as “ON,” the “error 413”
would be appeared.
(f) Address of Positioning Module
In this example, Positioning Module is fixed at the 1 slot of 0 bases.
(g) Axis of command execution
Set an axis to execute Jog Operation. MLU-HP can control up to 6 axes and MLU-H2 can control up to 2 axes. It is
available to set 1 ~ 6(axis1~axis6) on “Axis of command execution” of Jog operation command.
(h) Selection for Jog Direction
Set the direction of Jog operation. If Input value is 0, it will execute Jog operation in forward direction. If Input value is
1, it will execute Jog operation in reverse direction. Direction is can be changed in operation.
(i) Selection for Jog Speed

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 Chapter 8 Program

Set the speed of Jog operation. If Input value is 0, it will execute low speed Jog operation. If Input value is 1, it will
execute high speed Jog operation. Operating speed can be changed in operation.
(j) State of Operation complete
If function block is completed without error, “1” will be outputted and maintain “1” until the next operation. If error
occurred, “0” will be outputted.
(k) Error State
This is the area that output error no. if there are errors in operation of function block.

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 Chapter 8 Program

(3) Inching Operation

(a) Condition of Inching Operation

Condition of Inching Operation Command (XPM_INC)
(b) Operating state for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Inching Operating” for each axis.
It turns on when it is operating. Inching Operation can not be configured while it is running hence configuration will
only be configured when it is not running. If you execute Inching Operation while it is running, the “error 401” would
be appeared.
(c) Error state for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Error state” for each axis. It turns
on when an error occurred. Operation will only work when there is no error. If you want to operate a system
regardless of errors, you can just inactivate the function.
(d) Address of Positioning Module
The high performance MLU embedded positioning is fixed on slot 0.
(e) Axis for command
If you want to make a command for each axis, you must set the axis on which to issue the command. MLU-HP can
control up to 6 axes and MLU-H2 can control up to 2 axes. In command, 1 ~ 6 refer to 1 ~ 6 axis.
(f) Amount of Inching Operation Movement
Measure the amount of moving range by Inching Operation.

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 Chapter 8 Program

(4) Return to the position before Manual Operation

(a) Condition of Return to the position before Manual Operation

The condition of return to the position before manual operation (XPM_RTP).
(b Operating state of each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Manual Operating” for each axis. It
turns on when it is operating. Inching Operation can not be configured while it is running hence configuration will only
be configured when it is not running.
(c) Error state for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Error state” for each axis. It turns on
when an error occurred. Operation will only work when there is no error. If you want to operate a system regardless of
errors, you can just inactivate the function.
(d) Ready signal for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Drive Ready” for each axis. This
command only works when this is the condition for Manual Operation is on. If it is not set as “ON,” the “error 434”
would be appeared.
(e) Address of Positioning Module
The high performance MLU embedded positioning is fixed on slot 0.
(f) Axis for command
If you want to make a command for each axis, you must set the axis on which to issue the command. MLU-HP can
control up to 6 axes and MLU-H2 can control up to 2 axes. In command, 1 ~ 6 refer to 1 ~ 6 axis.
(g) Execution complete state
If the function block is completed without error, "1" is output and "1" is maintained until the next execution. If an error
occurs, "0" is output.
(h) Error state
If an error occurs during execution of function block, error number is output
(i) When manual operation is running, the other operations are going back to its original position such as Jog Operation
and Inching Operation. Reference for Manual Operation is from “Chapter 9.3.3.”

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 Chapter 8 Program

8.1.4 Parameter and Operation Data Setting

(1) Parameter Setting

(a) Condition of Return to the position before Manual Operation

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 Chapter 8 Program

The condition of parameter setting commands (XPM_SBP, XPM_SEP, XPM_SHP, XPM_SMP, XPM_SIP,
XPM_SCP).
(b Operating state of each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Manual Operating” for each axis. It
turns on when it is operating. Inching Operation can not be configured while it is running hence configuration will only
be configured when it is not running. If parameter setting command is executed while axis is running, error 471 occurs.
(c) Error state for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Error state” for each axis. It turns on
when an error occurred. Operation will only work when there is no error. If you want to operate a system regardless of
errors, you can just inactivate the function.
(d) Address of Positioning Module
The high performance MLU embedded positioning is fixed on slot 1.
(e) Axis for command
If you want to make a command for each axis, you must set the axis on which to issue the command.
MLU-HP can control up to 6 axes and MLU-H2 can control up to 2 axes. In command, 1 ~ 6 refer to 1 ~ 6 axis.
(f) Parameter value to change
Set the value of each parameter item to be changed. The values corresponding to the parameters are shown in
“Chapter 7. Function Block”, refer to each parameter setting function block. In the case of the external signal
parameter setting command (XPM_SIP), it becomes the external signal parameter value instead of the specific item
value.
(g) Parameter item to change
Set the item to be changed by the parameter value (f) set in the instruction. When the command is executed,
the parameter value set in this item is changed to the set parameter value (f). The values corresponding to the
parameters are shown in "Chapter 7. Function Block ", refer to each parameter setting function block. In the case of
the external signal parameter setting command (XPM_SIP), this part is not applicable because the entire external
signal parameter value is changed instead of the specific item value
(h) RAM/ROM Setting
Set the changed parameter value only when power is applied to the module (RAM setting), whether to keep
the module even when power is not applied (ROM setting). When the value of this item is set to "0", the RAM setting
becomes the RAM setting and the ROM setting becomes "1". The ROM setting can be performed only when all axes
are stopped. There are no limitations on the number of parameter ROM settings to be performed.
(i) The execution contents of each function block are as follows.
XPM_SBP: Acceleration time 1 of axis 1 basic parameter is set to 1000ms in RAM
XPM_SEP: Axis 2 extended parameter 2 axis linear interpolation continuous operation set the circular insertion
position to 500 by RAM
XPM_SHP: Sets the home position of axis 1 home return parameter to 100
XPM_SMP: Set the jog high speed of axis 2 manual operation parameter to 5000 by ROM setting
XPM_SIP: Axis 2 I / O signal parameter value is 16 # 13 (Preserves upper limit, Does not use lower limit, Near point A
contact point, ROM setting by using deviation clear)
XPM_SCP: ROM setting of % MD24 value of % MB100 item of common parameter

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 Chapter 8 Program

(2) Operating Data Setting

(a) Condition of operating data setting

The condition of operating data setting (XPM_SMD).
(b Operating state of each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Manual Operating” for each axis. It
turns on when it is operating. Inching Operation can not be configured while it is running hence configuration will only
be configured when it is not running.
(c) Error state for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Error state” for each axis. It turns on
when an error occurred. Operation will only work when there is no error. If you want to operate a system regardless of
errors, you can just inactivate the function.
(d) Address of Positioning Module
The high performance MLU embedded positioning is fixed on slot 1.
(e) Axis for command
If you want to make a command for each axis, you must set the axis on which to issue the command.
MLU-HP can control up to 6 axes and MLU-H2 can control up to 2 axes. In command, 1 ~ 6 refer to 1 ~ 6 axis.
(f) Operating data step to changed
Set the operation data step number to be changed by the operation data setting instruction. MLUH can set operation
data of 400 steps for each axis. This item can be set from 0 to 400, and 1 to 400 means 1 step to 400 steps. When set
to "0", it means "current step" of operation data of the axis.

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 Chapter 8 Program

(g) Operating value to changed

Set operating data item value to change.
(h) Operating data item to changed
Set the operation data item to be changed to the operation data value (h) set in the command. When the command is
executed, the operation data value set in this item is changed to the set operation data value (h). The values
corresponding to each item of operation data are as follows. For example, if the operation data setting command is
executed after setting "1000" to the operation data value to be changed and "4" to the operation data item, the dwell
time value of the operation data is changed to "1000ms".

Setting Value Items

1 Goal Position
2 Circular interpolation auxiliary position
3 Operating speed
4 Dwell Time
5 M code No.
6 sub axis setting
7 Helical interpolation axis
8 The number of circular interpolation turn
9 Coordinates
10 Control method
11 Operating method
12 Operting pattern
13 Size of Circular arc
14 Acc. No.
15 Dec. No.
16 Circular interpolation method
17 Circular interpolation direction
(i) RAM/ROM Setting
Set the changed parameter value only when power is applied to the module (RAM setting), whether to keep
the module even when power is not applied (ROM setting). When the value of this item is set to "0", the RAM setting
becomes the RAM setting and the ROM setting becomes "1". The ROM setting can be performed only when all axes
are stopped. There are no limitations on the number of parameter ROM settings to be performed.
(j) Execution complete state
If the function block is completed without error, "1" is output and "1" is maintained until the next execution. If an error
occurs, "0" is output.
(k) Error state
If an error occurs during execution of function block, error number is output
(l) The execution contents of each function block are as follows.
Axis 1 operation data setting: Set the target position of axis 1 operation data No. 2 step to 10000 RAM setting
Axis 2 operation data setting: Axis 2 operation data% MW41 (Axis 2 operation step) The% MB112 (Axis 2 operation
data item) item is set to% MD27 (Axis 2 operation data value)

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 Chapter 8 Program

(3) Operation Data Teaching Array

(a) Condition of teaching array

The condition of teaching array (XPM_ATEA).
(b Operating state of each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Manual Operating” for each axis. It
turns on when it is operating. Inching Operation can not be configured while it is running hence configuration will only
be configured when it is not running.
(c) Error state for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Error state” for each axis. It turns on
when an error occurred. Operation will only work when there is no error. If you want to operate a system regardless of
errors, you can just inactivate the function.
(d) Address of Positioning Module
The high performance MLU embedded positioning is fixed on slot 1.
(e) Axis for command
If you want to make a command for each axis, you must set the axis on which to issue the command.
MLU-HP can control up to 6 axes and MLU-H2 can control up to 2 axes. In command, 1 ~ 6 refer to 1 ~ 6 axis.
(f) Address of first device of the step to teach
To execute a Teaching Array, you need to set a specific value first. For example, the teaching of axis 1 of the above
example program is done from step 13 to 10, that is, step 13 to step 22.
(g) Teaching method
Set the changed operation data value only when power is applied to the module (RAM teaching), or when the module
is not powered (ROM teaching). When the value of this item is set to "0", RAM teaching is performed when the
instruction is executed, and when it is set to "1", ROM teaching is performed. The ROM setting can be performed only

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 Chapter 8 Program

when all axes are stopped. There is no limit to the number of times that ROM teaching is performed.
(h) Teaching item
Set items to be changed by Teaching among operation data items. Items that can be changed by teaching multiple
teaching are "Target position" and "Operation speed". When set to "0", the target position is set. When "1" is set, it
means operation speed.
(i) Number of teaching
Set the number of steps to perform teaching. MLU can teach multiple teaching of max. 16 data.
(j) Address of first device of teaching array data
To execute a Teaching Array, you need to set a specific value first. TWR commands are using for set up those
Teaching Array data. It has to be done before actual Teaching Array operation. Teaching Data will be set up depends
on number of first device as below table.
(j) Address of first device where those data for Teaching Array are saved
In order to perform teaching multiple times, the data values to be taught must be set first. Teaching data is set
according to the head number of the device in the following form.
No. Device No. Teaching array data
1 Device + 0 Teaching array data1
2 Device + 2 Teaching array data2
3 Device + 4 Teaching array data3
4 Device + 6 Teaching array data4
5 Device + 8 Teaching array data5
6 Device + 10 Teaching array data6
7 Device + 12 Teaching array data7
8 Device + 14 Teaching array data8
9 Device + 16 Teaching array data9
10 Device + 18 Teaching array data10
11 Device + 20 Teaching array data11
12 Device + 22 Teaching array data12
13 Device + 24 Teaching array data13
14 Device + 26 Teaching array data14
15 Device + 28 Teaching array data15
16 Device + 30 Teaching array data16

(k) Execution complete state

If the function block is completed without error, "1" is output and "1" is maintained until the next execution. If an error
(l) Error state
If an error occurs during execution of function block, error number is output
(m) The execution contents of each function block are as follows.
Axis 1 teaching array: Position value of 13 steps from axis 1 to 10 steps (step 22) is stored in% MD50 ~% MD59 and
RAM teaching
Axis 2 teaching Array:% MW132 (Axis 2 Teaching Step) of axis 2 Starting% MB2666.1 item from% MD70 to% MB267
stored value% MB266.0 method

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 Chapter 8 Program

(4) Saving Current Data

(a) Condition of Saving Current Data

The condition of saving current data command (XPM_WRT)
(b) Emergency Stop by each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “State of Emergency Stop” for each
axis. It turns on when it is Emergency Stop. Emergency Stop can not be configured while it is running hence
configuration will only be configured when it is not running.
(c) Address of Positioning Module
The high performance MLU embedded positioning is fixed on slot 1.
(d) Axis for command
If you want to make a command for each axis, you must set the axis on which to issue the command.
MLU-HP can control up to 6 axes and MLU-H2 can control up to 2 axes. In command, 1 ~ 6 refer to 1 ~ 6 axis.
(e) Saving axis
Sets the axis on which to execute the current data save command. Axis selection is set by setting each bit
corresponding to axis as shown in the table below. Therefore, you can select and save multiple axes to be saved in
one command without executing the commands for each axis like the example program. The current data (operation
data, module parameters) of the axis on which the current data save instruction has been executed is stored in
nonvolatile memory and is maintained even when power is not applied.
15 ~ 4 Bit 5Bit 4Bit 3Bit 2Bit 1Bit 0Bit
N/A axis 6 axis 5 axis 4 axis 3 axis 2 axis 1

(f) Execution complete state

If the function block is completed without error, "1" is output and "1" is maintained until the next execution. If an error
occurs, "0" is output.
(g) Error state
If an error occurs during execution of function block, error number is output

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 Chapter 8 Program

8.1.5 Positioning Operation

(1) Homing

(a) Condition of homing

The condition of Homing command (XPM_ORG)
(b Operating state of each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Manual Operating” for each axis. It
turns on when it is operating. Inching Operation can not be configured while it is running hence configuration will only
be configured when it is not running.
(c) Error state for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Error state” for each axis. It turns on
when an error occurred. Operation will only work when there is no error. If you want to operate a system regardless of
errors, you can just inactivate the function.
(d) Ready signal for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Drive Ready” for each axis. This
command only works when this is the condition for Drive Ready is on. If it is not set as “ON,” the “error 295” would be
appeared.
(e) Address of Positioning Module
The high performance MLU embedded positioning is fixed on slot 1.
(f) Axis for command
If you want to make a command for each axis, you must set the axis on which to issue the command.
MLU-HP can control up to 6 axes and MLU-H2 can control up to 2 axes. In command, 1 ~ 6 refer to 1 ~ 6 axis.
(g) Execution complete state
If the function block is completed without error, "1" is output and "1" is maintained until the next execution. If an error
occurs, "0" is output.
(h) Error state
If an error occurs during execution of function block, error number is output
(i) For more information, reference for Homing is in the “Chapter 9.1.Homing””

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 Chapter 8 Program

(2) Direct Start

(a) Condition of Direct Start

The condition of Direct Start command (XPM_DST)
(b Operating state of each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Manual Operating” for each axis. It
turns on when it is operating. Inching Operation can not be configured while it is running hence configuration will only
be configured when it is not running.
(c) Error state for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Error state” for each axis. It turns on
when an error occurred. Operation will only work when there is no error. If you want to operate a system regardless of
errors, you can just inactivate the function.
(d) Ready signal for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Drive Ready” for each axis. This
command only works when this is the condition for Drive Ready is on. If it is not set as “ON,” the “error 225” would be
appeared.
(e) Address of Positioning Module
The high performance MLU embedded positioning is fixed on slot 1.
(f) Axis for command
If you want to make a command for each axis, you must set the axis on which to issue the command.
MLU-HP can control up to 6 axes and MLU-H2 can control up to 2 axes. In command, 1 ~ 6 refer to 1 ~ 6 axis.
(g) Direct start target position

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 Chapter 8 Program

Decide changing position of Direct Start command. In this example above, the initialized value is “device,” but you can
also change it with “real numbers,” which data type is “DINT.”
(h) Direct start target speed
Decide goal speed of Direct Start. In this example above, the initialized value is “device,” but you can also change it
with “real numbers,” which data type is “UDINT.”
(i) Dwell time of Direct Start
Dwell Time consider as a total amount of time from beginning of Direct Start operation that reach to the goal position
and make output of Positioning Done Signal. That means after done its operation, direct Start will make a Positioning
done signal. Its unit is “ms,” and type is “UINT”
(j) Direct Start M code
You can set a value of M code which are displaying of Operating Parameter by Direct Start. The way of M code
outputs are “Parameter Expansion, M code Mode,” within the “None, With, After.” It will make an M code besides you
choose “None” for its parameter. For more information, reference for M code is in the “Chapter 4.3.2”
(k) Control Method
Set direct start control method. Perform the following operation according to the setting value.
0: Position Control
1: Speed Control
2: Feed Control
(l) Coordinate Setting
Set direct start operation coordinates. Perform the following operation according to the setting value.
0: Absolute
1: Relative
(m) Acceleration time number
Sets the acceleration time number for positioning control. Depending on the set value, acceleration is executed at the
corresponding acceleration time of the basic parameter.
0: Acceleration time 1
1: Acceleration time 2
2: Acceleration time 3
3: Acceleration time 4
(n) Deceleration time number
0: Deceleration time 1
1: Deceleration time 2
2: Deceleration time 3
3: Deceleration time 4
(o) Execution complete state
If the function block is completed without error, "1" is output and "1" is maintained until the next execution. If an error
occurs, "0" is output.
(p) Error state
If an error occurs during execution of function block, error number is output
(q) The function block used in the example is as follows.
Axis 1 Direct Start: Position control is performed with axis 1 target position% MD80 (axis 1 target position),
target speed% MD81 (axis 1 target speed), dwell time 100 ms, M code 0, absolute coordinate, acceleration time 1.
Axis 2 Direct Start: Speed control is performed with axis 2 target position% MD82 (axis 2 target position),
target speed% MD83 (axis 2 target speed), dwell time 500 ms, M code 10, relative coordinate, acceleration time 2,

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 Chapter 8 Program

(3) Indirect Start

(a) Condition of Indirect Start

The condition of Indirect Start command (XPM_IST)
(b Operating state of each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Manual Operating” for each axis. It
turns on when it is operating. Inching Operation can not be configured while it is running hence configuration will only
be configured when it is not running.
(c) Error state for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Error state” for each axis. It turns on
when an error occurred. Operation will only work when there is no error. If you want to operate a system regardless of
errors, you can just inactivate the function.
(d) Ready signal for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Drive Ready” for each axis. This
command only works when this is the condition for Drive Ready is on. If it is not set as “ON,” the “error 235” would be
appeared.
(e) Address of Positioning Module
The high performance MLU embedded positioning is fixed on slot 1.
(f) Axis for command
If you want to make a command for each axis, you must set the axis on which to issue the command.
MLU-HP can control up to 6 axes and MLU-H2 can control up to 2 axes. In command, 1 ~ 6 refer to 1 ~ 6 axis.
(g) Step no. of executing Indirect Start
Set the step number of the operation data of the instruction axis to be executed by the indirect start instruction.
(h) Execution complete state
If the function block is completed without error, "1" is output and "1" is maintained until the next execution. If an error
occurs, "0" is output.
(i) Error state
If an error occurs during execution of function block, error number is output
(j) Indirect start operates by appointing step of position data for each axis. Therefore it could run those commands of
Positioning control, Speed control, Feed control, Linear circular interpolation depends on setting of positioning data. For
more information, reference for Setting of Operating Data is in the “Chapter5.8.”
(k) The function block used in the example is as follows.
Axis 1 Indirect start: Indirect start of axis 1 step 1 is executed.
Axis 2 indirect start: % MW168 (indirect start step) of axis 2 Execute step indirectly.

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 Chapter 8 Program

(4) Ellipse Interpolation

(a) Condition of Ellipse Interpolation

The condition of Ellipse Interpolation command (XPM_ELIN)
(b Operating state of each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Manual Operating” for each axis. It
turns on when it is operating. Inching Operation can not be configured while it is running hence configuration will only
be configured when it is not running.
(c) Error state for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Error state” for each axis. It turns on
when an error occurred. Operation will only work when there is no error. If you want to operate a system regardless of
errors, you can just inactivate the function.
(d) Ready signal for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Drive Ready” for each axis. This
command only works when this is the condition for Drive Ready is on. If a Drive Ready of main axis is not set as “ON,”
the “error 549” would be appeared and If a Drive Ready of subordinate axis is not set as “ON,” the “error 550” would
be appeared and
(e) Address of Positioning Module
The high performance MLU embedded positioning is fixed on slot 1.
(f) Axis for command
If you want to make a command for each axis, you must set the axis on which to issue the command.
MLU-HP can control up to 6 axes and MLU-H2 can control up to 2 axes. In command, 1 ~ 6 refer to 1 ~ 6 axis.
(g) Step no. of executing Ellipse Interpolation
Set the step number of the operation data of the instruction axis to be executed by the ellipse interpolation instruction.
The operation step of the sub-axis is the same as the operation step of the main axis.
(h) Ratio between ellipse interpolation axes
Set the ratio of the main axis to the subordinate axis in the circular interpolation trajectory set in the operation data.
That is, it is used to transform the arc locus into an elliptical locus using the ratio of the main axis to the vertical axis. The
unit is [X10-2%]. For details on the operation of elliptic interpolation, refer to "9.2.13 elliptic interpolation control".
(i) Ellipse interpolation operation angle
Sets the angle to be driven by ellipse interpolation. The unit is [X10-1 degree]. For details on the operation of ellipse
interpolation, refer to "9.2.13 ellipse interpolation control".
(j) Execution complete state
If the function block is completed without error, "1" is output and "1" is maintained until the next execution. If an error

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 Chapter 8 Program

occurs, "0" is output.

(k) Error state
If an error occurs during execution of function block, error number is output
(l) The function block used in the example is as follows.
Axis 1_2 ellipse interpolation: Executes ellipse interpolation with axis ratio of 50% and size of 180% with axis 1
operation as main axis and axis 2 as sub-axis% MW169 (ellipse interpolation step)

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 Chapter 8 Program

(5) Simultaneous Start

(a) Condition of Simultaneous Start

The condition of Simultaneous start (XPM_SST).
(b Operating state of each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Manual Operating” for each axis. It
turns on when it is operating. Inching Operation can not be configured while it is running hence configuration will only
be configured when it is not running.
(c) Error state for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Error state” for each axis. It turns on
when an error occurred. Operation will only work when there is no error. If you want to operate a system regardless of
errors, you can just inactivate the function.
(d) Ready signal for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Drive Ready” for each axis. This
command only works when this is the condition for Drive Ready is on. If it is not set as “ON,” the “error 295” would be
appeared.
(e) Address of Positioning Module
The high performance MLU embedded positioning is fixed on slot 1.
(f) Axis for simultaneous start
Sets simultaneous start axis. The simultaneous start axis is set by setting the bit corresponding to each axis of
the word data to “1”. The corresponding axis of Bit is as follows.
15 ~ 4 Bit 5Bit 4Bit 3Bit 2Bit 1Bit 0Bit
N/A Axis 6 Axis 5 Axis4 Axis3 Axis2 Axis1
Since "16 # 03" is set in the example program, it is set to operate 1 axis and 2 axes simultaneously.
(g) Simultaneous start step number per axis
Set the step number to execute simultaneous start of each axis. Since high performance MLU-HP can control up to 6
axes,
A7_STEP ~ A8_STEP input is not used.

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 Chapter 8 Program

(h) Execution complete state

If the function block is completed without error, "1" is output and "1" is maintained until the next execution. If an error
occurs, "0" is output.
(i) Error state
If an error occurs during execution of function block, error number is output
(j) The function block used in the example is as follows.
Axis 1_2 Simultaneous start: Executes the 10th operation step of axis 1 and% MW170 (axis 2 simultaneous start step)
steps of axis 2 at the same time.

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 Chapter 8 Program

(6) Point Operation

(a) Condition of Point Operation

The condition of Point Operation (XPM_PST)
(b) Operating state of each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Manual Operating” for each axis. It
turns on when it is operating. Inching Operation can not be configured while it is running hence configuration will only
be configured when it is not running.
(c) Error state for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Error state” for each axis. It turns on
when an error occurred. Operation will only work when there is no error. If you want to operate a system regardless of
errors, you can just inactivate the function.
(d) Ready signal for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Drive Ready” for each axis. This
command only works when this is the condition for Drive Ready is on.
(e) Address of Positioning Module
In this example, Positioning Module is fixed at the 1 slot of 0 bases.
(f ) Axis of command execution
You can set an axis for Parameter Setting. MLU-HP can control up to 6 axes and MLU-H2 can control up to 2 axes. In
the “execution of axis” from the configuration of Parameter Setting, you can set a value for axis1 through axis6.
(g) Amount of Point Operation Steps
Decide how many steps will be operated. In this example above, 10 Point Operation steps are set in the axis1.
Therefore, the step no. saved in %MW171 ~ %MW180 will be executed by point operation. For the details about point
operation, refer to “(4) Point operation” of “9.2.17 Positioning start”.
(h) Address of first device where those data for Step Numbers of Point Operation are saved
To execute a Point Operation, you need to set a specific value first. Point Operation Step Data will be set up depends
on number of first device as below table.

Value Device No. Point Operating Step Data

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 Chapter 8 Program

1 Device + 0 Point Operating Step Data 1

2 Device + 1 Point Operating Step Data 2
3 Device + 2 Point Operating Step Data 3
4 Device + 3 Point Operating Step Data 4
5 Device + 4 Point Operating Step Data 5
6 Device + 5 Point Operating Step Data 6
7 Device + 6 Point Operating Step Data 7
8 Device + 7 Point Operating Step Data 8
9 Device + 8 Point Operating Step Data 9
10 Device + 9 Point Operating Step Data 10
11 Device + 10 Point Operating Step Data 11
12 Device + 11 Point Operating Step Data 12
13 Device + 12 Point Operating Step Data 13
14 Device + 13 Point Operating Step Data 14
15 Device + 14 Point Operating Step Data 15
16 Device + 15 Point Operating Step Data 16
17 Device + 16 Point Operating Step Data 17
18 Device + 17 Point Operating Step Data 18
19 Device + 18 Point Operating Step Data 19
20 Device + 19 Point Operating Step Data 20
(i) State of Operation complete
If function block is completed without error, “1” will be outputted and maintain “1” until the next operation. If error
occurred, “0” will be outputted.
(j) Error State
This is the area that output error no. if there are errors in operation of function block.

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 Chapter 8 Program

(7) Speed Synchronization

(a) This is the condition for Speed Synchronization

This is the condition for Speed Synchronization Command (XPM_SSS)
(b) Operating state by axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Operating” for each axis. It turns on
when it is operating. Operating Data Setting can not be configured while it is running hence configuration will only be
configured when it is not running. If you execute Speed Synchronization while it is running, the “error 351” would be
appeared.
(c) Error state for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Error state” for each axis. It turns on
when an error occurred. Operation will only work when there is no error. If you want to operate a system regardless of
errors, you can just inactivate the function.
(d) Ready signal for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Drive Ready” for each axis. This
command only works when this is the condition for Drive Ready is on. If a Drive Ready of main axis is not set as “ON,”
the “error 354” would be appeared.
(e) Address of Positioning Module
In this example, Positioning Module is fixed at the 1 slot of 0 bases.
(f) Axis of command execution
You can set an axis for Parameter Setting. MLU-HP can control up to 6 axes and MLU-H2 can control up to 2 axes. In
the “execution of axis” from the configuration of Parameter Setting, you can set a value for axis1 through axis6.
(g) Main Axis Setting
Set a main axis to operate Speed Synchronization. This setting is for main axis of Speed Synchronization. This setting
cannot be set as same value as Axis of command execution, and possible setting values are as below.
(h) Ratio of Main Axis
Set value for Ratio of Main Axis to execute a Speed Synchronization.
(i) Ratio of Subordinate Axis
Set value for Ratio of Subordinate Axis to execute a Speed Synchronization. In this example above, the ratio of main and
subordinate axis is 2:1. Meaning that operational speed ratio of those axis is 2 to 1. So, if main axis is operating in speed
of 10000, subordinate axis will be operating in speed of 5000.

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 Chapter 8 Program

Set value Main Axis

1 Axis 1
2 Axis 2
3 Axis 3
4 Axis 4
5 Axis 5
6 Axis 6
7 -
8 -
9 Encoder1
10 Encoder2
11 Encoder3
12 Encoder4
(j) State of Operation complete
If function block is completed without error, “1” will be outputted and maintain “1” until the next operation. If error
occurred, “0” will be outputted.
(k) Error State
This is the area that output error no. if there are errors in operation of function block.
(l) For more information, reference for Speed Synchronization is in the “Chapter 9.4.1.”

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 Chapter 8 Program

(8) Position Assign Speed Synchronization

(a) This is the condition for Position Assign Speed Synchronization

This is the condition for Position Assign Speed Synchronization Command (XPM_SSSP)
(b) Operating state by axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Operating” for each axis. It turns on
when it is operating. Operating Data Setting can not be configured while it is running hence configuration will only be
configured if it is not running. If you execute Position Assign Speed Synchronization while it is running, the “error 351”
would be appeared.
(c) Error state for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Error state” for each axis. It turns on
when an error occurred. Operation will only work when there is no error. If you want to operate a system regardless of
errors, you can just inactivate the function.
(d) Ready signal for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Drive Ready” for each axis. This
command only works when this is the condition for Drive Ready is on. If a Drive Ready of main axis is not set as “ON,”
the “error 354” would be appeared.
(e) Address of Positioning Module
In this example, Positioning Module is fixed at the 1 slot of 0 bases.
(f) Axis of command execution
You can set an axis for Parameter Setting. MLU-HP can control up to 6 axes and MLU-H2 can control up to 2 axes. In
the “execution of axis” from the configuration of Parameter Setting, you can set a value for axis1 through axis6.
(g) Main Axis Setting
Set a main axis to operate Speed Synchronization. This setting is for main axis of Speed Synchronization. This setting
cannot be set as same value as Axis of command execution, and possible setting values are as below.
(h) Ratio of Main Axis
Set value for Ratio of Main Axis to execute a Speed Synchronization.
(i) Ratio of Subordinate Axis
Set value for Ratio of Subordinate Axis to execute a Speed Synchronization. In this example above, the ratio of main

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 Chapter 8 Program

and subordinate axis is 2:1. Meaning that operational speed ratio of those axes are 2 to 1. So, if main axis is operating
in speed of 10000, subordinate axis will be operating in speed of 5000.

Set value Main Axis

1 Axis 1
2 Axis 2
3 Axis 3
4 Axis 4
5 Axis 5
6 Axis 6
7 -
8 -
9 Encoder1
10 Encoder2
11 Encoder3
12 Encoder4
(j) Goal Position
Set goal of Position Assign Speed Synchronization. Once Axis of command execution reaches the goal position,
Speed Synchronization ends and operation will be stop immediately.
(k) State of Operation complete
If function block is completed without error, “1” will be outputted and maintain “1” until the next operation. If error
occurred, “0” will be outputted.
(l) Error State
This is the area that output error no. if there are errors in operation of function block.
(m) For more information, reference for Position Assign Speed Synchronization is in the “Chapter 9.4.1.”

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 Chapter 8 Program

(9) Synchronous Start by Position

(a) This is the condition for Synchronous Start by Position

This is the condition for Synchronous Start by Position Command (XPM_SSP)
(b) Operating state by axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Operating” for each axis. It turns on
when it is operating. Operating Data Setting can not be configured while it is running hence configuration will only be
configured when it is not running. If you execute Synchronous Start by Position while it is running, the “error 341” would
be appeared.
(c) Error state for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Error state” for each axis. It turns on
when an error occurred. Operation will only work when there is no error. If you want to operate a system regardless of
errors, you can just inactivate the function.
(d) Ready signal for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Drive Ready” for each axis. This
command only works when this is the condition for Drive Ready is on. If a Drive Ready of main axis is not set as “ON,”
the “error 354” would be appeared.
(e) Address of Positioning Module
In this example, Positioning Module is fixed at the 1 slot of 0 bases.
(f) Axis of command execution
You can set an axis for Parameter Setting. MLU-HP can control up to 6 axes and MLU-H2 can control up to 2 axes. In
the “execution of axis” from the configuration of Parameter Setting, you can set a value for axis1 through axis6.
(g) Step of Subordinate Axis
Set step number for Subordinate Axis to execute a Speed Synchronization.
(h) Main Axis Setting
Set a main axis to operate Speed Synchronization. This setting is for main axis of Speed Synchronization.
This setting cannot be set as same value as Axis of command execution, and possible setting values are as below.
(i) Value of Main Axis
Set value for Main Axis to execute Synchronous Start by Position. Therefore main axis will be executed the command
when the subordinate axis reaches this set value.

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 Chapter 8 Program

Set value Main Axis

1 Axis 1
2 Axis 2
3 Axis 3
4 Axis 4
5 Axis 5
6 Axis 6
7 -
8 -
9 Encoder1
10 Encoder2
11 Encoder3
12 Encoder4
(j) State of Operation complete
If function block is completed without error, “1” will be outputted and maintain “1” until the next operation. If error
occurred, “0” will be outputted.
(k) Error State
This is the area that output error no. if there are errors in operation of function block.
(l) For more information, reference for Synchronous Start by Position is in the “Chapter 9.4.2.”

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 Chapter 8 Program

(10) CAM Operation

(a) This is the condition for CAM Operation

This is the condition for CAM Operation Command (XPM_CAM)
(b) Operating state by axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Operating” for each axis. It turns on
when it is operating. Operating Data Setting can not be configured while it is running hence configuration will only be
configured when it is not running. If you execute CAM Operation while it is running, the “error 701” would be appeared.
(c) Error state for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Error state” for each axis. It turns on
when an error occurred. Operation will only work when there is no error. If you want to operate a system regardless of
errors, you can just inactivate the function.
(d) Ready signal for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Drive Ready” for each axis. This
command only works when this is the condition for Drive Ready is on. If a Drive Ready of main axis is not set as “ON,”
the “error 703” would be appeared.
(e) Address of Positioning Module
In this example, Positioning Module is fixed at the 1 slot of 0 bases.
(f) Axis of command execution
You can set an axis for Parameter Setting. MLU-HP can control up to 6 axes and MLU-H2 can control up to 2 axes. In
the “execution of axis” from the configuration of Parameter Setting, you can set a value for axis1 through axis6.
(g) Main Axis Setting
Setting of main axis to operate .This setting is for main axis of CAM Operating. This setting cannot be set as same
value as Axis of command execution. Can set a value 1~6, meaning from axis1 to axis 6 and set a value 9~12,
meaning from encoder 1 to encoder 4
(h) CAM Block Numbers
Setting for Block Numbers of CAM data to operate CAM operation. MLU-HP/H2 support 8 CAM Blocks. The CAM
Data for each Block would be downloaded to module written from Software Package.
(i) Main Axis offset
In case main offset assigned CAM operation command(XPM_CAM0) Second axis set the main axis offset
Starting position. When starting command, move to position set in main axis offset and then second axis
start CAM operation.
(j) State of Operation complete
If function block is completed without error, “1” will be outputted and maintain “1” until the next operation. If error
occurred, “0” will be outputted.

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 Chapter 8 Program

(k) Error State

This is the area that output error no. if there are errors in operation of function block.
(l) For more information, reference of CAM Operation is in the “Chapter 9.4.3.”

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 Chapter 8 Program

(11) Deceleration Stop

(a) This is the condition for Deceleration Stop

This is the condition for Deceleration Stop Command (XPM_STP)
(b) Operating state by axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Operating” for each axis. It turns on
when it is operating. Operating Data Setting can not be configured while it is running hence configuration will only be
configured when it is not running.
(c) Error state for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Error state” for each axis. It turns on
when an error occurred. Operation will only work when there is no error. If you want to operate a system regardless of
errors, you can just inactivate the function.
(d) Address of Positioning Module
In this example, Positioning Module is fixed at the 1 slot of 0 bases.
(e) Axis of command execution
You can set an axis for Parameter Setting. MLU-HP can control up to 6 axes and MLU-H2 can control up to 2 axes. In
the “execution of axis” from the configuration of Parameter Setting, you can set a value for axis1 through axis6.
(f) Deceleration time of Deceleration Stop
Set a deceleration time of Deceleration Stop operation. Unit of Deceleration Stop is [ms]. Since this time refers
deceleration time from the speed limit, there might be little difference between Deceleration Stop set time and actual
stop time. The range of deceleration time is “0~2,147,483,674.” 1~2,147,483,674 means Deceleration Time set as
1ms ~ 2,147483674ms. If it set as “0,” it will be operated with set deceleration value. Also it use to stop Speed
Synchronous Operation or CAM Operation while Speed and CAM Operation. During this time Deceleration Time is
meaningless, CAM Operation Is just cancelled.
(g) State of Operation complete
If function block is completed without error, “1” will be outputted and maintain “1” until the next operation. If error
occurred, “0” will be outputted.
(h) Error State
This is the area that output error no. if there are errors in operation of function block.
(i) For more information, reference of Deceleration Stop is in the “Chapter 9.2.18.”
(j) Operation of each function block is as follows.
Axis1 Dec. Time : When axis1 is in operation, decelerate to %MD96(axis1 Dec. stop Time), then stop.
Axis2 Dec. Time : When axis 2 is in operation, decelerate to 1000ms, then stop.

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 Chapter 8 Program

(12) Emergency Stop

(a) This is the condition for Emergency Stop

This is the condition for Emergency Stop Command (XPM_EMG)
(b) Address of Positioning Module
In this example, Positioning Module is fixed at the 1 slot of 0 bases.
(c) Axis of command execution
You can set an axis for Parameter Setting. MLU-HP can control up to 6 axes and MLU-H2 can control up to 2 axes. In
the “execution of axis” from the configuration of Parameter Setting, you can set a value for axis1 through axis6.
(d) State of Operation complete
If function block is completed without error, “1” will be outputted and maintain “1” until the next operation. If error
occurred, “0” will be outputted.
(e) Error State
This is the area that output error no. if there are errors in operation of function block.
(f) Emergency Stop is operating by each axis.
Once Emergency Stop command executes the error “481” would be occurred. With the set value for deceleration time,
it will be decelerated and stop the operation
(g) For more information, reference of Emergency Stop is in the “Chapter 9.2.18.”

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 Chapter 8 Program

(13) M code Off

(a) This is the condition for M code Cancellation

This is the condition for M code Cancellation (XPM_MOF). Once M code Cancellation command executed, number of
M code would be change to “0,” and signal of M code to “Off.”
(b) M code state for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “M Code” for each axis. It turns on
when it is operating. M code Cancellation command can only be valid once M code are generated. The condition for
execution is operation possible when it is “On.”
(c) Address of Positioning Module
In this example, Positioning Module is fixed at the 1 slot of 0 bases.
(d) Axis of command execution
You can set an axis for Parameter Setting. MLU-HP can control up to 6 axes and MLU-H2 can control up to 2 axes. In
the “execution of axis” from the configuration of Parameter Setting, you can set a value for axis1 through axis6.
(e) State of Operation complete
If function block is completed without error, “1” will be outputted and maintain “1” until the next operation. If error
occurred, “0” will be outputted.
(f) Error State
This is the area that output error no. if there are errors in operation of function block.
(g) For more information, reference of M code Cancellation is in the “Chapter 9.6.2.”

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 Chapter 8 Program

8.1.6 Operation Setting Change while Operating

(1) Speed Override

(a) This is the condition for Speed Override

This is the condition for Speed Override Command (XPM_SOR)
(b) Operating state by axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Operating” for each axis. It turns on
when it is operating. Operating Data Setting can not be configured while it is running hence configuration will only be
configured when it is not running. If you execute Speed Override while it is running, the “error 371” would be appeared.
(c) Error state for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Error state” for each axis. It turns on
when an error occurred. Operation will only work when there is no error. If you want to operate a system regardless of
errors, you can just inactivate the function.
(d) Address of Positioning Module
In this example, Positioning Module is fixed at the 1 slot of 0 bases.
(e) Axis of command execution
You can set an axis for Parameter Setting. MLU-HP can control up to 6 axes and MLU-H2 can control up to 2 axes. In
the “execution of axis” from the configuration of Parameter Setting, you can set a value for axis1 through axis6.
(f) Value Change for Speed Operation
Set speed value. According to Speed Override from common parameters, it is a signal of “%” or “Speed Value”
depends on setting of category. Also, when Speed Override set as Speed Value, it means Unit/Time depends on
Speed Command Unit from basic parameters, or it means “rpm.” If a changing Operation Speed Value is “%,” then the
unit would be [X10-2%]. If it is “rpm, “then the unit would be X10-1rpm].
(g) State of Operation complete
If function block is completed without error, “1” will be outputted and maintain “1” until the next operation. If error
occurred, “0” will be outputted.
(h) Error State
This is the area that output error no. if there are errors in operation of function block.
(i) The function block in the example above is as follows.
Axis1 Speed Override : The operating speed of axis1 will be changed to speed value saved in %MD97 and then continue
to operate.

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 Chapter 8 Program

Axis2 Speed Override : The operating speed of axis2 will be changed to 20000 and then continue to operate.
(j) For more information, reference of Speed Override is in the “Chapter 9.5.5.”

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 Chapter 8 Program

(2) Position Override

(a) This is the condition for Position Override

This is the condition for Position Override Command (XPM_POR)
(b) Operating state by axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Operating” for each axis. It turns on
when it is operating. Operating Data Setting can not be configured while it is running hence configuration will only be
configured when it is not running. If you execute Position Override while it is running, the “error 361” would be appeared.
(c) Error state for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Error state” for each axis. It turns on
when an error occurred. Operation will only work when there is no error. If you want to operate a system regardless of
errors, you can just inactivate the function.
(d) Address of Positioning Module
In this example, Positioning Module is fixed at the 1 slot of 0 bases.
(e) Axis of command execution
You can set an axis for Parameter Setting. MLU-HP can control up to 6 axes and MLU-H2 can control up to 2 axes. In
the “execution of axis” from the configuration of Parameter Setting, you can set a value for axis1 through axis6.
(f) Change for Goal Position Value
Setting Value Change for Goal Position Value. The unit of this value depends on “Unit” category. Once Position Override
commands are executed, the goal position of executed axis will be changed to set goal position.
(g) State of Operation complete
If function block is completed without error, “1” will be outputted and maintain “1” until the next operation. If error
occurred, “0” will be outputted.
(h) Error State
This is the area that output error no. if there are errors in operation of function block.
(i) The function block in the example above is as follows.
Axis1 Position Override : Goal position of axis1 is changed to the value saved in %MD98.
Axis2 Position Override : Goal position of axsi2 is changed to the value saved in %MD99.
(j) For more information, reference of Position Override is in the “Chapter 9.5.4.”

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 Chapter 8 Program

(3) Position Assign Speed Override

(a) This is the condition for Position Assign Speed Override

This is the condition for Position Assign Speed Override Command (XPM_PSO)
(b) Operating state by axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Operating” for each axis. It turns on
when it is operating. Operating Data Setting can not be configured while it is running hence configuration will only be
configured when it is not running. If you execute Position Assign Speed Override while it is running, the “error 381”
would be appeared.
(c) Error state for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Error state” for each axis. It turns on
when an error occurred. Operation will only work when there is no error. If you want to operate a system regardless of
errors, you can just inactivate the function.
(d) Address of Positioning Module
In this example, Positioning Module is fixed at the 1 slot of 0 bases.
(e) Axis of command execution
You can set an axis for Parameter Setting. MLU-HP can control up to 6 axes and MLU-H2 can control up to 2 axes. In
the “execution of axis” from the configuration of Parameter Setting, you can set a value for axis1 through axis6.
(f) Position of Speed Change Execution
Set the position of Speed Change. Once the actual position located at set position with speed override command
running, the speed change commands are executed.
(g) Value Change for Operation speed
Set the Value Change for Operation speed. According to Speed Override from common parameters, it is a signal of “%”
or “Speed Value” depends on setting of category. Also, when Speed Override set as Speed Value, it means Unit/Time
depends on Speed Command Unit from basic parameters, or it means “rpm.” If a changing Operation Speed Value is
“%,” then the unit would be [X10-2%]. If it is “rpm, “then the unit would be X10-1rpm].
(h) State of Operation complete
If function block is completed without error, “1” will be outputted and maintain “1” until the next operation. If error
occurred, “0” will be outputted.
(i) Error State
This is the area that output error no. if there are errors in operation of function block.

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 Chapter 8 Program

(j) The function block in the example above is as follows.

Axis1 Positioning Speed Override : When the current position of axis1 become the same position as the position saved
in %MD100, the speed value will be changed to the speed saved in %MD92.
Axis2 Positioning Speed Override : When the current position of axis1 become 50000, the speed will be changed to
100000.
(k) For more information, reference of Position Assign Speed Override is in the “Chapter 9.5.6.”

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 Chapter 8 Program

(4) Speed/Position Switching Control

(a) This is the condition for Speed/Position Switching Control

This is the condition for Speed/Position Switching Control Command (XPM_VTP)
(b) Operating state by axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Operating” for each axis. It turns on
when it is operating. Operating Data Setting can not be configured while it is running hence configuration will only be
configured when it is not running. If you execute Speed/Position Switching Control while it is running, the “error 301”
would be appeared.
(c) Error state for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Error state” for each axis. It turns on
when an error occurred. Operation will only work when there is no error. If you want to operate a system regardless of
errors, you can just inactivate the function.
(d) Signal from Speed Control by each Axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Speed Control state” for each axis. It
turns on when it is operating. Speed/Position Switching Control Setting can only be configured while it is running. If you
execute Speed/Position Switching Control while it is not running, the “error 302” would be appeared.
(e) Address of Positioning Module
In this example, Positioning Module is fixed at the 1 slot of 0 bases.
(f) Axis of command execution
You can set an axis for Parameter Setting. MLU-HP can control up to 6 axes and MLU-H2 can control up to 2 axes. In
the “execution of axis” from the configuration of Parameter Setting, you can set a value for axis1 through axis6.
(g) State of Operation complete
If function block is completed without error, “1” will be outputted and maintain “1” until the next operation. If error
occurred, “0” will be outputted.
(h) Error State
This is the area that output error no. if there are errors in operation of function block.

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 Chapter 8 Program

(5) Position-specified Speed/Position Control Switching

(a) Condition to perform “position-specified speed/position switching control”

Condition to perform control command (XPM_VTPP) for position-specified speed/position switching
(b) Operation state for each axis
In case that an example program of“8.1.2 Read Current State” is applied, it is a signal showing that each
axis is “operating.” If a relevant axis is running, it becomes ‘On’. A condition has been set to make the
control command for position specified speed/position switching valid only when the relevant axis is
running. If the control command for position specified switching is carried out when the relevant axis is
not running, No.301 Error will take place.
(c) Error State for each axis
In case that an example program of“8.1.2 Read Current State” is applied, it is a signal showing “Error
State” for each axis. If any error takes place, it becomes ‘On’. A condition has been set to perform a control
command only when there is no error with the relevant axis. If the user wants to execute a command
regardless of the occurrence of errors, he/she may remove this condition.
(d) Speed Control Signal for each axis
In case that an example program of“8.1.2 Read Current State” is applied, it is a signal showing each axis
is “controlling its speed.” If the relevant axis is running under speed control, it becomes ‘On.’ A condition
has been set to make the control command for position specified speed/position switching control valid
only when the relevant axis is in a speed control status. If the control command is carried out when the
relevant axis is not in a speed control status, No.302 Error will take place.
(e) Position of a module
For the example program above, it is assumed that positioning modules are installed on NO.0 Base and
No. 1 Slot.
(f) Axis to make a command
You can set an axis for Parameter Setting. MLU-HP can control up to 6 axes and MLU-H2 can control up to 2 axes. In
the “execution of axis” from the configuration of Parameter Setting, you can set a value for axis1 through axis6.
(g) Transfer amount
After the control command for position specified speed/position control switching is executed, convert from
speed control to position control and moves by transfer amount.
(h) Completion state
If any function block is completely executed without any error, it displays and maintains “1” until the next
execution while it displays“0” if any error takes place.
(i) Error state
If any error takes place when any function block is executed, this area generates its error number.
(6) Position/ Speed Switching Control

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 Chapter 8 Program

(a) This is the condition for Position/ Speed Switching Control

This is the condition for Position/ Speed Switching Control Command (XPM_PTV)
(b) Operating state by axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Operating” for each axis. It turns on
when it is operating. Operating Data Setting can not be configured while it is running hence configuration will only be
configured when it is not running. If you execute Position/ Speed Switching Control while it is running, the “error 311”
would be appeared.
(c) Error state for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Error state” for each axis. It turns on
when an error occurred. Operation will only work when there is no error. If you want to operate a system regardless of
errors, you can just inactivate the function.
(d) Signal from Position Control by each Axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Position Control state” for each axis.
It turns on when it is operating. Position/ Speed Switching Control Setting can only be configured while it is running. If
you execute Position/Speed Switching Control while it is not running, the “error 317” would be appeared.
(e) Address of Positioning Module
In this example, Positioning Module is fixed at the 1 slot of 0 bases.
(f) Axis of command execution
You can set an axis for Parameter Setting. MLU-HP can control up to 6 axes and MLU-H2 can control up to 2 axes. In
the “execution of axis” from the configuration of Parameter Setting, you can set a value for axis1 through axis6.
(g) State of Operation complete
If function block is completed without error, “1” will be outputted and maintain “1” until the next operation. If error
occurred, “0” will be outputted.
(h) Error State
This is the area that output error no. if there are errors in operation of function block.

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 Chapter 8 Program

(7) Skip Operation

(a) This is the condition for Skip Operation

This is the condition for Skip Operation Command (XPM_SKP) Once Skip Operation is executed, current operation
step is stop and will go to operate with next step.
(b) Operating state by axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Operating” for each axis. It turns on
when it is operating. Operating Data Setting can not be configured while it is running hence configuration will only be
configured when it is not running. If you execute Skip Operation while it is running, the “error 331” would be appeared.
(c) Error state for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Error state” for each axis. It turns on
when an error occurred. Operation will only work when there is no error. If you want to operate a system regardless of
errors, you can just inactivate the function.
(d) Address of Positioning Module
In this example, Positioning Module is fixed at the 1 slot of 0 bases.
(e) Axis of command execution
You can set an axis for Parameter Setting. MLU-HP can control up to 6 axes and MLU-H2 can control up to 2 axes. In
the “execution of axis” from the configuration of Parameter Setting, you can set a value for axis1 through axis6.
(f) State of Operation complete
If function block is completed without error, “1” will be outputted and maintain “1” until the next operation. If error
occurred, “0” will be outputted.
(g) Error State
This is the area that output error no. if there are errors in operation of function block.
(h) For more information, reference of Skip Operation is in the “Chapter 9.5.3.”

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 Chapter 8 Program

(8) Continuous Operation

(a) This is the condition for Continuous Operation

This is the condition for Continuous Operation Command (XPM_NMV). Once Continuous Operation is executed,
current operation step and next operation step would be operated continuously.
(b) Operating state by axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Operating” for each axis. It turns on
when it is operating. Operating Data Setting can not be configured while it is running hence configuration will only be
configured when it is not running. If you execute Continuous Operation while it is running, the “error 391” would be
appeared.
(c) Error state for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Error state” for each axis. It turns on
when an error occurred. Operation will only work when there is no error. If you want to operate a system regardless of
errors, you can just inactivate the function.
(d) Address of Positioning Module
In this example, Positioning Module is fixed at the 1 slot of 0 bases.
(e) Axis of command execution
You can set an axis for Parameter Setting. MLU-HP can control up to 6 axes and MLU-H2 can control up to 2 axes. In
the “execution of axis” from the configuration of Parameter Setting, you can set a value for axis1 through axis6.
(f) State of Operation complete
If function block is completed without error, “1” will be outputted and maintain “1” until the next operation. If error
occurred, “0” will be outputted.
(g) Error State
This is the area that output error no. if there are errors in operation of function block.
(h) For more information, reference of Continuous Operation is in the “Chapter 9.5.2.”

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 Chapter 8 Program

(9) Current Step Change (Start Step Number Change)

(
a) This is the condition for Current Step Change
This is the condition for Current Step Change Command (XPM_SNS). Once Current Step Change is executed, current
operation step will move set step.
(b) Operating state by axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Operating” for each axis. It turns on
when it is operating. Operating Data Setting can not be configured while it is running hence configuration will only be
configured when it is not running. If you execute Current Step Change while it is running, the “error 441” would be
appeared.
(c) Error state for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Error state” for each axis. It turns on
when an error occurred. Operation will only work when there is no error. If you want to operate a system regardless of
errors, you can just inactivate the function.
(d) Address of Positioning Module
In this example, Positioning Module is fixed at the 1 slot of 0 bases.
(e) Axis of command execution
You can set an axis for Parameter Setting. MLU-HP can control up to 6 axes and MLU-H2 can control up to 2 axes. In
the “execution of axis” from the configuration of Parameter Setting, you can set a value for axis1 through axis6.
(f) Change Step Number
Set change step number by Current Step Change. MLU-HP/H2 support 400 step operation data for each Axis.
Therefore, the range of step number setting of Current Step Change is 1~400.
(g) State of Operation complete
If function block is completed without error, “1” will be outputted and maintain “1” until the next operation. If error
occurred, “0” will be outputted.
(h) Error State
This is the area that output error no. if there are errors in operation of function block.
(i) For more information, reference of Current Step Change is in the “Chapter 9.5.9.”

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 Chapter 8 Program

(10) Repeat Step No. Change

(a) This is the condition for Repeat Step No. Change

This is the condition for Repeat Step No. Change Command (XPM_SRS). Once Repeat Step No. Change is executed,
current operation step will move set step. It will execute a operation when set of Operation Method is “Repeat.”
(b) Error state for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Error state” for each axis. It turns on
when an error occurred. Operation will only work when there is no error. If you want to operate a system regardless of
errors, you can just inactivate the function.
(c) Address of Positioning Module
In this example, Positioning Module is fixed at the 1 slot of 0 bases.
(d) Axis of command execution
You can set an axis for Parameter Setting. MLU-HP can control up to 6 axes and MLU-H2 can control up to 2 axes. In
the “execution of axis” from the configuration of Parameter Setting, you can set a value for axis1 through axis6.
(e) Change Step Number
Set change step number by Current Step Change. MLU-HP/H2 support 400 step operation data for each Axis.
Therefore, the range of step number setting of Current Step Change is 1~400. In the example, Axis1 and axis2 are
changed to step no.11 and step no. saved in %MW203.
(f) State of Operation complete
If function block is completed without error, “1” will be outputted and maintain “1” until the next operation. If error
occurred, “0” will be outputted.
(g) Error State
This is the area that output error no. if there are errors in operation of function block.
(h) For more information, reference of Repeat Step No. Change is in the “Chapter 9.5.10.”

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 Chapter 8 Program

(11) Current Position Preset

(a) This is the condition for Current Position Preset

This is the condition for Current Position Preset Command (XPM_PRS). Once Current Position Preset is executed,
current operation step will move to set step. If the origin has not set yet, the origin would be set to origin decided.
(b) Operating state by axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Operating” for each axis. It turns on
when it is operating. Operating Data Setting can not be configured while it is running hence configuration will only be
configured when it is not running. If you execute Current Position Preset while it is running, the “error 451” would be
appeared.
(c) Error state for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Error state” for each axis. It turns on
when an error occurred. Operation will only work when there is no error. If you want to operate a system regardless of
errors, you can just inactivate the function.
(d) Address of Positioning Module
In this example, Positioning Module is fixed at the 1 slot of 0 bases.
(e) Axis of command execution
You can set an axis for Parameter Setting. MLU-HP can control up to 6 axes and MLU-H2 can control up to 2 axes. In
the “execution of axis” from the configuration of Parameter Setting, you can set a value for axis1 through axis6.
(f) Change Current Position
Set change current position by Current Position Preset. Unit follows the value from “Unit” of basic parameter. In the
example, Axis1 and axis2 are changed to 5000 and the position saved in %MD102.
(g) State of Operation complete
If function block is completed without error, “1” will be outputted and maintain “1” until the next operation. If error
occurred, “0” will be outputted.
(h) Error State
This is the area that output error no. if there are errors in operation of function block.
(i) For more information, reference of Current Position Preset is in the “Chapter 9.5.7.”

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 Chapter 8 Program

(12) Encoder Preset

(a) This is the condition for Encoder Preset

This is the condition for Encoder Preset Command (XPM_EPRE). Once Encoder Preset is executed, current operation
step will move to set step.
(b) Address of Positioning Module
In this example, Positioning Module is fixed at the 1 slot of 0 bases.
(c) Axis of command execution
You can set an axis for Parameter Setting. MLU-HP can control up to 6 axes and MLU-H2 can control up to 2 axes. In
the “execution of axis” from the configuration of Parameter Setting, you can set a value for axis1 through axis6.
(d) Changing Encoder
Set Changing Encoder to execute a preset. XPM 1 to 3
(e) Changing Encoder Position
Set for Changing Encoder Position. In the example, the encoder position is changed to 2000.
(f) State of Operation complete
If function block is completed without error, “1” will be outputted and maintain “1” until the next operation. If error
occurred, “0” will be outputted.
(g) Error State
This is the area that output error no. if there are errors in operation of function block.
(h) For more information, reference of Encoder Preset is in the “Chapter 9.5.8.”

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 Chapter 8 Program

8.1.7 Error
(1) Error Reset

(a) This is the condition for Error Reset

This is the condition for Error Reset Command (XPM_RST). Once Error Reset is executed, it erases errors of module
form each axis.
(b) Error state for each axis
According to exercise from “Chapter 8.1.2 Current State Reading,” it is a signal of “Error state” for each axis. It turns on
when an error occurred. Operation will only work when there is no error. If you want to operate a system regardless of
errors, you can just inactivate the function.
(c) Address of Positioning Module
In this example, Positioning Module is fixed at the 1 slot of 0 bases.
(d) Axis of command execution
You can set an axis for Parameter Setting. MLU-HP can control up to 6 axes and MLU-H2 can control up to 2 axes. In
the “execution of axis” from the configuration of Parameter Setting, you can set a value for axis1 through axis6.
(e) Error setting of Error/Common by axis
Depending on the errors, if it is set by “0”, erase the errors in operation of each axis, if it is set by “1”, erase the common
errors of each modules.
(f) State of Operation complete
If function block is completed without error, “1” will be outputted and maintain “1” until the next operation. If error
occurred, “0” will be outputted.
(g) Error State
This is the area that output error no. if there are errors in operation of function block.

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 Chapter 8 Program

(2) Error History Reset

(a) This is the condition for Error History Reset

This is the condition for Error History Reset Command (XPM_HRST). Once Error Reset is executed, it erases history of
generated errors of module. MLU-HP/H2 has ten error histories by each axis. It will be saved to FRAM, remain still even
there is no power.
(b) Address of Positioning Module
In this example, Positioning Module is fixed at the 1 slot of 0 bases.
(c) Axis of command execution
You can set an axis for Parameter Setting. MLU-HP can control up to 6 axes and MLU-H2 can control up to 2 axes. In
the “execution of axis” from the configuration of Parameter Setting, you can set a value for axis1 through axis6.
(d) State of Operation complete
If function block is completed without error, “1” will be outputted and maintain “1” until the next operation. If error
occurred, “0” will be outputted.
(e) Error State
This is the area that output error no. if there are errors in operation of function block.

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 Chapter 9 Functions

Chapter 9 Functions

9.1 Homing
Homing is carried out to confirm the origin of the machine when applying the power. In case of homing, it is required to set
homing parameter per axis. If the origin position is determined by homing, the origin detection signal is not recognized during
positioning operation.

9.1.1 Homing method

(1) Methods using DOG signal
(a) Origin detection after DOG “Off” (0:DOG /HOME(Off))
(b) Origin detection after deceleration when DOG “On” (1: DOG /HOME(On))
(c) Origin detection by DOG (3: DOG)

(2) Methods without using DOG signal

(a) Origin detection by Home and upper/lower limit (2: U.L.Limit /Home)
(b) High speed Homing (4: High speed)
(c) Origin detection by upper/Lowerlimit (5: Upper/Lower limit)
(d) Origin detection by Home (6: Home)
※() is homing parameter selection item of XG-PM software package.

9.1.2 Parameters for Homing

(1) Home position
(2) Home high speed
(3) Home low speed
(4) Homing acceleration time
(5) Homing deceleration time
(6) Homing dwell time
(7) Origin compensation amount
(8) Homing reset waiting time
(9) Homing mode
(10) Homing Direction
※ For further information about homing parameters and setting value, please refer to Chapter 5.

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Chapter 9 Functions

NOTE

Homing is performed by receiving signals generated from the outside while rotating the motor.
When the final origin complete signal is input, the home position is completed after stopping.
The signals required for home return are shown below.
(1)HOME signal: It is used as operating sequence and final origin confirmation signal when
detecting origin after approximate origin Off, origin detection after deceleration when
approximate origin On, origin detection by origin and upper / lower limit, origin detection by
origin. To use the origin signal, specify the P device to be mapped to the origin signal of the
external signal parameter and set the corresponding contact level to A contact or B contact.
The P device that can be mapped to the origin signal is the high-performance XBM's built-in
input P
(2)Dog signal: This is the signal used for the operating sequence when determining the home
position by the approximate origin method in the homing method. In particular, it is used as the
final origin determination signal in the home position detection operation by the near home
position. To use the approximate origin signal, specify the P device to be mapped to the
approximate origin signal of the external signal parameter and set the corresponding contact
level to A contact or B contact.
(3)Upper/lower signal: Used to check the upper and lower limits of the machine coordinate during
home return. In particular, it is a signal used for the operation sequence when detecting the
origin by the origin and the upper / lower limit, and the origin by the upper / lower limit. To use
the upper / lower limit signal, specify the P device to be mapped to the upper / lower limit
signal of the external signal parameter and set the corresponding
(4)Deviation clear signal: This signal is used to cancel the residual pulse of servo drive after
completion of origin determination. Since the servo drive must output a deviation count clear
signal before outputting all residual pulses, use the high-performance XBM built-in output as
the P device to be mapped to the deviation counter clear signal as much as possible. When
using the P contact output of the extension module, the output time may not be constant
depending on the position control cycle and the corresponding

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 Chapter 9 Functions

9.1.3 Origin Detection after DOG Off (0: DOG /HOME(Off))

This is the method using the DOG and HOME signal and the action by homing command is as follows.

(1) Operation
(a) Accelerates to the setting homing direction and acts by homing high speed.
(b) At the rising edge DOG signal it decelerates and acts by homing low speed.
(c) If HOME signal is entered after the DOG signal has changed from “On” to “Off”, the origin shall be determined and
it stops pulse output.

■ Operating Pattern

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Chapter 9 Functions

NOTE

1. While DOG signal maintains “On”, the origin will not be determined by HOME signal.
That is, when DOG signal changes from “Off” to “On”(acceleration section -> homing high speed) , from “On” to
“Off” (deceleration section -> homing low speed) and then when the HOME changes from “Off” to “On”, the origin
will be determined.
The origin is not determined while the DOG “ON”.
Speed

Time
DOG signal

HOME signal

2. While the homing speed acts to the deceleration section by homing high speed after the DOG signal is changed
from “Off” to “On”, from “On” to “Off”, the origin will not be determined even if encounters the HOME input.
The origin is not determined in the deceleration section.
Speed

Time
DOG signal

HOME signal

3. If the DOG signal is changed from “Off” to “On”, from “On” to “Off” and encounters external upper/lower limit while
waiting the HOME input, the action is as follow.
Forward

시간

Reverse

Homing
command

DOG signal

Lower Limit

HOME signal

As the PLC changes the direction promptly without deceleration when

encounters upper/Lower limit during homing, cares should be taken in using
the stepping motor as it may cause “motor trip” .

4. If “On” time of the origin is too short, the positioning module can not recognize it.

HOME
signal
≥1ms

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 Chapter 9 Functions

9.1.4 Origin Detection after Deceleration when DOG On(1: DOG /HOME(On))
This is the method using the DOG and HOME signal and the action by homing command is as follows.

(1) Operation
(a) Accelerates to the setting homing direction and acts by homing high speed.
(b) At the rising edge DOG signal it decelerates and acts by homing low speed.
(c) while the DOG signal is “On” and the homing low speed is active, the origin shall be determined if HOME signal is
entered.

■ Operating Pattern

Speed
Deceleration in DOG “ON”
Homing high
speed

Homing low
speed
Time

Moving amount after DOG “ON”

DOG signal When the homing speed is

decelerated by near origin,
the origin is not decided
by origin signal.
Home signal

Motor’s 1 spin (PG’s 1 spin)

ON

Homing
command
ON

In homing

State of origin-
fixed

Status waiting In homing waiting

Note
1. Once the DOG signal is “On”, when the homing speed acts from high speed to low speed via deceleration
section, if the HOME is entered in the state that the DOG signal is “ON”, the origin will be determined promptly.
That is, The origin will not be determined by the HOME signal during the decelerating.
2. When encounters the Upper/Lower limit signal before HOME after the DOG signal has changed from “Off” to
“On”, the action will be the same as the method of Article 9.1.3
3. If “On” time of HOME signal is short, the positioning module can not recognize it.

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Chapter 9 Functions

9.1.5 Origin Detection by Origin and High/Low Limit (2: U.L Limit/Home)
This is the method using the DOG and HOME and the action by homing command is as follows.

(1) Operation
(a) Accelerates to the setting homing direction and acts by homing high speed.
(b) If Upper/Lower signal is entered, it transferred to opposite direction and acts by homing low speed.
(c) If encounters the HOME signals while the homing low speed is active, the origin would be determined and it stops..

■ Operating Pattern

Speed
Change the direction when meet upper limit signal
Homing high
speed

Time
Homing
low speed
Upper limit
signal

HOME signal
Motor 1 turning
(PG 1 turning)
ON

Homing
command
ON

In homing

State of Origin
Fixed

Action
Waiting In homing Waiting
status

Note
In case that HOME signal is “ON” before entering the Upper/Lower limit signal, it carries out the homing low speed
operation when the Upper/Lower limit signal is entered and when HOME is “ON”, the origin will be determined
Speed
Direction change when encounters Upper/Lower Limit

Time

Upper
Limit

Home
signal

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 Chapter 9 Functions

9.1.6 Origin Detection by DOG signal (3: DOG)

This is used when determines the origin only by using the DOG signal.

(1) Operation
(a) Accelerates to the setting homing direction and acts by homing high speed.
(b) If DOG signal is entered, it decelerates and transferred to opposite direction acts by homing high speed.
(c) When it operates in opposite direction, if DOG is entered again, it decelerates and transferred to opposite direction
and acts by homing low speed.
(d) If encounters the DOG signals again while the homing low speed is active, the origin would be determined and it
stops..
■ Operating Pattern

Forward
Turn the direction at the rising edge of DOG signal
Homing at
high speed

Homing at
Low speed
Time
Origin-determined

Turn the direction at the rising edge of

DOG signal
Reverse

DOG signal

ON

Homing command

ON

In homing

ON

The state of
origin-decided

Action status Waiting In homing Waiting

Note
If “ON” time of DOG is longer than deceleration time, the action is as follows.
Forward

Homing High
speed

Homing Low
speed
Time
Origin
determined
Deceleration section Turn the direction at the falling edge
Homing High
of DOG signal
speed

Reverse
DOG signal

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9.1.7 High Speed Homing (4: High Speed)

High speed origin detection is one of the homing methods that returns to the origin determination position without
detection of external signal (DOG, HOME, Upper/Lower limit) when returning to the mechanical origin position after
completion of the mechanical homing.

(1) Operation
(a) Once Homing command executes, it operates positioning with high speed and homing from current position
(b) When using High speed homing, it should be carried out in the state that the positioning by 6 types of mechanical
homing, by floating origin, or by the current position preset is completed in advance.

■ Operating Pattern

Speed

Homing at
high speed

Time
Origin
ON decided

Homing command

ON

In homing

ON

State of origin-
decided

Action
Waiting In homing Waiting
status

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9.1.8 Origin Detection by Upper/Lower Limit (5: Upper/Lower Limit)

This is the homing method using the Upper/Lower limit signal and is used when not using the HOME or DOG signal

(1) Operation
(a) It accelerates to the setting homing direction and acts by homing high speed.
(b) If Upper/Lower limit signal is entered, it transferred to opposite direction and acts by homing low speed.
(c) If Upper/Lower limit signal is turned off while the homing low speed is active, the origin would be determined and it
stops.

■ Operating Pattern

Forward
Turn the direction when it meet with Upper/Lower
Homing at limit signal
high speed

Origin-decided
Time
Homing at
low speed

Reverse Upper limit

signal

ON

Homing
command
ON

In homing

Origin decided

Action
waiting In homing waiting
status

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9.1.9 Origin Detection by HOME (6: Home)

This is used when determines the origin only by using the HOME signal.

(1) Operation
(a) It accelerates to the setting homing direction and acts by homing high speed.
(b) In this case, if HOME signal is entered, it decelerates and transferred to opposite direction acts by homing high
speed.
(c) When it operates in opposite direction, if HOME is entered again, it decelerates and transferred to opposite
direction and acts by homing low speed.
(d) If encounters the HOME signals again, the origin would be determined and it stops.

■ Operating Pattern

Forward
Turn the direction at the rising edge of HOME signal
Homing at
high speed

Homing at
low speed
Time
Origin
decided

Turn the direction at the falling edge of

HOME signal
Reverse

HOME signal

ON

Homing command

ON

In homing

ON

State of origin-
decided

Action
Waiting In homing Waiting
status

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Note
1. If “ON” time of DOG is longer than deceleration time, the action is as follows
Forward

Homing at
high speed

Homing at
low speed
Time
Origin decided

Turn the direction at the falling edge of

Dec. area
Homing at HOME signal
high speed

Reverse
Home signal

2. It acts as follows if Lower limit (if homing direction is forward, upper limit) signal is entered before HOME signal is
entered..

Forward
Turn the direction at the rising edge of HOME signal
Homing at
high speed

Time
Homing at Origin decided
low speed
Turn the direction when it meets with Lower limit
signal
Reverse
Lower limit
signal
HOME signal
ON

Homing command

ON

In homing

ON

State of Origin
decided

Action
Wating In homing Waiting
status

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9.2 Positioning Control

Positioning control execute using data which set on the 「Operation Data」. Positioning Control includes Single-axis
Position control, Single-axis Speed Control, Single-axis Feed Control, Interpolation control, Speed/Position Switching control,
Position/Speed Switching control.

Positioning Control Control Method Operation

Single-axis Specified axis executes positioning control from
Absolute, Single-axis Position Control
Position the beginning (current position) to the goal
Incremental, Single-axis Position Control
Control position.
The starting position (the current stop position),
Single-axis Absolute, Single-axis Feed Control
changes to 0 and executes positioning control
Feed Control Incremental, Single-axis Feed Control
as much as setting amount of movement..
Executing linear interpolation control by using
Linear Absolute, Linear Interpolation
starting address (current stop position) from the
Interpolation Incremental, Linear Interpolation
axis (2 axes or more) to the target position.

Positioning Execute positioning control until goal position by

Circular
Control the trajectory of arc and control sub-axis as
Interpolation
using axis-2 according to data of main axis.

Set by helical interpolation axis, execute linear

Helical Absolute, Circular Interpolation interpolation control until goal position by the
Interpolation Incremental, Circular Interpolation trajectory of arc and control sub-axis as using
axis-3 according to data of main axis.
Execute positioning control until goal position by
Ellipse trajectory angle of the ellipse is set to operate
Interpolation and control sub-axis as using axis- 2 according
to data of main axis.
Absolute, Single-axis Speed Control Execute Speed control as setting speed until
Speed Control
Incremental, Single-axis Speed Control deceleration stop command is entered.
Speed controlling and then speed / position
switching command or speed / position control
Speed/Position Absolute, Single-axis Speed Control
switching input signal is entered, speed control
Switching Control Incremental, Single-axis Speed Control
switch to position control and execute
positioning control as much as target position.
Position controlling and then position / speed
switching command is executed, position control
Position/Speed Absolute, Single-axis Position Control
switch to speed control and execute speed
Switching Control Incremental, single-axis Position Control
control as setting speed until deceleration stop
command is entered.

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9.2.1 Operation Data for Positioning Control

Describe the Operation data and Setting to execute positioning control.

Operation Data Setting

Control Method Set the Type of control and Standard coordinates of Positioning control.

Operation Method Set the control method of continuous operation data.

Goal Position Set the absolute target position or distance of positioning control.
Operation Speed Set the value of operation speed during operation control.
Set the operation number of operation control during acceleration time.
Acceleration Number Acceleration Number is selected from basic parameters which are Acceleration Number1, 2, 3,
and 4.
Set the operation number of operation control during deceleration time.
Deceleration
Deceleration Number is selected from basic parameters which are Deceleration Number1, 2,
Number
3, and 4.
M Code Set the M Code when using the code number for sub operation of positioning control.
After complete the positioning control, set the time until servo drive complete positioning
Dwell Time
control.
Sub Axis Setting Set the sub axis during interpolation control.

Circular Interpolation Set the secondary data (middle point, center point and radius) during circular interpolation.
Circular Interpolation Set the generating method of arc (middle point, center point and radius) during circular
Mode interpolation.
Circular Interpolation
Set the number of arcs to draw during circular interpolation.
Turn Number
Helical Interpolation Set the axis to run linear operation during helical interpolation.

Note
It is available to set the operation data each of 1~400 steps and axis1~6.

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9.2.2 Operation mode of Positioning Control

Operation mode describes various configurations for how to operate the positioning data using several operation step no.
and how to determine the speed of position data.
Operation mode types are as follows
Operation Operation
Control Method
Method Pattern
Executable Operation

End ○ Finish after the completion of the current step position control
Continue to the next step after the completion of the current step
Single Keep ○ position control
Single-axis Continuous ○ Continue to the next step continuously without stop.
Position Change the step No. to the Repeat step No. after the completion of
Control
End ○ the current step position control.
Continue to the repeat step No. after the completion of the current
Repeat Keep ○ step position control
Continuous ○ The current step and the repeat step No. continuously without stop

End ○ Speed control using current step's DATA

Speed control using current step's DATA.
Single Keep ○ If VTP command executed, continue to the next step after the
completion of the current step's positioning.
Single-axis Continuous Х Errors
Speed
Control
End ○ Speed control using current step's DATA
Speed control using current step's DATA.
Repeat Keep ○ If VTP command executed, continue to the repeat step No. after the
completion of the current step's positioning.
Continuous Х Errors

End ○ Finish after the completion of the current step’s FEED control
Continue to the next step after the completion of the current step
Single Keep ○ FEED control
Single-axis Continuous Х Errors
FEED Change the step No. to the Repeat step No. after the completion of
End ○ the current step FEED control.
Control
Continue to the repeat step No. after the completion of the current
Repeat Keep ○ step FEED control
Continuous Х Errors
End ○ Finish after the completion of the current step’s linear interpolation
Continue to the next step after the completion of the current step s
Single Keep ○ linear interpolation
Continue to the next linear interpolation step continuously without
Linear Continuous ○ stop
Interpolation Change the step No. to the Repeat step No. after the completion of
End ○ the current step linear interpolation.
Continue to the repeat step No. after the completion of the current
Repeat Keep ○ step s linear interpolation
The current linear interpolation and the repeat step No. continuously
Continuous ○ without stop
End ○ Finish after the completion of the current step’s circular interpolation
Continue to the next step after the completion of the current step s
Single Keep ○ circular interpolation
Continue to the next circular interpolation step continuously without
Circular Continuous ○ stop
Interpolation Change the step No. to the Repeat step No. after the completion of
End ○ the current step circular interpolation.
Continue to the repeat step No. after the completion of the current
Repeat Keep ○ step s circular interpolation
The current circular interpolation and the repeat step No.
Continuous ○ continuously without stop

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Note
1. Operation mode shall be set from PLC Program or Operation data of SM-PM.
2. Operation data can be set up to 400 from operation step no. 1 ∼ 400 at each axis.
3. With one time start command, positioning operation method by one operation step positioning data and
positioning operation method by several operation step in order shall be determined by operation mode of each
positioning data set.
3. With one time start command, positioning operation method by one operation step positioning data and
positioning operation method by several operation step in order shall be determined by operation mode of each
positioning data set.
4. when executing continuous operation, The continuous operation item of common parameter must be set to
“Enable”. if Continuous Operation parameter is disabled, Continuous operation command can not be executed

(1) End Operation (Single)

(a) With one time start command, the positioning to the goal position is executed and the positioning shall be
completed at the same time as the dwell time proceeds.
(b) The positioning completion of this operation mode can be used as operation mode of last positioning data of Keep
operation mode and Continuous operation mode.
(c) Operation direction shall be determined by the value of address.
(d) Operation action is trapezoid(or S-Curve) type operation that has acceleration, constant, deceleration section
according to the setting speed and position data but the operation pattern according to the setting value is as
follows.

1) Normal Operation Patterns

Speed

Dwell time
Time
ON

Start command

In operation
ON

In acceleration
ON

In constant
speed
ON

In deceleration
ON

In dwell
ON

Positioning
complete

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2) Abnormal Operation Patterns

When moving amount is very small. When Acc. time = 0, Dec. time = 0

Speed Speed

Dwell time Dwell time

Time Time
ON ON

Start Start
command command

In In
operation operation
ON

In acc. In acc.
ON
At At
constant constant
speed ON speed

In dec. In dec.
ON ON

In dwell In dwell
ON ON

Positioning Positioning
complete complete

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[ Example ]
- When indirect start command is executed[when Step No. of command is set to 0].
- Starting command execute total four times.

■ Setting of XG-PM
Operation Goal Position Operation Decel
Step NO. Control Method Accel NO. M Code Dwell Time
Method [pls] Speed [pls/s] NO.
Absolute Single-axis
1 Single,End 10000 1000 1 1 0 0
Positioning Control
Absolute Single-axis
2 Single,End 15000 500 1 1 0 0
Positioning Control
Absolute Single-axis
3 Single,End 25000 1000 1 1 0 0
Positioning Control
Absolute Single-axis
4 Single,End 30000 500 1 1 0 0
Positioning Control

■ Operation Pattern

Speed
Operation mode : Operation mode :
1000 Singular, End Singular, End

Operation mode : Operation mode :

500 Singular, End Singular, End

step no. : 1 step no. : 2 step no. : 3 step no. : 4

Time
ON ON ON ON

Start
command
ON ON ON ON

In
operation

The operating step for each starting command will be [1] → [2] → [3] → [4].

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(2) End Operation (Repeat)

(a) With one time start command, the positioning to the goal position is executed and the positioning shall be
completed at the same time as the dwell time proceeds.
(b) The operation pattern of Repeat operation mode is same as that of Single operation but the different thing is to
determine next operation by operation step no. assigned by repeat step no. change command after positioning
completion of Repeat operation mode.
(c) Therefore, if Repeat step no. change command was not executed, the step no.“1” shall be assigned after
positioning completion of Repeat operation mode and operated at next Start command. Thus, this operation can
be used for the structure that several operation steps are repeated.
(d) In case that operation step is set as the value except “0” (1~400) for Indirect Start, the positioning operation shall
be done with the setting step no. regardless of the current operation step no. But, if the step no. is set as “0”, the
positioning operation shall be done with the current step no. changed by Repeat operation mode.
(e) Operation direction shall be determined by position address.
(f) Repeat operation step no. change command is available to execute during operation.

[ Example 1]
- When indirect start command is executed[when Step No. of command is set to 0].
- Starting command execute total four times.

■ Setting of XG-PM
Operation Goal Position Operation Decel
Step NO. Control Method Accel NO. M Code Dwell Time
Method [pls] Speed [pls/s] NO.
Absolute Single-axis
1 Single,End 10000 1000 1 1 0 0
Positioning Control
Absolute Single-axis
2 Repeat,End 15000 500 1 1 0 0
Positioning Control
Absolute Single-axis
3 Single,End 25000 1000 1 1 0 0
Positioning Control
Absolute Single-axis
4 Repeat,End 30000 500 1 1 0 0
Positioning Control

■ Operation Pattern

Speed Since XSRS command has

not executed, it operates
Operation method : step number “1” again. Operation method :
Single, end Single, end
1000
Operation method :
Operation method :
repeat, end
repeat, end
500

Operation step Operation step Operation step Operation step

number : 1 number : 2 number : 1 number : 2
Time
ON ON ON ON

Start
command
ON ON ON ON

In
operation

The operating step for each starting command will be [1] → [2] → [1] → [2].
The operating step3 and step4 will not be executed

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[ Example 2]
- When indirect start command is executed[when Step No. of command is set to 0].
- After the first starting command, change repeat operation step number as “3” by Change repeat step number」
command(XSRS).
- Execute starting command 3 times more.

■ Setting of SM-PM
Operation Goal Position Operation Decel
Step NO. Control Method Accel NO. M Code Dwell Time
Method [pls] Speed [pls/s] NO.
Absolute Single-axis
1 Single,End 10000 1000 1 1 0 0
Positioning Control
Absolute Single-axis
2 Repeat,End 15000 500 1 1 0 0
Positioning Control
Absolute Single-axis
3 Single,End 25000 1000 1 1 0 0
Positioning Control
Absolute Single-axis
4 Repeat,End 30000 500 1 1 0 0
Positioning Control

■ Operation Pattern

Speed

Operation mode : Singular, End Operation mode : Singular, End If it keeps operating by start command, it will
1000 operates operation step no. 3 and 4 repeatedly
Change the No. of repeat
step
Operation mode : Repeat, End Operation mode : Repeat, End
500

step no. : 1 step no. : 2 step no. : 3 step no. : 4

Time
ON ON ON ON

Start
command
ON ON ON ON

In
operation
ON

XSRS
command

The operating step for each starting command will be [1] → [2] → [3] → [4].

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(3) Keep Operation

(a) With one time Start command, the positioning to the goal position of operation step is executed and the positioning
shall be completed at the same time as dwell time proceeds and without additional start command, the positioning
of operation step for (current operation step no. +1) shall be done.
(b) Keep operation mode is available to execute several operation steps in order.
(c) Set the operation pattern by 'End' when executing the last step of Keep operation.
(d) When operation pattern is Keep, continue operation until operation pattern come out as 'End'. If there is no "END"
operation pattern, execute until operation step No. 400. and if operation pattern of step 400 is not "End'", error
occurs and operation will be stop. When operation pattern of step 400 is 'Repeat,Keep”, execute operation data of
Repeat Step Number.
(e) Operation direction shall be determined by setting value of goal position.

[ Example]
- When indirect start command is executed[when Step No. of command is set to 0].
- Starting command execute total two times.

■ Setting of XG-PM
Operation Goal Position Operation Decel
Step NO. Control Method Accel NO. M Code Dwell Time
Method [pls] Speed [pls/s] NO.
Absolute Single-axis
1 Single,Keep 10000 1000 1 1 0 0
Positioning Control
Absolute Single-axis
2 Single,Keep 15000 500 1 1 0 0
Positioning Control
Absolute Single-axis
3 Single,End 25000 1000 1 1 0 0
Positioning Control
Absolute Single-axis
4 Single,End 30000 500 1 1 0 0
Positioning Control

■ Operation Pattern

Speed
※Start operation step no. : 1

Operation mode : Single, Keep Operation mode : Single, End

1000
Dwell time Dwell time
Operation mode :
Single, Keep Operation mode : Single, End
500

step no. : 1 step no. : 2 step no. : 3 step no. : 4

Time
ON ON

Start
command

ON ON

In
operation

The operating step for each starting command will be [1 → 2 → 3] → [4].

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(4) Continuous Operation

(a) Continuous Operation Overview
1) With one time Start command, the positioning for operation step set by continuous operation mode is executed
to the goal position without stop and the positioning shall be completed at the same time as dwell time
proceeds.
2) if the moving amount of next operation step is smaller than the deceleration distance from current position, the
"Look ahead control" is activated to avoid immediate stop at [operation speed ≠ bias speed].
3) Steps of dwell time set as 'Continuous' operation mode is ignored, steps of dwell time set as 'End' operation
pattern is valid.
4) When you execute 'Continuous' operation mode, always set as 'End' for the very last operation step.
5) When operation pattern is continuous, continue operation until operation pattern come out as 'End'. If there is
no "END" operation pattern, execute until operation step No. 400. and if operation pattern of step 400 is not
"End'", error occurs and operation will be stop. When operation pattern of step 400 is 'Repeat, continuous”,
execute operation data of Repeat Step Number.
6) Operation direction shall be determined by setting value of goal position.
7) If you want to operate with the position and speed of next step before the current operation step reaches the
goal position, the operation by the Next Move continuous operation」(XNMV) command is available.
8) 「Next Move continuous operation」(XNMV) command can be executes in the acceleration, constant speed,
deceleration section of Continuous operation.
9) when executing continuous operation, The continuous operation item of common parameter must be set to
“Enable”. Control period will be 5ms if continuous operation is enabled and it will be 1ms if continuous
operation is disabled. therfore it is recommanded to disable this parameter if continuous operation is not
required.

[ Example]
- When indirect start command is executed[when Step No. of command is set to 0].
- Starting command execute one time.

■ Setting of SM-PM
Operation Goal Position Operation Decel
Step NO. Control Method Accel NO. M Code Dwell Time
Method [pls] Speed [pls/s] NO.
Absolute Single-axis
1 Single,Cont 10000 500 1 1 0 0
Positioning Control
Absolute Single-axis
2 Single,Cont 30000 1000 1 1 0 0
Positioning Control
Absolute Single-axis
3 Single,End 40000 300 1 1 0 0
Positioning Control

■ Operation Pattern
Speed Operation mode :
Singular, Continuous
Operating step no. : 2
1000
Operation mode :
Singular, Continuous Operation mode :
Operating step no. : 1 Singular, End
500
Operating step no. : 3
300

Time
ON

Start
command
ON

In
operation

Operating step that execute according to starting command order will be [1 → 2 → 3].

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Note
1. When operation method is continuous, sometimes it can be changed to next operation step speed before
reaching the amount of movement current step's goal position. This is operation to change operating speed
continuously, The remained moving amount of current step is operated in next step.
(The remaining distance is less than the distance can be moved within 1 control cycle at current speed)
2. If the control method is set as linear or circular interpolation and the operation method is set as continuous,
operating speed of positioning will be different according to the interpolation continuous operation positioning
method」of extended parameter.
refer to continuous operation of interpolation control for detail.

(b) Look Ahead

1) if the moving amount of next operation step is smaller than the deceleration distance from current position, the
"Look ahead control" is activated to avoid immediate stop at [operation speed ≠ bias speed].
2) The "Look Ahead control" is control method which calculate the available entry speed for next step by goal
position of current and next step and change current speed. if the moving amount of next operation step is
smaller than the deceleration distance from current position, it will decrease the current speed to make stop
speed and bias speed equal..
3) XBM-H(P) embedded positioning executes the "Look Ahead" using goal position of total 3 steps including
current step..

The difference of general continuous operation and Look Ahead control is as below.
Normal continuous operation Continuous operation with Look Ahead
Calculate the
Speed End speed = Operating speed Speed Endspeed with *2
Calculate the *1 Look Ahead
End speed with
Look Ahead

Operation step no. : 2 Operation step no. : 2

Operation step no. : 3 Operation step no. : 3
Operation step no. : 1 Operation step no. : 1
Time Time
ON ON
Start Start
command command

ON ON
In In
operation operation

*1 : moving amount of Step 2 and Step 3 is more than the deceleration stop distance from operation speed. So, endpoint
speed = operation speed.
*2 : When moving amount of step 3 is smaller than deceleration stop distance from operation speed of step 2. Therefore, it
calculate available end point speed for step 2 by goal position of step2,3 and change speed to this..
.

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(c) Continuous operation of interpolation control

When control method is linear or circular interpolation and operation method is Continuous, positioning operation
is different according to the setting value by extended parameter of 「Continuous interpolation positioning
method」. There are two methods of interpolation.
One is「Passing Goal Position」which passes through the specified goal position and the other is「Near
Passing」which proceed to the next step at near position not to exceed a specified goal position.

「continuous interpolation positioning method」setting of expanded parameter is as below.

Item Setting Value Contents

0 : Passing Goal Execute Continuous Operation which passes exact goal position of
Continuous Position current step which set on operation data.
interpolation
positioning Execute Continuous operation which passes near position not to
method 1 : Near Passing
exceed a current step's goal position..

1) Passing Goal Position Continuous Operation

「Passing Goal Position」 Continuous Operation must be passing by goal position to the data set on goal
position when changing from current step to next step. In the interpolation control, when execute a continuous
operation from current step to next step, there can be mechanical vibration caused by discontinuous operating
speed because of remaining moving amount.
XBM-H(P) use the speed compensation. It can solve mechanical vibration problem and execute Continuous
operation which user set by from goal position to next step.
Next, describing the principle of「passing goal position」Continuous operation
Position of
sub-axis

Operation
Operation step : 2
step : 1
Passing by
Goal position
Passing by goal position
and continuous operation
Position of
main-axis

Continuous operation without compensation Passing by goal position operation

Speed Operating speed = Setting speed Speed Setting speed
Discontinuous Speed Compensated Speed

Operation step Operation step Operation step

Operation step no. : 2
no. : 1 no. : 2 no. : 1
Time Time

It decrease speed of acceleration, constant speed section as much as remaining amount of movement at the
last section of current step to compensate position if operates as passing goal position operation.
Because next step can start with compensated speed, can avoid occurrence of discontinuous operating
speed.

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2) Near Passing Continuous Operation

It changes to the next step at near position not exceeding goal position of current step.
This is the way to eliminate discontinuous operating speed which occurs by remaining amount of
movement data at the last of current step.
Next, describing the principle of「Near Passing」Continuous operation.

Position of
sub-axis
Operation step : 2

Operation step : 1

Passing by near point Passing by near point

and continuous operation
Position of
main-axis

Continuous operation without

Passing by near point operation
compensation
Speed Speed
Operating speed = Setting speed Operating speed = Setting speed
Discontinuous speed No discontinuous speed

Operation step Operation step Operation step no. : Operation step

no. : 1 no. : 2 1 no. : 2
Time Time

In the picture above, during general Continuous Operation, Occurring speed discontinuity because of
remaining amount of movement at the last operation step NO.1. 「Near Passing」Continuous Operation,
you can move the remaining amount of movement to next step and execute Continuous Operation without
speed discontinuity.

Note
When using「Near passing」continuous operation, sometimes it operates with next step speed before
reaching the amount of movement set on goal position to remove the discontinuity of speed.
However in the case of Interpolation Continuous Operation control, it can have a gap with trajectory data
which user set if it operates speed of the next step before reaching the goal position.
The following is the maximum difference of position for each axis.
• Difference of maximum axis position <( speed of each axis (pls / s) x control cycle (= 1ms or 5ms))

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(d) Deceleration Stop of Continuous Operation

Continuous operation control is decelerating and positioning completed during the 'End' operation step. However,
next time, it keeps next step operation after decelerating as bias speed

1) When the moving direction of current executing operation step and the moving direction of next step is different
(the case of single positioning control only)

■ Setting of SM-PM
Operation Goal Position Operation
Step NO. Control Method Accel NO. Decel NO. M Code Dwell Time
Method [pls] Speed[pls/s]
Absolute Single-axis Single
1 10000 1000 1 1 0 0
Positioning Control Continuous
Absolute Single-axis Single
2 3000 300 1 1 0 0
Positioning Control End

■ Operation Pattern

Speed

1000

Operation mode :
Singular, Continuous Deceleration Stop
Operation step no. : 1
Time
Operation mode :
Singular, End
Operation step no. : 2
-300

ON

Start
command
ON

In
operation

The Step1 will be operated by the start command. however, because the goal position of next step is on
opposite direction from the goal position of step1, it stops after deceleration, and then operate Step2 to a
opposite direction.

2) When the moving amount of next step is 0

When the next step's moving amount is 0, operation speed will be 0 during one control period.

■ Setting of XG-PM
Operation Goal Operation
Step NO. Control Method Accel NO. Decel NO. M Code Dwell Time
Method Position [pls] Speed [pls/s]
Absolute Single-axis Signle
1 10000 1000 1 1 0 0
Positioning Control Continuous
Absolute Single-axis Signle
2 10000 700 1 1 0 0
Positioning Control Continuous
Absolute Single-axis Signle
3 15000 500 1 1 0 0
Positioning Control End

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Chapter 9 Functions

■ Operation Pattern

Speed

Operation mode : Singular, Continuous

1000 Operation step no. : 2
Deceleration Stop
500
Operation mode : Operation mode :
Singular, Continuous Singular, End
Operation step no. : 1 Operation step no. : 3
Time
ON

Start
command
ON

In
operation

The Step1 will be operated by the start command. However, because the moving amount of next step is 0, it
stops after deceleration, and then operates Step3 after 1 control period.

3) If there is an error on the operation data of next step

If there is an error on the next step's data(for example, if the operation speed of next step is 0 or if the
operation method of current step is「Single-axis Positioning Control」but operation method of Next step is
「Single-axis FEED Control」), it stops after deceleration after current step's operation, and then completes
operation.

■ Setting of XG-PM
Operation Goal Operation
Step NO. Control Method Accel NO. Decel NO. M Code Dwell Time
Method Position [pls] Speed [pls/s]
Absolute Single-axis Signle
1 10000 1000 1 1 0 0
Positioning Control Continuous
Absolute Single-axis Signle
2 20000 1000 1 1 0 0
Feed Control Continuous
Absolute Single-axis Signle
3 30000 1000 1 1 0 0
Positioning Control End

■ Operation Pattern

Speed

1000

Operation mode :
Deceleration Stop
Singular, Continuous
Operation step no. : 1
Time
ON

Start
command
ON

In
operation

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 Chapter 9 Functions

Note

During Continuous Operation of Linear interpolation or circular interpolation, because the PLC does not check the
direction of movement, does not deceleration stop even if the moving direction is changed.
Therefore, if there is opposite direction of goal position set on operation data,
it may cause damages to machine because of rapid direction changing.
In this case, use the operation method of 「Keep」to prevent the damage for system.

Linear interpolating continuous operation Speed Action of main-axis

Position of sub-axis

Operation step Operation step

no. : 1 no. : 2
Operation step no. 1 Operation step no. : 2
Position Time
of main- Speed
axis Action of sub-axis

Moving direction of sub-axis is changed

Operation step no. : 2

Time
Operation step no. 1

ON
Start
command
ON
Main in
operation
ON
Sub in
operation

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Chapter 9 Functions

9.2.3 Single-axis Positioning Control

After executed by the start positioning operation command (「Direct start」, 「Indirect start」, 「Simultaneous start」),
positioning control from specified axis (the current stop position) to goal position (the position to move).

(1) Control by Absolute method (Absolute coordinate) (「Absolute, Single-axis Positioning Control」)
(a) Positioning control from start position to goal position (the position assigned by positioning data). Positioning
control is carried out based on the position assigned (origin position) by homing.
(b) Moving direction shall be determined by start position and goal position.
▶ Start position < Goal position: forward direction positioning
▶ Start position > Goal position: reverse direction positioning

[Example] Set the Absolute Coordinates as follow, Operate single-axis positioning control.
▷Start position: 1000,
▷Goal position: 8000
The transfer amount to forward direction shall be 7000 (7000=8000-1000).

0 1000 8000

Amount of movement : 7000

Starting position Goal position

■ Setting of XG-PM
Operation Goal Position Operation
Step NO. Control Method Accel NO. Decel NO. M Code Dwell Time
Method [pls] Speed [pls/s]
Absolute Single-axis Single
1 8000 1000 1 1 0 100
Positioning Control End

■ Operation Pattern

Speed

1000

Amount of movement = 7000 Dwell time = 100ms

Time
ON

Start
command
ON

In
operation
ON

In dwell
ON

Positioning
complete

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 Chapter 9 Functions

(2) Control by Incremental method (Relative coordinate) (「Relative, Single-axis Positioning Control」)
(a) Positioning control as much as the goal transfer amount from start position. Unlike the absolute coordinates of
goal position, it is not a value of specified on goal position; it is a moving amount of current position.
(b) Transfer direction shall be determined by the sign of transfer amount.
▷Transfer direction (+) or no sign: forward direction (current position increase) positioning
▷Transfer direction ( - ) : reverse direction (current position decrease) positioning

Starting position

Reverse Forward

Amount of movement is - Amount of movement is +

[Example] Set the Relative Coordinates as follow, Operate single-axis positioning control.
▷Start position: 5000,
▷Goal position: -7000
This will be reverse direction and positioning will be at the point of –2000.

-2000 0 5000

Positioning control in reverse direction

(Amount of movement -7000)
Goal position Starting position

■ Setting of XG-PM
Operation Goal Position Operation
Step NO. Control Method Accel NO. Decel NO. M Code Dwell Time
Method [pls] Speed [pls/s]
Incremental Single-axis Single
1 -7000 1000 1 1 0 100
Positioning Control End

■ Operation Pattern

Speed

Time

Amount of Movement = -7000 Dwell time = 100ms

-1000
ON

Start
command
ON

In operation
ON

In dwell
ON

Positioning
complete

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Chapter 9 Functions

9.2.4 Single-axis Speed Control

After executed by the start positioning operation command (「Direct start」, 「Indirect start」, 「Simultaneous start」),
this controls the speed by the setting speed until deceleration stop command is entered.

(1) Features of Control

(a) Speed control contains 2 types of start : Forward direction start and Reverse direction start.
▷Forward direction : when position value is positive number (+) (“0” included)
▷Reverse direction : when position value is negative number (-)
(b) In case of using speed control, the following items of operation data do not affect.
▷ Coordinates, Operation method, Dwell time
▷ “Absolute, single-axis speed control”, “Relative, single-axis speed control” execute same operation.
(c) Accelerating operation of speed control operate with acceleration number and time on setting data, decelerating
operation operate with deceleration number and time of a command 「deceleration stop」

(2) Operation Timing

Speed

Decelerate within dec. stop time

Setting speed

Time
ON

Start command

ON

In operation

Stop but not to

Positioning be on
complete signal

ON
Dec. stop
command

(3) Restrictions
(a) Set the operation pattern of speed control as 'End' or 'Keep'. When it is set on "Continuous", error occurs (error
code: 236) and can not execute speed control.
(b) Using as speed control, only when「M code mode」of extended parameter is "with" , M code signal is "On".
(When "After mode", M code signal is not "On".)

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 Chapter 9 Functions

(c) Speed control of software upper/lower limit checking change according to the setting of the speed control of
software upper/lower limit check.
Item Setting Value Contents
During Speed Control, do not operate to check the range of
0 : Not Detect
During Speed Control upper/lower limit of software
S/W Upper/Lower limit During Speed Control, operate to check the range of upper/lower limit
1 : Detect
of software

(4) Setting of SM-PM

Operation Goal Position Operation

Step NO. Control Method Accel NO. Decel NO. M Code Dwell Time
Method [pls] Speed [pls/s]
Absolute Single-axis Single
1 100 1000 1 1 0 0
Speed Control End

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9.2.5 Single-axis Feed Control

After executed by the start positioning operation command (「Direct start」, 「Indirect start」, 「Simultaneous start」),
change current stop position as ‘0’, positioning control until setting goal position.

(1) Features of control

(a) The value set on goal position is moving amount. That is, moving direction is decided by the code of setting goal
position.
▷Forward direction : when position address is positive number (+) (“0” included)
▷Reverse direction : when position address is negative number (-)
(b) In case of using Single-axis Feed Control, the following items of operation data do not affect.
▷ Coordinates
▷ “Absolute, single-axis speed control”, “Relative, single-axis speed control” execute same operation.

(2) Operation Timing

Speed

1000
Dwell time = 100ms Dwell time = 100ms
500

Time
ON

Start command
ON

In operation
ON ON

In dwell
ON

Positioning complete

Position

1000

700

Time

The current position value is 0 when positioning starts

(3) Restrictions
(a) Set the operation pattern of Feed control as 'End' or 'Keep'. When it is set on "Continuous", error occurs (error
code: 230) and can not execute Feed control.

(4) Setting of XG-PM

Operation Goal Position Operation
Step NO. Control Method Accel NO. Decel NO. M Code Dwell Time
Method [pls] Speed [pls/s]
Absolute Single-axis Single
1 1000 1000 1 1 0 100
Feed Control Keep
Absolute Single-axis Single
2 700 500 1 1 0 100
Feed Control End

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 Chapter 9 Functions

9.2.6 Linear Interpolation Control with 2 axes

After executed by positioning operation start command (「Indirect start」, 「Synchronous start」), then executing
interpolation control from starting position to the goal position with interpolation axis set as the main axis and sub axis.

(1) Linear interpolation control with absolute coordinates (「Absolute, Linear Interpolation」)
(a) Execute linear interpolation from starting position to the goal position designated on positioning data. Positioning
control is on basis of the designated position from homing.
(b) The direction of movement depends on the starting position and the goal position for each axis.
■ Starting position < Goal position : Positioning operation in forward
■ Starting position > Goal position : Positioning operation in reverse

Y Forward

Y2

Moving amount Starting positon(X1, Y1) Goal position

of Y axis (X2, Y2)

Y1
Action by linear interpolation

X Reverse X Forward
Moving amount
of X axis
X1 X2
Y Reverse

(c) Restrictions
Linear interpolation with 2 axes may not be executed in the case below.
■ 「Sub axis setting」Error (error code : 253)
▪ 「Sub axis setting」of main axis operating data is “Axis-undecided”
▪ 「Sub axis setting」of main axis operating data is the same as main axis no.
▪ 「Sub axis setting」of main axis operating data exceeds the settable axis No.

Note
Because more than 2 axes are in action, so need user to pay attention
(1) The commands available are as follows.
Speed override, Dec. time, Emergent stop, Skip operation, Continuous operation
(2) The commands unavailable in linear interpolation are as follows.
Position/Speed switching control, Position override
(3) The parameter items which work depending on the value of each axis are as follows.
Backlash compensation, Software Upper/Lower limit

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Chapter 9 Functions

(d) Setting example of operating data

Items Main-axis setting Sub-axis setting Description

Absolute, Signgle When linear interpolation control is executed by the
Control Absolute, Linear
axis position method of absolute coordinates, set「Absolute, Linear
method interpolation
control*1 interpolation」on the main axis
Operating
Singular, End - Set the operating method to execute linear interpolation
method
Goal
Set the goal position to position on main-axis and sub-
position 10000 5000
axis
[pls]
Operating
Use speed-designated method of main axis for linear
speed 1000 -
interpolation
[pls/s]
Acc. no. No.1 - Set acc. no. for acceleration (no.1 ~ no.4)
Dec. no. No.2 - Set dec. no. for deceleration (no.1 ~ no.4)
When need to execute auxiliary work synchronizing
M code 0 -
with linear interpolation
Set dwell time(ms) to outputting the signal positioning
Dwell time 500 -
completion
Sub-axis Set an axis to be used as sub-axis among settable axis
Axis2 -
setting in operating data of main-axis
*1
: It does not need to be set. Whatever value is set as, it does not affect linear interpolation.

Note
Linear interpolation control is executed on the basis of operating data of main axis.
Items other than "coordinate" and "target position" during setting of subordinate axis during linear interpolation
operation do not affect linear interpolation operation. That is, setting any value does not affect the operation and
does not cause an error. Since the coordinate setting of the longitudinal axis control method indicates whether
the target position on the vertical axis is an absolute coordinate or a relative coordinate, when the linear
interpolation is controlled by the relative coordinate system, the coordinate of the vertical axis must be set to
"relative".

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 Chapter 9 Functions

[Example] axis1 and axis2 are main and sub axis each. Execute linear interpolation by the setting as follows
■ Starting position (1000, 4000), Goal position (10000, 1000) : In this condition, the operation is as follows.
■ Setting example of XG-PM
▪ Operating data of main-axis(axis1)
Operation Goal Position Operation Accel Decel Sub axis
Step NO. Control Method M Code Dwell Time
Method [pls] Speed [pls/s] NO. NO. setting
1 Absolute, Linear Singular, End 10000 3000 1 1 0 100 Axis 2

▪ Operating data of sub-axis(axis2)

Operation Goal Position Operation Accel Decel Sub axis
Step NO. Control Method M Code Dwell Time
Method [pls] Speed [pls/s] NO. NO. setting
Absolute, Single Axis-
1 Singular, End 1000 0 1 1 0 0
positioning control undecided

■ Operating pattern

Position of Sub-axis
Starting position
4000
Moving amout
of sub-axis
(1000-4000=-3000)

1000 Goal position

Position of
0 main axis
1000 5000 10000

Moving amount of main-axis

(10000-1000=9000)
Speed of
main aixs
3000

Action of main axis

0 Time
Speed of
sub axis
Action of sub axis 0 Time
-1000
ON

Start command Dwell time

ON

Main-axis in operation
ON

Sub-axis in operation

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Chapter 9 Functions

(2) Linear interpolation control with relative coordinates (「Relative, Linear Interpolation」)
(a) Execute 2 axes linear interpolation from starting position to the goal position. Positioning control is on basis of the
current stop position.
(b) Moving direction depends on the sign of the goal position (Moving amount)
■ The sign is positive (+ or nothing) : Positioning operation in forward
■ The sign is negative (-) : Positioning operation in reverse

Y Forward

Y2

Moving amount Starting position (X1, Y1) Ending position of

of Y linear interpolation
(X2, Y2)

Y1
Action by linear interpolation

X Reverse X Forward

Moving amount of X
X1 X2
Y Reverse

(c) Restrictions
Linear interpolation with 2 axes may not be executed in the case below.
■「Sub-axis setting」error (error code : 253)
▪「Sub-axis setting」value of main axis operating data is “Axis-undecided”
▪「Sub-axis setting」value of main axis operating data is same as the main axis no.
▪「Sub-axis setting」value of main axis operating data exceeds settable axis no.

(d) Setting example of operation data

Sub-axis
Items Main-axis setting Description
setting
When linear interpolation control is executed by the
ABS, ABS,
Control method method of relative coordinates, set「Relative, Linear
(LIN)INT (SIN)POS
interpolation」on the main axis
Operating method Singular, End - *1 Set the operating method to execute linear interpolation
Goal position[pls] 10000 5000 Set the goal position to position on main & sub-axis
Operating speed Use speed-designated method of main axis for linear
1000 -
[pls/s] interpolation
Acc. no. No.1 - Set acc. no. for acceleration (no.1 ~ no.4)
Dec. no. No.2 - Set dec. no. for deceleration (no.1 ~ no.4)
When need to execute auxiliary work synchronizing
M code 0 -
with linear interpolation
Set dwell time(ms) to outputting the signal positioning
Dwell time 500 -
completion
Set an axis to be used as sub-axis among settable axis
Sub-axis setting Axis2 -
in operating data of main-axis
*1
: It does not need to be set. Whatever value is set as, it does not affect linear interpolation.

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 Chapter 9 Functions

Note
Linear interpolation control executes the operation based on the item set in the operation data of the main axis
(command axis).
Items other than "coordinate" and "target position" during setting of subordinate axis during linear interpolation
operation do not affect linear interpolation operation. That is, setting any value does not affect the operation and
does not cause an error.
Since the coordinate setting of the longitudinal axis control method indicates whether the target position on the
vertical axis is an absolute coordinate or a relative coordinate, when the linear interpolation is controlled by the
relative coordinate system, the coordinate of the vertical axis must be set to "relative".

[Example] axis1 and axis2 are main and sub axis each. Execute linear interpolation by the setting as follows.
■ Starting position (1000, 4000), Goal position (9000, -3000) : In this condition, the operation is as follows.
■ Setting example of XG-PM
▪ Operating data of main-axis(axis1)
Operation Goal Position Operation Accel Decel Sub axis
Step NO. Control Method M Code Dwell Time
Method [pls] Speed [pls/s] NO. NO. setting
1 Absolute, Linear Singular, End 9000 3000 1 1 0 100 Axis2

▪ Operating data of sub-axis(axis2)

Operation Goal Position Operation Accel Decel Sub axis
Step NO. Control Method M Code Dwell Time
Method [pls] Speed [pls/s] NO. NO. setting
Absolute, Single
1 Singular, End -3000 0 1 1 0 0 None
positioning control

■ Operating pattern
Position of Sub-aixs

Starting position
4000
Moving amount of
sub-axis
(-3000)
Ending position of
linear interpolation
1000
Position of
0 main-axis
1000 5000 10000

Moving amount of main-axis

(9000)
Speed of main-axis

3000
Action of Moving amount = 9000
main-axis
0 Time
Speed of sub-axis

Action of
sub-axis 0 Time
Moving amount = -3000
-1000
ON
Dwell time=100ms
Start command
ON

Main-axis in operation
ON

Sub-axis in operation

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Chapter 9 Functions

(3) Speed in 2 axes linear interpolation control

Operating speed in linear interpolation is according to the method of main-axis designating. After operating speed is
set on command axis (main), the designated axis for interpolation is operated by PLC’s calculating each moving
amount. Speed of sub-axis and actual speed of machine are calculated as follows.

■ Speed in 2 axes linear interpolation

Position of Y
Goal position
(X2, Y2)
Y2 )
on
lati
po
Moving amount (Speed of Sub-axis) ter
f in
of Y (Sy) do
Vy ee
(Sp Action by linear interpolation
F
Y1 Vx (Speed of main-axis)
Starting position
(X1, Y1)
Position of X

Moving amount of X(Sx)

X1 X2

Moving amount of Sub ( S y )

Speed of sub(Vy )  Speed of main (Vx ) 
Moving amount of Main ( S x )

Interpolating speed ( F )  Vx  Vy
2 2

[Example]
■ Starting position (2000, 1000)
■ Goal position (6000, 4000)
■ Operating speed : 400 [pls/s]
Speed of sub-axis and interpolating speed are as follows.
3000
Speed of sub-axis = 400  300 [pls/s]
4000

Interpolating speed = 4002  3002  500 [pls/s]

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 Chapter 9 Functions

■ Speed in 2 axes linear interpolation(when Synthetic speed is selected)

Position of Y
Goal position
(X2, Y2)
Y2 )
on
lati
po
Moving amount (Speed of Sub-axis) ter
f in
of Y (Sy) edo
Vy
(Spe
Action by linear interpolation
F
Y1 Vx (Speed of main-axis)
Starting position
(X1, Y1)
Position of X

Moving amount of X(Sx)

X1 X2

Interpolating speed(F) = Operating speed of main axis

2 2
Interpolating moving amount(S)= Sx  Sy

Speed of main-axis = Interpolating speed(F)  Main axis moving amount(S x )

Synthetic axis moving amount(S )

Sub axis moving amount(S y )

Speed of sub-axis = Interpolating speed(F) 
Synthetic axis moving amount(S )
[Example]
■ Starting position (2000, 1000)
■ Goal position (6000, 4000)
■ Synthetic speed : 400 [pls/s]
Speed of sub-axis and interpolating speed are as follows.

Interpolating moving amount(S)= 40002  30002 = 5000

4000
Speed of main-axis = 400  320
5000

3000
Speed of sub-axis = 400  240 [pls/s]
5000

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 Chapter 9 Functions

Note

(1) Speed limit for Sub-axis

When using linear interpolation control and moving distance of main < moving distance of sub, it is possible that sub-axis
speed calculated by PLC exceeds 「Speed limit」of basic parameter. In this case, error (error code : 261) arises and sub-axis
speed is recalculated, then sub-axis continues to operate. To prevent that errors arise, operate it at the speed below limit.
(2) The speed when the distance main-axis moved is 0
When the distance main-axis moved is 0, the operating speed of main-axis operating data becomes actual interpolating
speed. In the case that the distance main-axis moved is 0 and executing 2 axes linear interpolation, only sub-axis operates at
the speed set on command axis.
■ Setting example of SM-PM
▪ Operating data of Main-axis
Operating Operating speed Sub axis
Step no. Control method Goal position [pls] Acc. no. Dec. no. M code Dwell time
method [pls/s] setting
Absolute, Linear Singular,
1 5000 1000 No.1 No.1 0 100 Axis2
interpolation Continuous
Absolute, Linear
2 Singular, End 5000 1000 No.1 No.1 0 100 Axis2
interpolation
▪ Operating data of Sub-axis
Operating Operating speed Sub axis
Step no. Control method Goal position [pls] Acc. no. Dec. no. M code Dwell time
method [pls/s] setting
Absolute, single
1 Singular, End 1000 0 No.1 No.1 0 0 None
position control
Absolute, single
2 Singular, End 3000 0 No.1 No.1 0 0 None
position control
■ Operating pattern
Position of sub-axis
Trace of linear
interpolation
3000
Operating step : 2

(Moving amount of
main-axis = 0)
Operating step : 1
1000

Position of main-axis
0
5000

Action of
Speed of main-axis main-axis

1000
Operating step : 1 Operating step : 2

0 Time
Speed of sub-axis Action of Operating at the
sub-axis speed of main-axis
1000
Operating step : 1 Operating step : 2
200
Time
0
ON
Start
Dwell time
command
ON
Main-axis
in operation
ON
Sub-axis
In operation

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 Chapter 9 Functions

(4) 2 axes linear interpolating continuous operation with circular arc interpolation
When the operation method is set as “continuous” and the direction of movement changes rapidly, machine is
possible to be damaged. When it does not have to position to the goal position, user may interpolate ‘circular
interpolating operation’ between two trace to make operation softer and smoother.

(a) Operation order

1) Confirm the execution of 2 axes linear interpolating continuous operation with circular arc interpolation when
linear interpolation starts. It may be set in「2 axes linear interpolating continuous operation with circular arc
interpolation」of extended parameter.
Setting items Setting value Description
2 axes linear interpolating 0 : Not to execute When executing it, not to interpolate circular arc
continuous operation with
circular arc interpolation 1 : To execute When executing it, interpolate circular arc
2) Reset the starting position of circular interpolation (Goal position of Linear trace 1) and the goal position
(Starting position of Linear trace 2) through checking the position circular arc will be interpolated at. The
position circular arc will be interpolation at may be set in「Circular arc interpolating position」of extended
parameter.
Setting items Setting value Description
2 axes linear interpolating Set the position circular arc will be interpolated at.
continuous operation with 0 ~ 2147483647 This value means the relative distance from the
circular arc interpolation goal position of linear trace 1.
3) Execute linear interpolation to the starting position of circular arc and continue to execute circular interpolation
at the same speed as linear interpolation. After finish the circular interpolation, continue to execute linear
interpolation at the same speed.

(b) Operating pattern

No circular interpolation Circular interpolating continuous operation

Sub-axis Shock occurs Sub-axis Operation Position of circular interpolation

step: 1

Operation Position of
step : 1 circular
interpolation
Operation Operation
Circular
step : 2 step : 2
interpolation

Main- Main-
axis axis

Connecting speed Connecting speed

Linear Circular Linear

Operation step :1 Operation step: 2
interpolation interpolation interpolation

0 Time 0 Time

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(c) Restrictions
Circular interpolation is not executed in the case below but linear interpolation is executed to the goal position.
▪ Operating method of operation data is “End” or “Continue”
▪ Position of circular arc interpolating is bigger than linear trace 1, 2 (Error code : 262)
▪ Trace of both linear interpolations are on the same line
[Example] Execute linear interpolation when the extended parameter setting is same as follows at the
current position (0,0)

Extended parameter Setting value

2 axes linear interpolating continuous operation
1 : Circular arc interpolating continuous operation
with circular arc interpolation
Position of 2 axes linear interpolating continuous
2000
operation with circular arc interpolation

■ Setting example of XG-PM

▪ Operating data of Main-axis
Operating Sub axis
Step no. Control method Goal pos[pls] speed [pls/s] Acc. no. Dec. no. M code Dwell time
method setting
Absolute, Linear singular,
1 0 3000 No.1 No.1 0 0 Axis2
interpolation continuous
Absolute, Linear singular,
2 5000 3000 No.1 No.1 0 0 Axis2
interpolation continuous
Absolute, Linear
3 singular, end 5000 3000 No.1 No.1 0 100 Axis2
interpolation

▪ Operating data of Sub-axis

Operating Sub axis
Step no. Control method Goal pos[pls] speed [pls/s] Acc. no. Dec. no. M code Dwell time
method setting
Absolute, single axis
1 singular, end 1000 0 No.1 No.1 0 0 None
position control
Absolute, single axis
2 singular, end 1000 0 No.1 No.1 0 0 None
position control
Absolute, single axis
3 singular, end 4000 0 No.1 No.1 0 0 None
position control

■ Operating pattern

No circular arc interpolation Circular arc interpolating continuous operation

Sub-axis Sub-axis

4000 4000
Operation step : 3
3000
Position of
circular arc
Operation step : 2 interpolation=
1000 1000 2000
Operation step : 1
Main Main
0 -axis 0 -axis
1000 5000 1000 3000 5000

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 Chapter 9 Functions

■ Description about action

When executing operation step no.1, execute linear interpolation to original goal position (0,1000) without circular
arc interpolation because position to interpolate circular arc(2000) is bigger than the length of line 1(1000).
When finishing linear interpolation to goal position of operation step no.1 and executing operation step no.2,
because position to interpolate circular arc(2000) is smaller than line length of step no.2(5000) and no.3(3000), so
recalculate the starting position (Goal position of linear trace no.1) and the goal position (Starting position of linear
trace no.2) of circular interpolation.
After continue to execute linear interpolation to the recalculated goal position of operation step no.2(3000,1000),
then execute circular interpolation to recalculated starting position of operation step no.3(5000,3000).
After circular interpolation, execute linear interpolation to the goal position of operation step no.3(5000,4000),
Positioning will be complete.

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9.2.7 Linear Interpolation Control with 3 axes

After executed by positioning operation start command (「Indirect start」, 「Synchronous start」), then executing
interpolation control from starting position to the goal position with interpolation axis set as the main axis and sub axis.

(1) Linear interpolation control with absolute coordinates (「Absolute, Linear Interpolation」)
(a) Execute linear interpolation with 3 axes from starting position to the goal position designated on positioning data.
Positioning control is on basis of the designated position from homing.
(b) The direction of movement depends on the starting position and the goal position for each axis.
■ Starting position < Goal position : Positioning operation in forward
■ Starting position > Goal position : Positioning operation in reverse

Forward(axis2)
Goal position
(X2, Y2, Z2)

Starting
position Action by linear interpolation
(X1, Y1, Z1) of axis1,2,3

Y2

Z2
Forward(axis3) Moving amount of axis2

Moving amount of
axis3 Y1
Z1
Moving amount of axis1

X1 X2
Reverse Forward(axis1)

Reverse
Reverse

(c) Restrictions
Linear interpolation with 3 axes may not be executed in the case below.
■ 「Sub axis setting」Error (error code : 253)
▪ 「Sub axis setting」of main axis operating data is “Axis-undecided”
▪ 「Sub axis setting」of main axis operating data is the same as main axis no.
▪ 「Sub axis setting」of main axis operating data exceeds the settable axis no. of module now using
■ If only one axis is set as sub axis, execute “linear interpolation control with 2 axes”.

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(d) Setting example of operating data

Main-axis setting Sub-axis Sub-axis

Setting items Description
(axis1) setting(axis2) setting(axis3)
When linear interpolation control is executed by the
Control Absolute, Linear
- *1 - *1 method of absolute coordinates, set「Absolute, Linear
method interpolation
interpolation」on the main axis
Operating
Singular, End - Set the operating method to execute linear interpolation
method
Goal position Set the goal position to position on main-axis and sub-
5000 6000 4000
[pls] axis
Operating
Use speed-designated method of main axis for linear
speed