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XGB

The document provides safety instructions for using a product. It explains that safety instructions should always be observed to prevent accidents. It separates instructions into warnings and cautions, with warnings indicating the possibility of serious injury and cautions indicating the possibility of slight injury. Various safety markings on the product and in manuals are also defined. The user's manual should be kept available for any users of the product.

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0% found this document useful (0 votes)

372 views521 pages

XGB

Uploaded by

Al-Usmanu Usman

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Available Formats

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Safety Instruction

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;

Warning

This symbol indicates the possibility of serious injury

or death if some applicable instruction is violated

Caution

This symbol indicates the possibility of slight injury

or damage to products if some applicable instruction
is violated

The marks displayed on the product and in the users manual have the
following meanings.
Be careful! Danger may be expected.
Be careful! Electric shock may occur.
The users manual even after read shall be kept available and accessible to
any user of the product.

Safety Instruction
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 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 Instruction
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,
dont let PLC directly vibrated. Electric shock, fire or abnormal
operation may be caused.
Dont let any metallic foreign materials inside the product, which
may cause electric shock, fire or abnormal operation..

Safety Instruction
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.
Dont 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 Instruction
Safety Instructions for test-operation or repair
Warning
Dont 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.
Dont let the battery recharged, disassembled, heated, short or
soldered. Heat, explosion or ignition may cause injuries or fire.

Caution
Dont 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.

Revision History
Version

Date

Remark

Page

V 1.0

06.5

First Edition

V 1.1

06.12

Adds contents of XBF-DV04A

The number of Users manual is indicated right part of the back cover.

LS Industrial Systems Co., Ltd

2006

All Rights Reserved.

12-34

About Users Manual

Congratulations on purchasing PLC of LS Industrial System Co.,Ltd.
Before use, make sure to carefully read and understand the Users 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 Users Manual.

The Uses 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.lsis.biz/) and download the information as a
PDF file.

Relevant Users Manuals

Title

Description
It

XGK-CPUA/CPUE/CPUH/CPUS

describes

specifications,

system structure

and

EMC

spec.

correspondence of CPU module, power module, base, I/O module and

increase cable
It describes how to use XG5000 software especially about online

XG5000 Users Manual

functions such as programming, printing, monitoring and debugging by

using XGT series products.

XGK Series

It is the users manual for programming to explain how to use

Instructions & Programming

commands that are used PLC system with XGK CPU.

Chapter 1 Introduction

Contents

...................................................................... 1-1~1-5

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

1.2 Features................................................................................................................... 1-2
1.3 Terminology ............................................................................................................. 1-4

Chapter 2 System Configuration............................................................. 2-1~2-6

2.1 XGB system Configuration ..................................................................................... 2-1
2.2 Product List ............................................................................................................ 2-2
2.3 System Configuration ............................................................................................. 2-3
2.3.1 Cnet system ..............................................................................................................2-3
2.3.2 Dedicated network system ........................................................................................2-6
2.3.3 Ethernet system ........................................................................................................2-6

Chapter 3 General Specifications ................................................................. 3-1

3.1 General Specifications ............................................................................................. 3-1

Chapter 4 CPU Specifications ................................................................. 4-1~4-5

4.1 Performance Specifications ................................................................................... 4-1
4.2 Names of Part and Function .................................................................................. 4-3
4.3 Power Supply Specifications .................................................................................. 4-4
4.4 Calculating Example of Consumption Current/Voltage .......................................... 4-5

Chapter 5 Program Configuration and Operation Method.................. 5-1~5-35

5.1 Program Instruction ................................................................................................ 5-1
5.1.1 Program execution methods ....................................................................................5-1
5.1.2 Operation processing during momentary power failure ...........................................5-2
5.1.3 Scan time ..................................................................................................................5-3
5.1.4 Scan Watchdog timer ...............................................................................................5-4
5.1.5 Timer processing ......................................................................................................5-5
5.1.6 Counter processing ..................................................................................................5-8

5.2 Program Execution .............................................................................................. 5-10

5.2.1 Configuration of program ........................................................................................5-10
5.2.2 Program execution methods ....................................................................................5-10
5.2.3 Interrupt . ..................................................................................................................5-12

5.3 Operation Mode ................................................................................................... 5-24

5.3.1 RUN mode ..............................................................................................................5-24
5.3.2 STOP mode ............................................................................................................5-25
5.3.3 DEBUG mode .........................................................................................................5-25
5.3.4 Change operation mode .........................................................................................5-29

5.4 Memory.................................................................................................................. 5-30

5.4.1 Data memory ..........................................................................................................5-30

5.5 Configuration Diagram of Data Memory .............................................................. 5-32

5.5.1 Data latch area setting ............................................................................................5-33

Chapter 6 CPU Functions ...................................................................... 6-1~6-18

6.1 Parameter Setting .................................................................................................. 6-1
6.1.1 Basic parameter setting ............................................................................................6-1
6.1.2 I/O parameter setting ................................................................................................6-2

6.2 Self-diagnosis Function .......................................................................................... 6-3

6.2.1 Saving of error log ....................................................................................................6-3
6.2.2 Troubleshooting ........................................................................................................6-4

6.3 Remote Functions.................................................................................................... 6-5

6.4 Forced Input/Output On and Off Function ............................................................... 6-6
6.4.1 Force I/O setup .........................................................................................................6-6
6.4.2 Processing time and method of Forced Input/Output On and Off ............................6-7

6.5 Direct Input/Output operation .................................................................................. 6-7

6.6 Diagnosis of External Device .................................................................................. 6-8
6.7 Allocation of Input/Output Number .......................................................................... 6-9
6.8 Online Editing ........................................................................................................ 6-10
6.9 Writing Input/Output Information............................................................................ 6-13
6.10 Monitoring .......................................................................................................... 6-14

Chapter 7 Input/Output Specifications ............................................... 7-1~7-22

7.1 Introduction ............................................................................................................ 7-1
7.2 Basic Digital Input Unit Specifications .................................................................... 7-3
7.2.1 XBM-DR16S 8 point DC24V input unit (Source/Sink type)........................................7-3
7.2.2 XBM-DN16S 8 point DC24V input unit (Source/Sink type)........................................7-4
7.2.3 XBM-DN32S 16 point DC24V input unit (Source/Sink type) ....................................7-5

7.3 Basic Digital Output Unit Specifications ................................................................. 7-6

7.3.1 XBM-DR16S 8 point relay output unit ......................................................................7-6
7.3.2 XBM-DN16S 8 point transistor output unit (Sink type) .............................................7-7
7.3.3 XBM-DN32S 16 point transistor output unit (Sink type) ...........................................7-8

7.4 Digital Input Module Specifications ........................................................................ 7-9

7.4.1 8 point DC24V input module (Source/Sink type) ......................................................7-9
7.4.2 16 point DC24V input module (Source/Sink type) ..................................................7-10
7.4.3 32 point DC24V input module (Source/Sink type) ...................................................7-11
7.4.4 64point DC24V input module (Source type) ...........................................................7-12

7.5 Digital Output Module Specifications ................................................................... 7-13

7.5.1 8 point relay output module......................................................................................7-13
7.5.2 16 point relay output module....................................................................................7-14
7.5.3 8 point transistor output module (Sink type) ............................................................7-15
7.5.4 16 point transistor output module (Sink type) ..........................................................7-16
7.5.5 32 point transistor output module (Sink type) ..........................................................7-17
7.5.6 64 point transistor output module (Sink type) ..........................................................7-18
7.5.7 8 point transistor output module (Source type) ........................................................7-19
7.5.8 16 point transistor output module (Source type) ......................................................7-20
7.5.9 32 point transistor output module (Source type) ......................................................7-21
7.5.10 64 point transistor output module (Source type) ....................................................7-22

Chapter 8 Built-in High-speed Counter Function .............................. 8-1~8-27

8.1 High-speed Counter Specifications.......................................................................... 8-1
8.1.1 Performance specifications ......................................................................................8-1
8.1.2 Designation of parts ..................................................................................................8-2
8.1.3 Functions ..................................................................................................................8-4

8.2 Installation and Wiring .......................................................................................... 8-17

8.2.1 Precaution for wiring ...............................................................................................8-17
8.2.2 Example of wiring ...................................................................................................8-17

8.3 Internal Memory ................................................................................................... 8-18

8.3.1 Special area for High-speed counter ......................................................................8-18
8.3.2 Error code ...............................................................................................................8-22

8.4 Examples: Using High-speed Counter ................................................................. 8-23

Chapter 9 Built-in Positioning Function ........................................... 9-1~9-116

9.1 Positioning Specifications ...................................................................................... 9-1
9.1.1 Features ...................................................................................................................9-1
9.1.2 Purpose of position function .....................................................................................9-2
9.1.3 Flow of position signal ..............................................................................................9-3
9.1.4 Performance specifications ......................................................................................9-4
9.1.5 External interface I/O specifications .........................................................................9-5

9.2 Positioning Control ................................................................................................. 9-7

9.2.1 Position control...........................................................................................................9-7
9.2.2 Interpolation control ..................................................................................................9-9
9.2.3 Speed control .........................................................................................................9-11
9.2.4 Speed/Position switching ........................................................................................9-12
9.2.5 Position/Speed switching control ............................................................................9-13
9.2.6 Operation mode ......................................................................................................9-14
9.2.7 Positioning start signal ...........................................................................................9-20
9.2.8 Positioning stop ......................................................................................................9-23
9.2.9 Re-start after positioning ........................................................................................9-25
9.2.10 Home-return .........................................................................................................9-26
9.2.11 Manual operation ..................................................................................................9-31
9.2.12 Speed/Position change during positioning operation ...........................................9-32

9.2.13 Stroke upper/lower limits ......................................................................................9-33

9.2.14 Temporary position address setting to origin and current position change ..........9-34
9.2.15 Floating origin setting ...........................................................................................9-34
9.2.16 Teaching .................................................................................................................9-35
9.2.17 Start step number change ....................................................................................9-35
9.2.18 M code ..................................................................................................................9-35
9.2.19 Error and No output ..............................................................................................9-36
9.2.20 Positioning completion output time ......................................................................9-36

9.3 Positioning Parameter and Operation Data ........................................................... 9-38

9.3.1 Setting basic positioning parameter .......................................................................9-40
9.3.2 Origin/Manual parameter setting for positioning ....................................................9-45
9.3.3 Positioning operation data setting ..........................................................................9-48

9.4 Status Monitoring Flag for Positioning and I/O Signals ........................................ 9-52
9.4.1 Status monitoring flag for positioning

...................................................................9-52

9.4.2 Positioning Input/Output signal ...............................................................................9-54

9.5 Positioning Instructions.......................................................................................... 9-56

9.5.1 Description of positioning dedicated instructions ...................................................9-56
9.5.2 Use of positioning dedicated instruction .................................................................9-57

9.6 Positioning Software Package Commissioning .................................................... 9-69

9.6.1 Instruction and monitoring ......................................................................................9-69
9.6.2 Changing positioning parameter and operation data .............................................9-73

9.7 Examples of Using Program ................................................................................ 9-75

9.7.1 Basic program ........................................................................................................9-76
9.7.2 Application ..............................................................................................................9-96

9.8 Operation Sequences and Installation ............................................................... 9-107

9.8.1 Operation sequence

...........................................................................................9-107

9.8.2 Installation ............................................................................................................9-108

9.8.3 Wiring ...................................................................................................................9-108

9.9 Error Code List......................................................................................................9-112

Chapter 10 Built-in Communication Function .............................. 10-1 ~ 10-93

10.1 XGT dedicated communication .......................................................................... 10-1
10.1.1 XGT dedicated protocol

......................................................................................10-1

10.1.2 XGT dedicated server communication ...............................................................10-22

10.1.3 XGT dedicated client communication .................................................................10-28

10.1.4 XGT dedicated communication error codes and the countermeasures .............10-39

10.2 Modbus Communication .................................................................................. 10-40

10.2.1 Modbus communication .....................................................................................10-41
10.2.2 Modbus server communication ..........................................................................10-43
10.2.3 Modbus client communication ............................................................................10-48

10.3 User Defined Communication............................................................................ 10-64

10.3.1 User defined protocol communication ................................................................10-64

10.4 Remote Access Service ................................................................................... 10-86

10.4.1 Remote 1 communication module access .........................................................10-86
10.4.2 Remote 2 communication module access ...........................................................10-90

Chapter 11 Built-in PID Control Function ..................................... 11-1 ~ 11-39

11.1 Features................................................................................................................11-1
11.1.1 PID Introduction ....................................................................................................11-1

11.2 PID Control ...........................................................................................................11-2

11.2.1 Functional specification of PID control ...................................................................11-2
11.2.2 PID control parameter setting ...............................................................................11-3
11.2.3 PID Flag..................................................................................................................11-9
11.2.4 PID instructions ....................................................................................................11-17

11.3 PID Auto-tuning...................................................................................................11-20

11.3.1 PID Auto-tuning Function specifications...............................................................11-20
11.3.2 Auto-tuning parameter setting ..............................................................................11-20
11.3.3 Auto-tuning flag.....................................................................................................11-23
11.3.4 Auto-tuning instructions ........................................................................................11-26

11.4 Example Programs .............................................................................................11-27

11.4.1 System structure...................................................................................................11-27
11.4.2 Example of PID Auto-tuning .................................................................................11-28
11.4.3 Stand-along operation after PID auto-tuning ........................................................11-34

11.5 Error/Warning Codes ..........................................................................................11-38

11.5.1 Error codes ...........................................................................................................11-38
11.5.2 Warning codes......................................................................................................11-39

Chapter 12 Analog Input/Output Function ....................................... 12-1~12-57

12.1 Analog Voltage Input Module ............................................................................. 12-1
12.1.1 Performance specifications ....................................................................................12-1
12.1.2 Respective designations and functions ................................................................12-2
12.1.3 Characteristic of I/O conversion ...........................................................................12-3
12.1.4 Input/Output characteristic of XBF-AD04A ...........................................................12-3
12.1.5 Accuracy of XBF-AD04A ........................................................................................12-7
12.1.6 Functions of XBF-AD04A .......................................................................................12-8
12.1.7 Wiring ...................................................................................................................12-11
12.1.8 Operation parameter setting ...............................................................................12-14
12.1.9 Special module monitoring functions ...................................................................12-19
12.1.10 Special module monitoring ...............................................................................12-20
12.1.11 Register U devices ...........................................................................................12-24
12.1.12 Configuration and function of internal memory ................................................12-27
12.1.13 Program to sort A/D converted value in size ....................................................12-31

12.2 Analog Voltage Output Module ........................................................................ 12-35

12.2.1 Performance specifications ................................................................................12-35
12.2.2 Names of part and functions ................................................................................12-36
12.2.3 Characteristics of I/O conversion .........................................................................12-37
12.2.4 Input/Output characteristic of XBF-DV04A, XBF-DC04A.....................................12-38
12.2.5 Accuracy of XBF-DV04A, XBF-DC04A.................................................................12-39
12.2.6 Functions of XBF-DV04A, XBF-DC04A................................................................12-40
12.2.7 Wiring ...................................................................................................................12-41
12.2.8 Operation parameter setting ...............................................................................12-42
12.2.9 Special module monitoring .................................................................................12-45
12.2.10 Register U devices ...........................................................................................12-48
12.2.11 Internal memory ................................................................................................12-51
12.2.12 Basic program ..................................................................................................12-56

Chapter 13 Installation and Wiring .................................................... 13-1~13-8

13.1 Installation............................................................................................................ 13-1
13.1.1 Installation environment .........................................................................................13-1
13.1.2 Handling instructions ............................................................................................13-2
13.1.3 Attachment and detachment of module ................................................................13-5

13.2 Wiring ................................................................................................................. 13-7

13.2.1 Power wiring .........................................................................................................13-7
13.2.2 Input/Output device wiring ....................................................................................13-7
13.2.3 Earth wiring ...........................................................................................................13-8
13.2.4 Cable specifications for wiring ..............................................................................13-8

Chapter 14 Maintenance .................................................................... 14-1~14-2

14.1 Maintenance and Inspection .............................................................................. 14-1
14.2 Daily Inspection .................................................................................................. 14-1
14.3 Periodic Inspection ............................................................................................. 14-2

Chapter 15 Troubleshooting ............................................................ 15-1~15-11

15.1 Basic Procedure of Troubleshooting .................................................................. 15-1
15.2 Troubleshooting ................................................................................................... 15-1
15.2.1 Troubleshooting flowchart used with when the PWR(Power) LED turns Off. ........15-2
15.2.2 Troubleshooting flowchart used with ERR(Error) LED is flickering ......................15-3
15.2.3 Troubleshooting flowchart used with when the RUN,STOP LED turns Off. .........15-4
15.2.4 Troubleshooting flowchart used with when the I/O part doesnt operate normally..15-5

15.3 Troubleshooting Questionnaire .......................................................................... 15-7

15.4 Troubleshooting Examples ................................................................................. 15-8
15.4.1 Input circuit troubles and corrective actions .........................................................15-8
15.4.2 Output circuit and corrective actions......................................................................15-9

15.5 Error Code List....................................................................................................15-11

Appendix 1 Flag List ............................................................. App. 1-1~App.1-9

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. 1-9

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

Appendix 3 Compatibility with MASTER-K ............................ App.3-1~App.3-5
Appendix 4 Instruction List ................................................... App.4-1~App.4-40
Appendix 4.1 Classification of Instructions ............................................................. App.4-1
Appendix 4.2 Basic Instructions ............................................................................ App.4-2
Appendix 4.3 Application Instruction ..................................................................... App.4-5
Appendix 4.4 Special/Communication Instruction................................................. App.4-37

Chapter 1 Introduction

Chapter 1 Introduction
1.1 Guide to Use This Manual
This manual includes specifications, functions and handling instructions for the XGB series PLC.
This manual is divided up into chapters as follows:
No.

Title

Contents
Describes configuration of this manual, units features and
terminology.
Describes available units and system configuration in the XGB
series.
Describes general specifications of units used in the XGB
series.

Chapter 1

Introduction

Chapter 2

System Configurations

Chapter 3

General Specifications

Chapter 4

CPU Specifications

Chapter 5

Program Configuration and

Describes performances, specifications and operations.
Operation Method

Chapter 6

CPU Module Functions

Chapter 7

Input/Output Specifications

Describes operation of basic and input/output.

Chapter 8

Built-in High-speed Counter

Function

Describes built-in high-speed counter functions.

Chapter 9

Built-in Positioning Function

Describes built-in positioning functions.

Chapter 10

Built-in Communication
Function

Describes built-in communication functions.

Chapter 11

PID Control Function

Describes built-in PID control functions.

Chapter 12

Analog Input/Output Module

Describes expanded analog input/output module.

Chapter 13

Installation and Wiring

Chapter 14

Maintenance

Chapter 15

Troubleshooting

Describes various operation errors and corrective actions.

Appendix 1

Flag List

Describes the types and contents of various flags.

Appendix 2

Dimension

Shows dimensions of the main units and expansion modules.

Appendix 3

Compatibility with MASTER-K Describes the compatibility with MASTER-K.

Appendix 4

Instruction List

Describes installation, wiring and handling instructions for

reliability of the PLC system.
Describes the check items and method for long-term normal
operation of the PLC system.

Describes the special relay and instruction list.

1-1

Chapter 1 Introduction

1.2 Features
The features of XGB system are as follows.
1) The system secures the following high performances.
CPU Processing Speed(bit) : 160ns / Step
Max. 480 I/O control supporting small & mid-sized system implementation(64 I/O shortly released)
Max. 10kSteps of large program capacity secured.
Expanded applications with the support of floating point.
2) Compact : the smallest size comparing to the same class model of competitors.
Compact panel realized through the smallest size (only 170mm width if extended to 7 racks )
- Main unit : W30 * H90 * D60mm
- Expansion module : W20 * H90 * D60mm
3) Easy attachable/extensible system for improved user convenience.
Easy attachable European terminal board and convenient-to-use MIL connector method improving
convenient wiring.
By adopting connector coupling method, modules may be easily connected and separated.
4) Improved maintenance ability with kinds of register, batter removed, comment backup and etc
Convenient programming environment by providing analogue register and index register.
Improved maintenance ability by operating plural programs and task program through module program.
Built-in Flash ROM enabling permanent backup of program without any separate battery.
Improved maintenance ability by types of comment backup.
5) Optimized communication environment.
With max. 3 channels of internal COM (incl. loader), up to 3 channel communication is available without
any increase of module.
Supporting various protocols to improve the convenience (dedicated, mode-bus, user-defined
communication)
Communication module may be additionally increased by adding modules (up to 2 stages such as Cnet,
Enet and etc).
Convenient network-diagnostic function through network & communication frame monitoring.
Convenient networking to upper systems through Enet or Cnet.
6) Applications expanded with a variety of I/O modules
8, 16, 32, 64 modules provided (if relay output, 8/16 module).
Single input, single output and mixed I/O modules supported.

1-2

Chapter 1 Introduction

7) Applications expanded through analog-dedicated register design and full slottable mechanism.
Prior to increase, slot analogue modules attachable (up to 7 stages available)
With analog dedicated register(U) and monitoring dedicated function, convenient use of I/O is
maximized(can designate operations using easy program of U area and monitoring function)
8) Integrated programming environment
XG 5000 : intensified program convenience, diverse monitoring, diagnosis and editing function
XG - PD : COM/network parameters setting, frame monitoring, protocol analysis function
9) Built-in high speed counter function
Providing High-speed counter 1phase 4CH (max. : 20kpps), 2phase 2CH (max : 10kpps) and more
additional functions.
Providing parameter setting, diverse monitoring and diagnosis function using XG5000.
Commissioning by monitoring of XG5000, without program, inspecting external wiring, data setting and
others.
10) Built-in position control function
Supporting max 100kpps 2 axes.
Providing parameter setting, operation data collection, diverse monitoring and diagnosis by using XG5000.
Commissioning by monitoring of XG5000, without program, inspecting external wiring and operation data
setting.
11) Built-in PID
Supporting max. 16 loops.
Setting parameters by using XG5000 and supporting loop status monitoring conveniently with trend
monitor.
Control constant setting through the improved Auto-tuning function.
With many other additional functions including PWM output, MV, PV and SV Ramp, improving the
control preciseness.
Supporting types of control modes such as forward/backward mixed operation, 2-stage SV PID control,
cascade control and etc.
A variety of warning functions such as PV MAX and PV variation warning securing the safety.

1-3

Chapter 1 Introduction

1.3 Terminology
The following table gives definition of terms used in this manual.
Terms

Module

Unit

Definition

Remark

Example)
A standard element that has a specified function which configures Expansion module,
the system. Devices such as I/O board, which inserted onto the Special
module,
mother board or bas unit.
Communication
module
Example)
A single module or group of modules that perform an Main unit,
independent operation as a part of PLC systems.
Expansion unit

PLC System

A system which consists of the PLC and peripheral devices.

A user program can control the system.

XG5000

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

It executes program creation, edit, compile and debugging.
(PADT : Programming Added Debugging Tool)

I/O image area

Internal memory area of the CPU module which used to hold I/O
status.

Cnet

Computer Network

FEnet

Fast Ethernet Network

Pnet

Profibus-DP Network

Dnet

DeviceNet Network

RTC

Abbreviation of Real Time Clock. It is used to call general IC that

contains clock function.

Watchdog Timer

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

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

1-4

Chapter 1 Introduction
Terms

Definition

Remark

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

Z: Input
impedance

Sink Input

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

Source Input

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

Output
Contact

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

Source Output

1-5

Chapter 2 System Configuration

The XGB series has suitable to configuration of the basic, computer link and network systems.
This chapter describes the configuration and features of each system.

2.1 XGB System Configuration

XGB series System Configuration is as follows. Expanded special module is available to connect
maximum 7 stages and expanded communication module is available to connect maximum 2 stages.

Main Unit

Expansion I/O
Module

Expanded
Expanded
Special Module Communication Module

Item
Total I/O points
Maximum number
of expansion
modules

Description
16 ~ 480 points

Digital I/O module

Maximum 7

A/DD/A module

Maximum 7

Communication I/F
module

Maximum 2
XBM-DR16S

Main unit

XBM-DN16/32S
XBE-DC32A
Digital I/O module

Items

XBE-RY16A

Expansion
module

XBE-TN32A

A/DD/A module

XBF-AD04A
XBF-DV04A

Communication I/F

XBL-C41A

module

XBL-EFMT

2-1

Chapter 2 System Configuration

2.2 Product List

XGB series product list is as follows.
Types

Model

Description

Remark

Main Unit

XBM-DR16S DC24V Power supply, DC24V Input 8 point, Relay output 8 point
XBM-DN16S

Communication
Module

Special Module

Expansion Unit

XBM-DN32S

DC24V Power supply, DC24V Input 8 point, Transistor output 8

point
DC24V Power supply, DC24V Input 16 point, Transistor output
16 point

XBE-DC08A

DC24V Input 8 point

XBE-DC16A

DC24V Input 16 point

XBE-DC32A

DC24V Input 32 point

XBE-RY08A

Relay output 8 point

XBE-RY16A

Relay output 16 point

XBE-TN08A

Transistor output 8 point

XBE-TN16A

Transistor output 16 point

XBE-TN32A

Transistor output 32 point

XBE-DN16A

DC24V Input 8 point, Transistor output 8 point

XBE-DR16A

DC24V Input 8 point, Relay output 8 point

XBE-DN32A

DC24V Input 16 point, Transistor output 16 point

XBE-DN64A

DC24V Input 32 point, Transistor output 32 point

XBF-AD04A

Current/Voltage input 4 channel

XBF-DC04A

Current output 4 channel

XBF-DV04A

Voltage output 4 channel

XBF-RD04A

RTD input 4 channel

XBF-TC04A

TC input 4 channel

Scheduled

XBL-C21A

Cnet (RS-232C/Modem)

XBL-C41A

Cnet (RS-422/485)

XBL-EFMT

Enet module

XBL-EDMT

Ethernet Interface dedicated LS industrial systems

2-2

Scheduled

Chapter 2 System Configuration

2.3 System Configuration

2.3.1 Cnet system
Cnet I/F System is used for communication between the main unit and external devices using RS232C/RS-422 (485) Interface. The XGB series has a built-in RS-232C port, RS-485 port and has also
XBL-C21A for RS-232C, XBL-C41A for RS-422/485. It is possible to construct communication systems
on demand.

1) 1:1 communication system

(1) 1:1 ratio of an external device (computer) to main unit using a built-in port (RS-232C/RS-485)
XBM-DR16S

RS-232C / RS-485

(2) 1:1 ratio to main unit using a built-in RS-485 port

(In case of built-in RS-232C, connect to HMI device.)

XBM-DR16S

XBM-DN32S

PADT
connection

Built-in RS-485 Connection

Built-in
RS-232C
Connection

2-3

Chapter 2 System Configuration

(3) RS-232C Communication over long distance via modem by Cnet I/F modules
XBM-DN32S XBL-C21A

XBM-DN32S XBL-C21A

Modem

XBM-DN32S XBL-C21A

Modem

Modem
(4) 1:1 ratio of an external device (monitoring unit) to main unit using a built-in RS-232C/485 port.
XBM-DN32S

Using built-in RS-232C/485

2-4

Chapter 2 System Configuration

2) 1:n Communication system
(1) Using RS-485 built-in function can connect between one computer and multiple main units for up
to 32 stations.
XBM-DN32S

XBM-DN32S

PADT connection

XBM-DN32S

Can be connected
Max. 32 stations

Built-in RS-232C
connection

(2) Using RS-485 built-in function/expansion Cnet I/F module can be connect for up to 32 stations.
XBM-DN32S XBL-C41A

XBM-DN32S XBL-C41A

XBM-DN32S
XBL-C41A

PADT connection

Can be connected
Max. 32 stations
Can be connected
Max. 32 stations

Built-in RS-232C
connection
* Refer to Chapter 10 Built-in Communication Function for details.

2-5

Chapter 2 System Configuration

2.3.2 Dedicated network system
Dedicated network system is consist of LS PLC.(Fast Dedicated Ethernet I/F module)
HUB

XBM-DN32S XBL-EDMT
XBM-DN32S XBL-EDMT

2.3.3 Ethernet system

Ethernet is a network standard of communication. Ethernet uses the CSMA/CD access method to
handle simultaneous demands. It is one of the most widely implemented LAN standards.

100Base-FX (Fiber Optic)

M
H
HMI

100Base-TX
HMI

Refer to XGB Expansion network system for more details.

2-6

Chapter 3 General Specifications

3.1 General Specifications
The General Specification of XGB series is as below.
No.

Items

Specification

Reference

Ambient Temp.

0 ~ 55 C

Storage Temp.

25 ~ +70 C

Ambient humidity

5 ~ 95%RH (Non-condensing)

Storage humidity

5 ~ 95%RH (Non-condensing)
Occasional vibration
Frequency

Vibration

Acceleration

Pulse width

Times

10 f < 57Hz

0.075mm

57 f 150Hz

9.8m/s2 (1G)

10 times
each

Continuous vibration
Frequency

Acceleration

Pulse width

direction

10 f < 57Hz

0.035mm

(X,Y and Z)

57 f 150Hz

4.9m/s2 (0.5G)

IEC61131-2

2
Peak acceleration : 147 m/s (15G)

Shocks

Duration : 11ms
Pulse wave type : Half-sine (3 times each direction per each axis)
Square wave

1,500 V

impulse noise
Electrostatic

Voltage: 4kV (Contact discharge)

discharge
7

Impulse noise

LSIS standard

Radiated
27 ~ 500 MHz, 10V/m

electromagnetic
field noise
Fast transient
/Burst noise

Operation

ambience

Classifi-

Power

Digital/Analog Input/Output,

cation

supply

Communication Interface

Voltage

2kV

1kV

IEC61131-2
IEC61000-4-2
IEC61131-2,
IEC61000-4-3
IEC61131-2
IEC61000-4-4

Free from corrosive gases and excessive dust

Altitude

Less than 2,000m

Pollution degree

Less than 2

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.

3-1

Chapter 4 CPU Specifications

4.1 Performance Specifications
The following table shows the general specifications of the XGB CPU module (XBM-DR16S,XBMDN16S,XBM-DN32S).
Specifications

Items

Remark

XBM-DR16S/XBM-DN16S/XBM-DN32S

Program control method

Cyclic execution of stored program, Time-driven interrupt,

Process-driven interrupt

I/O control method

Batch processing by simultaneous scan (Refresh method),

Directed by program instruction

Program language

Ladder Diagram, Instruction List

Number of Basic
instructions Application

28
677

Processing speed
(Basic instruction)

0.16 /Step

Program capacity

10ksteps

Max. I/O points

480 point (Main + Expansion 7 stages)

P0000 ~ P127F (2,048 point)

M0000 ~ M255F (4,096 point)

K00000 ~ K2559F(Special area: K2600~2559F) (40,960 point)

L00000 ~ L1279F (20,480 point)

F
Data area

F000 ~ F255F (4,096 point)

100ms, 10ms, 1ms : T000 ~ T255

(Adjustable by parameter setting)
C000 ~ C255

S00.00 ~ S127.99

D0000 ~ D5119(5120 word)

U00.00 ~ U07.31(Analog data refresh area: 256 word)

Z000~Z127(128 Word)

N0000~N3935(3936 Word)

Total program

128

Initial task

1 (_INT)

Cyclic task

Max. 8

I/O task

Max. 8

Internal device task

Max. 8

Operation mode

RUN, STOP, DEBUG

Self-diagnosis function

Detects errors of scan time, memory, I/O and power supply

Program port

RS-232C(Loader), RS-232C , RS-485

Back-up method

Latch area setting in basic parameter

Internal consumption current

Weight

Word

400 mA

240 mA

300 mA

140 g

100 g

110 g

4- 1

Chapter 4 CPU Specifications

Specifications

Items

XBM-DxxxS

Remark

Controlled by instructions, Auto-tuning, PWM output, Manual

PID control function output, Adjustable operation scan time, Anti Windup, Delta MV

Cnet I/F function

High-speed counter

Capacity

1 phase: 20 kHz 4 channel

2 phase: 10 kHz 2 channel
-

addition/subtraction method

Counter
function

function

Operation
specification

Positioning function

RS-232C 1 port
RS-485 1 port

4 different counter modes according to input pulse and

Additional
Built-in function

function, SV-Ramp function

Dedicated protocol support
MODBUS protocol support
User defined protocol support

1 phase pulse input: addition/subtraction counter

1 phase pulse input: addition/subtraction counter by B phase
2 phase pulse input: addition/subtraction counter
2 phase pulse input: addition/subtraction by phase differences
Internal/External preset function
Latch counter function
Comparison output function
Revolution number per unit time function
No. of control axis: 2 axis
Control method: position/speed control
Control unit: pulse
Positioning data: 30 data/axis (operation step No. 1~20)
Operation mode: End/Keep/Continuous
Operation method: Single, Repeated operation
Positioning method : Absolute / Incremental

Positioning

Address range : -2,147,483,648 ~ 2,147,483,647

TR output

function

Speed : Max. 100kpps(setting range 1 ~ 100,000)

type support

Acceleration / Deceleration method : trapezoidal method

Origin detection when approximate origin turns off
Return to Origin

Origin detection when approximate origin turns on.

Origin detection by approximate origin.

JOG operation
Additional
function
Pulse catch
External interrupt
Input filter

Setting range : 1~100,000 ( High / Low speed)

Inching operation, Speed synchronizing operation, Position
synchronizing operation, linear interpolation operation etc.
Pulse width: 50 8 point (P0000 ~ P0007)
8 point: 50 8point (P0000 ~ P0007)
Select among 1,3,5,10,20,70,100 (Adjustable)
4- 2

Chapter 4 CPU Specifications

4.2 Names of Part and Function

XBM-DR16S

XBM-DN32S

8-1

8-3

8-2

No.

Name

Description

Input indicator LED

PADT connecting
connector

PADT connecting connector

Input connector and terminal block

Output connector and terminal block

Input connector and

terminal block
Output connector and
terminal block

RUN / STOP Key switch

In case of STOP mode, Remote mode changeable.

Key switch

Output indicator LED

Status indicator LED

It indicates CPU modules status.

PWR(Red) : Power status
RUN(Green) : RUN status
STOP mode : Off/ RUN mode : On
Error(Red): In case of error, it is flickering.

Output indicator LED

4- 3

Chapter 4 CPU Specifications

No.

Name

Description

8-1

Built-in RS-485
connecting
connector

y Built-in RS-485 connecting connector

- + , - terminal connecting connector in RS-485 communication

8-2

Built-inRS-232C
connecting
connector

y Built-in RS-232C connecting connector

- TxD , RxD , GND terminal connecting connector in RS-232C
communication

8-3

Power supply
connector

y Power supply connector (24V)

4.3 Power Supply Specifications

It describes the power supply specification of main unit.
Items

Input

Specification

Rated voltage

DC24V

Input voltage range

DC20.4~28.8V(-15%, +20%)

Inrush current

70APeak or less

Input current

1A (Typ.550 )

Efficiency

60% or more

Permitted momentary

Less than 10

power failure
Output

Output voltage

DC5V (2%)

Output current

1.5 A

Power supply status indication

LED On when power supply is normal

Cable specification
0.75 ~ 2 mm2
* Use the power supply which has 4 A or more fuse for protecting power supply.
1) Consumption current (DC 5V)
Type

Main unit

Expansion I/O module

Expansion special module

Expansion communication module

Model

Consumption current (Unit : )

XBM-DR16S

400

XBM-DN16S

240

XBM-DN32S

300

XBE-DC32A

XBE-RY16A

420

XBE-TN32A

120

XBF-AD04A

XBF-DV04A

XBL-C21A

150

XBL-EFMT

200

4- 4

Chapter 4 CPU Specifications

4.4 Calculation Example of Consumption Current/Voltage

Consumption of current/voltage is calculated as follows.

Type

Model

Unit No.

Internal 5V
consumption
current

Remark

(Unit : )

Main unit

Expansion
module

Consumption
current
Consumption
voltage

XBM-DN16S

240

XBE-DC32A

100

XBE-TN32A

160

XBF-AD04A

XBF-DC04A

XBL-C21A

150

830

In case of all LED is On.

(Maximum consumption current)

All channel is used.

(Maximum consumption current)
-

4.15 W

Remark
Calculating of consumption current is based on maximum consumption current. In application system,
the consumption current is consumed less than above calculation.

4- 5

Chapter 5 Program Configuration and Operation Method

5.1 Program Instruction
5.1.1 Program execution methods
1) Cyclic operation method (Scan)
This is a basic program proceeding method of PLC that performs the operation repeatedly for the prepared
program from the beginning to the last step, which is called program scan. The series of processing like
this is called cyclic operation method. The processing is divided per stage as below.
Stage

Processing description
-

Start

Initialization processing

Input image area refresh

y A stage to start the scan processing which is executed once

when power is applied or Reset is executed, as below.
Self-diagnosis execution
Data clear
Address allocation of I/O module and type register
y If initializing task is designated, Initializing program is executed.

y Reads the state of input module and saves it in input image

area before starting the operation of program.

Program operation processing

Program start

y Performs the operation in order from the program start to last

step.

Program last step

Output image area refresh

END

y Performs the operation in order from the program start to last step.

y A processing stage to return to the first step after CPU module

completes 1 scan processing and the processing performed is as
below.
Update the current value of timer and counter etc.
User event, data trace service
Self-diagnosis
High speed link, P2P e-Service
Check the state of key switch for mode setting

5-1

Chapter 5 Program Configuration and Operation Method

2) Interrupt operation (Cycle time, Internal device)
This is the method that stops the program operation in proceeding temporarily and carries out the
operation processing which corresponds to interrupt program immediately in case that there occurs the
status to process emergently during PLC program execution.
The signal to inform this kind of urgent status to CPU module is called interrupt signal. There is a Cycle
time signal that operates program every appointed time and external interrupt signal that operates program
by external contact (I/O; P000~P007). Besides, there is an internal device start program that starts
according to the state change of device assigned inside.
3) Constant Scan (Fixed Period)
This is the operation method that performs the scan program every appointed time. This stands by for a
while after performing all the scan program, and starts again the program scan when it reaches to the
appointed time. The difference from constant program is the update of input/output and the thing to
perform with synchronization.
At constant operation, the scan time indicates the net program processing time where the standby time is
deducted. In case that scan time is bigger than constant, [F0005C] _CONSTANT_ER flag shall be ON.

5.1.2 Operation processing during momentary power failure

CPU module detects the momentary power failure when input power voltage supplied to power module is lower
than the standard. If CPU module detects the momentary power failure , it carries out the operation processing
as follows.
If momentary power failure within 10 ms is occurred, main unit (CPU) keeps the operation. But, if
momentary power failure above 10 , the operation is stop and the output is Off. Restart processing
like at power input shall be performed.
1) Momentary power failure within 10 ms

y CPU keeps the operation.

Input power
Within 10 ms momentary
power failure
2) Momentary power failure exceeding 10 ms

y Restart processing like at power input shall

be performed.

Input power
Momentary power failure exceeding
20ms momentary power failure exceed
Remark

1) Momentary power failure?

This means the state that the voltage of supply power at power condition designated by PLC is
lowered as it exceeds the allowable variable range and the short time (some ms ~ some dozens ms)
interruption is called momentary power failure ).

5-2

Chapter 5 Program Configuration and Operation Method

5.1.3 Scan time
The processing time from program step 0 to the next step 0 is called Scan Time.
Scan time is the sum of the processing time of scan program and interrupt program prepared by the user
and PLC internal time, and is distinguished by the following formula.
(1) Scan time = Scan program processing time Interrupt program processing time PLC internal
processing time
y Scan program processing time = processing time of user program not saved as interrupt program
y Interrupt program processing time = Sum of interrupt program proceeding time processed during 1 scan
y PLC internal processing time = Self-diagnosis time I/O refresh time Internal data processing time
Communication service processing time
(2) Scan time depends on whether to execute interrupt program and communication processing.
2) Scan time monitor
(1) Scan time can be monitored Online-PLC Information-Performance.

(2) Scan time is save in special relay (F) area as follows.

y F0050 : max. value of scan time (unit: 0.1 ms)
y F0051 : min. value of scan time (unit: 0.1 ms)
y F0052 : current value of scan time (unit: 0.1 ms)

5- 3

Chapter 5 Program Configuration and Operation Method

5.1.4 Scan Watchdog timer
WDT (Watchdog Timer) is the function to detect the program congestion by the error of hardware and software of
PLC CPU module.
1) WDT is the timer used to detect the operation delay by user program error. The detection time of WDT is
set in Basic parameter of XG5000.
2) If WDT detects the excess of detection setting time while watching the elapsed time of scan during
operation, it stops the operation of PLC immediately and makes the output all off.
3) If the excess of Scan Watchdog Time is expected in the program processing of specific part while
performing the user program (FOR ~ NEXT instruction, CALL instruction), clear the timer by using WDT
instruction.
WDT instruction initializes the elapsed time of Scan Watchdog Timer and starts the time measurement from
0 again.
(For further information of WDT instruction, please refer to Instruction.)
4) To clear the error state of watchdog, we can use the following method : power re-supply, manipulation of
manual reset switch, mode conversion to STOP mode.

WDT
count(ms)0 1 2 3 ..

WDT Reset

8 9 0 1 2

SCAN END

012

WDT instruction
execution

Remark
1) The setting range of Watchdog Timer is 10 ~ 1000ms (Unit: 1ms).

5- 4

6 7 0 1 2

SCAN END

Chapter 5 Program Configuration and Operation Method

5.1.5 Timer processing
The XGB series use up count timer. There are 5 timer instructions such as on-delay (TON), off-delay (TOFF),
integral (TMR), monostable (TMON), and re-triggerable (TRTG) timer.
The measuring range of 100msec timer is 0.1 ~ 6553.5 seconds, 10msec timer is 0.01 ~ 655.35 seconds,
and that of 1msec timer is 0.001 ~ 65.53 seconds. Please refer to the XG5000 User manual for details.

Preset value
Timer output relay
Timer type

1) On delay timer

The current value of timer starts to increase from 0 when the input condition of TON instruction turns on.
When the current value reaches the preset value, the timer output relay turns on.
When the timer input condition is turned off, the current value becomes 0 and the timer output relay is
turned off.

Input condition
t0

Output relay

t4+PT

t0+PT

Pre value

Current value

2) Off delay timer

The current value of timer set as preset value and the timer output relay is turned on when the input
condition of TOFF instruction turns on. When the input condition is turned off, the current value starts to
decrease. The timer output relay is turned off when the current value reaches 0.

Timer input condition

Timer output relay

t1 + PT
PT

t5 + PT
PT

Preset value

Current value

5- 5

Chapter 5 Program Configuration and Operation Method

3) Integral timer
In general, its operation is same as on-delay timer. Only the difference is the current value will not be clear
when the input condition of TMR instruction is turned off. It keeps the elapsed value and restart to
increase when the input condition is turned on again. When the current value reaches preset value, the
timer output relay is turned on.
The current value can be cleared by the RST instruction only.

Timer input
condition

t0 t1

Timer output relay

PT = (t1-t0)+(t3-t2)

Preset value

Current value

t5+PT

Timer reset input

4) Monostable timer
In general, its operation is same as off-delay timer. However, the change of input condition is ignored
while the timer is operating (decreasing). When current value reaches preset value the timer output relay
is turned off and current value is cleared.

Timer input
condition

Timer output relay

t0+PT

t2+PT

Preset value

Current value
t0

5- 6

t4+PT

Chapter 5 Program Configuration and Operation Method

5) Retriggerable timer
The operation of retriggerable timer is same as that of monostable timer. Only difference is that the
retriggerable timer is not ignore the input condition of TRTG instruction while the timer is operating
(decreasing). The current value of retriggerable timer will be set as preset value whenever the input
condition of TRTG instruction is turned on.

Timer input condition

Timer output relay

t2
Preset value (PV)

Current value (ET)

t0+PT

t3+PT

Remark
The Maximum timing error of timers of XGB series is 1 scan time + the time from 0 step to
timer instruction

5- 7

Chapter 5 Program Configuration and Operation Method

5.1.6 Counter processing
The counter counts the rising edges of pulses driving its input signal and counts once only when the input
signal is switched from off to on. XGB series have 4 counter instructions such as CTU, CTD, CTUD, and
CTR. The followings shows brief information for counter operation. Refer to the XGB Instruction Manual for
details.
Up counter increases the current value.
Down counter decreases the current value.
Up/Down counter compares the input value from both counters input.
Ring counter increase the current value and the current value is cleared as 0 when the current value
reaches the preset value.
1) Renewal of counters current value and contact On/Off
(1) Up counter

Up counter increases the current value at the rising edges of input.

The counter output contact (Cxxx) is turned On when the current value reaches the preset value.
When the reset input is turned On, the counter output contact (Cxxx) is turned Off.
(2) Down counter

Down counter decreases the current value at the rising edges of input.
The counter output contact (Cxxx) is turned On when the current value reaches the preset value.
When the reset input is turned On, the counter output contact (Cxxx) is turned Off.
(3) Up/Down counter

The current value is increased with the rising edge of up-count input signal, and decreased with the
rising edge of down-count input signal. The counter output contact (Cxxx) is turned On when the
current value is same as or more than current value. The counter output contact (Cxxx) is turned Off
when the current value is same as or less than current value.
When the reset input is turned On, the current value is cleared as 0.

5- 8

Chapter 5 Program Configuration and Operation Method

(4) Ring counter

The current value is increased with the rising edge of the counter input signal, and the counter output
contact (Cxxx) is turned on when the current value reaches the preset value. Then the current value and
counter output contact (Cxxx) is cleared as 0 when the next rising edge of the counter input signal is
applied.
When the reset input is turned On, the counter output contact is cleared as 0.
2) Maximum counting speed
The maximum counting speed of determined by the length of scan time. Counting is possible only when
the on/off switching time of the counter input signal is longer than scan time.
Maximum counting speed

C max =

n
1
( )
100 tS

n : duty (%)
t S : scan time [s]

Duty is the ratio of the input signals on time to off time as a percentage.
On
Off

Off
T1

If T1 T2, n =

If T1 > T2, n = t2

5- 9

T1
x 100 [%]
T1+T2

x 100 [%]

Chapter 5 Program Configuration and Operation Method

5.2 Program Execution

5.2.1 Configuration of program
All functional elements need to execute a certain control process are called as a program. Program is stored in
the built-in RAM mounted on a CPU module or flash memory of a external memory module. The following table
shows the classification of the program.
Program type

Description

Initializing program

It will be executed till the specific Flag INIT_DONE is On. And while the
initialization task is executed, several of initializing program is
programmed. (If INIT_DONE instruction is executed, scan program is
executed.)

Scan program

The scan program is executed regularly in every scan.

Cycle time interrupt

program

The program is performed according to the fixed time interval in case that the
required processing time condition is as below.
In case that the faster processing than 1 scan average processing time is
required
In case that the longer time interval than 1 scan average processing time is
required
In case that program is processed with the appointed time interval

External interrupt
program

The external interrupt program is performed process on external interrupt

signal.

Subroutine
program

Only when some condition is satisfied.(in case that input condition of CALL
instruction is On)

5.2.2 Program execution methods

Here describes the program proceeding method that is executed when the power is applied or key switch is RUN.
The program performs the operation processing according to the configuration as below.

Start processing

It executes up to execution of INIT_DONE instruction when initializing program is designated.

Initializing program
Subroutine program
External interrupt program
Scan program
Cycle time program

END processing

5- 10

Only when some

condition is satisfied.

Chapter 5 Program Configuration and Operation Method

1) Scan program
(1) Function
This program performs the operation repeatedly from 0 step to last step in order prepared by the program
to process the signal that is repeatedly regularly every scan.
In case that the execution condition of interrupt by task interrupt or interrupt module while executing
program is established, stop the current program in execution and perform the related interrupt program.
2) Interrupt program
(1) Function
This program stops the operation of scan program and then processes the related function in prior to
process the internal/external signal occurred periodically/non-periodically.
(2) Type
Task program is divided as below.
Cycle time task program: available to use up to 8.
Internal device task program: available to use up to 8.
I/O (External contact task program): available to use up to 8. (P000 ~ P007)
Cycle time task program
Performs the program according to the fixed time internal.
Internal device task program
Performs the corresponding program when the start condition of internal device occurs.
The start condition detection of device shall be performed after processing of scan program.
I/O (External contact task program)
Performs the program according to the input external signal (P000~P007).

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Chapter 5 Program Configuration and Operation Method

5.2.3 Interrupt
For your understanding of Interrupt function, here describes program setting method of XG5000 which is an XGB
programming S/W. Example of interrupt setting is as shown bellows.
Interrupt setting
Interrupt source

Interrupt name

priority

Task No.

Program

Initializing

Interrupt 0_

Cycle time 1

Interrupt 1_cycle time

Cycle time 1

External

Interrupt 2_external

External

Internal device

Interrupt 3_internal

Internal

Cycle time 2

Interrupt 4_cycle time

Cycle time 2

Scan program
Initializing
(Before INIT_DONE instruction)

Interrupt 1_Cycle time

occur

Cycle time 1/
external occur
simultaneously

Cycle time 1 execution

External I/O execution

Internal device
Interrupt occur

Cycle time 2
occur

Cycle time 2 execution

END

Internal device interrupt

execution
Cycle time 1
execution

Timed-driven 1
execution

Remark
In case that several tasks to be executed are waiting, execute from the highest Task Program in
priority. When the same priority tasks are waiting, execute from the order occurred.
While interrupt executing, if the highest interrupt is occurred, the highest interrupt is executed earliest of
all.
When power On, All interrupts are in the state Disable
Internal device interrupt is executed after END instruction.

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Chapter 5 Program Configuration and Operation Method

1) How to prepare interrupt program
Generate the task in the project window of XG5000 as below and add the program to be performed by each
task. For further information, please refer to XG5000 users manual.
(It can be additional when XG5000 is not connected with PLC.)
Click right button of mouse on project name and click Add item-Task.

The screen of Task setting is shown. Click Initialization in Execution condition and make a Task name.

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Chapter 5 Program Configuration and Operation Method

Click right button of mouse at registered task and selectAdd Item-Program.

Make initializing program. In initializing program, INIT_DONE instruction must be made. If not, Scan
program is not executed.

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Chapter 5 Program Configuration and Operation Method

2) How to prepare Cycle interrupt program

Generate the task in the project window of XG5000 as below and add the program to be performed by each
task. For further information, please refer to XG5000 users manual.
(It can be additional when XG5000 is not connected with PLC)
Click right button of mouse at registered task and selectAdd Item-Program.

It shows setting screen of Task.

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Chapter 5 Program Configuration and Operation Method

Task type
Classification

Description

Task name

Make Task name.

Priority

Set the priority of task. (2~7)

Task number

Set the Task number.

Cycle time task (0 ~ 7) : 8
External I/O task (8 ~ 15) : 8
Internal device task (16 ~ 23) : 8

Execution
condition

Initialization

Set the initial program when running the project.

Cycle time

Set the cyclic interrupt.

I/O

Set the external I/O.

Internal
device

Set the internal device to interrupt execution.

Bit: Among Rising, Falling, Transition, On, Off
Word: Among >,>=,<,<=

Click right button of mouse at registered task and selectAdd Item-Program.

5- 16

Remark
Character, number
available
2 is the highest
priority number.
Till the execution of
INIT_DONE
instruction
0~4294967295
available
P000 ~ P007
available
-

Chapter 5 Program Configuration and Operation Method

It is displayed the program window to write task program.

It is displayed the setting in project window.

5- 17

Chapter 5 Program Configuration and Operation Method

3) Task type
Task type and function is as follows.
Type
Cycle time task
Spec.
(Interval task)
Max. Task
number

I/O task
(Interrupt task)

Internal device task

(Single task)

Start condition

Cyclic
(setting up to max.
4,294,967.295 sec. by
1ms unit)

Rising or falling edge of

main units contact P000
~P007

Internal device
execution condition

Detection and
execution

Cyclic execution per

setting time

Immediate execution at
the edge of main units
contact

Retrieve the condition

and execute after
completing Scan
Program

Detection delay
time

Max. 1 ms delay

Max. 0.05 ms delay

Delay as much as max.

scan time

Execution
priority

Chapter 5 Program Configuration and Operation Method

6) I/O task program processing

It described the I/O task program processing. (P000 ~ P007)

(1) Items to be set in Task

y Set the execution condition and priority to the task being executed. Check the task no. to manage the
task.
(2) I/O task processing
y If interrupt signal from external signal (I/O) is occurred on main unit (P000 ~ P007), task program is
executed by external (I/O) signal.
(3) Precaution in using I/O task program
y If task program which is executed by interrupt signal is on execution or standby status, new task program
which is requested by identical I/O is ignored.
y Only operation mode is Run mode, execution request of task program is recognized. Namely, execution
request of task program is ignored when operation mode is Stop mode.

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Chapter 5 Program Configuration and Operation Method

7) Internal device task program processing

Here describes the processing method of international device task program which extended the task (start
condition) of task program from contact point to device as execution range.

(1) Items to be set in Task

y Set the execution condition and priority to the task being executed. Check the task no. for task
management.
(2) Internal device task processing
y After completing the scan program execution in CPU module, if the condition that becomes the start
condition of internal device task program is met, according to the priority, it shall be executed.
(3) Precautions in using internal device task program
y Accordingly, even if the execution condition of internal device task program occurs in Scan Program
or Task Program (Cycle time, I/O), it shall not be executed immediately but executed at the time of
completion of Scan Program.
y If the demand to execute Internal Device Task Program occurs, the execution condition shall be
examined at the time of completion of Scan Program. Accordingly, if the execution condition of Internal
Device Task occurs by Scan Program or Task Program (Cycle time) during 1 scan and disappears, the
task shall not be executed as it is not possible to detect the execution at the time of examination of
execution condition.

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Chapter 5 Program Configuration and Operation Method

8) Verification of task program

(1) Is the task setting proper?
If task occurs frequently more than needed or several tasks occur in one scan at the same time, scan time
may lengthen or be irregular. In case not possible to change the task setting, verify max. scan time.
(2) Is the priority of task arranged well?
The low priority task program shall be delayed by the high priority task program, which results in disabling
the processing within the correct time and even task collision may occur as next task occurs in the state
that the execution of previous task is delayed. Consider the emergency of task and execution time etc
when setting the priority.
(3) Is the Task Program written in shortest?
If the execution time of Task Program is longer, scan time may lengthen or be irregular. Even it may cause
the collision of task program. Write the execution time as short as possible. (Especially, when writing the
cyclic task program, write the execution time so that the task program can be executed within 10% cycle
of the shortest task among several tasks.)
(4) Is program protection for the high priority task needed during program execution?
If other task is inserted during task program execution, complete the task in execution and operate the
standby tasks in the order of high priority. In case that it is not allowed to insert other task in Scan
Program, prevent the insert partially by using DI and EI application instruction. The problem may occur
while processing the global variables used commonly with other program or special or communication
module.
9) Program configuration and processing example
If task and program are registered as below.
Interrupt type

Interrupt name

Priority

Task No.

Program

Cycle time

10 _cycle time

Program 1

Internal device

Internal device_M00

Program 2

I/O

I/O_P00

Program 3

Scan program name: Scan Program

Execution time respective program: Scan program = 17 , Program 1 = 2 , Program 2= 7 ,
Program 3 = 2

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Chapter 5 Program Configuration and Operation Method

Scan started
(Initial operation started)

Scan program stopped New scan started

PO executed

P1 executed
10ms_Cycle time
Program 2
Internal device_M000
Program 3
External I/O_P000
Time

6 7 8 10 12

20 22 24 25

30 32 34

Process per time

Process

Time ()
0
0~6
6~8
8~10

Scan started and scan program started to execute.

Scan program is executed.
Scan program is stop because execution external I/O (P000) is requested. And program
3 is executed. Request of execution at 7[ms] is ignored because program 3 has been
executing.
Program 3 is finished and Scan program is continued.

20~22

Scan program is stop by request of 10 _Cycle time interrupt signal and execute program
1.
Program 1 is finished and Scan program is continued.
Request of Cycle time interrupt signal and External I/O (P000) signal is occurred
concurrently but priority of External I/O signal is higher than Cycle time interrupt signal
so program 3 is executed and program 1 is standby.
Program 3 is finished and Scan program is continued.

22~24

After program 3 is completed, program 1 (the program of 10ms_Cycle time is executed.

24~25

P1 execution completed and the stopped scan program execution finished

10~12
12~20
20

25
25~30
30~32
32~34
34

At the finished point of scan program, check the request of Internal device M000
execution and execute program 2.
Program P2 is executed.
When 10 _Cycle time interrupt signal is occurred, the priority of that is higher than Internal
device M000 though program 2 is stopped and program 1 is executed.
P1 executed completed and the stopped P2 execution finished
New scan starts (Start scan program execution)

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Chapter 5 Program Configuration and Operation Method

5.3 Operation Mode

For operation mode of CPU module, there are 3 types such as RUN mode, STOP mode and DEBUG mode..
Here describes the operation processing of each operation mode.

5.3.1 RUN mode

This is the mode to executed program operation normally.
RUN mode first scan start

Initialize data area

Examine Program effectiveness and judge the

possibility of execution

Execute input refresh

Program execute, Interrupt Program execute

Examine the normal operation or missing of

built-in module
Execute output refresh
Communication service and internal processing
RUN mode keep

Operation
mode change
Change to other mode

Operation by changed operation

mode

1) Processing at mode change

At the beginning, execute initialization of data area and examine the effectiveness of program and judge the
possibility of execution.
2) Operation processing contents
Execute I/O refresh and program operation.
(1) Detects the start condition of Interrupt Program and executes Interrupt Program.
(2) Examines the normal operation or missing of built-in module.
(3) Communication service and other internal processing.

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Chapter 5 Program Configuration and Operation Method

5.3.2 STOP mode

This is the mode in stop state without Program operation. It is available to transmit the program through XG5000
only in Remote STOP mode.
1) Processing at Mode Change
Clear the output image area and execute output refresh.
2) Operation Processing Contents
(1) Executes I/O refresh.
(2) Examines the normal operation or missing of built-in module.
(3) Communication service or other internal processing.

5.3.3 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
(1) Initializes the data area at the beginning of mode change.
(2) Clears the output image area and execute input refresh.
2) Operation processing contents
(1) Executes I/O refresh.
(2) Debug operation according to setting state.
(3) After finishing Debug operation by the end of Program, execute output refresh.
(4) Examine the normal operation or missing of built-in module.
(5) Executes communication service or other service.
3) Debug operation
It describes debug mode.

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Chapter 5 Program Configuration and Operation Method

Item
Start/Stop Debugging
Go

Description
Change the debug stop mode
It starts debug operation.

Step Over

It operates by 1 step.

Step Into

It starts the subroutine program.

Step Out

It finished the subroutine program.

Go to Cursor

Remark

Other operation is
identical to Step
Over.

Breakpoints List

It operates to current cursor position.

Set/Removes current cursor position to break
points.
It displays list of breakpoints.

Breakpoint Conditions

It specifies device value and number of scan.

Set/Remove Breakpoints

(1) Set/Remove Breakpoints

Sets breakpoint at current cursor position. After breakpoint setting,
displayed.

(2) Go
Run the program to breakpoint. At break-pointer

5- 26

(breakpoint setting indicator) is

(stop indicator) is displayed.

Chapter 5 Program Configuration and Operation Method

(3) Step Over
Run the program to next step. At break point, Step over indicator

is displayed.

(4) Breakpoint List

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

(5) Break condition

It sets Device Break and Scan Break.

5- 27

Chapter 5 Program Configuration and Operation Method

Remark
Refer to XG5000 Users Manual Chapter 12 Debugging for detailed information.

5- 28

Chapter 5 Program Configuration and Operation Method

5.3.4 Change operation mode
1) Operation Mode Change Method
The method to change operation mode are as follows.
(1) By mode key of CPU module
(2) By connecting the programming tool (XG5000) to communication port of CPU
(3) By changing the operation mode of other CPU module connected to network by XG5000 connected to
communication port of CPU.
(4) By using XG5000, HMI, computer link module connected to network
(5) By STOP instruction during program execution
2) Type of operation mode
The operation mode setting is as follows.
Operation mode switch

XG5000 command

Operation mode

RUN

Run

RUN

Remote Run

STOP

Remote Stop

Debug

Debug Run

Mode change

Previous operation mode

Stop

STOP

RUN -> STOP

(1) Remote mode conversion is available only in the state of Remote Enabled: On, Mode switch: Stop.
(2) In case of changing the Remote RUN mode to STOP by switch, operate the switch as follows.
(STOP) RUN STOP .

Warning
In case of changing Remote RUN mode to RUN mode by switch, PLC operation continues the
operation without interruption.
It is available to modify during RUN in RUN mode by switch but the mode change operation by
XG5000 is limited. This should be set only in case that remote mode change is not allowed.

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Chapter 5 Program Configuration and Operation Method

5.4 Memory
There are two types of memory in CPU module that the user can use. One is Program Memory that saves the
user program written by the user to build the system, and the other is Data Memory that provides the device area
to save the data during operation.

5.4.1 Data memory

1) Bit device area
Various Bit Device are provided per function. The indication method is indicated by device type for first digit,
word position by decimal for middle digit and bit position by hexadecimal for the last digit.
Area per device

Device features

Description

P0000 ~ P127f

I/O device P
2,048 points

Image area to save the state of I/O device.

After reading the input module state, saves it in the
corresponding P area and sends P area Data
saving the operation result to output module.

M0000 ~ M255f

Internal device M
4,096 points

Internal Memory provided to save Bit Data in

Program

L0000 ~ L1279f

Communication device L
20,480 points

Device to indicate high speed link/P2P service state

information of communication module.

K00000 ~ K2559F

Preservation device K
40,960 points

Device area to preserve the data during power

shutdown, which is used without setting power
shutdown preservation parameter separately. (Pay
attention to write in special area (K2600 ~ 2559F)).

F0000 ~ F255f

Special device F
4,096 points

System flag area that manages the flag necessary

for system operation in PLC.

T0000 ~ T255

Timer device T
256 points

Area to save the state of contact/current value/set

value of timer device

C0000 ~ C255

Counter device C
256 points

Area to save the state of contact/current value/set

value of counter device

S00.00 ~ S127.99

Step controller S
128 x 100 step

Relay for step control

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Chapter 5 Program Configuration and Operation Method

2) Word device area

Area per device

Device features

Description

D00000 ~ D5119

Data register D
5120 words

Area to preserve the internal data.

Bit expression possible.(D0000.0)

U00.00 ~ U07.31

Analog data register

U 256 words

Register used to read data from special module installed

in the slot. Bit expression possible

N0000 ~ N3935

Communication data
register
N 3,936 words

P2P Service Save area of communication module.

Bit expression impossible

Z000 ~ Z127

Index register
Z 128 words

Dedicated device to use Index function

Bit expression impossible

T0000 ~ T255

Timer current value

Area to indicate the current value of timer

C0000 ~ C255

Counter current
value register
C 256 words

Area to indicate the current value of counter

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Chapter 5 Program Configuration and Operation Method

5.5 Configuration Diagram of Data Memory

Bit data area

0
P000

P127
M000

M255
K000

K2559
F000

Word data area

I/O Relay
(2048 points)
Auxiliary Relay

D5119

(4096 points)

N0000
M

Keep Relay
(40960 points)

(4096 points)

0000

FFFF

Data Register

Parameter area

(5120 words)

F
U07.31

Analog Data
Register
(256 words)

L0000
Auxiliary Relay
L1279

(20480 points)

T000
Timer
T255
C000

(256 points)

Counter
C255
S000

S127

(256 points)

Step controller
(128 x 100 step)
S00.00~S127.99 S

Z000

Index Register

Z127

(128 words)

T000

Timer setting value

T255
T000

(256 words)

T255
C000

(256 words)

C255
C000

(256 words)

C255

(256 words)

Timer current value

Counter setting value

Counter current value

5- 32

User Program area

(10 K step)

Comm. Data
Register
(3936 words)

N3935
U00.00

Special Relay
F255

D0000

User Program area

Chapter 5 Program Configuration and Operation Method

5.5.1 Data latch area setting
When PLC stops and restarts the data required for operation or the data occurred during operation, if you
want to keep and use those data, data latch can be used and it is available to use a certain area of some
data device as latch area by parameter setting.
The below shows the features for latch device.
Device

1st latch

2nd latch

Image area to save the state of I/O device

Internal device area

Device keeping the device state during power shutdown

System flag area

Timer related area (Bit/words both)

Counter related area (Bit/words both)

Relay for step control

General words data save area

Analog Data Register (latch disabled )

Features

High speed link/P2P Service state device of communication

module (latch enabled)
P2P Service address area of communication module (latch
enabled)
Index dedicated Register (latch disabled)

Remark
K, L, N, R devices are basically latched.
1) Latch area setting
Click Device Area Setup of Basic parameter settings.

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Chapter 5 Program Configuration and Operation Method

2) Data latch area operation
The method to delete the latched data is as below.
- latch 1, latch 2 clear operation by XG5000
- write by Program (initialization program recommended)
- write 0 FILL from XG5000 monitor mode.
For keep or reset (clear) operation of latch area data according to PLC operation, please refer to the
below table.
No.

Classification

Detailed operation

Latch 1

Latch 2

Power change

Off/On

Keep

Reset by XG5000

Overall reset

Reset

Keep

Program write (online)

Keep

Data broken

SRAM broken by battery error

Reset

Data broken by other reason

XG5000 online

Clear Latch 1

Reset
Reset

Reset
Keep

Clear Latch 2

Reset

Latch 1 area is cleared byOnline-Reset PLC- Overall reset.

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Chapter 5 Program Configuration and Operation Method

Latch 1, 2 area is cleared byOnline-Clear PLC.

3) Data initialization
In case of Memory Delete state, the memory of all device shall be cleared as 0. In case of giving the data
value at the beginning according to system, please use the initialization task.
Device area is cleared by click Clear in Online-Clear PLC- Clear Memory.

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Chapter 6 CPU Functions

6.1 Parameter Setting
This paragraph describes how to set parameters.

6.1.1 Basic parameter setting

Clicking Basic Parameter in the project window shows the following window.

There are three main options ; Basic Operation Setup , Device Area Setting and Error Operation
Setup.

6- 1

Chapter 6 CPU Functions

Set the time of fixed period operation.

1~999

Set the time of scan watchdog.

10~1000

Standard input filter

Output during
debugging
Keep output when
an error occurs
Delete all areas
except latch when an
error occurs

Set the time of standard input filter.

Set whether to allow output actually during
debugging operation.
Set whether to preserve output holding
function set in I/O parameter in case of error.

1,3,5,10,20,70,100

Set whether to clear each device that is not

designated as a latch area in case of error

Select latch area

Set the latch area of each device.

Operation resumes
in case of operation
error

Set whether to pause or resume operation in

case of operation error.

Allowance/Prohibition
Allowance/Prohibition

Pause/Resume

6.1.2 I/O parameter setting

This setting is to set and reserve each I/O information. Clicking I/O Parameter in the project
window shows the following setting window.

Clicking Module in Slot Position indicates a list of modules, in which you may set I/O
corresponding to the actual system. Then, the following window is displayed.

6- 2

Chapter 6 CPU Functions

Clicking Details in Slot Position shows the following window to set filter and emergency output.

Remark
If settings are different with I/O module actually accessed, Inconsistent module type error occurs,
displaying error.
Without settings, CPU reads each I/O module information and operates.

6.2 Self-diagnosis Function

6.2.1 Saving of error log

CPU module logs errors occurred so that the causes will be identified and fixed easily. Clicking
Error/Warning of Online shows the current error and previous error log.

Item
Error/Warning
Error Log

Description

Remarks

Display the current error/warning.

Display a log of error/warning occurred.

Saving up to 100

Remark
Saved data are not deleted until selecting a menu of XG5000 and clicking Delete.

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Chapter 6 CPU Functions

6.2.2 Troubleshooting
1) Trouble types
Trouble occurs due to PLC itself, system configuration error or abnormal operation result detected. Trouble
is divided into trouble mode stopping operation for the safety and warning mode generating alert to user
with a mode in trouble.
The causes troubling PLC system are as follows.
y PLC hardware trouble
y System configuration error
y Operation error while operating user program
y Error detected owing to external device in trouble
2) Operation mode if trouble occurs
PLC system logs any trouble occurred in flag and determines whether to stop or resume operation
depending on trouble mode.
A) PLC hardware trouble
In case an error occurs so that PLC such as CPU module and power module may not work normally,
the system is halted, but any warning may not interfere with the operation.
B) Operation error while operating user program
Representing an error occurred during operation of user program, in case of numeric operation error,
it displays the error in error flag but the system resumes operating. However, if the operation time
exceeds by the operation monitoring time limit and I/O module does not control it normally, the system
is halted.
C) Error detected owing to external device in trouble
Representing the detection of external device to be controlled by users program of PLC, if an error is
detected, the system is halted, but any warning may not interfere with the operation.
Remark
1) If any trouble occurs, the unique trouble number is saved in a special relay F****.
2) For details of flag, refer to the appendix 1 Flag List.

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Chapter 6 CPU Functions

6.3 Remote Functions

CPU module may change operation by communication as well as by key switches mounted on the module. To
operate it remotely, it is necessary to set RUN/STOP switch to STOP.
1) Remote operations are as follows.
Operable by accessing to XG5000 through RS-232C port mounted on CPU module.
Can operate other PLC connected to PLC network with CPU module connected to XG5000.
Can control the operation of PLC by HMI software and other applications through the leased
communication.
2) Remote RUN/STOP
Remote RUN/STOP is the externally controlled RUN/STOP function.
It is convenient when CPU module is located at a position hard to control or when CPU module within
control panel is to control RUN/STOP function remotely.
3) Remote DEBUG
It manages debugging remotely when remote mode is STOP. Namely, DEBUG operation is to execute
program operation depending on designated operation conditions.
Remote DEBUG is a convenient function when confirming program operation status or data during
system debugging.
4) Remote Reset
Remote reset is to reset CPU module remotely if an error occurs at a place hard to directly control CPU
module.
Like operation by switches, it supports Reset and Overall Reset.
Remark
1) For details regarding remote functions, refer to Online of XG5000 Users Manual.

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Chapter 6 CPU Functions

6.4 Forced Input/Output On and Off Function

Force I/O function is used to force to turn I/O areas on or off, regardless of program results.

6.4.1 Force I/O setup

Click Online - Force I/O .

Item

Description
Move to the beginning and end of I/O area(P000P127)

Move address

Move to 8 of I/O area displayed at the very left.

Move to 1 of I/O area.

Application
Single
Select All
Delete All
Setting device

Set whether to allow or not Force I/O

Flag

Set whether to allow or not Force I/O by bits.

Data

Set Force I/O data on or off by bits.

Set to allow Force I/O with all I/O area on
Delete to allow Force I/O with all I/O area off.
Display I/O area set as a bit.

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Chapter 6 CPU Functions

6.4.2 Processing time and processing method of Force Input/Output On and Off
1) Force Input
Regarding input, at the time of input refresh it replaces the data of contact set as Force On/Off among
data read from input module with the data as Force and updates input image area. Therefore, user
program executes operations with actual input data while Force input area is operated with data set as
Force.
2) Force Output
Regarding output, at the time of output refresh upon the execution user program operation, it replaces
the data of contact set as Force On/Off among data of output image area containing operation results
with data set as Force and outputs the data in output module. Unlike (Force) input, the output image
area is not changed by Force On/Off setting.
3) Cautions when using Force I/O function
y It operates from the time when I/O is individually set as Allow after setting Force data.
y It is possible to set Force input although I/O module is not actually mounted.
y Despite of the power changed Off -> On, operation mode changes or any operation by pressing reset key,
the data of which On/Off is set before is kept in CPU module.
y Even in STOP mode, Force I/O data is not removed.
y To set new data from the beginning, it is necessary to deselect all settings of I/O by using Delete All
option.

6.5 Direct Input/Output Operation

This function may be useful when directly reading the status of input contact during program operation by
refreshing I/O by means of IORF command or outputting operation results to output contact.

y Can designate bit by bit as mask data is designated.

Remark
For details regarding IORF instruction, refer to XGB Instructions List.

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Chapter 6 CPU Functions

6.6 Diagnosis of External Device

This flag is provided for a user to diagnose any fault of external device and, in turn, execute halt or warning of
the system. Use of this flag displays faults of external device without any complicated program prepared and
monitors fault location without any specific device(XG5000 and etc) or source program.
1) Detection and classification of faults in external device
The trouble(fault) of external device may be detected by user program and largely divided, depending on
the type, into error and warning; the former requires halt of PLC operation and the latter simply displays
the status while PLC keeps working.
Error uses F202(_ANC_ERR) and Warning uses F203(_ANC_WB) flag.
As the detection request flag, Error uses F2002(_CHK_ANC_ERR) flag while Warning uses
F2003(_CHK_ANC_WB) flag.
2) Troubleshooting external device
When detecting any trouble of external device in user program, it writes a value except 0 by classifying
the type, which is defined by a user in F202(_ANC_ERR) while the detection request flag checks it at
the time when the program ends with F2002(_CHK_ANC_ERR) On, and PLC turns off all output,
making it as the same error status as detected by PLC itself.
If any trouble occurs, a user may identify the cause by using XG5000 and alternatively by monitoring
F202(_ANC_ERR) flag.
Example
M000
FSET

F2020

FSET

F2002

Error device bit On

Error detection request On

If any trouble occurs, CPU is in error status and operation halts. At this moment, F2020 and F2002 flags
are off (error LED switches on and off every second.)
3) Processing warning of external device
When detecting any warning of external device in user program, it turns on a flag in the warning position
of system flag F203 (_ANC_WB) and if turning on the detection request flag, F2003(_CHK_ANC_WB) ,
it displays warning at the time when scan program ends. If a warning occurs, the detection request flag,
F2003(_CHK_ANC_WB) is automatically off(F203 is not deleted).
If a warning occurs, the LED switches on and off every other second.
If turning off a bit in question of F203 and turning on F2003 bit after processing warning, warning is
cancelled and the LED turns off.
Example
M000
FSET

F2030

Warning device bit On

FSET

F2003

Warning detection request On

FRST

F2030

Warning cancellation

FSET

F2003

Warning detection request On

M001

6- 8

Chapter 6 CPU Functions

6.7 Allocation of Input/Output number

Allocation of I/O number is to allocate an address to every I/O of each module to read data from input module
and output data to output module when it executes operations.
XGB series adopts 64 points occupation to every module.
Allocation of I/O number
64 points are allocated to every module(incl. special, communication).
System Configuration

Number of
Connection stage

Type

I/O allocation

Remarks

XBM-DN32S

Input : P0000 ~ P001F

Output : P0020 ~ P003F

Basic unit fixed

XBE-DC32A

Input : P0040~P007F

Actual input : P0040 ~ P004F

XBE-TN32A

Output : P0080 ~ P011F

Actual output : P0080 ~ P009F

XBL-C41A

P0120 ~ P015F

XBF-AD04A

P0160 ~ P019F

XBE-DV04A

P0200~P027F

XBE-DC32A

Input : P0240~P027F

Actual input : P0240 ~ P024F

XBE-TN32A

Output : P0280 ~ P031F

Actual output : P0280 ~ P028F

Remark
For parameter modification during run, change each parameter on XG-PD and clickOnline-Write
Modified Program .

6- 12

Chapter 6 CPU Functions

6.9

Writing Input/Output Information

It monitors information of individual modules consisted of XGB series system.

ClickOnline-I/O Info. Then, information of each module connected to the system is monitored.

If clicking Details after selecting a module, it displays detail information of a selected module.

6- 13

Chapter 6 CPU Functions

6.10

Monitoring

It monitors system information of XGB series system.

ClickingMonitor displays the following sub-menus.

Items and descriptions

Item
Start/Stop Monitoring
Pause
Resume
Pausing Conditions
Change Current Value

Description
Designate the start and stop of monitor.

Remarks
Click for reverse turn.

Pause monitoring.

Resume paused monitor.

Pause monitoring if a preset value of device

corresponds to condition.
Change the present value of currently selected
device.

Monitor resumes;
clicking for resume.
-

System Monitoring

Monitor general system information.

Device Monitoring

Monitor by device (type).

Trend Monitoring

Monitor trend of device set in the system.

Custom Events
Data Traces

Monitor the value of device set when an event set

Chapter 6 CPU Functions

Monitor event history of custom event.

Double-clicking a number produced monitors the relative values of device and the detail message as
follows.

Remark
For details of monitor, refer to XG5000 Users Manual.

6- 18

Chapter 7 Input/Output Specifications

7.1 Introduction
Here describes the notices when selecting digital I/O module used for XGB series.
1) For the type of digital input, there are two types such as current sink input and current source
input.
2) 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.
3) For output module to run the conductive (L) load, max. open/close frequency should be used
by 1second On, 1 second Off.
4) 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.
Load

Load

Output
module

Inductor

Output
module

Resistor

5) The cable size connected to terminal block should be twisted pair 0.3~0.75 , thickness less
than 2.8 . As cable varies the allowable current by insulation thickness, cares should be
taken.

7-1

Chapter 7 Input/Output Specifications

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

Open/Close times ( 10000)

100
50
30
20
10

AC 125V Resistive load

DC 30V Resistive load
AC 250V Resistive load

0.5

Open/Close current (A)

7-2

100

Chapter 7 Input/Output Specifications

7.2Basic Digital Input Unit Specifications

7.2.1 XBM-DR16S 8 point DC24V input unit (Source/Sink type)
Model

Basic unit
XBM-DR16S

Specification
Input point

8 point

Insulation method

Photo coupler insulation

Rated input voltage

DC24V

Rated input current

About 4 (00~03: About 7 )

Operation voltage range

DC20.4~28.8V (ripple rate < 5%)

On Voltage/Current

DC19V or higher/ 3 or higher

Off Voltage/Current

DC6V or lower/ 1 or lower

Input resistance

About 5.6 (P00~P03: about 3.3 )

Off On

Response
time

1/3/5/10/20/70/100 (set by CPU parameter) Default: 3

On Off

Insulation pressure

AC560Vrms / 3Cycle (altitude 2000m)

Insulation resistance

10 or more by megger

Common Method

8 point / COM

Proper cable size

Twisted pair 0.3~0.75 (external diameter 2.8 or less)

Current consumption ()

180 (When Input On LED On)

Operation indicator
External connection
method
Weight

Input On, LED On

9 pin terminal block connector
140g

Circuit configuration

DC5V
TB1

Photo coupler

LED
R

Internal
Circuit

TB8
TB9
COM

DC24V

Terminal block no.

7-3

No.

Contact

TB1

TB2

TB1

TB3

TB2

TB4

TB5

TB3
TB4

TB6

TB7

TB8

TB9

COM

Type

TB5
TB6
TB7
TB8
TB9

Chapter 7 Input/Output Specifications

7.2.2 XBM-DN16S 8 point DC24V input unit (Source/Sink type)
Model

Basic unit
XBM-DN16S

Specification
Input point

8 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 (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 (P00~P03: About 3.3 )

Response
time

Off On

1/3/5/10/20/70/100 (set by CPU parameter) Default: 3

On Off

Insulation pressure

AC560Vrms / 3Cycle (altitude 2000m)

Insulation resistance

10 or more by megger

Common method

8 point / COM

Proper cable size

0.3

Current consumption

180 (when all point On)

Operation indicator

Input On, LED On

External connection method

20 pin connector

Weight

100g
Circuit configuration

DC5V
B10

Photo coupler

LED
R

Internal
circuit

B03
B02
COM

DC24V

Terminal block no.

7-4

No.

Contact

No.

Contact

B10

A10

B09

A09

B08

A08

B10
B09

A10
A09

B07

A07

B06

A06

B08
B07
B06

A08
A07
A06

B05

A05

B05
B04
B03

A05
A04
A03

B04

A04

B02
B01

A02
A01

B03

A03

B02

COM

A02

B01

COM

A01

Type

Chapter 7 Input/Output Specifications

7.2.3 XBM-DN32S 16 point DC24V input unit (Source/Sink type)
Model

Basic unit
XBM-DN32S

Specification
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 (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 (P00~P03: About 3.3 )

Response
time

Off On
On Off

1/3/5/10/20/70/100 (set by CPU parameter) Default: 3

Insulation pressure

AC560Vrms / 3Cycle (altitude 2000m)

Insulation resistance

10 or more by megger

Common method

16 point / COM

Proper cable size

0.3

Current consumption

200 (when all point On)

Operation indicator
External connection
method
Weight

Input On, LED On

20 pin connector
110g

Circuit configuration

DC5V
B10

Photo coupler

LED
R

Internal
circuit

A03
B02
COM

DC24V

Terminal block no.

7-5

No.

Contact

No.

Contact

B10

A10

B09

A09

B08

A08

B10
B09

A10
A09

B07

A07

B06

A06

B08
B07
B06

A08
A07
A06

B05

A05

B05
B04
B03

A05
A04
A03

B04

A04

B02
B01

A02
A01

B03

A03

B02

COM

A02

COM

B01

COM

A01

COM

Type

Chapter 7 Input/Output Specifications

7.3 Basic Digital Output Unit Specification

7.3.1 XBM-DR16S 8 point relay output unit
Model

Basic unit
XBM-DR16S

Specification
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
time

Off On

10 or less

On Off

12 or less

Common method

8 point / COM

Proper cable size

Twisted pair0.3~0.75 (External diameter 2.8 or less)

Current consumption

360 (when all point On)

Operation indicator

Output On, LED On

External connection method

9 point terminal block connector

Weight

140g
Circuit configuration

DC5V
LED
TB1
Internal
circuit

No.

Contact

TB1

TB2

TB3

TB4

TB5

TB6

TB7

TB8

TB9

COM

TB8

TB9

Terminal block no.

7-6

Type

TB1
TB2
TB3
TB4
TB5
TB6
TB7
TB8
TB9

Chapter 7 Input/Output Specifications

7.3.2 XBM-DN16S 8 point transistor output unit (Sink type)
Model

Basic unit
XBM-DN16S

Specification
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
time

Off On

1 or less

On Off

1 or less (Rated load, resistive load)

Common method

8 point / COM

Proper cable size

0.3

Current consumption

180 (when all point On)

External
power supply

Voltage

DC12/24V 10% (ripple voltage 4 Vp-p or less)

Current

10 or less (DC24V connection)

Operation indicator

Output On, LED On

External connection method

20 pin connector

Weight

100g
Circuit configuration

DC5V
B10

LED

Internal
circuit
B03

B01,B02
A01,A02
DC12/24V
Terminal block no.

7-7

No.

Contact

B10
B09
B08
B07
B06
B05
B04
B03
B02
B01
A10
A09
A08
A07
A06
A05
A04
A03
A02
A01

20
21
22
23
24
25
26
27
DC12
/24V
NC
NC
NC
NC
NC
NC
NC
NC

COM

Type

B10
B09

A10
A09

B08
B07
B06

A08
A07
A06

B05
B04
B03

A05
A04
A03

B02
B01

A02
A01

Chapter 7 Input/Output Specifications

7.3.3 XBM-DN32S 16 point transistor output unit (Sink type)
Model

Basic unit
XBM-DN32S

Specification
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

Response
time

Off On

1 or less

On Off

1 or less (Rated load, resistive load)

Common method

16 point / COM

Proper cable size

0.3

Current consumption

200 (when all point On)

External
power supply

Voltage

DC12/24V 10% (ripple voltage 4 Vp-p or less)

Current

10 or less (DC24V connection)

Operation indicator

Output On, LED On

External connection method

20 pin connector

Weight

110g
Circuit configuration

DC5V
B10

LED

Internal
circuit
A03

B01,B02
A01,A02
DC12/24V
Terminal block no.

7-8

No.

Contact

B10
B09
B08
B07
B06
B05
B04
B03
B02
B01
A10
A09
A08
A07
A06
A05
A04
A03
A02
A01

20
21
22
23
24
25
26
27
DC12
/24V
28
29
2A
2B
2C
2D
2E
2F
COM

Type

B10
B09

A10
A09

B08
B07
B06

A08
A07
A06

B05
B04
B03

A05
A04
A03

B02
B01

A02
A01

Chapter 7 Input/Output Specifications

7.4 Digital Input Module Specification

7.4.1 8 point DC24V input module (Source/Sink type)
Model

DC input module
XBE-DC08A

Specification
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
time

Off On
On Off

1/3/5/10/20/70/100 (set by CPU parameter) Default: 3

Insulation pressure

AC560Vrms / 3Cycle (altitude 2000m)

Insulation resistance

10 or more by megger

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
External connection
method
Weight

Input On, LED On

9 point terminal block connector

Circuit configuration

DC5V
TB1

Photo coupler

LED
R

Internal
circuit

TB8
TB9
COM

DC24V

Terminal block no.

7-9

No.

Contact

TB1

TB2

TB1

TB3

TB2

TB4

TB5

TB3
TB4

TB6

TB7

TB8

TB9

COM

Type

TB5
TB6
TB7
TB8
TB9

Chapter 7 Input/Output Specifications

7.4.2 16 point DC24V input module (Sink/Source type)
Model

DC input module
XBE-DC16A

Specification
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%)

On Voltage/Current

DC19V or higher / 3 or higher

Off Voltage/Current

DC6V or less / 1 or less

Input resistance

About 5.6

Response
time

Off On
On Off

1/3/5/10/20/70/100 (set by CPU parameter) Default: 3

Insulation pressure

AC560Vrms / 3Cycle (altitude 2000m)

Insulation resistance

10 or more by megger

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

40g
Circuit configuration

DC5V
TB1

Photo coupler

LED
R

Internal
circuit

TB8
TB9
COM

DC24V

Terminal block no.

7-10

No.

Contact

TB1

TB2

TB1

TB3

TB2

TB4

TB5

TB3
TB4

TB6

TB7

TB8

TB1

TB2

TB3

TB4

TB3
TB4

TB5

TB6

TB7

TB6
TB7
TB8

TB8

TB9

COM

TB10

COM

Type

TB5
TB6
TB7
TB8
TB1

TB5

TB10

Chapter 7 Input/Output Specifications

7.4.3 32 point DC24V input module (Source/Sink type)
Model

DC input module
XBE-DC32A

Specification
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

Off On

Response
time

1/3/5/10/20/70/100 (set by CPU parameter) Default:3

On Off

Insulation pressure

AC 560Vrms / 3 Cycle (altitude 2000m)

Insulation resistance

10 or more by megger

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
DC5V

B20

Photo coupler

LED

R
1F

Internal
circuit

B03
B02
COM

DC24V

Terminal block no.

Input Derating diagram

On rate (%)

100
90
DC28.8V

80
70
60
50
40

40
50 55
30
20
Ambient temperature ()

7-11

No.

Contact

No.

Contact

B20
B19
B18
B17
B16
B15
B14
B13
B12
B11
B10
B09
B08
B07
B06
B05
B04
B03
B02
B01

00
01
02
03
04
05
06
07
08
09
0A
0B
0C
0D
0E
0F

A20
A19
A18
A17
A16
A15
A14
A13
A12
A11
A10
A09
A08
A07
A06
A05
A04
A03
A02
A01

10
11
12
13
14
15
16
17
18
19
1A
1B
1C
1D
1E
1F

NC
NC
COM
COM

Type

B20

A20

B19

A19

B18

A18

B17

A17

B16

A16

B15

A15

B14
B13

A14
A13

B12

A12

B11
B10
B09

A11
A10
A09

B08
B07
B06

A08
A07
A06

B05
B04
B03

A05
A04
A03

B02
B01

A02
A01

Chapter 7 Input/Output Specifications

7.4.4 64 point DC24V input module (Source/Sink type)
Model

DC input module
XBE-DC64A

Specification
Input point

64 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

DC19V or higher / 3 or higher

Off Voltage/Current

DC6V or less / 1 or less

Input resistance

About 5.6
Off On

Response time

1/3/5/10/20/70/100 (set by CPU parameter) Default: 3

On Off

Insulation pressure

AC560Vrms / 3Cycle (altitude 2000m)

Insulation resistance

10 or more by megger

Common method

32 point / COM

Proper cable size

0.3

Current consumption

90 (when all point On)

Operation indicator

Input On, LED On (32 point LED On by switch operation)

External connection method

40 pin connector2 ea

Weight
Circuit configuration

1B20

Photo coupler

1B02
COM
DC24V

Terminal block no.

On rate (%)

Contact

1A20

2B20

2A20

2B19

2A19

LED

1B18

1A18

2B18

2A18

1B17

1A17

2B17

2A17

1B16

1A16

2B16

2A16

1B15

1A15

2B15

2A15

1B14

1A14

2B14

2A14

1B13

1A13

2B13

2A13

1B12

1A12

2B12

2A12

DC26.4V
DC28.8V

No.

1A19

DC24V

50 55

Ambient temperature ()

Contact

Input Derating diagram

No.

A: P00~P1F indication
B: P20~3F indication

100
90
80
70
60
50
40
30
20

Contact

1B19

Indication
switching
circuit

A
B

No.

1B20

Internal
circuit

1A05

Contact

DC5V

R
1F

No.

1B11

1A11

2B11

2A11

1B10

1A10

2B10

2A10

1B09

1A09

2B09

2A09

1B08

1A08

2B08

2A08

1B07

1A07

2B07

2A07

1B06

1A06

2B06

2A06

1B05

1A05

2B05

2A05

1B04

1A04

2B04

2A04

1B03

1A03

2A03

2B03

1B02 COM 1A02

COM

2B02

COM 2A02 COM

1B01 COM 1A01

COM

2B01

COM 2A01 COM

7-12

Type

Chapter 7 Input/Output Specifications

7.5 Digital output module specification

7.5.1 8 point relay output module
Model

Relay output module

XBE-RY08A

Specification
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
time

Off On

10 or less

On Off

12 or less

Common method

8 point / COM

Proper cable size

Twisted pair0.3~0.75 (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

DC5V
LED
TB1
Internal
circuit

No.

Contact

TB1

TB2

TB3

TB1
TB2

TB4

TB3

TB5

TB4
TB5

TB6

TB7

TB8

TB9

COM

TB8

TB9

Terminal block no.

7-13

Type

TB6
TB7
TB8
TB9

Chapter 7 Input/Output Specifications

7.5.2 16 point relay output module
Model

Relay output module

XBE-RY16A

Specification
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
time

Off On

10 or less

On Off

12 or less

Common method

8 point / COM

Proper cable size

Twisted pair0.3~0.75 (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

DC5V
LED
TB1
Internal
circuit

TB8

TB9

Terminal block no.

7-14

No.

Contact

TB1

TB2

TB3

TB4

TB5

TB6

TB7

TB8

TB9

COM

TB1

TB2

TB3

TB4

TB5

TB6

TB7

TB8
TB9

F
COM

Type
TB1
TB2
TB3
TB4
TB5
TB6
TB7
TB8
TB9
TB1
TB2
TB3
TB4
TB5
TB6
TB7
TB8
TB9

Chapter 7 Input/Output Specifications

7.5.3 8 point transistor output module (Sink type)
Model

Transistor output module

XBE-TN08A

Specification
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
time

Off On

1 or less

On Off

1 or less (Rated load, resistive load)

Common method

8 point / COM

Proper cable size

Stranded pair 0.3~0.75 (External diameter 2.8 or less)

Current consumption
External
Voltage
power
Current
supply
Operation indicator
External connection
method
Weight

40 (when all point On)

DC12/24V 10% (ripple voltage 4 Vp-p or less)
10 or less (DC24V connection)
Output On, LED On
10 point terminal block connector

Circuit configuration

No.

Contact

TB01

TB02

TB03

TB04

TB05

TB04
TB05

TB06

TB09

TB07

TB10

TB08

TB09

DC12
/24V

TB10

COM

DC5V
TB01

LED

Internal
circuit
TB08

DC12/24V
Terminal block no.

7-15

Type

TB01
TB02
TB03

TB07
TB08

Chapter 7 Input/Output Specifications

7.5.4 16 point transistor output module (Sink type)
Model

Transistor output module

XBE-TN16A

Specification
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

Response
time

Off On

1 or less

On Off

1 or less (Rated load, resistive load)

Common method

16 point / COM

Proper cable size

Stranded pair 0.3~0.75 (External diameter 2.8 or less)

Current consumption

60 (when all point On)

External
power supply

Voltage

DC12/24V 10% (ripple voltage 4 Vp-p or less)

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

40g
Circuit configuration

DC5V
TB10

LED

Internal
circuit
TB08

TB09
TB10
DC12/24V
Terminal block no.

No.

Contact

TB01
TB02
TB03
TB04
TB05
TB06
TB07
TB08
TB01
TB02
TB03
TB04
TB05
TB06
TB07
TB08

0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
DC12
/24V
COM

TB09
TB10

7-16

Type
TB01
TB02
TB03
TB04
TB05
TB06
TB07
TB08
TB01
TB02
TB03
TB04
TB05
TB06
TB07
TB08
TB09
TB10

Chapter 7 Input/Output Specifications

7.5.5 32 point transistor output module (Sink type)
Model

Transistor output module

XBE-TN32A

Specification
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

Response time

Off On

1 or less

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
supply

Voltage

DC12/24V 10% (ripple voltage 4 Vp-p or less)

Current

20 or less (DC24V connection)

Operation indicator

Output On, LED On

External connection method

40 pin connector

Weight

60g
Circuit configuration

DC5V
LED
R

Internal
circuit

No.

Contact

No.

Contact

B20

A20

B19

A19

B18
B17
B20
L
B16
B15
B14
B13
B12
A05
B11
L
B10
B01,B02
B09
A01,A02
B08
B07
DC12/24V
Terminal block no. B06
B05
B04
B03
B02
B01

02
03
04
05
06
07
08
09
0A
0B
0C
0D
0E
0F
NC
NC

A18
A17
A16
A15
A14
A13
A12
A11
A10
A09
A08
A07
A06
A05
A04
A03
A02
A01

12
13
14
15
16
17
18
19
1A
1B
1C
1D
1E
1F
NC
NC

7-17

DC12/
24V

COM

Type

B20

A20

B19

A19

B18

A18

B17

A17

B16

A16

B15

A15

B14
B13

A14

B12

A12

B11
B10
B09

A11
A10
A09

B08
B07
B06

A08
A07
A06

B05
B04
B03

A05
A04
A03

B02

A02
A01

B01

A13

Chapter 7 Input/Output Specifications

7.5.6 64 point transistor output module (Sink type)
Model

Transistor output module

XBE-TN64A

Specification
Output point

64 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

Response time

Off On

1 or less

On Off

1 or less (Rated load, resistive load)

Common method

32 point / COM

Proper cable size

0.3

Current consumption

200 (when all point On)

External power
supply

Voltage

DC12/24V 10% (ripple voltage 4 Vp-p or less)

Current

40 or less (DC24V connection)

Operation indicator

Input On, LED On (32 point LED On by switch operation)

External connection method

40 pin connector 2 ea

Weight

80g
Circuit configuration

No.

DC5V
B20

LED

Internal
circuit

A05
R

B01,B02
Indication
switching
circuit

A01,A02

DC12/24V
Connector no.

A: P00~P1F indication
B: P20~3F indication

Contact

No.

1B20
00
1A20
1B19
01
1A19
1B18
02
1A18
1B17
03
1A17
1B16
04
1A16
1B15
05
1A15
1B14
06
1A14
1B13
07
1A13
1B12
08
1A12
1B11
09
1A11
1B10
0A
1A10
1B09
0B
1A09
1B08
0C
1A08
1B07
0D
1A07
1B06
0E
1A06
1B05
0F
1A05
1B04
NC
1A04
1B03
NC
1A03
1B02 12/24V 1A02
DC
1B01
1A01

7-18

Contact
10
11
12
13
14
15
16
17
18
19
1A
1B
1C
1D
1E
1F
NC
NC
COM

No.

Contact

No.

2B20
20
2A20
2B19
21
2A19
2B18
22
2A18
2B17
23
2A17
2B16
24
2A16
2B15
25
2A15
2B14
26
2A14
2B13
27
2A13
2B12
28
2A12
2B11
29
2A11
2B10
2A
2A10
2B09
2B
2A09
2B08
2C
2A08
2B07
2D
2A07
2B06
2E
2A06
2B05
2F
2A05
2B04
NC
2A04
2B03
NC
2A03
2B02 12/24V 2A02
DC
2B01
2A01

Type

Contact
30
31
32
33
34
35
36
37
38
39
3A
3B
3C
3D
3E
3F
NC
NC
COM

B20

A20

B19

A19

B18

A18

B17

A17

B16

A16

B15

A15

B14
B13

A14

B12

A12

B11
B10
B09

A11
A10
A09

B08
B07
B06

A08
A07
A06

B05
B04
B03

A05
A04
A03

B02
B01

A02
A01

A13

Chapter 7 Input/Output Specifications

7.5.7 8 point transistor output module (Source type)
Model

Transistor output module

XBE-TP08A

Specification
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
time

Off On

1 or less

On Off

1 or less (Rated load, resistive load)

Common method

8 point / COM

Proper cable size

Twisted pair0.3~0.75 (External diameter 2.8 or less)

Current consumption
External
Voltage
power
Current
supply
Operation indicator

40 (when all point On)

DC12/24V 10% (ripple voltage 4 Vp-p or less)
10 or less (DC24V connection)
Output On, LED On

External connection method

Weight

10 pin terminal block connector

30g

Circuit configuration

DC5V
TB09

LED

TB10
Internal
circuit

TB08

TB01

L
Terminal block no.

7-19

No.

Contact

Type

TB01

TB02

TB03

TB04

TB05

TB06

TB07

TB08

TB07
TB08

TB09

COM

TB10

TB01
TB02
TB03
TB04
TB05

TB09
TB10

Chapter 7 Input/Output Specifications

7.5.8 16 point transistor output module (Source type)
Model

Transistor output module

XBE-TP16A

Specification
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

Response
time

Off On

1 or less

On Off

1 or less (Rated load, resistive load)

Common method

16 point / COM

Proper cable size

Stranded pair 0.3~0.75 (External diameter 2.8 or less)

Current consumption

60 (when all point On)

External
power supply

Voltage

DC12/24V 10% (ripple voltage 4 Vp-p or less)

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

40g
Circuit configuration

DC5V
TB09

LED

DC12/24V

TB10
Internal
circuit

TB08

TB01

L
Terminal block no.

7-20

No.

Contact

TB01
TB02
TB03
TB04
TB05
TB06
TB07
TB08
TB01
TB02
TB03
TB04
TB05
TB06
TB07
TB08
TB09
TB10

0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
COM
COM

Type
TB01
TB02
TB03
TB04
TB05
TB06
TB07
TB08
TB01
TB02
TB03
TB04
TB05
TB06
TB07
TB08
TB09
TB10

Chapter 7 Input/Output Specifications

7.5.9 32 point transistor output module (Source type)
Model

Transistor output module

XBE-TP32A

Specification
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

Response time

Off On

1 or less

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
supply

Voltage

DC12/24V 10% (ripple voltage 4 Vp-p or less)

Current

20 or less (DC24V connection)

Operation indicator

Output On, LED On

External connection method

40 pin connector

Weight

60g
Circuit configuration

DC5V
B02,B01

LED

A02,A01
Internal
circuit

A05

DC12/24V

B20

L
Terminal block no.

7-21

No.

Contact

No.

Contact

B20
B19
B18
B17
B16
B15
B14
B13
B12
B11
B10
B09
B08
B07
B06
B05
B04
B03
B02
B01

00
01
02
03
04
05
06
07
08
09
0A
0B
0C
0D
0E
0F
NC
NC

A20
A19
A18
A17
A16
A15
A14
A13
A12
A11
A10
A09
A08
A07
A06
A05
A04
A03
A02
A01

10
11
12
13
14
15
16
17
18
19
1A
1B
1C
1D
1E
1F
NC
NC

COM

Type

B20

A20

B19

A19

B18

A18

B17

A17

B16
B15
B14
B13

A16
A15
A14
A13

B12

A12

B11
B10
B09

A11
A10
A09

B08
B07
B06

A08
A07
A06

B05
B04
B03

A05
A04
A03

B02
B01

A02
A01

Chapter 7 Input/Output Specifications

7.5.10 64 point transistor output module (Source type)
Model

Transistor output module

XBE-TP64A

Specification
Output point

64 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

Response time

Off On

1 or less

On Off

1 or less (Rated load, resistive load)

Common method

32 point / COM

Proper cable size

0.3

Current consumption

200 (when all point On)

External power
supply

Voltage

DC12/24V 10% (ripple voltage 4 Vp-p or less)

Current

40 or less (DC24V connection)

Operation indicator

Output On, LED On (32 point LED On by switch operation)

External connection method

40 pin connector2 ea

Weight

80g
Circuit configuration

DC5V

B02,B01

LED

No.

DC12/24V
A02,A01

Internal
circuit

A05

Indication
switching
circuit

A
B

A: P00~P1F indication
B: P20~3F indication

B20

Connector no.

1B20
1B19
1B18
1B17
1B16
1B15
1B14
1B13
1B12
1B11
1B10
1B09
1B08
1B07
1B06
1B05
1B04
1B03
1B02
1B01

Contact
00
01
02
03
04
05
06
07
08
09
0A
0B
0C
0D
0E
0F
NC
NC
COM

No.
1A20
1A19
1A18
1A17
1A16
1A15
1A14
1A13
1A12
1A11
1A10
1A09
1A08
1A07
1A06
1A05
1A04
1A03
1A02
1A01

7-22

Contact
10
11
12
13
14
15
16
17
18
19
1A
1B
1C
1D
1E
1F
NC
NC
0V

No.
2B20
2B19
2B18
2B17
2B16
2B15
2B14
2B13
2B12
2B11
2B10
2B09
2B08
2B07
2B06
2B05
2B04
2B03
2B02
2B01

Contact
20
21
22
23
24
25
26
27
28
29
2A
2B
2C
2D
2E
2F
NC
NC
COM

No.
2A20
2A19
2A18
2A17
2A16
2A15
2A14
2A13
2A12
2A11
2A10
2A09
2A08
2A07
2A06
2A05
2A04
2A03
2A02
2A01

Contact Type
30
31
B20
32
B19
33
B18
34
B17
35
B16
B15
36
B14
37
B13
B12
38
B11
39
B10
3A
B09
B08
3B
B07
3C
B06
3D
B05
B04
3E
B03
3F
B02
NC
B01
NC
0V

A20
A19
A18
A17
A16
A15
A14
A13
A12
A11
A10
A09
A08
A07
A06
A05
A04
A03
A02
A01

Chapter 8 Built-in High-speed Counter Function

XGB series have 4 channels built-in function of High-speed counter in basic unit. This chapter describes
specifications and usage of High-speed counters function.

8.1 High-speed Counter Specifications

It describes specifications, setting and usage of function, programming and wiring with external
device of built-in basic unit.

8.1.1 Performance specifications

1) Performance specification
Classification
Count input
signal

Description

Signal
Input type

A-phase, B-phase
Voltage input (Open collector)

Signal level

24V

Max. coefficient speed

20kpps (In case of 2-phase input 10Kpps)

Number of channels

4 channels (In case of 2-phase, 2 channels available)

Coefficient range

Signed 32 Bit (-2,147,483,648 ~ 2,147,483,647)

Count mode

Linear count (if 32-bit range exceeded, Carry/Borrow occurs)

(Program setting)

Ring count (repeated count within setting range)

Input mode

1-phase input

(Program setting)
Signal type

setting

2 phase input
CW/CCW

Multiplication
function

Control input

External
output

Increasing/decreasing operation setting by B-phase input

Increasing/decreasing operation setting by program
Automatic setting by difference in phase
A-phase input: increasing operation
B-phase input: decreasing operation

1 phase input

1 multiplication

2 phase input

4 multiplication

CW/CCW

1 multiplication

Signal

Preset instruction input

Signal level

DC 24V input type

Signal type

Voltage

Output points

1 point/channel (for each channel): terminal output available

Type
Output type

Count Enable

CW/CCW input
Voltage

1 phase input
Up/Down

2-phase input

Select single-compared (>, >=, =, =<, <) or section compared

output (included or excluded) (program setting)
Relay, Open-collector output (Sink)
To be set through program (count available only in enable status)

Preset function

To be set through terminal(contact) or program

Auxiliary mode

Count Latch

8-1

Chapter 8 Built-in High-speed Counter Function

2) Counter/Preset input specification
Classification

Spcification

Input voltage

24V DC (20.4V ~ 28.8V)

Input current

On guranteed voltage (min.)

20.4V

Off guranteed voltage (max.)

8.1.2 Designation of parts

1) Designation of parts
Model

Structure

XBM-DN16S

XBM-DN32A

P00
P01
P02
P03
P04
P05
P06
P07

XBM-DR16S

P00
P01
P02
P03
P04
P05
P06
P07
COM

COM
COM

Names

Usage

Terminal
No.

1-phase

2-phase

1-phase

2-phase

P000

Ch0 counter input

Ch0 A-phase input

Counter input terminal

A-phase input

P001

Ch1 counter input

Ch0 B-phase input

Counter input terminal

B-phase input

P002

Ch2 counter input

Ch2 A-phase input

Counter input terminal

A-phase input

P003

Ch3 counter input

Ch2 B-phase input

Counter input terminal

B-phase input

P004

Ch0 preset 24V

Preset input terminal

P005

Common terminal

8-2

Chapter 8 Built-in High-speed Counter Function

2) Interface with external devices
The internal circuit of High-speed counter is as shown below.

Internal circuit

No.

3.3 k

P00

3.3 k

P01

P02
3.3 k

P03
3.3 k

1-phase

2-phase

guaranteed

Ch 0

20.4~28.8V

Pulse input

A-phase input

Off

6V or less

Ch 1

Ch 0

20.4~28.8V

Pulse input

B-phase input

Off

6V or less

Ch 2

20.4~28.8V

Pulse input

A-phase input

Off

6V or less

Ch 3

Ch 2

20.4~28.8V

Pulse input

B-phase input

Off

6V or less

Ch 0

20.4~28.8V

Preset input

Off

6V or less

20.4~28.8V

Off

6V or less

Input

P04
5.6 k

P05
5.6 k

P06
5.6 k

P07
5.6 k

COM0

Ch 1
Preset input

voltage

Ch 2

20.4~28.8V

Preset input

Off

6V or less

20.4~28.8V

Off

6V or less

Ch 2
Preset input

COM (input common)

<External interface list>

8-3

On/Off

Operation

I/O

Signal

Terminal

Chapter 8 Built-in High-speed Counter Function

(2) Increasing/decreasing count operation by B-phase input signal
a) 1-phase 2-input 1-multiplication operation mode
A-phase input pulse counts at rising and increasing/decreasing will be decided by Bphase.
A-phase input pulse
rising

A-phase input pulse

falling

B-phase input pulse Off

Increasing count

B-phase input pulse On

Decreasing count

Increasing/Decreasing classification

Operation example

A-phase input pulse

B-phase input pulse
Count value 7

Off

Decreasing

Increasing

8
Increasing

(3) 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 value

2 3 4 5 6 7 8 9 1011121314 1514 13121110 9 8 7 6 5 4 3 2

Decreasing

Increasing

8-5

Chapter 8 Built-in High-speed Counter Function

(4) CW(Clockwise)/CCW(Counter Clockw`ise) 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

B-phase input pulse High

B-phase input pulse Low

Increasing count

A-phase input pulse Low

decreasing count
-

Operation example

A-phase input pulse

B-phase input pulse
Count value

Increasing

Decreasing

2) Counter mode
2 types of count can be selected for the applicable use based on functions.
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.

+2,147,483,647
Decreasing

Increasing

-2,147,483,648
Count start point
Borrow
Carry

8-6

Chapter 8 Built-in High-speed Counter Function

B) Ring count
Ring Count range: user-defined minimum value ~ user-defined maximum value
Count display: If Ring Counted, user-defined minimum value of Ring Count is counted and
displayed, but the 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.
Carry occurred
Ring Count
maximum value

Preset value

Present position

:Not included
:Included

Ring Count
minimum value

(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.

Ring Count
maximum value
Preset value

Present position
:Not included
:Included

Ring Count
Minimum value (0)
Borrow occurred

(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.

8-7

Chapter 8 Built-in High-speed Counter Function

Carry occurred

2,147,483,647

Carry occurred

Ring Count
maximum value
Present position

Ring Count
minimum value (0)

:Not included
:Included
Present position

-2,147,483,648

If out of the user-defined

range

If within the user-defined range

(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 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

Ring Count
minimum value

Present position

Present
position

Borrow occurred
Borrow occurred

-2,147,483,648

If out of the userdefined range

If within the
defined range

:Not included
:Included
user-

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 users 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.

8-8

Chapter 8 Built-in High-speed Counter Function

3) Compared output
High Speed counter module has a compared output function used to compare present count
value with compared value in size to output as compared.
Available compared outputs are 2 for 1 channel, which can be used separately.
Compared output conditions are 7 associated with >, =, < .
Upper setting value is saved in special K area.
Compared output condition

Memory address (word)

Value

Present Value < Compared Value

Set to 0

Present Value Compared Value

Set to 1

Channel 0 : K302
Channel 1 : K330
Channel 2 : K358
Channel 3 : K386

Present Value = Compared Value

Present Value Compared Value
Present Value > Compared Value

Compared value 1 Count value Compared value 2

Count value Compared value 1,
Count value Compared value 2

Set to 2
Set to 3
Set to 4
Set to 5
Set to 6

In order to make actual comparison enabled after compared output condition set, the
compared enable signal is to be On.
Area per channel

Classification

Operation

Ch. 0

Ch. 1

Ch. 2

Ch. 3

Count enable signal

K2600

K2700

K2800

K2900

0: forbidden, 1: enable

Compared enable signal

K2604

K2704

K2804

K2904

0: forbidden, 1: enable

In order to make external output, the compared coincidence output signal (P20~P27) must
be set. If Compared output contact is Off, Compared coincidence output signal (internal
device) is only output.
Classification
Compared coincidence
output signal

Area per channel

Ch. 0

Ch. 1

Ch. 2

Ch. 3

K2612

K2712

K2812

K2912

8-9

Operation
0: Compared output Off
1: Compared output On

Chapter 8 Built-in High-speed Counter Function

A) Mode 0 (Present value < Compared value)
If counted present value is less than compared value, output is sent out, and if present
value increases to be equal to or greater than compared value, output is not sent out.

Count value 123456

123457

123458

123459

Compared
value

123460

123461

123462

123460

Compared enable
External output

B) Mode1 (Count value Compared value)

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

Count value 123456

123457

123458

123459

123460
123460

Compared value

Compared enable
signal
External output

8-10

123461

123462

Chapter 8 Built-in High-speed Counter Function

C) Mode 2 (Count value = Compared value)
If present count value is equal to compared value, output is sent out, and even if count value
increases to be greater or less than compared value, output is kept On.
In order to turn the output Off, identical reset signal is to be On.

Count value

12345

Compared value

12345

123458

123459

123460

123458

Compared value2

123460

Output enable signal

External output

8-12

123461

123462

Chapter 8 Built-in High-speed Counter Function

G) Mode 6 (Count value Compared value1, Count value Compared value2)
If present count value is less than or equal to compared value 1 and greater than or equal
to compared value 2, output is sent out, and if count value increases/decreases to exceed
compared values range, output is not sent out.
Count value 123456

123457

Compared value1

123458

123459

123460

123461

123462

123458

Compared value2

123461

Compared enable
signal
External output

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 Carry/Borrow reset signal On.

Classification

Carry signal

Device area per channel

Channel 0

Channel 1

Channel 2

Channel 3

K2610

K2710

K2810

K2910

8-13

Chapter 8 Built-in High-speed Counter Function

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 Carry/Borrow reset signal On..

Classification

Device area per channel

Channel 0

Channel 1

Channel 2

Channel 3

K2611

K2711

K2811

K2911

Borrow signal

6) Revolution/Unit time
While auxiliary mode enable signal is On, it counts the number of input pulses for a specified time.
A) Setting
(1) Unit time setting
Classification
Unit time (1~60000)

Device area per channel

Channel 0

Channel 1

Channel 2

Channel 3

K322

K352

K382

K412

(2) Input pulse number per 1 revolution

Classification
Pulse number /revolution
(1~60000)

Device area per channel

Channel 0

Channel 1

Channel 2

Channel 3

K323

K353

K383

K413

(3) If Count function of revolution/unit time is used, enable signal set by On.
Classification
Revolution/unit time
command

Device area per channel

Channel 0

Channel 1

Channel 2

Channel 3

K2605

K2705

K2805

K2905

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.

8-14

Chapter 8 Built-in High-speed Counter Function

C) With the displayed number of pulses updated for a specified time and the number of
pulses per revolution input, Revolution/Unit time can be counted.
D) 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), the operation is executed in program.
E) The example that number of pulse per 1 revolution set to 1 and time is set to 1000 ms is
as shown below. (Ch0)

Command

Count value

1000

700
500

500
400

300

350

Revolution
per time
(K264)

300

100

1000

300
1000

200
1000

F) In order to indicate revolution per minute (RPM), the program is as shown below. In case
of DMUL operation, RPM value is saved 64 bit in D100~D103. If operated RPM value is
used, it can use to Word or Dword type according to system (case of RPM value is small
number).

8-15

Chapter 8 Built-in High-speed Counter Function

G) The example that number of pulse per 1 revolution set to 10 and time is set to 60,000 ms
is as shown below.

Command

Count value

1000

700
500

500
400

300

350

Revolution
per time

1000

7) Count latch
When Count latch signal is On, present count value is latched.
Setting
If present counter value is to latch, Count Latch function is set Use.
Classification
Count latch command

Device area per channel

Channel 0

Channel 1

Channel 2

Channel 3

K2606

K2706

K2806

K2906

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.

8-16

Chapter 8 Built-in High-speed Counter Function

8.2 Installation and Wiring

8.2.1 Precaution for wiring
Pay attention to the counteractions against wiring noise especially for High-speed pulse input.
1) Surely use twisted pair shielded cable, grounded with 3 class applied.
2) Keep away from power cable or I/O line which may cause noise.
3) Stabilized power should be used for filter.
Connect A-phase only for 1-phase input.
Connect A-phase and B-phase for 2-phase input.

8.2.2 Example of wiring

1) In case of pulse generator (encoder) is voltage output type

Pulse Generator

24V

CHSC
A

B
COM

24VG

High-speed counter input

2) In case of pulse generator is open collector type

24V

COM

Pulse Generator

High-speed counter input

24VG

8-17

Chapter 8 Built-in High-speed Counter Function

8.3 Internal Memory

8.3.1 Special area for High-speed counter
Parameter and operation command area of built-in high-speed counter use a special K device.
If values set in parameter are changed, it works with the changed values. At the moment, makes sure
to use WRT command to save the changed vale to flash. If not saved in flash, the changed values
with the power off => on and mode changed may not be maintained.
The following example shows that the internal preset values of CH1 set in parameter are changed by
program and saved in flash.
- Receiving an order command(M0), it moves(MOV) the new internal preset value(5000) to the CH1
present area(K332).
- To save the changed settings into flash, it uses WRT command. At the moment, slot information is
set to 0 in case of built-in function.

Slot info

Unused

0:High speed counter

1:determining a location
2:PID

8-18

Chapter 8 Built-in High-speed Counter Function

1) Parameter setting

Description

Parameter
Value

Device area per channel

Setting

Ch 1

Ch 2

Ch 3

K300

K330

K360

K390

Word

K301

K331

K361

K391

Word

K302

K332

K362

K392

Word

-2,147,483,648 ~ 2,147,483,647

K304

K334

K364

K394

DWord

-2,147,483,648 ~ 2,147,483,647

K306

K336

K366

K396

DWord

h0000

Linear count

h0001

Ring count

h0000

1 phase 1 input 1 multiplication

Pulse input

h0001

1 phase 2 input 1 multiplication

mode

h0002

CW / CCW

h0003

2 phase 4 multiplication

h0000

(Magnitude) <

h0001

(Magnitude)

h0002

(Magnitude) =

h0003

(Magnitude)

h0004

(Magnitude) >

h0005

(Range) Include

h0006

(Range) Exclude

Counter
mode

Comp.
Output mode

Internal
preset
External
preset

Remark

Ch 0

8-19

Chapter 8 Built-in High-speed Counter Function

Description

Parameter
Value
Ring counter
value
Comp. output
min.
Comp. output
max.

Comp. output
point

Unit time [ms]

Pulse/Rev.value

Setting

Device area per channel

Remark

Ch 0

Ch 1

Ch 2

Ch 3

-2,147,483,648 ~ 2,147,483,647

K310

K340

K370

K400

DWord

-2,147,483,648 ~ 2,147,483,647

K312

K342

K372

K402

DWord

-2,147,483,648 ~ 2,147,483,647

K314

K344

K374

K404

DWord

K320

K350

K380

K410

Word

K322

K352

K382

K412

DWord

K323

K353

K383

K413

HFFFF

No use

h0000

P0020

h0001

P0021

h0002

P0022

h0003

P0023

h0004

P0024

h0005

P0025

h0006

P0026

h0007

P0027
1 ~ 60000
1 ~ 60000

8-20

DWord

Chapter 8 Built-in High-speed Counter Function

2) Operation command

Parameter

Device area per channel

Ch 0

Ch 1

Ch 2

Ch 3

K2600

K2700

K2800

K2900

K2601

K2701

K2801

K2901

K2602

K2702

K2802

K2902

K2603

K2703

K2803

K2903

K2604

K2704

K2804

K2904

K2605

K2705

K2805

K2905

K2606

K2706

K2806

K2906

Carry signal (Bit)

K2610

K2710

K2810

K2910

Borrow signal

K2611

K2711

K2811

K2911

Comp. output signal

K2612

K2712

K2812

K2912

Counter enabling
Internal preset
designation of counter
External preset enabling
of counter
Designation of
decremental counter
Comp. output enabling
Enabling of revolution
time per unit time
Designation of latch
counter

3) Area of monitoring

Parameter

Device area per channel

Remark

Ch 0

Ch 1

Ch 2

Ch 3

Current counter value

K262

K272

K282

K292

DWord

Revolution time per unit time

K264

K274

K284

K294

DWord

8-21

Chapter 8 Built-in High-speed Counter Function

8.3.2 Error code
It describes errors of the built-in high-speed counter.
Error occurred is saved in the following area.
Category
Error code

Device area by channels

CH0

CH1

CH2

CH3

K266

K276

K286

K296

Remarks
Word

Error codes and descriptions.

Error
code

Description

(Decimal)
20

Counter type is set out of range

Pulse input type is set out of range

Requesting #1(3)CH run during the operation of #0(2) CH2 phase

* Using #1(3)CH during #0(2) CH2 phase is not possible.

Comparative output type is set out of range

Internal preset value is set out of counter range

External present value is set out of counter range

Ring counter setting is set out of range

* Note ring counter setting should be 2 and more.

Comparative output min. value is set out of permissible min. input range

Comparative output max. value is set out of permissible max. input range

Error of comparative output min. value>comparative output max. value

Comparative output is set out of the default output value

Unit time is set out of the range

Pulse value per 1 cycle is set out of range

Remark
If two and more errors occur, the module saves the latter error code and removes
the former one.

8-22

Chapter 8 Built-in High-speed Counter Function

8.4 Examples: 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.
For details regarding each parameter setting, refer to 8.1~8.3.
(Every parameter settings are saved in the special K device area.)

8-23

Chapter 8 Built-in High-speed Counter Function

C) Turn ON the high-speed counter Enable signal(CH0:K2600) 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 2. Operation Command, <8.3.1 Special K Area for High-speed Counter>
For instance, turn on 2605 bit if among additional functions, rotation number function is used.

E) Upon the setting, download program and parameter to PLC.

8-24

Chapter 8 Built-in High-speed Counter 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.

8-25

Chapter 8 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.
(Write the setting to special K device)
Close monitor

Test
Close

8-26

Chapter 8 Built-in High-speed Counter Function

C) Clicking Start Monitoringshows 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.

D) ClickingFLAG Monitor shows the monitor of each flag in high-speed counter, in which
you may direct operation commands by flags(clicking commands reverse turn).

8-27

Chapter 9 Built-in Positioning Function

Chapter 9. Built-in Positioning Function

XGB series transistor output type contains 2 positioning axes. This chapter describes the specifications and
usage of position.

9.1 Positioning Specifications

It describes specifications, installation and using functions of XGB built in XGB basic module,
programming
and wiring with auxiliary devices

9.1.1 Features
Positioning function features the followings
1) Diversity of positioning function
It contains various functions necessary for position system such as position control at any
temporary position or constant speed operation.
A) Operation data containing position address, operation method and operation pattern may set up
to
30 steps per axis. It executes position function by using this operation data.
B) Position control per axis may be controlled linearly. The control may also perform singular
position
control by one operation data and continual position control by several operation data.
C) It may control linear interpolation.
D) Depending on operation data and control types designated by parameters, there are position
control, speed control, position/speed control, switching control and position/speed switching
control.
E) It also provides various homing control functions.
(1) Homing control may be chosen among the following three.
Origin detection after proximal origin Off
Origin detection after deceleration if proximal origin On
Origin detection by proximal origin
(2) It is achieved position control from any temporary position to machines origin (floating origin
setting).
2) Easy maintenance
It saves types of data such as position data and parameter into flash memory of main unit.
3) XG5000 may perform health check, monitor and test.
Diagnosing of I/O signal line
Monitoring
Providing detail information of errors and troubleshooting

9-1

Chapter 9 Built-in Positioning Function

9.1.2 Purpose of position function
The purpose of position function is to exactly move an object(processed materials, tools and etc)
from the current position to a designated position and this function executes highly precise position
control by position pulse string signal as being connected to types of servo drive or stepping motor
control drive. For applications, it may be widely used; for instance, machine tools, semiconductor
assembling machine, grinder, small machine center, lifter and etc.

XG5000

Basic unit

Drive

Forward
rotating pulse

Program
Setting Data
Reverse
rotating pulse

Read,
Write
and etc.

Stepping motor
Polyphase
pulse
generator

Pulse
AMP

< Position control of stepping motor >

XG5000

Basic unit

Driver

Forward
rotating pulse

Program
Setting
Reverse
Data
Read,
rotating pulse

Servo motor

Speed
instruction
Variation
Counter

D/A
Conversion

Write

Servo
AMP

Interface

and etc

Feedback pulse

Speed
Accumulated
pulse

Servo motor speed

Pulse amount
Time
< Position control for servo motor >

9-2

Chapter 9 Built-in Positioning Function

9.1.3 Flow of position signal
The flow of PLC system for position function is as follows.
.
Creating a program

Ext. signal

XG5000
XGB basic unit

Setting
Setting control
control
parameter
parameter
andand
operation
operation data
data
Test
Test operation
operation
-Jog
- Jog
operation
operation
-Inching
- Inchingoperation
operation
-Indirect
- Indirectstart
start
-Direct
- Directstart
start
-Linear
- Linearinterpolation
interpolation
-Position
- Positionsynchronization
synchronization
-Speed
- Speed
synchronization
synchronization

SERVO
AMP
Start by external pulse
string
Motor

Monitoring
Monitoring and
andtesting
testing
position
position
operation by
operation
using start
by using
start
instruction
instruction
Operating a motor by receiving
pulse string from encoder

MPG
Encoder

Dog signal
Origin signal
Upper limit signal
Lower limit signal

Operation by
direction of servo
Task

9-3

Chapter 9 Built-in Positioning Function

9.1.4 Performance specifications
The performance specifications of position are as follows.
Type

XGB Basic Unit(TR output)

Item
No. of control axis

2 axes

Interpolation

2 axes linear interpolation

Control type

Position control, speed control, speed/position switching, position/speed

switching

Control unit

Pulse
30 data areas per axis(operation step no. 1 30)

Position data
Position monitor
Back-up

Position parameter setting / special module monitoring / setting to

special K area available
Monitoring special module in XG5000
Saving parameter and operation data in flash/RAM(super capacity
backup)

Position

Saving into flash memory by instruction

Position method

Absolute method / Incremental method

Position address
range

-2147483648 2147483647

Speed range

1 100,000pps

Acceleration/deceler Trapezoid-shaped
ation processing
Acceleration/deceler 1 10,000
ation time
(selectable from 4 types of acceleration/deceleration patterns)
Max. output pulse

Max. connection distance

100 Kpps
2m
< Performance specifications >

9-4

Chapter 9 Built-in Positioning Function

9.1.5 External interface I/O specifications
It describes external interface I/O.
1) Input specifications
Signal

Rated input
voltage/current

Ext. upper
limit
Ext. lower
limit

DC 24V/7

DOG

Operating
voltage
range

DC 20.4
28.8V

DC 24V/4

Home

On
voltage/current

Off
voltage/current

Input
resistance

DC 19V/5.7
or more

DC 6V/1.8
or less

Approx.
3.3

DC 19V/3.4
or more

DC 6V/1.1
or less

Approx.
5.6

Response
time

0.5 or
less

2) Output specifications
Pulse output specifications
Max. load
Max. voltage
current/inrush
drop (On)
current
100(1 point)
DC 0.3V or
DC 524V DC 4.7526.4V
1A / 10 or less
less
Output pulse is outputted in pulse/sign type as below.
Rated load
voltage

Operating load
voltage range

Leakage current
(Off)

Response
time

0.1 or less

100 or
less

Selecting output signal level

Pulse
output
mode

Forward rotating direction

Forward

Reverse

Reverse rotating direction

Forward

Reverse

Pulse
High

Direction

High

Low

3) External devices and interface specifications

A) Connectors Pin Assignment
Pin
assignment

Type

Pin No.

Signal name

X-axis Y-axis

Pulse

Direction

10 10

Input output

A9/A10

Pulse output
(open collector)
Pulse output
(open collector)
External 24V power

External 24V GND

Lower limit

Edge

24V
Output
COM
LimitL

LimitH

Upper limit

Edge

STOP

DOG

Edge

A6
A8
A9 / A10
B9 / B10

DOG
Input
COM

Home signal(+24V)

Edge

Common

B9/B10

Input

10 10

Output

Signal direction
Operation
Position condition
external

9-5

Chapter 9 Built-in Positioning Function

B) Connectors internal circuit
(1)Pulse output stage
Pin No.
X-axis Y-axis

Internal circuit
Open collector output

Signal

Pulse

Direction

A9
A10
B9
B10

24V
COM

Pulse output
Direction output
External 24V power
External 24V GND

(2) Input signal

Type

DC24V
*1

Pin No.
X-axis

Y-axis

Internal circuit

Signal

Selectable Selectable

LimitL

Lower limit

Selectable Selectable

LimitH

Upper limit

Selectable Selectable

STOP

DOG

Selectable Selectable

DOG

Home signal(+24V)

Selectable Selectable

COM

Common

*1: Is normally works with -24V. That is, NPN or PNP types of sensors are available.

9-6

Chapter 9 Built-in Positioning Function

9.2 Positioning Control

Regarding position control, there are contain position control, interpolation control, speed control,
speed/position switching and position/speed switching.

9.2.1 Position Control

Position control is to control a designate axis from start address(present position) up to target
address(movement).
1) Absolute method control (Absolute coordinate)
Position control from start address to target address(address designated in position data).
Position control is performed, based on the address designated in Home Return(home address).
Direction is determined by start address and target address.
Start address < target address : forward positioning
Start address > target address : reverse positioning
[ example ]
Start address : 1000, Target address : 8000 moving forward
That is, the movement distance is 7000(7000 = 8000 - 1000).
8000

0 1000
Distance
Start address

Target address

Parameter setting(position data item setting)

StepNo.

Coordinate

Control
method

Operation
pattern

Operation
method

Repeated
step

Goal position
[pulse]

M
code

Acce./
dece. No.

Operation
speed
[pls/s]

Dwell
time
[]

Absolute

Position

End

Single

8000

100

Remark

Every position/speed control is available as long as the origin is determined preliminarily.

Once it starts without the origin, it generates an error and then, does not operate.

9-7

Chapter 9 Built-in Positioning Function

2) Incremental method control (Incremental coordinate)
Position control from start address as long as the target distance.
Direction is determined by +/-.
If direction is positive(+ or without mark): forward positioning(address is increasing).
If direction is negative( - ) : reverse positioning(address is decreasing).
Start address

Forward

Reverse

If direction is positive

If direction is negative

[ example ]
Start address : 5000, Target address : -7000: it moves reversely as much as -2000.

-2000

5000

0
Reverse position control
(Distance : -7000)

Start address

Target address
Parameter setting(position data item setting)
StepNo.

Coordi
-nate

Control
method

Operation
pattern

Operation
method

Repeated
step

Goal
position
[pulse]

M
code

Acce./
dece. No.

Operation
speed
[pls/s]

Dwell time
[]

Incremental

Position

End

Single

-7000

100

9-8

Chapter 9 Built-in Positioning Function

9.2.2 Interpolation control
2 axes linear interpolation control
Linear interpolation from start address(present position) by using 2 designated axes.
1) Absolute coordinate( Absolute) method control
Execute 2-axes linear interpolation from start address to target address(address determined
in position data).
Position control is based on the address designated in Home Return.
Direction is determined by the start/target address of each axis.
Start address < target address : forward movement
Start address > target address : reverse movement

Forward(Y-axis)
Y2
Move along
Y-axis
Y1

Start address
(X1, Y1)

Target address
(X2, Y2)
Movement by linear interpolation of X/Y axis
Forward(X-axis)

Reverse
Move along
X-axis

X1
Reverse

[ example ]
It moves as follows when
Start address is (1000, 4000), and
Target address is (10000, 1000).
(Y-axis)
4000

Start address

Move along Y-axis

(1000-4000 = -3000)
Target address

1000
0

(X-axis)
1000

5000

10000

Move along X-axis(10000-1000=9000)

Parameter setting(position data item setting)

X
axis
Y
axis

Step
No.

Coordinate

Absolute

Control
method
Position
control
Position
control

Operation
pattern

Operation
method

Repeated
step

Goal
position
[Pulse]

M code

Acce/dece.
No.

Operation
speed
[Pls/s]

Dwell time
[]

End

Single

10000

100

End

Single

1000

100

9-9

Chapter 9 Built-in Positioning Function

Remark
A special attention should be paid that linear interpolation start operates on 2 axes simultaneously.
Available operation patterns are end or continue while operation methods are single or repeat. If
it is set to continue, it keeps operating.
Available backup operation options are as follows.
Speed override, stop and emergency stop
The following functions are not available in the linear interpolation.
Position/speed switching, speed override, position override, continuous operation,
position/speed override.
Auxiliary data relating to operation working on the main axis in case of linear interpolation
operation are as follows.
; operation method, operation pattern, speed limit, dwell time,
Main/subordinate axes are determined by comparing the amount of operation step position
address.
(1) Main axis: an axis of which position address amount of operation step number is higher between
X-axis and Y-axis
(2) Subordinate axis: an axis of which position address amount of operation step number is lower
between X-axis and Y-axis.
At the moment, the speed of subordinate axis, acceleration time, deceleration time and bias
speed are recalculated.
Parameters operated depending on axial values are backlash compensation amount, software
upper limit and software lower limit.
2) Incremental coordinate( Absolute) method control
Position control to a position including direction and distance which are defined as the target
per axis at the start address.
Direction of each axis is determined by +/- marks of each axis
Positive(+) distance(or without any +/- mark): forward movement(increasing address)
Negative(-) distance: reverse movement(decreasing address)
Forward(Y-axis)
Y2
Move along
Y-axis
Y1

Start address
(X1, Y1)

Reverse

Target address
(X2, Y2)
Movement by linear interpolation of X/Y
Forward(X-axis)
Move along X-axis

Forward
[ example ]
It moves as follows if the start address is (1000, 4000) and the target address is (9000, 3000).
(Y-axis)
4000

Start address

Move along
Y-axis
(-3000)
1000

Target address

(X-axis)
1000

5000

10000

Move along X-axis(9000)

9-10

Chapter 9 Built-in Positioning Function

Parameter setting(position data item setting)
Step
No.

Coordinate

Absolute

X
axis
Y
axis

Control
method

Operation
pattern

Operation
method

Repeated
step

Goal
position
[Pulse]

M code

Acce/dece.
No.

Operation
speed
[Pls/s]

Dwell
time
[]

End

Single

9000

100

End

Single

-3000

100

Position
control
Position
control

9.2.3 Speed control

The system executes by position start and controls at a defined speed until deceleration stop
instruction is entered.
(In case operation stops by a deceleration stop instruction, absolute coordinate type position
control mode is not available until there is Home Return or floating origin setting.)
Speed control works on forward or reverse direction.
Forward direction : when position address is positive(incl. 0)
Reverse direction : when position address is negative
In case it is used for speed control, the followings among position data items are not affected.
Step
No.

Coordi
-nate

Control
method

Operation
pattern

Operation
method

Repeate
d step

Goal position
[Pulse]

Acce/dece.
No.

M code

Operation
speed [Pls/s]

Dwell time
[]

Items that does not affect.

Operation timing
Speed
Preset speed

Dwell
Time
On
Start instruction
On
In operation
It would not be On
despite of halt.

Position completion
signal
On
Deceleration
stop instruction
[ example ]
Parameter setting(position data item setting)
Step
No.

Coordinate

Control
method

Operation
pattern

Operation
method

Repeated
step

Goal position
[Pulse]

M code

Acce/dece.
No.

Operation
speed
[Pls/s]

Dwell time
[]

Absol
ute

Speed
control

End

Single

-100

1000

9-11

Chapter 9 Built-in Positioning Function

9.2.4 Speed / Position switching
If an axis which was set by position start is given with speed/position switching signal as a
position module inside or outside while controlling speed, speed control is switched into position
control and determines a position as much as a distance set as a target.
If being used for speed/position switching, forward or reverse operation is available.
Step
No.

Coordinate

Control
method

Operation
pattern

Operation
method

Repeated
step

Goal position
[Pulse]

M
code

Acce/dece.
No.

Operation
speed
[Pls/s]

Dwell time
[]

Normal

Speed

Keep

Single

1000

100

Reverse

Incremental
Incremental

Speed

End

Repeat

-1000

2000

100

The items that does not affect.

In speed/position switching control, forward or reverse direction is determined by +/- mark front
of position address.
(At the moment, it processes absolute method regardless of absolute or Incremental method)
*1 (forward) : when position address is positive
*2 (reverse) : when position address is negative
Operation timing

Speed
Preset speed

Acc section
Speed
control

Position
control

Move specified

Dwell time
Time
On
Start instruction
On
In operation

Speed/position
switching signal

Speed/position
switching signal
(internal instruction)

9-12

Chapter 9 Built-in Positioning Function

9.2.5 Position/Speed switching control
If an axis which was set by position start is given with position/speed signal while controlling
position, position control is switched into speed control and it stops by deceleration and halt or
resumes the subsequent operation.
Position/speed switching control may operate in forward or reverse direction.
Step
No.

Coordinate

Control
method

Operation
pattern

Operation
method

Repeated
step

Goal
position
[Pulse]

M
code

Acce/dece.
No.

Operation speed
[Pls/s]

Dwell time
[]

Normal

Speed

Keep

Single

500

100

Reverse

Incremental
Incremental

Speed

End

Repeat

600

100

The items that does not affect.

In position/speed switching control, forward or reverse direction is determined by +/- mark front
of position address.
*1 (forward) : when position address is positive
*2 (reverse) : when position address is negative
Operation timing

Speed
Preset speed

Acc section
Speed
control

Speed
control

Dwell time
Time
On
Start instruction
On
In operation

Internal
position/speed
switching signal

Deceleration
stop instruction

9-13

Chapter 9 Built-in Positioning Function

9.2.6 Operation mode
Operation mode is intended for various structures regarding how to operate position data using
several operation step number and how to do with position data speed.
Operation modes are as follows.
Control
method

Position
control

Speed
control

Operation
pattern

Operation
method

Remarks

End

Single

End

Repeat

Continue

Single

Continue

Repeat

Continue

Single

Linear interpolation unavailable

Continue

Repeat

Linear interpolation unavailable

End

Single

Linear interpolation unavailable

Continue

Single

Unavailable

Continue

Repeat

Unavailable

Operation mode is set by PLC program or operation data items in software package.
Operation data may be set up to 30 per axis between 1 ~ 30 operation step numbers.
Operation data type

Range/type

Step No.

1~30

Coordinate

Absolute/Incremental

Control method

Position/Speed

Operation pattern

End/Continue/Sequential

Operation method

Single/Repeat

Target position[Pulse]

-2147483648~2147483647

M code

0~65,535

Operation speed[Pulse/s]

0~100,000

Dwell time[]

0~50,000

Position operation method that may be executed by position data one by one operation step if start
instruction is ordered or that may be done sequentially by several operation steps is determined
by the position data set by a user

9-14

Chapter 9 Built-in Positioning Function

1) End operation(single)
It moves up to a target position by only one start instruction and completes position as dwell time
elapses.
Position completion in the operation mode may be used by the operation mode of the last position
data in continuous operation mode or sequential operation mode.
Direction is determined by +/- mark front of position address
Operation follows trapezoid directions, in which acceleration(Acc.), regular speed and deceleration
(Dec.) sections exist, depending on the present speed/position data but it may have the following
operation pattern according to preset values.
Regular operation pattern
Speed

Dwell time
Time
On
Start instruction

In operation

Acceleration

Regular speed

Deceleration

Dwelling

Position
complete
Irregular operation pattern
When setting operation speed excessively than
position movement

When setting operation speed as same as bias speed

Speed

Speed
Dwell time
Start
instruction
In operation

Time

Start
instruction

Acceleration

Regular speed

Dwell time

On
On

In operation

Acceleration

Deceleration

Dwell time
Time

Bias speed

Deceleration

Dwell time

Position
complete

Position
complete
9-15

On
On

Chapter 9 Built-in Positioning Function

[ example ]
Operation pattern
speed

Operation mode :end

Operation step No : 1 Operation step No. : 2 Operation step No : 3

Time
Operation step No. : 4

On
Start
instruction

In operation

Parameter setting
Step
No.

Coordinate

Control
method

Operation
pattern

Operation
method

Repeated
step

Goal position
[Pulse]

M
code

Acce/dece.
No.

Operation
speed [Pls/s]

Dwell time
[]

xxxx

Position

End

Single

10000

1000

Absolute

Position

End

Single

20000

500

Absolute

Position

End

Single

30000

1000

Absolute

Position

End

Single

40000

500

9-16

Chapter 9 Built-in Positioning Function

2) End Operation(repeat)
It moves up to a target position by only one start instruction and completes position as dwell time
elapses.
Repeat operation mode is similar to single operation but it determines the next operation with a
designated repeat step number once position of repeat operation mode is complete unlike single
operation.
Direction is determined by +/- mark front of position address
[ example1 ] Operating only by start instruction(if step number is set to 0 by indirect start)
Operation pattern

Speed

Operation mode : End (single)

Operation mode : End (repeat 1)

Operation step no. : 1

Operation step no. :2 Operation step no. : 1 Operation step no. :2

Time

On
Start
instruction

In Operation

Parameter setting
Step
No.

Coordinate

Control
method

Operation
pattern

Operation
method

Repeated
step

Goal position
[Pulse]

M code

Acce/dece.
No.

Operation
speed [Pls/s]

Dwell time
[]

Absolute

Position

End

Single

10000

1000

Absolute

Position

End

Single

20000

500

Absolute

Position

End

Single

30000

1000

Absolute

Position

End

Single

40000

500

Operation step 3,4 does not start.

9-17

Chapter 9 Built-in Positioning Function

3) Keep operation
With one time Start instruction, 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 instruction, the positioning of operation step for (current operation step no. +1) shall be done.
Keep operation mode is available to execute several operation step in order.
Operation direction shall be determined by position address.
[Example]
Operation pattern

Speed

Start operation step no. : 1

Dwell
Operation mode :
Go-on

Operation step no. : 1

Dwell time

Operation mode :
Go-on

Operation mode :
End

Operation step no. : 2

Operation step no. : 3

Operation mode :
End
Operation step no. : 4

Time

O
Start instruction
O
In Operation

Parameter setting
Step
No.

Coordinate

Control
method

Operatio
n pattern

Operation
method

Repeat
ed step

Goal position
[Pulse]

M code

Acce/dece
.
No.

Operation
speed [Pls/s]

Dwell time
[]

Absolute

Position

Keep

Single

10000

1000

Absolute

Position

Keep

Single

20000

500

Absolute

Position

End

Single

30000

2000

Absolute

Position

End

Repeat

40000

3000

9-18

Chapter 9 Built-in Positioning Function

4) Continuous operation
With one time Start instruction, 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.
With Next Move continuous operation instruction, the operation in the acceleration, constant
speed, deceleration section of Continuous operation is available.
Operation direction shall be determined by position address.
[Example]
Operation pattern
Speed
Operation mode : End
Operation step no. : 2
Operation mode : Continuous
Operation step no. : 1

Time

On
Start instruction
In Operation

Parameter setting
Step
No.

Coordinate

Control
method

Operation
pattern

Operation
method

Repeated
step

Goal position
[Pulse]

M
code

Acce/dece.
No.

Operation
speed [Pls/s]

Dwell time
[]

Absolute

Position

Continuous

Single

10000

1000

Absolute

Position

End

Repeat

20000

500

9-19

Chapter 9 Built-in Positioning Function

9.2.7 Positioning start signal
If it stops due to the causal factor during positioning, it may also execute positioning at the stopped
position address by re-start.
Types of starts
General start instruction
Concurrent start instruction
Synchronic start instruction
Linear interpolation start instruction
Home Return start instruction
Jog start instruction
Inching start instruction
When operating start(instruction), the signal during operation should be Off.
1) General start

Program start
XGB series support three starts; indirect start(IST), direct start(DST) and start by designating a

special K area.
2) Concurrent start

Concurrently, start positioning operation data of 2 axes according to axial data and preset step by
internal concurrent start instruction.

If stop instruction is entered during concurrent start operation, it decelerates and stop the axis
while it starts positioning operation according to Incremental coordinate or absolute coordinate
when internal concurrent start instruction is entered again in case concurrent operation step No. is
the current operation step number.

Concurrently, start positioning operation data of 2 axes according to axial data and present step by
external input signal.

9-20

Chapter 9 Built-in Positioning Function

3) Synchronic start
A) Position synchronic start

Position synchronic start is available only when the main axis is in origin setting status.

Position synchronic instruction starts as a sub axis is synchronized, depending on the current

position of a main axis.

Position synchronization should run position synchronic instruction at a sub axis.

Therefore, if a instruction axis and a main axis are identically set, Error 347 occurs.
Once position synchronic instruction is executed, it turns in-operation status and in the actual

operation, a sub axis starts operation at a time when the current position of a main axis is in
accord with a position set as a position synchronization.
During position synchronization, the operation step number of a sub axis is determined by the start

step number setting of a main axis.

To cancel it after position synchronization instruction is run at a sub axis, execute stop instruction,

canceling the position synchronization instruction.

B) Speed synchronic start

With speed synchronic start instruction, a sub axis is speed-synchronized according to speed
synchronization ratio when a main axis starts.

Although a sub axis is set in position control mode, start and stop repeat as soon as a main axis
operates.
The rotation direction of a sub axis is identical with that of a main axis.

Once speed synchronic instruction is executed in a sub axis, it turns in-operation status and it
remains speed synchronic operation status until speed synchronic instruction is cancelled by stop
instruction.

Speed synchronization ratio is available from 0.00% to 100.00%, or it may result in Error 356.

If executing speed synchronic instruction with M code on, it generates Error 353. Therefore, it
should be used after canceling M code.

A main axis setting may be set as X-axis, Y-axis, HSC CH1, HSC CH1, HSC CH2 and HSC CH3.

9-21

Chapter 9 Built-in Positioning Function

4) Linear interpolation start
2 axes linear interpolation control
It instructions that it should be linearly moved by 2 axes.
The use of this instruction needs a caution because 2 axes linear interpolation starts operates
two axes simultaneously.
When 2 axes linear interpolation start instruction is ordered, a main axis and a sub axis are
determined by positioning distance sizes of 2 axes.
Speed data of a sub axis is processed with the following operation.

Sub axis speed =

Main axis speed sub axis distance

Main axis distance

Terms definition
Main axis : an axis of which operation step numbers positioning distance is longer than the
other axis Sub axis : an axis of which operation step numbers positioning distance is shorten
than the other axis At the moment, the speed, acceleration time, deceleration time and bias
speed of a sub axis are re-calculated.

Available operation modes are limited to end operation and continuous operation.

During 2 axes linear interpolation operation, the operation speed of a sub axis is not displayed.

9-22

Chapter 9 Built-in Positioning Function

9.2.8 Positioning stop signal
It describes factors stopping an axis during positioning.
1) Stop instruction and stop factors
Stop instructions and factors are summarized as follows and divided into individual stop and
concurrent stop.
Individual axis stop instructions or the stop factors affect the only axis(axes) of which stop
instruction is On or stop factor exists. However, interpolation control operation axis stops if an
axis is with stop instruction or stop factor during linear/circular interpolation.
In case of concurrent stop instructions or the stop factors, all the axes of which stop instruction is
On or stop factor exists would stop.
Stop factor

Stop by
parameter
setting *4

Stop by
sequence
program *5

Stop by
external signal

Stop by
monitoring

Positioning
Home
*1
Return *2

Jog
operation

Stop axis

Axis operation
status after stop
instruction *3

M code On
Signal status

Excess of soft Immediate

upper limit
stop

Not
detected

Immediate
stop

Individual
axis

Error status
(Error 501)

No change

Excess of soft Immediate

lower limit
stop

Not
detected

Immediate
stop

Individual
axis

Error status
(Error 502)

No change

Error 322
(keep
running)

Individual
axis

Decelerating

No change

Individual
axis

Error status
(Error 481)
No output

Individual axis

Decelerating
stop
instruction
Emergency
stop
instruction

Decelerating Decelerating
stop
stop

Immediate stop

External upper
limit On

Immediate stop

Forward
immediate
stop

Individual
axis

Individual axis

No change

External lower
limit On

Immediate stop

Reverse
immediate
stop

Individual
axis

Individual axis

No change

Decelerating
stop
instruction

Decelerating Decelerating
stop
stop

Error 322
(keep
running)

Individual
axis

Stopping

No change

Remark
*1 :Positioning refers to position control, speed control, position/speed switching control and
speed/position switching position by positioning data.
*2 : If Home Return is complete, DOG and Home Signal, which are external input signals, do not
affect positioning control.
*3 : If axial operation is no output after being stopped, run a instruction to cancel No Output. Then,
No output is cancelled and error number is reset.
*4 : Soft upper/lower limits by parameters are unavailable in speed control operation mode.
*5 : Sequence program refers to XGB program method.
*6 : Error 495 may occur depending on a rotation direction.

9-23

Chapter 9 Built-in Positioning Function

2) Stop Process and Priority
A) Stop Process
Decelerating stop instruction may vary depending on acceleration section, regular speed section
and deceleration section of operation pattern.
(1) In acceleration/regular speed section
Since positioning operation is not complete if it stops due to deceleration stop instruction, After
Mode among M code modes is not On because it does not generate positioning completion
signal.
After then, if indirect start instruction(step number = current step number) is generated,
Absolute method operation operates as much as the remaining distance of the current
operation step yet output while Incremental method operation operates as much as the target
distance.
(2) In deceleration section
Although decelerating stop instruction occurs in deceleration section, it generates
positioning completion signal and M code signal just like normal stop.
In case decelerating stop instruction is in a deceleration section of continuous operation
mode or sequential operation mode, the decelerating stop instruction is not processed and it
executes positioning operation in continuous operation pattern and/or sequential operation
pattern set in operation data.
B) Process of emergency stop and external input upper/lower limits
If emergency stop instruction or external input upper/lower limits are input during positioning
control, it stops positioning control and turns No output, generating an error.
C) Stop process priority
The priority of positioning module stop process is as follows.
Decelerating stop < Immediate stop

If it meets any immediate stop factor in deceleration section during positioning, it processes
immediate stop at the time.
Remark
In case of any immediate stop factor during decelerating stop, it processes as follow.
Positioning speed
Decelerating stop factor
Immediate stop factor
Stop position by decelerating stop factor

Stop position by immediate stop factor

Immediate stop factors: internal emergency stop, external input upper/lower limit,
Soft upper/lower limits

9-24

Chapter 9 Built-in Positioning Function

3) Interpolation stop
It decelerates and stops if it meets a stop instruction during interpolation operation(2 axes linear
interpolation).
If indirect start instruction is executed in the current step when re-starting after decelerating stop, it
resumes operating the positioning operation data to the target position. At the moment, it operates
differently depending on absolute coordinate and Incremental coordinate.
During interpolation operation, stop instruction is available for both internal decelerating stop and
external decelerating stop.
Decelerating stop instruction should be executed on a main axis, which is in interpolation
operation.
4) Emergency stop
It immediately stops if meeting emergency stop while performing start-related instructions(indirect
start, direct start, concurrent start, synchronic start, linear interpolation start, Home Return start,
jog start and inching start).
Emergency stop is divided into two methods; internal emergency stop and external emergency
stop.
Internal emergency stop generates Error 481 while external emergency stop generates Error 491.
Since it is subject to no output and un-defined origin once emergency stop is executed, it may run
positioning operation after executing origin determination(Home Return, floating origin and the
current position preset) in case it is operated with absolute coordinate or in determined origin.

9.2.9 Re-start after Positioning

1) Re-start after decelerating stop instruction
A) If meeting decelerating stop instruction in accelerating/regular speed section
In case of indirect start after decelerating stop, it executes positioning operation with the set
operation step.
B) If meeting stop instruction in decelerating section
If re-starting after decelerating stop, the next operation stop of the previous operation step
number operates. However, in continuous operation/sequential operation, it does not process
decelerating stop instruction and keeps operating with the operation patter in case of deceleration
section.
If M code mode is used, it may re-start as long as M code is changed from On to Off.
2) After internal emergency stop/external emergency stop
If it has internal emergency stop or external emergency stop instruction, positioning module
becomes no output and un-defined origin. Therefore, if canceling no output, re-determining
origin(Home Return start, floating home setting) and re-starting, it may re-start from the operation
step number set.

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Chapter 9 Built-in Positioning Function

9.2.10 Home Return
Home Return is executed to confirm machine origin when it is powered.
For Home Return, every axis should be set for Home Return parameter.
Once Home Return is determined by Home Return, it does not recognize origin detection signal
during positioning operation.
1) Home Return method
A) DOG Method
There are three Home Return processes using DOG method as follows.
(1) Origin detection after DOG Off
(2) Origin detection after decelerating with DOG On
(3) Origin detection by DOG
B) In parameters, the items affecting Home Return are as follows.
(1) Home Return methods
(2) Home Return direction
(3) Origin compensation amount
(4) Origin return speed(high speed, low speed)
(5) Origin address
(6) Home Return Dwell time
(7) Home Return accelerating/decelerating time
2) Origin detection after DOG Off
The operations by Home Return instruction using DOG and origin signal are as follows.
It accelerates toward a preset home return direction and operates by home return high speed.
At the moment, if an external input, DOG is entered, it decelerates and operates at home return
low speed.
If an external signal, origin signal is entered after DOG signal is changed from On to Off, it
stops.
Speed
Home Return high speed

Decelerating at DOG On

Home Return low speed

Distance after DOG On

Origin is not determined

by origin signal while
DOG is On.

DOG Signal
Origin signal

1 rotation of servo motor

(1 rotation of PG)

Home Return
instruction
Home Return
processing
Origin
determined
Operating Waiting

Home Return
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Time

Waiting

Chapter 9 Built-in Positioning Function

Remark
While DOG signal is On, origin is not determined by origin signal. That is, origin may be
determined as soon as DOG signal is changed from Off to On(acceleration section home
return high speed) or from On to Off(deceleration section home return low speed).
Origin is not determined as long as DOG is On
Speed

Time
DOG signal
Origin signal
If Home Return speed is applied from home return high speed to deceleration after DOG signal
is changed from/to Off and On, origin is not determined although it meets origin entry.
Speed

Origin is not determined in deceleration section.

Time
DOG signal
Origin signal
It

operates as follows if it meets an external lower limit while waiting for origin entry after DOG
signal is changed from/to Off and On.
Forward

Reverse
Home Return
instruction
DOG signal
External lower
limit
Origin signal
Since positioning module immediately turns a direction without any
decelerating section as soon as it meets external input upper/lower limits
during home return operation, it should be noted that using a stepping
motor may cause a fault.
If On time of origin is short, positioning module may not recognize it.
Origin
0.1 and longer

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Chapter 9 Built-in Positioning Function

3) Origin detection after deceleration with DOG set On
Operations by home return instruction using DOG and origin signal are as follows.
It accelerates toward a set home return direction and operates at home return high speed.
At the moment, if an external entry, DOG signal is entered, it decelerates and operates at home
return low speed.
Origin is determined and it stops if it meets an external entry, origin signal with DOG set On
while it operates at home return low speed.
Speed
Home Return high speed

Decelerating at DOG On

Home Return low

speed
Time
Distance after DOG On
DOG signal

Origin is not determined by

origin signal When home
Return speed is decelerating
by DOG

Origin signal

1 rotation of servo motor

(1 rotation of PG)
Home Return
instruction
Home Return
processing
Origin determined
Operating Waiting

Home-returning

Waiting

Remark
Origin is determined if origin signal is entered with DOG set On as long as home return speed
is operating at low speed from high speed via decelerating section with DOG signal set On.
That is, when home return speed is decelerating, origin is not determined by origin signal.
If

it meets external upper/lower limit signal prior to origin after DOG signal is changed from Off to
On, it works as same as 3.6.2.

If On time of origin is short, positioning module may not recognize it.

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Chapter 9 Built-in Positioning Function

4) Origin detection by origin and upper/lower limits
As a home return method using external upper/lower limit signal and origin signal, it is available in
case DOG signal is not used.

Forward

Home Return high speed

Turning a direction by meeting external

upper/lower limit signals
Origin determined

Reverse

Time
Home Return low speed
External upper limit

Origin signal
1 rotation of servo motor
(1 rotation of PG)

Home Return
instruction
Home Return
processing
Origin determined
Operating Waiting

Home-returning

Waiting

Remark
If origin signal is On before external upper/lower limit signals are entered, it turns the rotation
direction, keeping home return low speed operation and origin is determined with origin
signal set On as soon as external upper/lower limit signals are entered regardless of the
above.

Speed

Turning a direction by meeting external

upper/lower limit signals

Time
External upper limit
Origin signal

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Chapter 9 Built-in Positioning Function

5) Origin detection by DOG
It is used when determining origin by using the only DOG.

Forward

Turning a direction at a rising edge of DOG

Home return high speed

Turning a direction at a rising edge

of DOG signal
Home return low speed
Time
Origin determined

Reverse
DOG signal

Home Return
instruction
Home Return
processing
Origin determined
Operating

Waiting

Home-returning

Waiting

Remark
It works as follows if the duration of DOG On is longer than that of deceleration.

Forward

Home Return high speed

Home Return low speed
Time

Reverse

Decelerating
section

Home return high speed

DOG signal

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Chapter 9 Built-in Positioning Function

9.2.11 Manual operation
In general, manual operations refer to jog operation, inching operation and etc.
1) Jog operation
A) Jog operation means;
positioning control by jog instruction.
It can monitor, if any, position address, which is changed by jog instruction as origin is
determined.
It is one of manual operations executed without origin determination.

B). Acceleration/deceleration process and jog speed

Acceleration/deceleration process is controlled by the duration set in jog
acceleration/deceleration time among parameter settings of this software package.
Jog high/low speed operation: it operates in accelerating/dec elerating pattern.
Speed

Time
C) If jog speed is set out of allowable range, it generates an error and operation is not available.

Range

High speed jog

operation
Low speed jog
operation

1 100,000

(unit: 1pps)

1 jog high speed

Remark
Make sure to follow the cautions.
1. Jog high speed needs attention as follows.
Bias speed Jog high speed Speed limit
Speed
Speed limit
Bias speed
Time
2. Jog low speed operates regardless of bias speed and speed limit.

2) Inching operation
As one of manual operations, it outputs as much as pulse set at the speed for origin/manual
parameter inching speed.
While operation by jog instruction may not exactly move to the start/end points, inching
instruction may easily reach to a target point as much as desirable distance. Therefore, it is
probable to move close to an operation position by jog instruction and then move to an exact
target position by inching operation instruction.
The available range is between 2147483648 2147483647 Pulse.

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Chapter 9 Built-in Positioning Function

9.2.12 Speed/Position Change during Positioning Operation
1) Speed Override Instruction
Speed override instruction is available only in acceleration and regular speed sections among
operation patterns while the available operation modes are end operation, continuous operation
and sequential operation.
The range is between 1 100,000pps (unit: 1pps).
Remark
Note that if a sudden difference between the current speed used for operation and a new speed
newly changed by speed override is excessive, it may cause a Step-over.
Executing speed override instruction in deceleration section during operation may cause Error
377 but the operation continues.
2) Positioning speed override instruction
Positioning speed override instruction changes its speed and keeps operating once it reaches the
set position during positioning operation.
Positioning speed override instruction is available only in acceleration and regular speed sections
among operation patterns while the available operation modes are end operation, continuous
operation and sequential operation.
Note that positioning speed override instruction is not executed in decelerating section.
The range is between 2147483648 2147483647 Pulse.
3) Position change by position override
If changing a target position during positioning operation with positioning data, it may be changed
by using override instruction.
It should be noted that operation may vary depending on the time of position override instruction
during operation.
That is, if passing a position to change during operation, it decelerates, stops and keeps positioning
operation by the subsequent operation pattern; if not passing a position, it starts positioning
operation as taking a Incremental position as much as override set in the start point of the step of
position override instruction.
Position override instruction is available in accelerating, regular speed and decelerating sections
among operation patterns while the available operation mode is end operation, continuous
operation and sequential operation.
In sequential operation mode, position override operation is allowed once as taking a target
position to change the current position of start step of sequential operation as a Incremental
position.
The range is between 2147483648 2147483647 Pulse.

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Chapter 9 Built-in Positioning Function

9.2.13 Stroke Upper/Lower Limits

Positioning is subject to external input stroke limit(external input upper limit, external input lower
limit) and software stroke limit(software upper limit, software lower limit).
1) External input stroke upper/lower limits
External input stroke limit is an external input connector of positioning; external input upper
limit/external input lower limit.
It is used to immediately stop a positioning module before reaching to stroke limit/stroke end by
setting up stroke limits of positioning module inside stroke limit/stroke end of drives. At the
moment, if exceeding upper limit, it generates Error 492 while if exceeding lower limit, it
generates Error 493.

Upper limit

Controllable range of positioning module Lower limit

Stopper

Direction

Start Start

Direction

Stopper

Immediate stop if lower limit is

detected
Immediate stop if upper limit is detected
Limit switch

Limit switch
Positioning
Drive

Note that positioning operation is not available if it stops out of positioning range.
If it stops due to external input stroke limit detection, move it into the controllable range of
positioning by manual operation(jog operation, inching operation, manual pulse generator
operation).
External input stroke upper/lower limit error is detected by edge during positioning, so manual
operation is available although it exceeds stroke range.
2) Stroke upper/lower limits
Stroke upper/lower limit function does not execute positioning operation if it is operated out of
ranges of stroke upper/lower limits, which are set in positioning parameters.
When it starts operation or is in operation, stroke upper/lower limits are checked.

Range of machines movement

Software lower limit

Software upper limit

Positioning is not executed by any operation instruction if it is operated out of ranges

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Chapter 9 Built-in Positioning Function

Remark
Software stroke upper/lower limits are not detected unless origin is determined.
Since positioning operation is unlimitedly available without internal input stroke upper/lower
limit detection once S/W upper/lower limits are set to 0, it should be noted when controlling
fixed-feed. However, its current position is changed to 2147483648 and it keeps forward
rotation if it reaches up to the max. value, 2147483647 during forward operation; during
reverse operation, its current position is changed to 2147483647 and keeps the operation
once it reaches up to the min value, 2147483648.

9.2.14 Temporary position address setting to origin and current position change
1) Setting a temporary address to origin
To set a temporary address to origin, you may set it as home return address in this software
package parameter.
Temporary address of a set axis may be confirmed in the current status code info reading function
block after executing floating origin setting or home return.
In addition, it may be checked with current position after executing floating origin setting or home
return in this software package monitor.
2) Changing current position
Current position change is to change the current address to a temporary address.
If executing a current position change instruction(PRS) without origin set, it is changed to origin
determined.
Once the current position is changed by current position change instruction(PRS), it is necessary to
execute home return again because the mechanical origin position is changed by home return.

9.2.15 Floating origin setting

It is used to forcibly set the current position as origin without home return operation of a machine. At
the moment, the position is the value set in home return address.
Remark
Since floating origin setting is just to forcibly determine origin from the current position to home
return address, it should be noted as follows in a program of which origin is floating origin
setting.
If any error occurs, remove the cause(s), reset the error, cancel no output, set floating origin
again, change the operation step number to the operation step number designation and start
it.

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Chapter 9 Built-in Positioning Function

9.2.16 Teaching
This function is related to positioning data and changes parameter or operation data using MOV
instruction without software package.
Teaching is available only for a step number that is not currently operated.
This function is convenient when being used by frequently changing its target position and
operation speed.

Remark
1) Flash save of changed data(WRT)
If operation data is changed by teaching function, it is necessary to use WRT instruction in order to
save the changed value to flash memory. It is not possible to maintain the changed values when
turning it off or changing a mode unless the values are saved by using WRT instruction.

9.2.17 Start step number change

It is used to change an operation step number to start and available only when it stops.
If a step number is set to 0 by indirect start instruction(IST), it executes positioning operation with
the current operation step number. However, if the current operation step number is 3 without start
step number change and operation speed is 0, it generates Error 151.

9.2.18 M code
By reading M code, it may be used to check the current operation step number and execute any
auxiliary task(clamp, drill rotation, tool exchange and etc).
M code signal generated during operation may be reset by a M code, Off instruction.
M code number may be differently set by each operation step number of positioning data.
M code number range: 1 65,535
M code output is as follows.
M code signal occurred during operation may be reset by M code Off instruction. It generates M
code On signal while it outputs M code number set in position data after positioning is complete by
start instructions(indirect start, direct start, concurrent start and linear interpolation).
Speed

Continuous
operation

Dwell

End
operation

Indirect start
M code number

In operation
M code On
signal
M code Off
instruction

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Dwell

Time

Chapter 9 Built-in Positioning Function

Remark
If M code signal is On despite of positioning completed, it generates an error(Error
number: 233) while the next operation step number is not operated. Therefore, if M code
signal is On, the M code signal should be Off by M code off instruction in order for
positioning operation of the next operation step number.

9.2.19 Error and No output

Error is also divided into error and warning.
If an error occurs, it keeps positioning operation and generates an error.
Positioning operation is not executed without an error cleared. In addition, any operation stops if an
error occurs during operation.
Error reset instruction is also subdivided into resetting an error only and canceling no pulse output.
For details of error, refer to 9.9 Error Code List.

9.2.20 Positioning completion output time

Regarding positioning completion output time, the completion signal is on and it turns off after on
is maintained as much as 1 scan time after positioning is completed during single operation, repeat
operation, continuous operation, sequential operation, linear interpolation operation, speed/position
switching operation(with position indicated during constant speed operation) and inching operation.
The operations in single operation mode are as follows.
Speed

Time
Dwell Time

Dwell Time

Start
Busy
Positioning
complete

tw :1scan time
tw

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Chapter 9 Built-in Positioning Function

The operations in continuous mode are as follows.

Speed

Time
Dwell Time

Dwell Time

Start
Busy
Positioning
complete

tw :1scan time

The operations in sequential operation mode are as follows.

Speed

Time
Dwell Time
Start
Busy
Positioning
complete

tw : 1scan time tw

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Chapter 9 Built-in Positioning Function

9.3 Positioning Parameters and Operation Data

It describes positioning parameter and operation data setting.

It describes positioning parameters and settings.

Click Positioning of Built In Parameters in Basic Project Window.

Once Positioning is selected, the Positioing Parameter Setting window is popped up as follows.

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Chapter 9 Built-in Positioning Function

Basic parameters and details of origin/manual parameters are as follows.
Type

Basic
parameters

Origin/Manual
parameters

Item

Description

Positioning
Pulse output level
Bias speed
Speed limit
ACC/DECNo.1
ACC/DEC No.1
ACC/DEC No.3
ACC/DEC No.4
S/W upper limit
S/W lower limit
Backlash
compensation amount
S/W upper/lower limits
during constant speed
operation
Use upper/lower limits
Home Return method
Home Return direction
Origin address
Origin compensation
amount
Home Return high
speed
Home Return low
speed
Home Return
accelerating time
Home Return
decelerating time

Set whether to use positioning function.

Set pulse output mode(Low/High Active).
Set the initial start speed for early operation.
Set the max speed settable in positioning operation.
Time setting of ACC/DEC section No.1
Time setting of ACC/DEC section No.2
Time setting of ACC/DEC section No.3
Time setting of ACC/DEC section No.4
Set upper limit within a machines operation range
Set lower limit within a machines operation range
Set compensation amount of tolerance in which a machine is
not operated due to wear when rotation direction is changed.

Dwell time
Jog high speed
Jog low speed
Jog accelerating time
Jog decelerating time
Inching speed

Set whether to detect or not S/W upper/lower limits during

constant speed operation
Use or not
Set home return method
Set home return direction
Set origin address
Set origin compensation amount
Set high speed for home return
Set low speed for home return
Set accelerating time for home return
Set decelerating time for home return
Set a time required to remove remaining bias counter
immediately after positioning ends
Set high speed for jog operation
Set low speed for jog operation
Set accelerating time for jog operation
Set decelerating time for jog operation
Set speed for inching operation

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Chapter 9 Built-in Positioning Function

9.3.1 Setting basic positioning parameters
It describes the range of setting basic parameters and special K area for positioning.
Item
Positioning

Range

Initial value

Device area
X-axis

Y-axis

Remarks

0 : No use, 1 : use
0 : Low Active,
1 : High Active

K4870

K5270

Bit

K4871

K5271

Bit

Bias speed

1 100,000[pulse/sec]

K450

K490

Speed limit

1 100,000[pulse/sec]

10,000

K452

K492

ACC time 1
DEC time 1
ACC time 2
DEC time 2
ACC time 3
DEC time 3
ACC time 4
DEC time 4

0 ~ 10,000[unit: ms]
0 ~ 10,000[unit: ms]
0 ~ 10,000[unit: ms]
0 ~ 10,000[unit: ms]
0 ~ 10,000[unit: ms]
0 ~ 10,000[unit: ms]
0 ~ 10,000[unit: ms]
0 ~ 10,000[unit: ms]
-2147483648
2147483647 [pulse]
-2147483648
2147483647 [pulse]

500
500
1000
1000
1500
1500
2000
2000

K454
K455
K456
K457
K458
K459
K460
K461

K494
K495
K496
K497
K498
K499
K500
K501

2147483647

K462

K502

-2147483648

K464

K504

K466

K506

Word

0 : not detect, 1 : detect

K4684

K5084

Bit

0 : no use, 1 : use

K4872

K5272

Bit

Pulse output level

Soft upper limit

Soft lower limit
Backlash
compensation
amount
Soft upper/lower
limits during constant
speed operation
Use upper/lower
limits

0 65,535[pulse]

1) Positioning
Determine whether to use positioning.
If not using positioning function, set it 0: no use while for use, it should be set to 1: use.
Remark
Make sure to set it 1: use to use positioning.
If not using positioning and using general output contact, set it 0: no use.

9-40

Double
word
Double
word
Word
Word
Word
Word
Word
Word
Word
Word
Double
word
Double
word

Chapter 9 Built-in Positioning Function

2) Pulse Output Level
For pulse output level, select either of Low Active output or High Active output.
The following figure shows low active pulse output level depending on pulse output mode.

PLS / DIR
F P terminal

RP terminal
CW(forward output)

CCW(reverse output)

The following figure shows high active pulse output level depending on pulse output mode.
PLS / DIR
FP terminal

RP terminal
CCW(reverse output)

CW(forward output)

3) Bias speed
Considering that torque of stepping motor is unstable when its speed is almost equal to 0, the
initial speed is set during early operation in order to facilitate motors rotation and is used to save
positioning time. The speed set in the case is called bias speed.
In Pulse unit, the range is between 0 1,000,000 (unit: pps).

Bias speed may be used for

Positioning operation by start instruction,

Home Return operation,
JOG operation, and
Main axis of interpolation operation(not available for sub axis).
Speed
Positioning speed
Home return speed
JOG speed
Interpolation speed

Operation with
bias speed set

Speed limit
Operation with no bias
speed set

Bias speed
ACC time

DEC time

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Time

Chapter 9 Built-in Positioning Function

Remark
The entire operation time may be advantageously reduced if bias speed is highly set, but
excessive value may cause impact sound at the start/end time and unreasonable
operation on a machine.
Bias speed should be set within the following range.
(If home return speed is set lower than bias speed, it generates Error 133; if operation
speed is set lower than bias speed during positioning, it generates Error 153; if JOG high
speed is set lower than bias speed, it generates Error 121.)
1) Bias speed Positioning speed data
2) Bias speed Home Return low speed Home Return high speed
3) Bias speed JOG high speed(Jog low speed is not related to bias speed.)

4) Speed limit

It refers to the allowable max speed of positioning operation.

In Pulse unit, the range is between 1 1,000,000(unit: pps).
During position operation, operation speed, home return speed and jog operation speed are
affected by speed limit, and if they are set higher than speed limit, it detects error.
If home return speed is higher than speed limit : Error 133
If positioning speed is higher than speed limit : Error 152
If jog operation speed is higher than speed limit : Error 121

5) ACC/DEC time
It is applied to sequential operation instruction, speed override, positioning speed override during
positioning operation as well as start/end time of positioning operation.
ACC/DEC time is set at units of axis in PLC program(special K area) and position control
monitoring.
The range is between 0 10,000 (unit: 1) per axis.
A) ACC time : a duration required to reach from 0(stop) speed to the speed limit set in parameter.
Using bias would be a time consumed to reach from bias speed set to the speed limit set in
parameter.
B) DEC time: a duration required to reach from the speed limit set in parameter up to 0(stop)
speed.
Using bias would be a time consumed to reach from bias speed set to the speed limit set in
parameter.
Speed limit

Speed

Set speed
Actual DEC time
Actual ACC time

Time
DEC time

ACC time

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Chapter 9 Built-in Positioning Function

Remark
Terms definition
Speed limit: the max positioning speed to be set in parameter of software package.
Set speed: Speed of operation data actually operated by position data
Actual ACC time: a duration reaching from 0(stop) speed to the speed set by operation
data.
Actual DEC time: a duration reaching from the speed set by operation data to
0speed(stop).

6) S/W Upper/Lower Limits

A range of a machines move is called stroke limit, and it sets the upper/lower limits of stroke into
software upper limit and software lower limit and does not execute positioning if it operates out of
ranges set in the above.
Therefore, it is used to prevent against out-of-range of upper/lower limits resulting from incorrect
positioning address or malfunction by program error and it needs installing emergency stop limit
switch close to a machines stroke limit.

Range of a machines move

Software upper limit

Software lower limit

The range of software upper/lower limits may be checked during operation or when operation starts.
If an error is detected by setting software upper/lower limits(software upper limit error: 501,
software lower limit error: 502), pulse output of positioning module is prohibited.
Therefore, to resume operation after an error is detected, it is prerequisite to cancel No output.
The range is set per axis as follows;
Software upper limit address range : -2,147,483,648 2,147,483,647
Software lower limit address range : -2,147,483,648 2,147,483,647(unit: Pulse).

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Chapter 9 Built-in Positioning Function

7) Backlash Compensation Amount

A tolerance that a machine does not operate due to wear when its rotation direction is changed if it
is moving with motor axis combined with gear and screw is called backlash.
Therefore, when changing a rotation direction, it should output by adding backlash compensation
amount to positioning amount.
It is available for positioning operation, inching operation and jog operation
The range is between 0 65,535(unit: Pulse) per axis.
Once backlash compensation amount is set or changed, home return should be executed.
Since it may not reach the original position due to backlash if a position is moved 1m rightward and
then 1m leftward, backlash compensation amount should be added.

Moving 1m righward(forward)

Gear

Moving 1m leftward(reverse)

Turning a direction
Backlash

A move including backlash compensation amount

Backlash

Backlash compensation outputs backlash compensation amount first and then, address of
positioning operation, inching operation and jog operation move to the target positions.

Speed

A,B,C,D :Incremental P0 ,P1,P2,P3 : ( ) means motors rotation

positions
The rest but ( ) means a loads move
A: 1000

B: 500

P0 : 1000
(1000)

P3 : 0
P2 : 1500
P1 : 1500 (1500+compensation (3000+compensation
(1500) amount)
amount)
Time
C:0
D: 1500

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Chapter 9 Built-in Positioning Function

8) S/W upper/lower limits during constant speed operation
It is used to stop pulse output by S/W upper/lower limit detection during constant speed operation

by speed control.
In the case, S/W upper/lower limit detection is available as long as origin is set and the position

mark during constant speed operation is Mark.

9) Use of Upper/Lower Limits
To use upper/lower limits during operation, it should be set as Use.

If No use is set, it does not detect upper/lower limits and is available with general input contact.

9.3.2 Origin/Manual Parameter Setting for Positioning

It describes origin/manual parameters.
Device area

Item

Range

Initial
value

X-axis

Y-axis

Origin address

-2147483648 2147483647 [pulse]

K469

K509

1 100,000[pulse/sec]

5,000

K471

K511

1 100,000[pulse/sec]

500

K473

K513

0 ~ 65535[unit: ms]

1,000

K475

K515

Word

0 ~ 65535[unit: ms]

1,000

K476

K516

Word

0 ~ 50,000[unit: ms]

K477

K517

Word

Home Return method

0 : origin detection after DOG off

1 : origin detection after deceleration
when DOG is On
2 : origin detection by DOG

K4780
K4781

K5180
K5181

Bit

Home Return direction

0 : forward, 1 : reverse

K4782

K5182

Bit

Home Return high

speed
Home Return low
speed
Home Return ACC
time
Home Return DEC
time
Home Return dwell
time

Remarks
Double
word
Double
word
Double
word

Double
word
Double
word

Jog high speed

1 100,000[pulse/sec]

5,000

K479

K519

Jog low speed

1 100,000[pulse/sec]

1,000

K481

K521

Jog ACC time

0 ~ 10,000[unit: ms]

1,000

K483

K523

Word

Jog DEC time

0 ~ 10,000[unit: ms]

1,000

K484

K524

Word

Inching speed

1 65,535[pulse/sec]

100

K485

K525

Word

1) Home Return method

There are three home return methods as follows.
A) Origin detection after DOG off
B) Origin detection after deceleration when DOG is on
C) Origin detection by DOG
For details about home return methods, refer to home return items.

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Chapter 9 Built-in Positioning Function

2) Home Return direction
Home Return direction is divided into CW(forward) and CCW(reverse) depending on pulse output
direction.
Home Return
direction

Pulse output operation of positioning module

Forward

Executing forward home return.

Reverse

Executing reverse home return.

3) Origin address
It is used to change the current address to a value set in home return address when home return is
completed by home return instruction.
The range of home return address is between -2,147,483,648 2,147,483,647(unit: Pulse).
4) Home Return high speed
As a speed when it returns home by home return instruction, it is divided into high speed and low
speed.
When setting home return speed, it should be speed limit home return high speed home return
low speed.
It refers to a speed operating in regular speed section via accelerating section by home return
instruction.
The range of home return high speed is between 1 100,000(unit: pps)
5) Home Return low speed
It refers to a speed operating in regular speed section via decelerating section from home return
high speed by home return instruction.
The range of home return low speed is between 1 100,000(unit: pps)
Remark
It is recommended to set home return low speed as low as possible when setting home return
speed. Origin signal detection may be inaccurate if low speed is set too fast.
6) ACC/DEC time

When it returns home by home return instruction, it returns home at the speed of home return high
speed and home return low speed by ACC/DEC time.
The range of home return ACC/DEC time is between 0 10,000(unit: 1 ).

7) Dwell time
Dwell time is necessary to maintain precise stop of servo motor when positioning by using a servo
motor.
The actual duration necessary to remove remaining pulse of bias counter after positioning ends is
called dwell time.
The range of home return dwell time is between 0 50,000 (unit: 1 )

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Chapter 9 Built-in Positioning Function

8) JOG high speed
Jog speed is about jog operation, one of manual operations and is divided into jog low speed
operation and jog high speed operation.
Jog high speed operation is operated by patterns with accelerating, regular speed and decelerating
sections. Therefore, job is controlled by ACC/DEC instruction in accelerating section and
decelerating section.
The range of jog high speed is between 1 100,000(unit: 1pps)
(Cautions in setting high speed: bias speed jog high speed speed limit)
9) JOG low speed
Jog low speed operation is operated with patterns of accelerating, regular speed and decelerating
sections.
The range of jog low speed is between 1 JOG high speed
10) JOG ACC/DEC time
It refers to JOG ACC/DEC time during jog high/low speed operation.
The range of JOG ACC/DEC time is between 0 10,000(unit: 1 )
11) Inching speed
The inching operation speed is set(the range of inching speed is between 1 65,535(unit: 1pps))

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Chapter 9 Built-in Positioning Function

9.3.3 Positioning operation data setting

It describes operation data.

Step

Initial
values

X-axis

Y-axis

ABS

K5384

K8384

Bit

End

K5382~3

K8382~3

Bit

Position

K5381

K8381

Bit

Single

K5380

K8380

Bit

0~30

K539

K839

Word

Target position

-2147483648 2147483647 [pulse]

K530

K830

Double
word

M Code number

0 ~ 65,535

K537

K837

Word

K5386
K5387

K8386
K8387

Bit

1 100,000[pulse/sec]

K534

K834

Double
word

0 ~ 50,000[unit: ]

K536

K836

Word

Item
Coordinate

Range
0 : ABS, 1 : Incremental

Operation pattern 0 : end, 1 : continuous, 2 : sequential

9-48

Remark
s

Chapter 9 Built-in Positioning Function

1) Step No.
The range of positioning data serial number is between 0 ~ 30.
The first step of operation data is from No.1 step.
Remark
If designating step number in indirect start, concurrent start, linear interpolation and position
synchronization, it operates in accordance with the operation data set for the current operation step
number.
2) Coordinate
Position data coordinates are absolute coordinate and Incremental coordinate.
A) Absolute coordinate
(1) It controls positioning from the current position to a target position(from positioning data to a
designated target position).
(2) Positioning control is executed based on the position designated in home return(origin address).
(3) The direction is determined by the current position and target position.
Start position < target position : forward positioning
Start position > target position : reverse positioning
[ example ]
If current position: 1000, target position: 8000, the forward move is 7000(8000-1000).
Positioning results
0

100

8000
Move: 7000

Current position

Target position

Remark
Control by absolute coordinate method may be activated as long as origin is set.
It generates Error 234 if it starts without origin set.

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Chapter 9 Built-in Positioning Function

B) Incremental coordinate
(1) It executes positioning control from the current position as much as a target move.
(2) Direction is determined by +/- mark of a move.
If direction is positive(+ or none)

: forward positioning(position increasing)

If direction is negative( - )

: reverse positioning(position decreasing)

Current position

Reverse

Forward

Direction in case of negative(-)

Direction in case of positive(+)

[ example ]
If the current position is 5000 and target position is -7000, it completes positioning at -2000.
Positioning results
-

500

Reverse positioning control

(move: -7000)
Target position

Current position

3) Control method(position/speed)
Select whether position control or speed control with control method.
4) Operation pattern(end/continuous/sequential)
For an operation pattern, select one of end, continuous and sequential.
5) Operation method(single/repeat)
For operation method, select single operation or repeat operation.
6) Target position
It is an area to set a move of position data as position value
The range is between 2,147,483,648 2,147,483,647(unit: Pulse).
Target position may be changed in a program by using special K area(for position control
function).

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Chapter 9 Built-in Positioning Function

7) M code
M code function is applied in a lump by M code mode set in positioning parameter and used in a
program by allocating a number per each operation step number within the range.
The range is between 1 65,535.

Remark
How to use M code in a program
1) M code number may be read by Current Operation Status Code Info Reading.
2) M code operation may check On/Off status by Current Operation Status Bit Info Reading.
X axis M code No.(Word): K428, Y axis M code No.: K438
X axis M code No.(Bit): K4203, Y axis M code No.: K4303
8) ACC/DEC number
As ACC/DEC number, select ACC/DEC number set in basic positioning parameter.
The range is between No.1 ~ No.4.
9) Operation speed

Operation speed is set within a range not exceeding speed limit of basic parameter.
The range of operation speed(unit is pulse) is between 1 100,000(unit: 1pps).

10) Dwell time

It refers to a waiting time given before executing the next positioning operation after one positioning
operation is complete.
The range is between 0 50,000 (unit: 1).
Especially, Since an actual servo motor may not reach a target position or may be in excessive
status while positioning module stops if using a servo motor, the data is used to set a waiting time
until it stably stops.
The operation status of the positioning module axis is maintained On while dwell time is operating;
if dwell time elapses, operating status is off and positioning completion signal is On.

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Chapter 9 Built-in Positioning Function

9.4 Status Monitoring Flag for Positioning and I/O Signals

9.4.1 Status monitoring flag for positioning
It describes status monitoring flags for positioning.
1) Status information
Address
X-axis
Y-axis
K420
K430
K421
K431
K422
K432
K423
K433
K424
K434
K425
K435
K426
K436
K427
K437
K428
K438
K429
K439

Status information
Operation status bit information (lower)
Operation status bit information (upper)
Current position (lower)
Current position (upper)
Current speed (lower)
Current speed (upper)
Step number
Error code
M code number
External I/O signal status

The status information area of internal memory is read only area.

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Chapter 9 Built-in Positioning Function

2) Operation status information
Device area
Item

X-axis
word

Status information

Y-axis

bit

address

In operation

Error status

bit

address

K4200

K4300

0:stop, 1:operating

K4201

K4301

0:no error, 1:error

Positioning
complete

K4202

K4302

0:incomplete, 1:complete

M code signal

K4203

K4303

0:M code OFF, 1:M code ON

Home setting status

K4204

K4304

0:no home setting, 1:home setting

No pulse output

K4205

K4305

0:pulse output, 1:no pulse output

Stop status

K4206

K4306

0:no stop status by stop instruction

1:stop status by stop instruction

Upper limit detection K420

K4208

K4308

0:no detection, 1:detection

Lower limit detection

K4209

K4309

0:no detection, 1:detection

Emergency stop

K420A

K430A

0:normal, 1:emergency stop

Forward/reverse

K420B

K430B

0:forward, 1:reverse

Operating(ACC)

K420C

K430C

0:no accelerating, 1:accelerating

Operating(Regular)

K420D

K430D

0:no regular
speed

Operating(DEC)

K420E

K430E

0:no decelerating, 1:decelerating

Operating(Dwell)

K420F

K430F

0:no dwelling 1:dwelling

K4210

K4310

K4211

K4311

K4212

K4312

K4215

K4315

K4216

K4316

K4217

K4317

Jog low speed

K4218

K4318

Jog high speed

K4219

K4319

Inching operation

K421A

K431A

Operation control
(Position control)
Operation control
(Speed control)
Operation control
(Linear
interpolation)
Home Return
Position
synchronization
Speed
synchronization

K421

word

K430

K431

9-53

speed,

1:regular

0:no position controlling

1:position controlling
0:no speed controlling
1:speed controlling
0:no interpolation controlling
1:interpolation controlling
0:no home returning
1:home returning
0:no position synchronizing
1:position synchronizing
0:no speed synchronizing
1:speed synchronizing
0:no jog low speed
1:jog low speed
0:no jog high speed
1:jog high speed
0:no inching operation
1:inching operation

Chapter 9 Built-in Positioning Function

9.4.2 Positioning Input/Output signal
It describes how to use positioning instructions in XGB PLC.
The slot of built-in position control is 0 .

Axis

Output

Description

K4290

X-axis start

K4291

X-axis forward jog

K4292

X-axis reverse jog

K4293

X-axis jog low/high speed

K4390

Y-axis start

K4391

Y-axis forward jog

K4392

Y-axis reverse jog

K4393

Y-axis low/high speed

1) Start signal
A) Unlike indirect start or direct start by instructions, start signal executes positioning operation in
accordance with the current operation step number of positioning module without step number
set.
B) If changing the current operation step number during operation, it is necessary to use start step
number change instruction(SNS).
C) Examples of start programs
(1) Use push button as external start input switch.
(2) If toggle switch is used as external start input switch, it should be noted that operating switch
is off once positioning is complete and it restarts.

Device
P000F
K4200
K4201
K4290

Description
X-axis start signal input
X-axis operating signal
X-axis error status
X-axis start

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Chapter 9 Built-in Positioning Function

2) Jog operation
A) If K4293 regarding X-axis(Y axis: K4393) is on, it means jog high speed; if OFF, it sets jog low
speed.
B) The actual jog operation regarding X-axis is operated forward or reverse depending on ON/Off
signal of K4291(Y-axis: K4391) and K4292(Y-axis: K4392) signals.
Jog operation would be On if it operates by On/Off signal level; if Off, jog operation stops.
C) Example of jog operation program

Device
P0008
P0009
P000A
K4200
K4201
K4291
K4292
K4293

Description
X-axis forward jog external input
X-axis reverse jog external input
X-axis jog low/high speed external input
X-axis operating signal
X-axis error
X-axis forward jog
X-axis reverse jog
X-axis jog low/high speed

Remark
Note that if executing jog operation by entering adding operation signals(K4200, K4300) as
normal close(B contact) input as jog operation input condition, it may cause malfunction.

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Chapter 9 Built-in Positioning Function

9.5 Positioning Instructions

9.5.1 Description of positioning dedicated instructions
It describes positioning instructions used in XGB PLC.
Abbr.

Instruction

Instruction condition

ORG

Home Return start

Slot , instruction axis

FLT

Floating origin setting

DST

Direct start

IST

Indirect start

Slot , instruction axis

Slot , instruction axis, position, sped, dwell time, M code, control
word
Slot , instruction axis, step number

LIN

Linear interpolation

SST

Concurrent start

VTP

Speed/position switching

Slot , instruction axis, step number, axis info

Slot , instruction axis, X-axis step number, Y-axis step number,
Z-axis step number, axis info
Slot , instruction axis

PTV

Position/speed switching

Slot , instruction axis

STP

Stop

SSP

Position synchronization

SSS

Speed synchronization

Slot , instruction axis, DEC time

Slot , instruction axis, step number, main axis position, main-axis
setting
Slot , instruction axis, synchronization ratio, delay time

POR

Position override

Slot , instruction axis, position

SOR

Speed override

Slot , instruction axis, speed

PSO

Positioning speed override

Slot , instruction axis, position, speed

INCH

Inching start

Slot , instruction axis, inching amount

MOF

M code cancel

Slot , instruction axis

PRS

Current position preset

Slot , instruction axis, position

EMG

Emergency stop

Slot , instruction axis

CLR

Error reset, No output cancel

Save parameter/operation
data

Slot , instruction axis, enable/disable pulse output

WRT

Slot , instruction axis, select saving area

Remark
Dedicated instructions operate at rising edge. That is, it operates once if instruction contact is On.

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Chapter 9 Built-in Positioning Function

9.5.2 Use of positioning dedicated instruction
Use of dedicated instructions describes how to use program based on X-axis.
1) Home Return start(instruction : ORG)
A) Program

B) Description
Device
M000
K4200
K4201

Description
X-axis home return input
X-axis operating signal
X-axis error status

Instruction
Operand

ORG

Home Return

OP1

Slot

Constant

Word

Basic unit designation : 0

OP2

Axis

P,M,L,K,
Constant,D,Z,R

Word

Instruction axis( 0:X, 1:Y)

In case of home return start, it executes home return operation by the set home return parameters;
when it operates normally, the origin setting completion signal is On.
2) Floating origin setting(instruction : FLT)
A) Program

B) Description
Device
M000
K4200
K4201

Description
X-axis home return input
X-axis operating signal
X-axis error status

Instruction
Operand

FLT
OP1

Slot

OP2

Axis

Floating origin

Constant
P,M,L,K,
D,Z,R

constant,

Word

Basic unit designation : 0

Word

Instruction axis( 0 :X, 1:Y)

Unlike home return, the origin setting completion signal is immediately On without any external
signal at the current position.
3) Direction start(Instruction : DST)
A) Program

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Chapter 9 Built-in Positioning Function

B) Description
Device

Description

M000
K4200
K4201

X-axis home return input

X-axis operating signal
X-axis error status

Operand

Instruc
-tion

DST

Direct start

OP1

Slot

Constant

Word

Basic unit designation : 0

OP2

Axis

P,M,L,K,constant, D,Z,R

Word

Instruction axis(0:X,1:Y)

OP3

Target
position

P,M,L,K,constant,D,Z,R

Dint

Target position
(-2147483648 ~ 2147483647)

OP4

Target
speed

P,M,L,K,constant,D,Z,R

Double
word

OP5

Dwell
time

P,M,L,K,constant,D,Z,R

Word

Dwell time(0~50000)

OP6

M code

P,M,L,K,constant,D,Z,R

Word

M code(0~65535)

word

Bit0(0:position,1:speed),
Bit4(0:absolute,1:Incremental),
Bit5,6(0:No.1,1:No.2,2:No.3,3:No.4
ACC/DEC time)

OP7

Control
word

P,M,L,K,constant,D,Z,R

Target speed(1~100000)

If the control word of instruction info is h0012, it is set by position control, Incremental, ACC/DEC time.
The 1 ~ 3rd and 7 ~ 15th bits of control words, which are no use area, would not affect the setting..
That is, h0010 and h0012 are set identically.
4) Indirect start(instruction : IST)
A) Program

B) Description
Device
M000
K4200
K4201

Description
X-axis home return input
X-axis operating signal
X-axis error status

Instruction

Operand

IST

Indirect start

OP1

Slot

constant

Word

Basic unit designation : 0

OP2

Axis

P,M,L,K,constant,D,Z,R

Word

Instruction axis( 0 : X, 1:Y)

OP3

Operation
step

P,M,L,K,constant,D,Z,R

Word

Operating step number( 0 ~ 30 )

If step number is set to 0 in indirect start, it operates with the current operation step number.

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Chapter 9 Built-in Positioning Function

5) Linear interpolation(instruction : LIN)
A) Program

B) Description
Device

Description

M0000

2 axes linear interpolation input

K4200

X-axis operating signal

K4201

X-axis error status

K4300

Y-axis operating signal

K4301

Y-axis error status

Operand

Instruc
-tion

LIN

Linear interpolation

OP1

Slot

Constant

Word

Basic unit designation : 0

OP2

Main axis

P,M,L,K,constant,D,Z,R

Word

Instruction axis( 0 :X, 1 :Y)

OP3

Operation
step

P,M,L,K,constant,D,Z,R

Word

Operating step number( 0 ~30)

Operation
axis

P,M,L,K,constant,D,Z,R

Word

OP4

*1 : Dummy Operand value does not affect operation.

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Dummy Operand(*1)

Chapter 9 Built-in Positioning Function

6) Concurrent start(instruction : SST)
A) Program

B) Description
Device
M000
K4200
K4201
K4300
K4301

Description
Concurrent start input
X-axis operating signal
X-axis error status
Y-axis operating signal
Y-axis error status

Instruction

SST
OP1

Operand

Circular interpolation
Constant

Word

P,M,L,K,constant,D,Z,R

Word

Instruction axis( 0 :X, 1 :Y)

Slot

Basic unit designation : 0

OP2

Axis

OP3

X-axis
operation step

P,M,L,K,constant,D,Z,R

Word

X-axis operating step

number(0~30)

OP4

Y-axis
operation step

P,M,L,K,constant,D,Z,R

Word

Y-axis operating step

number(0~30)

OP5

Z-axis
operation step

P,M,L,K,constant,D,Z,R

Word

Dummy Operand(*1)

OP6

Operation axis

P,M,L,K,constantD,Z,R

Word

Dummy Operand(*1)

It operates concurrently and also called internal concurrent start to tell from external concurrent
start,
*1 : Dummy Operand value does not affect operation.
7) Speed/position switching(instruction : VTP)
A) Program

B) Description
Device
M0000
K4200
K4201

Description
X-axis speed/position switching
X-axis operating signal
X-axis error status

Instruction
Operand

VTP

Speed/position switching

OP1

Slot

Constant

Word

Basic unit designation : 0

OP2

Axis

P,M,L,K,constant,D,Z,R

Word

Instruction axis( 0:X,1:Y)

If speed/position switching instruction is executed with X-axis speed-controlled, it is switched to position

control, displaying the current position and enabling positioning operation.
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Chapter 9 Built-in Positioning Function

8) Position/speed switching(instruction : PTV)
A) Program

B) Description
Device
M0000
K4200
K4201

Description
X-axis speed/position switching input
X-axis operating signal
X-axis error status

Instruction
Operand

PTV

Speed/position switching

OP1

Slot

Constant

Word

Basic unit designation : 0

Slot

constant

Word

Basic unit designation : 0

OP2

Axis

P,M,L,K,constant
,D,Z,R

Word

OP3

Main axis
synchronization
position

P,M,L,K,constant
,D,Z,R

Dint

The synchronization position of main

axis operated by instruction axis
(-2147483648 ~ 2147483647)

OP4

Operation step

P,M,L,K,constant
,D,Z,R

Word

Step number operated by instruction

axis(0~30)

OP5

Main axis

P,M,L,K,constant
,D,Z,R

Word

Main axis(0:X, 1:Y)

Instruction axis(0:X,1:Y)

If position synchronization instruction is executed first, it turns in operation and the sub-axis, X-axis
does not output pulse.
The main axis, Y-axis starts, No.11 step of X-axis where the current position is 1000 starts, pulse
outputs and positioning operation starts by the operation pattern of X-axis.

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Chapter 9 Built-in Positioning Function

11) Speed synchronization(instruction : SSS)
A) Program

B) Description
Device
M0000
K4200
K4201

Description
X-axis speed/position
switching input
X-axis operating signal
X-axis error status

Instruction

SSS

Speed synchronization

OP1

Slot

Constant

Word

Basic unit designation : 0

OP2

Axis

P,M,L,K, constant,D,Z,R

Word

Instruction axis(0:X,1:Y)

OP3

Main
axis
ratio

P,M,L,K,constant,D,Z,R

Word

Synchronization ratio(0~10000) / 100%

OP4

Sub
axis
ratio

P,M,L,K,costant,D,Z,R

Word

Delay time(1~10)ms

OP5

Main
axis

P,M,L,K,constant,D,Z,R

Word

Main axis(0:X,1:Y, 2:HSC Ch0, 3:HSC

Ch1,
4:HSC Ch2, 5:HSC Ch3)

Operand

If speed synchronization instruction is executed, it turns in operation and no pulse is output at X-axis.
If the synchronization ratio is set to 5,000, the main axis setting, Y-axis starts and if operation speed is
100pps, the sub axis, X-axis operates at 50pps depending on the synchronization ratio
50.50%(5,000/100%).
If the main axis setting, Y-axis operation speed is changed to 1000pps, the Y-axis operation speed is
changed at the speed of 500pps, which is X-axis, the sub axis.
During speed synchronization operation, the synchronization ratio is available between
1~10000(0.00% ~ 100.00%).
Delay time is a delayed time of main/sub axes. If delay time is large, delay occurs as long as the delay
time set, but output pulse is output stably. In case of any possibility of fault in a motor and etc, the
delay time should be set largely. The available range is between 1 ~ 10ms.

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Chapter 9 Built-in Positioning Function

12) Position override(instruction : POR)
A) Program

B) Description
Device
M0000
K4200
K4201

Description
X-axis speed/position switching
input
X-axis operating signal
X-axis error status

Instruction

Operand

POR

Position override

OP1

14) Positioning speed override(instruction : PSO)
A) Program

B) Description
Device

Description

M0000
K4200
K4201

X-axis speed/position switching input

X-axis operating signal
X-axis error status

Instruction

Operand

PSO

Positioning speed override

OP1

Slot

Word

Basic unit designation : 0

OP2

Axis

P,M,L,K,
constant,D,Z,R

Word

Instruction axis(0:X,1:Y)

OP3

Position

P,M,L,K,constant,D,Z,R

Dint

OP4

Speed

P,M,L,K,constant,D,Z,R

Double
word

Position to change speed

(-2147483648 ~ 2147483647)
Target
speed
change(1~200000)

If positioning override instruction is executed when X-axis operation speed is 500pps and the target
position is 2,000,000, operation speed is changed to 5000pps and it operates.
15) Inching start(instruction : INCH)
A) Program

B) Description
Device
M0000
K4200
K4201

Description
X-axis speed/position switching
input
X-axis operating signal
X-axis error status

Instruction

Operand

INCH

Inching operation

OP1

Slot

Constant

Word

Basic unit designation : 0

OP2

Axis

P,M,L,K,constant,D,Z,R

Word

Instruction axis(0:X,1:Y)

OP3

Position

P,M,L,K,constant,D,Z,R

Dint

Position to move by inching operation

(-2147483648 ~ 2147483647)

If M000 is on, it operates forward at the inching operation speed set in origin/manual parameters.

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Chapter 9 Built-in Positioning Function

16) Start step number change(instruction : SNS)
A) Program

B) Description
Device
M0000
K4200
K4201

Description
X-axis start step number change
input
X-axis operating signal
X-axis error status

Instruction

Operand

MOF

M code cancel

OP1

Slot

Constant

Word

Basic unit designation : 0

OP2

Axis

P,M,L,K,Constant,D,Z,R

Word

Instruction axis(0:X,1:Y)

OP2

Axis

P,M,L,K,constant,D,Z,R

Word

Step number to changed by start

step(1~30)

If M0 is on, X-axis step number is changed to 10.

17) M code cancel(instruction : MOF)
A) Program

B) Description
Device
M0000
K4200
K4201

Description
X-axis speed/position switching
input
X-axis operating signal
X-axis error status

Instruction
Operand

MOF

M code cancel

OP1

Slot

Constant

Word

Basic unit designation : 0

OP2

Axis

P,M,L,K,constant,D,Z,R

Word

Instruction axis(0:X,1:Y)

If on X-axis, M code occurs and M000 is On, M code On signal and M code number are simultaneously
cancelled.

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Chapter 9 Built-in Positioning Function

18) Present Position Preset(instruction : PRS)
A) Program

B) Description
Device
M0000
K4200
K4201

Description
X-axis speed/position switching input
X-axis operating signal
X-axis error status

Instruction

Operand

PRS

Present position present

OP1

Slot

Constant

Word

Basic unit designation : 0

OP2

Axis

P,M,L,K,constant,D,Z,R,ZR

Word

Instruction axis(0:X,1:Y)

OP3

Position

P,M,L,K,constant,D,Z,R,ZR

Dint

Present position to change

(-2147483648 ~ 2147483647)

If M000 is On, the present position of X-axis is changed to 1500.

If present position preset instruction is executed without origin set, origin is set and the present
position is changed to the preset value.
19) Emergency Stop(instruction : EMG)
A) Program

B) Description
Device

Description

M000

Internal emergency stop input

Instruction
Operand

EMG

Emergency stop

OP1

Slot

Constant

Word

Basic unit designation : 0

OP2

Axis

P,M,L,K,constant,D,Z,R,ZR

word

Instruction axis(0:X,1:Y)

If M000 is on, every axis emergently stops and no pulse outputs.

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Chapter 9 Built-in Positioning Function

20) Error reset, No output cancel(instruction : CLR)
A) Program

B) Description
Device
M0000
K4200
K4201

Description
X-axis speed/position switching
input
X-axis operating signal
X-axis error status

Instruction

CLR

Error reset, no output cancel

OP1

Slot

Constant

Word

Basic unit designation : 0

OP2

Axis

P,M,L,K,constant,D,Z,R

Word

Instruction axis(0:X,1:Y)

OP3

No
output
cancel

P,M,L,K,constant,D,Z,R

Word

0: No cancel of no output
1: No output cancel

Operand

If M000 is On, an error occurred on X-axis is reset and no pulse status is cancelled.
21) Saving Parameter/Operation Data(instruction : WRT)
A) Program

B) Description
Device
M0000
K4200
K4201

Description
X-axis speed/position switching
input
X-axis operating signal
X-axis error status

Instruction

Operand

WRT

Saving Parameter/Operation Data

OP1

Slot

Constant

Word

Basic unit designation : 0

OP2

Axis

P,M,L,K,constant,D,Z,R

Word

Dummy Operand

OP3

Selection
of saving
area

P,M,L,K,constant,D,Z,R

Word

Positioning : 0 , high speed counter :1

PID : 2

If M000 is on, it instructions that the parameters and operation data currently operated on a selected
axis of X-axis is to be saved.

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Chapter 9 Built-in Positioning Function

9.6 Positioning Software Package Commissioning

It monitors status of positioning in XGB PLC, changes parameters and operation data and executes
instructions on axis.

9.6.1 Instruction and monitoring

It shows positioning instruction execution and monitoring method.

Clicking special module monitor after startign monitoring shows the following window.

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Chapter 9 Built-in Positioning Function

It shows positioning instruction and monitoring window.

Monitoring window

Instruction window
Item
Monitoring

Description

Remarks

Monitor positioning values of each axis.

Position Parameter Monitor and write parameters of each axis.

X-Axis Data

Monitor and write each operation pattern parameters of X-axis.

Y-Axis Data

Monitor and write each operation pattern parameters of Y-axis.

Start Monitor

Execute positioning monitor.

Stop Monitor

Stop positioning monitor.

Write PLC
Save Project

Write modified parameters into PLC Flash memory

Write modified parameters into XG5000 project.
9-70

Parameter area

Chapter 9 Built-in Positioning Function

1) Positioning instruction
Setting each item an clicking Run orI I execute the designated operation.

Item

Description

Related
instruction

Execute indirect start at designated operation step.

IST

Error reset

Cancel any error occurred and no output status.

CLR

Direct start

Execute direct start by designated position, speed, dwell, M code,

ACC/DEC time, coordinate and control method.

DST

M-code off

Clear M code On signal

MOF

Decelerating stop

Execute decelerating stop in a designated time.

STP

Emergency stop

Every axis stops and it turns no output

EMG

Speed override

Operation speed is changed into a designated speed.

SOR

Change a target position to a designated position.

POR

Change operation speed from a designated position in a designated

speed.

PSO

Execute a designated home return by parameters.

ORG

Set the current position as floating origin.

FLT

Change the current position to a designated value.

PRS

Start step change

Change start step to a designated step.

SNS

Inching operation

Execute inching operation set in parameters to a designated

position(inching amount).

INCH

Jog operation

Execute jog operation designated by parameters(forward/reverse,

low/high speed)

Indirect start

Position override
Speed override with
position
Home Return
FLT
Position preset

Speed position
switching

Change speed control to position control.

Position/speed
switching

Change position control to speed control.

Speed
synchronization

Execute speed synchronization operation at designated main axis

and rate of main/sub axis

SSS

Position
synchronization

Execute position synchronization operation in accordance with

designated main axis, operation step and position.

SSP

Synchronization start Execute concurrent starts by operation step of designated axes.

Linear interpolation

Execute linear interpolation operation by operation step of

designated X/Y axes

9-71

VTP

PTV

PSS
LIN

Chapter 9 Built-in Positioning Function

2) Positioning Status Monitoring
It monitors positioning results of each axis.

Item

Description

Related flags

Remarks

X-axis

Y-axis

K422

K432

Double
word

Display the present speed of each axis.

K424

K434

Double
word

Display the currently operating step of each axis.

K426

K436

Word

Display, if any, error code of each axis.

K427

K437

Word

Display the M code of currently operating step.

K428

K438

Word

Busy signal

Display whether each axis is operating.

K4200

K4300

Bit

Positioning
complete

Display whether positioning of each axis is complete.

K4202

K4302

Bit

M code On

Display M code on/off of the currently operating step.

K4203

K4302

Bit

Display whether origin is determined(set).

K4204

K4302

Bit

No output

Display whether or not no output is set.

K4205

K4305

Bit

Upper limit
detection

Display whether upper limit detection or not.

K4208

K4308

Bit

Lower limit
detection

Display whether lower limit detection or not.

K4209

K4309

Bit

Emergency stop Display emergency stop.

K420A

K430A

Bit

Forward/reverse
Display forward/reverse rotation status.
rotation

K420B

K430B

Bit

Present position Display the present position of each axis.

Present speed
Step number
Error code
M code

being executed.

K4216

K4316

Bit

Speed
synchronization

Display whether position synchronization operation or

not.

K4217

K4317

Bit

Jog high speed

Display whether jog high speed operation is operating.

K4219

K4319

Bit

Jog low speed

Display whether jog low speed operation is operating.

K4218

K4318

Bit

K421A

K431A

Bit

Home Return

Inching operation Display whether inching operation or not

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Chapter 9 Built-in Positioning Function

3) Positioning External Input Signal Monitoring
It monitors external input signal of each axis.

Item

Description

Related flags
X-axis

Y-axis

Upper limit signal

Display upper limit contact status of each axis.

Lower limit signal

Display lower limit contact status of each axis.

DOG signal

Display DOG contact status of each axis.

Origin signal

Display origin contact status of each axis.

9.6.2 Changing positioning parameters and operation data

1) Parameter Change
XGB positioning parameters may be changed during operation. However, the changed parameters
would be applied after the current operation stops and restarts.
First of all, modify parameters to change and select PLC Write. At the moment, the saved
parameters are changed and the changed data are applied if it restarts.

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Chapter 9 Built-in Positioning Function

If applying the changed data to a project, select Save Project. Make sure that positioning
parameters of XG5000 would be changed as long as Save Project is selected. If not selected, the
project and parameters of PLC and XG 5000 may be different each other.

2) Operation data change

XGB positioning operation data may be modified during operation. However, the modified operation
data are applied after in-operation step stops and it re-starts.
To modify the speed of in-operation step and positioning data, use speed override or position
override.
First of all, modify operation data to change and select PLC Write. At the moment, the operation
data saved in PLC is changed and the modified operation data is applied when it re-starts.
When applying the changed data to a project, select a project. Note that the positioning operation
data of XG5000 may be changed as long as Project Save is selected. The project and operation
data of XG5000 and PLC may be different unless Project Save is not selected.

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Chapter 9. Built-in Positioning Function

9.7 Examples of Using Program

It describes the positioning programming built in XGB basic module.
It also describes examples of applications operated with PLC program in XGB PLC.
Unless otherwise specified, example programs are prepared by the followign PLC system structure.
To use positioning function in XGB, select and execute positioning module in Monitor-Special
Module Monitor of XG5000 or use positioning command with a program.
Push button switch is used as an external input switch. In case toggle switch is used, a special
attention should be paid.

Basic unit input : P000

Basic unit output : P002
P0000

Increase module input : P004

XBMDN32S

XBEDC32A

BCD Digital

X-axis servo

Servo motor

Push button

Y-axis servo

Servo motor

[System structure of example program]

Remark
To use positioning, make sure to set positioning of basic parameter as 1: use.

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Chapter 9. Built-in Positioning Function

9.7.1 Basic program

1) Floating Origin Setting
A) Description
(1) Devices used
Device

Description

P0008

X-axis error reset, no output cancel switch

P0009

X-axis floating origin switch

P000F

X-axis start switch

K4200

X-axis operating signal

K4201

X-axis error status signal

K4290

X-axis start

K420~K428

X-axis status info(refer to <9.4.1 Status monitoring flag for positioning > )

(2) Operation Sequence

P0009(floating origin) switch On => P000F(start) switch On(3 times)
(3) Operation data setting
Position data
item

X-axis setting

Step
No.

Coordinate

Absolute

Control
method

Operation
speed
[pls/s]

Dwell
time
[]

No.1

1000

100

No.1

1500

100

No.1

2000

100

Operation
pattern

Operation
method

Repeat
step

Target position
[pulse]

End

Single

10000

End

Single

20000

End

Single

30000

Position
control
Position
control
Position
control

M
ACC/DEC
code
no.

(4) Operation pattern

Speed
2kpps
1.5kp
1kpps

10000
P000F

20000 Dwell
time

Dwell
time

B) Program

9-76

30000

Time
Dwell
time

Chapter 9. Built-in Positioning Function

2) Linear Interpolation Start-Floating Origin Setting
A) Description
(1) Device used
Device

Description

P0008

X-axis, Y-axis error reset, no output cancel switch

P0009

X-axis, Y-axis floating origin switch

P000F

X-axis, Y-axis linear interpolation start switch

K4200

X-axis operating signal

K4201

X-axis error status signal

K4300

Y-axis operating signal

K4301

Y-axis error status signal

K420~K428

X-axis status info(refer to <9.4.1 Positioning Status Monitoring Flag Info>)

(2) Operation Sequence

P0009(floating origin) switch On => P000F(linear interpolation start) switch on.
(3) Operation data setting
Position data
item

Step
No.

Coordinate

X-axis

Absolute

Y-axis

Control
method
Position
control
Position
control

Operation
pattern

Operation Repeat
method
step

Target
position
[pulse]

M code

ACC/DEC no.

End

Single

10000

No.1

1000

100

End

Single

5000

No.1

1000

100

(4) Operation pattern

Y-axis
Target address

5000

Y-axis move
(5000 0
= 5000)
1000

Start address

Operation
Dwell time
speed
[]
[pls/s]

X-axis

1000
5000
10000
X-axis move(10000 0 = 10000)

B) Program

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Chapter 9. Built-in Positioning Function

3) Decelerating Stop(Home return)
A) Description
(1) Devices used
Device

Description

P0008

X-axis error reset, no output cancel switch

P0009

X-axis home return switch

P000A

X-axis decelerating stop switch

P000F

X-axis start switch

K4200

X-axis operating signal

K4201

X-axis error status signal

K420~K428

X-axis status info(refer to <9.4.1 Status monitoring flag for positioning >)

(2) Operation Sequence

P0001(Home return) switch On => P000F(start) switch On => P0002(decelerating stop) stop On =>
P000F(start) switch On

It returns home by the home return method set in home return/manual parameters.
(0: DOG/origin(Off)).

Since DEC time is set as a value but 0 in decelerating stop command, it decelerates by No.1
DEC time.

(3) Operation Data Setting

Position data
items

X-axis

Step no.

Coordinate

Control method

Absolute

Position
control

Operation Operation Repeat

pattern
method
step
End

Single

B) Program

9-78

Target position
[pulse]

M
code

ACC/DEC
No.

Operation
speed
[pls/s]

Dwell
time
[]

15000

1000

100

Chapter 9. Built-in Positioning Function

4) Single Operation(Operation Step no. designation)
A) Designation
(1) Devices used
Device

Description

P0008

X-axis error reset, no output cancel switch

P0009

X-axis floating origin switch

P000A

X-axis step number change switch

P000F

X-axis start switch

K4200

X-axis operating signal

K4201

X-axis error status signal

P0004

BCD Digital switch input

K420~K428

X-axis status info(refer to <9.4.1 Positioning Status Monitoring Flag Info>)

(2) Operation sequence

P0009(floating origin) switch On => P000F(start) switch on => P000A(start step change) switch on
=> P000F(start) switch On

Set BCD external digital input as 10 and turn on P000A.

(3) Operation data setting

Position
data items

Step
No.

Coordinate

X-axis

Absolute

ACC/DEC
No.

Operation
Dwell time
speed
[]
[pls/s]

End

Single

10000

No.11

1000

100

End

Single

20000

No.1

1500

100

End

Single

30000

No.1

2000

100

...

Absolute

M code

...

Target
position
[pulse]

...

Absolute

Repeat
step

...

Position
control
Position
control
Position
control

Operation Operation
pattern
method

...

Absolute

Position
control
Position
control
Position
control
...

...

Control
method

End

Single

50000

No.1

1000

100

End

Single

60000

No.1

1500

100

End

Single

70000

No.1

2000

100

B) Program

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Chapter 9. Built-in Positioning Function

5) Constant Speed Operation(operation step number designation)
A) Description
(1) Devices used
Device
P0008
P0009
P000A
P000B
P000F
K4200
K4201
P0004
K420~K428

Description
X-axis error reset, no output cancel switch
X-axis floating origin switch
X-axis step number change
X-axis DEC stop
X-axis start switch
X-axis operating signal
X-axis error status signal
BCD Digital switch input
X-axis status info
(refer to <9.4.1 Positioning Status Monitoring Flag Info>)

(2) Operation sequence

P000F(start) switch On => P000C(DEC stop) switch On => P0009(floating origin) switch On =>
P000A(start step change) switch On => P000F(start) switch On => P000C(DEC stop)switch On

Set BCD external digital input as 10 and turn on P000A.

Since DEC time is set to 0 in DEC stop command, execute deceleration by No.1 ACC/DEC time.

(3) Operation data setting

Position
data items

X-axis

Step
Coordinate
No.
1

Absolute

Control
method

Operation
pattern

Speed
control

End

Target
Operation
Operation Repeat
M ACC/DEC
position
speed
method
step
code
No.
[pulse]
[pls/s]
Single

No.1

1000

Dwell
time
[]
100

...

Absolute

Speed
control

End

Single

50000

No.1

1000

100

B) Program

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Chapter 9. Built-in Positioning Function

6) Concurrent start
A) Description
(1) Devices used
Device

Description

P0008

X-axis, Y-axis error reset, no output cancel switch

P0009

X-axis, Y-axis floating origin switch

P000F

X-axis, Y-axis concurrent start switch

K4200

X-axis operating signal

K4201

X-axis error status signal

K4300

Y-axis operating switch

K4301

Y-axis error status signal

X-axis status info
(refer to < refer to <9.4.1 Positioning Status Monitoring Flag Info>)
Y-axis status info
(refer to <9.4.1 Positioning Status Monitoring Flag Info>)

K420~K428
K430~K438

(2) Operation sequence

P0009(floating origin) switch on => P000F(Internal concurrent start) switch on
(3) Operation data setting

Position
data item

X-axis

Coordinate

Control
method

Operation
pattern

Operation
method

Absolute

Position
control

End

Single

10000

No.1

1000

Dwell
time
[]
100

...

Y-axis

Target
Operation
Repeat
M ACC/DEC
position
speed
step
code
No.
[pulse]
[pls/s]

Step
No.

Absolute

Position
control

End

Single

20000

No.1

2000

100

B) Program

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Chapter 9. Built-in Positioning Function

7) Position Synchronic Start
A) Description
(1) Devices used
Device

Description

P0008

X-axis, Y-axis error reset, no output cancel switch

P0009

X-axis, Y-axis floating origin switch

P000E

X-axis position synchronic switch

P000F

Y-axis indirect start switch

K4200

X-axis operating signal

K4201

X-axis error status signal

K4300

Y-axis operating signal

K4301

Y-axis error status signal

K420~K428

X-axis status info(refer to <9.4.1 Positioning Status Monitoring Flag Info>)

K430~K438

Y-axis status info(refer to <9.4.1 Status monitoring flag for positioning>)

(2) Operation sequence

P0009(floating origin) switch On => P000E(position synchronic) switch On => P000F(indirect start)
switch On.
(3) Operation data setting
Position data
items

Sub-axis X-axis

Absolute

Control
method
Position
control

Repeat
step

Target
position
[pulse]

M
code

ACC/DEC
No.

Single

10000

No.1

Operation Operation
pattern
method
End

Operation Dwell
speed
time
[pls/s]
[]
1000

100

...

Main-axis Y-axis

Step
Coordinate
No.

absolute

Position
control

End

Single

15000

No.1

1500

100

B) Program

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Chapter 9. Built-in Positioning Function

8) Speed synchronic start
1) Description
(1) Devices used
Device

Description

P0008

X-axis, Y-axis error reset, no output cancel switch

P0009

X-axis speed synchronic stop switch(DEC stop command)

P000A

Y-axis start switch

P000E

X-axis synchronic switch

P000F

Y-axis stop switch

K4200

X-axis operating signal

K4201

X-axis error status signal

K4300

Y-axis operating signal

K4301

Y-axis error status signal

K420~K428

X-axis status info(refer to <9.4.1 Status monitoring flag for positioning>)

K430~K438

Y-axis status info(refer to <9.4.1 Status monitoring flag for positioning>)

(2) Operation sequence

P000E(X-axis speed synchronic) switch On => P000A(Y-axis start) switch On=> P000F(Y-axis stop)
switch On P000A(Y-axis start) switch On => P000F(Y-axis stop) switch On => P0009(X-axis speed
synchronic stop) switch On

If using toggle switch for Y-axis DEC stop, it may generate an error.

Since DEC time is set to 0 in DEC stop command, it executes DEC by No.1 ACC/DEC time.

(3) Operation data setting

Position data
items

Step
No.

Coordinate

Sub axis, X-axis

Absolute

...

Main axis, Y-axis

Target
Operation Dwell
Control Operation Operation Repeat
M
ACC/DEC
position
speed
time
method
pattern
method
step
code
No.
[pulse]
[pls/s]
[]
Speed
End
Single
0
0
0
No.1
1000
100
control

absolute

Speed
control

End

Single

No.1

1000

100

(4) Speed synchronization setting

Command1

Main axis
Synchronization ratio
Delay time

1:Y axis
5000 : 50.00%
1:1ms

B) Program

9-83

Chapter 9. Built-in Positioning Function

9) Emergency stop
A) Description
(1) Devices used
Device

Description

P0008

Error reset in emergency stop, no output cancel switch

P0009

X-axis home return switch

P000F

Emergency stop switch during home return

K4200

X-axis operating signal

K4201

X-axis error status signal

K420~K428

X-axis status info(refer to <9.4.1 Status monitoring flag for positioning>)

(2) Operation sequence

P0009(home return) switch On, Off => P000F(emergency stop) switch On, Off
2 axes are emergently stopped in case of emergency stop and both cancel no output in case of
error reset. To emergently stop axes individually, use emergency stop signal of a servo drive.
B) Program

9-84

Chapter 9. Built-in Positioning Function

10) Jog operation
A) Description
(1) Devices used
Device

Description

P0008

X-axis error reset, no output cancel switch

P0009

X-axis floating origin switch

P000D

X-axis jog forward-rotation

P000E

X-axis jog reverse-rotation

P000F

X-axis jog low/high speed

K4200

X-axis operating signal

K4201

X-axis error status signal

K420~K428

X-axis status info(refer to <9.4.1 Status monitoring flag for positioning>)

(2) Operation sequence

P0009(floating origin) switch On,Off => P000F(jog low/high speed) switch Off => P000E(Jog forward
rotation) switch On => P000F(jog low/high speed) switch On => P000E(jog forward rotation) switch
Off => P000F(jog reverse rotation) switch On => P000F(jog reverse rotation) switch Off
B) Program

9-85

Chapter 9. Built-in Positioning Function

11) Inching Operation
A) Description
(1) Devices used
Device

Description

P0008

X-axis error reset, no output cancel switch

P0009

X-axis home return switch

P000F

X-axis inching operation switch

K4200

X-axis operating signal

K4201
D0100 ~
D0101
K420~K428

X-axis error status signal

Inching move(amount)
X-axis status info(refer to <9.4.1 Status monitoring flag for positioning>)

(2) Operation sequence

P0009(home return) switch On, Off => P000F(inching operation) switch On, Off
B) Program

9-86

Chapter 9. Built-in Positioning Function

12) Speed override
A) Description
(1) Devices used
Device

Description

P0008

X-axis error reset, no output cancel switch

P0009

X-axis floating origin switch

P000A

X-axis indirect start switch

P000F

X-axis speed override switch

K4200

X-axis operating signal

K4201

X-axis error status signal

K420C

X-axis ACC signal

K420D
D0100 ~
D0101
K420~K428

X-axis constant speed signal

Speed override settings(1000pps)
X-axis status info(refer to <9.4.1 Status monitoring flag for positioning>)

(2) Operation sequence

P0009(floating origin) switch On, Off => P000A(indirect start) switch On,Off => P000F(speed
override)switch On,Off
(3) Operation data setting
Position
data items

X-axis

Step
Coordinate
No.
1

Absolute

Control
method

Operation
pattern

Position
control

End

Target
Operation Repeat
M ACC/DEC
position
method
step
code
No.
[pulse]
Single

100000

No.1

Operation
speed
[pls/s]

Dwell
time
[]

5000

100

Changing operation speed to 1000

B) Program

9-87

Chapter 9. Built-in Positioning Function

13) Position override
A) Description
(1) Devices used
Device

Description

P0008

X-axis error reset, no output cancel switch

P0009

X-axis floating origin switch

P000A

X-axis indirect start switch

P000F

X-axis position override switch

K4200

X-axis operating signal

K4201

X-axis error status signal

K420D

X-axis constant speed signal

D0100 ~ D0101
K420~K428

Position override settings(120000 Pulse)

X-axis status info(refer to <9.4.1 Status monitoring flag for positioning>)

(2) Operation sequence

P0009(floating origin) switch On,Off => P000A(indirect start) switch On,Off => P000F(position
override) switch On,Off
(3) Operation data setting
Position
data items

X-axis

Step
Coordinate
No.
1

Absolute

Target
Operation
Operation Operation Repeat
M
ACC/DEC
position
speed
pattern
method
step
code
No.
[pulse]
[pls/s]
Position
100000
End
Single
0
0
No.1
5000
control
Control
method

Dwell
time
[]
100

Changing a target position to

120000 during operation

B) Program

9-88

Chapter 9. Built-in Positioning Function

14) Positioning speed override
A) Description
(1) Devices used
Device

Description

P0008

X-axis error reset, no output cancel switch

P0009

X-axis floating origin switch

P000A

X-axis indirect start switch

P000F

X-axis positioning speed override switch

K4200

X-axis operating signal

K4201

X-axis error status signal

K420D

X-axis constant speed signal

D0100 ~ D0101

Positioning settings(50000pulse)

D0102 ~ D0103

Sped settings(10000pps)

K420~K428

X-axis status info(refer to <9.4.1 Status monitoring flag for positioning>)

(2) Operation sequence

P0001(floating origin) switch On, Off => P0002(indirect start) switch On, Off => P000F(positioning
speed override) switch On, Off
(3) Operation data setting
Position
data items

X-axis

Step
Control Operation Operation
Coordinate
No.
method
pattern
method
1

Absolute

Position
control

End

Single

Repeat
step

Target
position
[pulse]

100000

M
ACC/D
code EC No.
0

No.1

Operati
on
speed
[pls/s]

Dwell time
[]

5000

100

Changing operation speed to 10000

Changing target position to
50000 during operation

B) Program

9-89

Chapter 9. Built-in Positioning Function

15) Operation step change during repeat operation
A) Description
(1) Devices used
Device

Description

P0008

X-axis error reset, no output cancel switch

P0009

X-axis home return switch

P000A

X-axis start switch

K4200

X-axis operating signal

K4201

X-axis error status signal

K4290

X-axis start signal

K420~K428

X-axis status info(refer to <9.4.1 Status monitoring flag for positioning>)

(2) Operation sequence

P0009(home return) switch On, Off => P000A(start) switch On, Off => P000A(start) switch On, Off
Depending on start switch On/Off, operation step works in good order of 1=>2=>10=>11=>1=>2.
(3) Operation data setting
Position
data items

X-axis

Step
No.

Coordinate

Absolute

ACC/DEC
No.

Operation
speed
[pls/s]

End

Single

10000

No.1

1000

End

Single

20000

No.1

1500

Dwell
time
[]
100
100

...

Absolute

M
code

...

Position
control
Position
control

Target
Operation Operation Repeat
position
pattern
method
step
[pulse]

...

Absolute

Position
control
Position
control
...

...

Control
method

End

Single

50000

No.1

1000

100

End

Single

60000

No.1

1500

100

B) Program

9-90

Chapter 9. Built-in Positioning Function

16) Present position change
A) Description
(1) Devices used
Device

Description

P0008

X-axis error reset, no output cancel switch

P0009

X-axis home return switch

P000A

X-axis start switch

P000F

X-axis present position change switch

K4200

X-axis operating signal

K4201

X-axis error status signal

K4290

X-axis start signal

D0100 ~ D0101
K420~K428

Present position present settings(3000)

X-axis status info(refer to <9.4.1 Status monitoring flag for positioning>)

(2) Operation sequence

P0009(home return) switch On, Off => P000F(present position change) switch On, Off =>
P000A(start) switch On, Off
(3) Operation data setting
Position
data items

X-axis

Step
Coordinate
No.
1

Absolute

Control
method
Position
control

Target
Operation Operation Repeat
position
pattern
method
step
[pulse]
End

Single

B) Program

9-91

100000

M
code

ACC/DEC
No.

Operation
speed
[pls/s]

Dwell
time
[]

No.1

5000

100

Chapter 9. Built-in Positioning Function

17) Teaching(speed change)
A) Description
(1) Devices used
Device

Description

P0008

X-axis error reset, no output cancel switch

P0009

X-axis home return switch

P000A

X-axis start switch

P000F

X-axis speed change switch

K4200

X-axis operating signal

K4201

X-axis error status signal

K4290

X-axis start signal

K534 ~ K535
D0100 ~ D0101
K420~K428

X-axis step 1 operation speed

X-axis speed change data(3000)
X-axis status info(refer to <9.4.1 Status monitoring flag for positioning>)

(2) Operation sequence

P0009(home return) switch On, Off => P000F(speed change) switch On,Off => P000A(start)
switch On, Off
(3) Operation data setting
Position
data items

Step
No.

Coordinate

Control
method

Absolute

Position
control

X-axis

Target
Operation
Operation Operation Repeat
M
ACC/DEC
position
speed
pattern
method
step
code
No.
[pulse]
[pls/s]
End

Single

10000

No.1

Dwell
time
[]
100

B) Program

Remark
1) Flash save of changed data(WRT)
If operation data is changed by DMOV command, it is necessary to use WRT command in order to
save the changed value to flash memory. It is not possible to maintain the changed values when
turning it off or changing a mode unless the values are saved by using WRT command.
2) Teaching is available for every item of operation data(Coordinate, control method and etc).
However, teaching is not available for any operating step. Make sure to execute teaching to notoperating step.

9-92

Chapter 9. Built-in Positioning Function

18) Teaching(Position change)
A) Description
(1) Devices used
Device

Description

P0008

X-axis error reset, no output cancel switch

P0009

X-axis home return switch

P000A

X-axis start switch

P000F

X-axis position change switch

K4200

X-axis operating switch

K4201

X-axis error status signal

K4290

X-axis start signal

K530 ~ K531
D0100 ~ D0101
K420~K428

X-axis step 1 target position

X-axis position change data(5000)
X-axis status info(refer to <9.4.1 Status monitoring flag for positioning>)

(2) Operation sequence

P0009(home return) switch On, Off => P000F(position change) switch On,Off => P000A(start) switch
On, Off
(3) Operation data setting
Position
data items

X-axis

Step
Coordinate
No.
1

Absolute

Control
method
Position
control

Target
Operation Operation Repeat
position
pattern
method
step
[pulse]
End

Single

M
code

ACC/DEC
No.

Operation
speed
[pls/s]

Dwell
time
[]

No.1

500

100

B) Program

9-93

Chapter 9. Built-in Positioning Function

19) Teaching(Parameter Change)
A) Description
(1) Devices used
Device
P0008
P0009
P000A
P000E
P000F
K4200
K4201
K4290
K420D
K426
K452 ~ K453
K454
K455
D0100 ~ D0101
D0102
D0103
K420~K428

Description
X-axis error reset, no output cancel switch
X-axis home return switch
X-axis start switch
X-axis parameter change switch(speed limit)
X-axis parameter change switch(ACC/DEC time 1)
X-axis operating signal
X-axis error status signal
X-axis start signal
X-axis constant speed signal
X-axis present operation step number
X-axis speed limit
X-axis ACC time
X-axis DEC time
X-axis speed limit setting data(100000)
X-axis ACC time1 setting data(100)
X-axis ACC time1 setting data(100)
X-axis status info(refer to <9.4.1 Status monitoring flag for positioning>)

(2) Operation sequence

P0009(home return) switch On, Off => P000E(speed limit change) switch On, Off =>
P000F(ACC/DEC time1 change) switch On, Off =>P000A(start) switch On, Off
(3) Operation data setting
Position
data items

X-axis

Step
No.

Coordinate

Control
method

Absolute

Position
control

Operation Operation
pattern
method
End

Single

Target
Repeat
position
step
[pulse]
0

10000

M
code

ACC/DEC
No.

Operation
speed
[pls/s]

Dwell
time
[]

1000

100

(4) Basic parameter setting of internal memory

Parameter
Speed limit
ACC time1
DEC time1

Settings
100000
100
100

B) Program

Chapter 9. Built-in Positioning Function

20) M Code Cancel
A) Description
(1) Devices used
Device

Description

P0008

X-axis error reset, no output cancel switch

P0009

X-axis home return switch

P000A

X-axis start switch

P000F

X-axis M code cancel switch

K4200

X-axis operating signal

K4201

X-axis error status signal

K4290

X-axis start signal

K4203

X-axis M code On signal

K420~K428

X-axis status info(refer to <9.4.1 Status monitoring flag for positioning>)

(2) Operation sequence

P0009(home return) switch On, Off => P000A(start) switch On, Off => P000F(M code cancel) switch
On, Off => P000F(M code cancel) switch On, Off => P000F(M code cancel) switch On, Off
(3) Operation data and parameter settings
Position
data items

Step
No.

Coordinate

X-axis

Absolute

absolute

Control
method

Operation Operation Repeat

pattern
method
step

Position
control
Position
control
Position
control

Continuo
us
Continuo
us
End

Target
position
[pulse]

M
ACC/DEC
code
No.

Operation
speed
[pls/s]

Dwell
time
[]

Single

10000

No.1

1000

100

Single

20000

No.1

1500

100

Single

No.1

2000

100

B) Program

9-95

Chapter 9. Built-in Positioning Function

9.7.2 Applications
1) Examples of Position change/speed change using HMI.
A) System structure
Basic unit input : P000
P0000
Basic unit
output : P002

Increase module input:P004

XBM- XBEDN32S DC32A

Touch Screen

Servo motor

Y-axis servo

Push button

Moving object

Encoder

B) Description
Target position, forward rotation speed and reverse rotation speed are changed in touch screen with
MOV command and if starting after home return, a servo motor rotates as much as speed/position
move data set in the touch screen. At the moment, to save the changed value into flash memory, make
sure to use WRT command. If saving the data into flash memory without WRT command, it does not
save the changed values(settings) when it turns off or a mode is changed.
C) Devices used
Device

Description

P0008

X-axis error reset, no output cancel switch

P0009

X-axis home return switch

P000A

X-axis position change switch

P000B

X-axis forward rotation speed change switch

P000C

X-axis reverse rotation speed change switch

P000D

X-axis operation data flash save switch

P000F

X-axis start switch

K4200

X-axis operating signal

K4201

X-axis error status signal

K4290

X-axis start signal

K530 ~ K531

X-axis 1 step target position

K534 ~ K535

X-axis 1 step operation speed

K544 ~ K545

X-axis 2 step operation speed

D00500 ~ D00501

X-axis position change data

D00540 ~ D00541

X-axis forward rotation speed change data

D00542 ~ D00543

X-axis reverse speed change data

K420~K428

-axis status info(refer to <9.4.1 Status monitoring flag for positioning>)

9-96

Chapter 9. Built-in Positioning Function

D) Operation sequence
P0009(home return) switch On,Off => P000A(position change) switch On,Off => P000B(forward
rotation speed change) switch On,Off => P000F(start) switch On,Off => P000C(reverse rotation
speed change) switch On,Off => P000F(start) switch On,Off
Remark
Make sure to turn on/off P000D(flash save) switch after commissioning. If any changed data is not
saved in flash memory, the changed data is not saved in case of power off=> on or mode change.
E) Operation data setting
Position
data items

X-axis

Step
No.

Coordinate

Absolute

Target
Control Operation Operation Repeat
position
method
pattern
method
step
[pulse]
Position
End
Single
0
10000
control
Position
End
Single
1
0
control

M
code

ACC/DEC
No.

Operation
speed
[pls/s]

Dwell
time
[]

No.1

500

No.1

500

F) Internal memory setting

Internal memory
content
Change data setting

Change setting (P000A)

Change setting (P000B)

Change setting (P000C)

D0500~D0501

D0540~D0541

D0542~D0543

Changed data is saved as the data set on touch screen.

G) Operation pattern
Speed
Forward rotation
d
Position

Reverse rotation
On

On
Start command
On
Operating

H) Program

9-97

Chapter 9. Built-in Positioning Function

2) Positioning of End operation, continuous operation and sequential operation
A) System structure
System structure is as same as 9.3.1.
Remark
Origin setting may be executed by three methods; method by home return, method by floating
origin and present position preset method.

B) Devices used
Device

Description

P0008
P0009
P000F
K4200
K4201
K4290
K420~K428

X-axis error reset, no output cancel switch

X-axis home return switch
X-axis start switch
X-axis operating signal
X-axis error status signal
X-axis start signal
X-axis status info
(refer to <9.4.1 Status monitoring flag for positioning>)

C) Operation sequence
P0009(home return) switch On,Off => P000F(start) switch On,Off 4 times
D) Operation data setting
Position
data items

X-axis

Step
Coordinate
No.
1

Incremental

Control
method
Position
control
Position
control
Position
control
Position
control
Position
control
Position
control
Position
control
Position
control

Operation
pattern

Target
Operation Repeat
position
method
step
[pulse]

M
code

ACC/DEC
No.

Operation
speed
[pls/s]

Dwell
time
[]

End

Single

1000

No.1

1000

End

Single

2000

No.1

2000

Continuous

Single

3000

No.1

3000

Continuous

Single

4000

No.1

4000

Continuous

Single

5000

No.1

5000

End

Single

10000

No.1

6000

Continuous

Single

20000

No.1

7000

Continuous

Single

30000

No.1

8000

9-98

Chapter 9. Built-in Positioning Function

E) Operation pattern
Speed
Forward rotation
8kpps
7kpps
6kpps
5kpps
4kpps
3kpps
2kpps
1kpps

End
0

Step

End

Continue

End

Continue

Position

1000
6000
3000
Step No.1 Step No.2 Step No.3

10000
Step No.4

15000
Step No.5

25000
Step No.6

45000
Step No.7

75000
Step No.8

9kpps

End operation(repeat)
Reverse rotation

Start command
(P000F)

F) Program

9-99

The next start command

operates the step no. 1.

Chapter 9. Built-in Positioning Function

3) Positioning using M code
A) System structure
System structure is as same as [position change, speed change using HMI].
B) Devices used
Device

Description

P0008

X-axis error reset, no output cancel switch

P0009

X-axis home return switch

P000A

X-axis M code cancel switch

P000F

X-axis start switch

K4200

X-axis operating signal

K4201

X-axis error status signal

K4203

X-axis M code On signal

K4290

X-axis start signal

K420~K428

X-axis status info(refer to <9.4.1 Status monitoring flag for positioning>)

C) Operation sequence
P0009(home return) switch On, Off => P000F(start) switch On, Off => P000A(M code cancel) switch
On, Off => P000F(start) switch On, Off => P000A(M code cancel) switch On, Off => P000A(M code
cancel) switch On, Off => P000F(start) switch On, Off => P000A(M code cancel) switch On, Off =>
P000A(M code cancel) switch On, Off
Refer to start commands of operation pattern, M code Off commands.
D) Operation data settings
Position
data items

Step
No.

Coordinate

X-axis

Absolute

Control
method

Operation
pattern

Position
End
control
Position
Continuous
control
Position
Continuous
control
Position
End
control
Position
Continuous
control
Position
End
control

Operation
method

Repeat
step

Target
position
[pulse]

M
code

ACC/DEC
No.

Operation
speed
[pls/s]

Dwell
time
[]

Single

10000

No.1

1000

100

Single

20000

No.1

1000

100

Single

30000

No.1

3000

100

Single

40000

No.1

4000

100

Single

50000

No.1

5000

100

Single

No.1

6000

100

9-100

Chapter 9. Built-in Positioning Function

E) Operation pattern
Speed
Forward rotation
4kpps
3kpps
2kpps
1kpps

Continuous
End
End

Continuous
Continuous
Time

10000
Step No.1

40000
20000
30000
Step No.2 Step No.3 Step No.4

50000
Step No.5

0
Step No.6

10kpps
End operation

Reverse rotation
Start command On
(P000F)
On
Operating
(P0011)
Dwelling
(M000F)
M code signal
(M0003)
M code number
(D0005)
M code Off command
(P0002)

On
On

The next start command operates a step number, 0.

Remark
In sequential operation mode, M code signal is changed into a M code number without pause every
time operation step number is changed and it Continuous operation.
If M code signal is on in continuous operation mode, the next operation step number may be operated
as long as M code On is changed to off with M code off command.
F) Program

9-101

Chapter 9. Built-in Positioning Function

4) 2-axes linear interpolation operation
A) System structure
System is structured to add Y-axis servo drive to X-axis servo drive of [position change, speed change
using HMI.
B) Devices used
Device

Description

P0008

X-axis, Y-axis error reset, no output cancel switch

P0009

X-axis, Y-axis home return switch

P000F

2-axes linear interpolation operation switch

K4200

X-axis operating signal

K4201

X-axis error status signal

K4300

Y-axis operating signal

K4301

Y-axis error status signal

K420~K428

X-axis status info(refer to <9.4.1 Status monitoring flag for positioning>)

K430~K438

Y-axis status info(refer to <9.4.1 Status monitoring flag for positioning>)

C) Operation sequence
P0009(home return) switch On, Off => P000F(linear interpolation) switch On, Off => P000F(linear
interpolation) switch On, Off
D) Operation data setting
Position
data items

X-axis

Position
data items

X-axis

Step
Control
Coordinate
No.
method
1

Absolute

Step
No.

Coordinate

Absolute

Position
control
Position
control
Position
control
Position
control
Position
control
Position
control

Control
method

Operation
pattern

Target
Operation Repeat
position
method
step
[pulse]

M
code

ACC/DE
C No.

Operation
speed
[pls/s]

Dwell
time
[]

End

Single

3000

No.1

1000

100

Continuous

Single

8000

No.1

1000

100

Continuous

Single

10000

No.1

1000

100

Single

8000

No.1

1000

100

Single

3000

No.1

1000

100

Single

1000

No.1

1000

100

M
code

ACC/DEC
No.

Operation
speed
[pls/s]

Dwell
time
[]

Continuous
Continuous
Continuous

Operation
pattern

Position
End
control
Position
Continuous
control
Position
Continuous
control
Position
Continuous
control
Position
Continuous
control
Position
Continuous
control

Target
Operation Repeat
position
method
step
[pulse]
Single

2000

No.1

1000

100

Single

2000

No.1

1000

100

Single

5000

No.1

1000

100

Single

8000

No.1

1000

100

Single

8000

No.1

1000

100

Single

5000

No.1

1000

100

9-102

Chapter 9. Built-in Positioning Function

E) Operation pattern
Y-axis position address
8000

Step No. : 5

Step No. : 4

7000
6000
5000

Step No. : 6

Step No. : 3

4000
3000
2000
1000

Step No. : 1

Step No. : 2
X-axis position address

Origin

1000 2000 3000 4000 5000 6000 7000 8000 9000 10000 11000

F) Program

9-103

Chapter 9. Built-in Positioning Function

5) Position change by Jog operation/inching operation
A) System structure

Basic unit input : P000

Basic unit output : P002

Increase module input: P004

P0000

XBMDN32S

XBEDC32A

BCD digital switch(4 X 2)

P00000 ~ P0001F

Setting inching
Y-axis servo

Servo mo
motor

Moving object

Encoder
P0008
P0009

Error reset
Home return

P000A

Jog high speed forward rotation

P000B

Jog high speed reverse rotation

P000C

Inching forward(+)

P000D

Inching reverse(-)

P000E

Position teaching

P000F

Start

9-104

Chapter 9. Built-in Positioning Function

B) Devices used
Device

Description

P0008

X-axis error reset, no output cancel switch

P0009

X-axis home return switch

P000A

X-axis jog high speed forward rotation switch

P000B

X-axis jog high speed reverse rotation switch

P000C

X-axis inching forward rotation switch

P000D

X-axis inching reverse-rotation switch

P000E

X-axis position change switch

P000F

X-axis start switch

K4200

X-axis operating signal

K4201

X-axis error status signal

K4290

X-axis start signal

K530 ~ K531
D00000 ~ D00001

X-axis 1 step target position

X-axis present position

D0100 ~ D0101

Inching forward rotation settings

D0102 ~ D0103

Inching reverse rotation settings

K420~K428

X-axis status info(refer to <9.4.1 Status monitoring flag for positioning>)

C) Operation sequence
P0009(home return) switch On, Off => P000A(jog high speed forward rotation) switch On, Off =>
P000B(jog high speed reverse rotation) switch On, Off => Setting inching move(amount) with BCD
digital switch => P000C(inching forward rotation) switch On, Off => Setting inching move(amount) with
BCD digital switch => P000D(inching reverse-rotation) switch On, Off => P000E(position change)
switch On, Off => P0009(home return) switch On,Off => P000F(start) switch On, Off
D) Operation data setting

Position
data items

Step
No.

Coordinate

X-axis

Absolute

Control
method
Position
control
Position
control

Operation Operation
pattern
method

Repeat
step

Target
M
position
code
[pulse]

ACC/DEC
No.

Operation
speed
[pls/s]

Dwell
time
[]

End

Single

No.1

1000

100

End

Single

No.1

9-105

Chapter 9. Built-in Positioning Function

E) Operation pattern
Speed

Jog low speed

forward rotation
Position

Jog high speed

reverse rotation

Target position of which position

teaching is complete

On
Start command

G) Program

Remark
Flash save of changed data(WRT)
If operation data is changed by DMOV command, it is necessary to use WRT command in order to
save the changed value to flash memory. It is not possible to maintain the changed values when
turning it off or changing a mode unless the values are saved by using WRT command.

9-106

Chapter 9. Built-in Positioning Function

9.8 Operation Sequences and Installation

9.8.1 Operation sequences
It describes the operation sequences when executing positioning operation with positioning module.
Start

Select pulse output type of positioning module.

Select pulse output level and output type.

XGB series support the only Open Collector method
Determine home return method, coordinate and
operation method for positioning operation.

Determine positioning operation method.

Install XG5000(PADT Tool) on a PC
Create positioning data in XG5000
Positioning parameter (X-axis, Y-axis)
Operation data (X-axis, Y-axis)

Create software package(XG5000).

Use transistor output type main unit only.

XBM-DN16S, XBM-DN32S and etc

Select XGB type

Connecting PLC, drive, motor and peripherals
Determine whether to use upper/lower limits of basic
parameters depending on external signals
Cabling between PC and main unit RS-232C port
Power on PLC system

Power on when CPU module stops.

Positioning system test

Check wiring by main units LED status and

software package(XG5000)

Write data with PLC in a PC

Create with software package(XG5000).

Positioning commissioning and

setting/changing/monitoring data by using a PC
Origin address setting
Changing parameter/operation data,
Jog operation, inching operation

Check whether the parameters, position data and

speed data
settings operation positioning
are
correct with software package commissioning mode,
and change ands save them.

XG5000

Create positioning program

Execute positioning operation
End

9-107

Chapter 9. Built-in Positioning Function

9.8.2 Installation
1) Installation Environment
The device is highly reliable regardless of installation environments but the followings should be
noted for securing reliability and stability.
A) Environmental conditions
- Install on a water-proof & dust proof control panel
- Place free of continuous impact or vibration
- Place out of direct sunrays.
- Place without dewing by sudden temperature change
- Place where ambient temperature is between 0~55
B) Installation construction
- If producing screw holes or wiring, it should be noted that any impurities from wiring work are not to
be inserted into PLC.
- Install on an accessible place
- Do not install on high voltage device or same panel.
- Continuous it 50mm and wider out of duct or surrounding modules.
- Ground on a place where little noise is detected
2) Handling cautions
It describes cautions from unpacking positioning module to installing the system
A) Do not drop or apply any excessive impact on it
B) Do not separate PCB from case(shield), which may cause breakage.
C) Make sure that while wiring, any impurities should not be inserted into the upper part of this module
If any impurities are found, clear them away.
D) Do not attach or detach the module once power is on.

9.8.3 Wiring
1) Wiring cautions
A) The length of cable connecting positioning module and drive should be as short as possible because
the lengths are 2m and 10m respectively.
B) By using a separate cable, AC and external I/O signal of positioning module are not subject to any
surge or induced noise generated from AC.
C) Cable should be selected considering ambient temperature and allowable current, and it is also
recommended that the size should be more than the max size(AWG22(0.3))
D) If wiring is too close to any hot devices or materials or contacts with oils for a long time, it may
cause short circuit, malfunction or destruction.
E) Make sure to check the polarities before turn it on.
F) If wiring is linked with high voltage wire or power line, it may cause induction fault, probably
resulting in malfunction or troubles
G) If wiring by using pipes, it needs grounding the pipes
H) Use the only stable power supplied from outside(DC 5V, DC 24V)
I) If it is suspicious that there is any noise source of wiring between positioning module and drive,
make sure to connect them by using twisted pair wire or shield cable as the wiring of output pulse
from positioning module to motor driver.

9-108

Chapter 9. Built-in Positioning Function

2) Example of connection between servo and stepping motor drive
A) Connection to a stepping motor driver(DC5V Power)

Max. 2m

XBM-DN16/32S
Signal

Ch0

Ch1

Pulse

P40

P41

CW-

Common

COM COM

CW+

Direction

P42

Common

COM COM

+24V input

(Note3)

(Note 4)
Stepping motor driver

CCW-

P43

Origin

P04

P06

Near point

P05

P07

Low limit

P00

P02

Upper limit

P01

P03

Emg. Stop

Input

Common

COM0(input

CCW+
DC5V

(Note 1)

TIMING
COM

DC24V

B) Connection to a stepping motor driver(DC 24V Power)

Stepping motor driver

Signal

Ch0

Ch1

Pulse

P40

P41

Common

COM COM

Direction

P42

Common

COM COM

+24V Input

Origin

P05

P07

Near point

P04

P06

Low limit

P00

P02

High limit

P01

P03

Common

CW2K, 1/2W

P43

(Note3) Emg. stop

(Note 4)

Max. 2m

XBM-DN16/32S

DC24V

(Note2)

CW+
CCWCCW+

2K, 1/2W

(Note1)

TIMING
COM

Input
COM0(Input

DC24V

(Note1) In case of VEXTA PKD, timing output is on every time a motor rotates 7.2 degrees. For precise home return,
timing output and origin sensor should be structured by AND circuit. Depending on a systems features, it is
recommended to use home return only by DOG signal or origin sensor by origin signal(XGB origin input
rating is DC 24V).
(Note2) Connect resistors suitable for the driver in series if DC24V is used.
(Note3) Although origin, DOC, upper/lower limit signals are with fixed contact, it may be used for general input if they
are not used. Emergency stop is available by the command(EMG).
(Note4) Since the positioning pulse of XGB forward/reverse-rotates by the rotation direction as in the below figure,
make sure to change the input mode of a stepping motor driver into 1 phase input mode prior to use.

9-109

Chapter 9. Built-in Positioning Function

C) Connection to a servo motor driver(MR-J2/J2S- A)
HC-MF HA-FF
Series motor
NF

MR-J2S-A

TE1

Power supply
3-phase 200VAC

V
W

L2
L3
L11
L21
CTE2
D

EMG

XBM-DN16/32S

B1
B2

24VDC

Electronical brake

Off by server On signal

Cutoff by alarm signal

CN1A

Less than Max. 2m

W
E

Detector

CN2
Ch0

Ch1

Pulse

P40

P41

Common

COM COM

Direction

P42

Common

COM COM
OPC

COM

+24V Input

(Note

(Note3)

Signal

P43

(Note
1)

Origin

P05

P07

Near point

P04

P06

Plate

Low limit

P00

P02

High limit

P01

P03

Emg stop
Common

Input
COM0(Input

DC24V

External Emg. stop

Servo On
Reset
Proportional control
Torque limit
*3
*3

Operation limit
Reverse operation limit

RA1
Error
Zero speed detection
In torque limit

RA2
RA3

Analog torque limit

+10V/Max. limit
Less than 2m

12
2

CN3
TxD

GND

11
5

15
5

RES

GND

LSP

LSN

Plate

20
3

COM

ALM

ZSP

TLC

P15R

TLA

Plate

(Note1) The rating of XGB origin input is DC24V. Make sure to connect the open

CS
DR

SOn

Personal
GND computer
RS

CN1E
EMG

VDD

RxD

ER
Monitor output
A
A

10k
10k

Less than 2m

collector output of a driver.

(Note2) Although origin, DOC, upper/lower limit signals are with fixed contact, it may be used for general input if they are
not used. Emergency stop is available by the command(EMG).
(Note3) Since the positioning pulse of XGB forward/reverse-rotates by the rotation direction as in the below figure, make
sure to change the input mode of a stepping motor driver into 1 phase input mode prior to use.

9-110

Max. 10mA

Chapter 9. Built-in Positioning Function

D) Connection to a servo motor driver(XDA-A AC Servo Driver)
K7M-DRT**U

(Note4)

Max. 2m

FDA-5000
Signal

Ch0

Ch1

Pulse

P40

P41

Common

COM COM

Direction

P42

Common

COM COM

+24V Input
Origin

(Note2
)

(Note3)
1.5K,1/2W

P43

P04

P06

24G

P24V

1.5K,1/2W

(Note1)

PFIN

PPFIN

PRIN

PPRIN

5
30

PZO+

RDY
INPOS

PZO-

Near point

P05

P07

Low limit

P00

P02

P03

BRAKE

ALARM

A_CODE0

A_CODE1

A_CODE2

24
25

GND24

SVOnEN

CLR

CCWLIM

High limit

P01

Emg. stop

Input

Common

COM0(Input

P24V

24G

0 SPEED

GND24

CWLIM

ESTOP

ALMRST

P/P1

TLIM

+24VIN

(Note1) The rating of XGB is 24VDC. If it is line driver output, contact is not connected. In the case, use a convert from line
driver output to open collector output or use home return only by DOG signal/origin sensor of origin signal.
(Note2) Although origin, DOC, upper/lower limit signals are with fixed contact, it may be used for general input if they are not
used. Emergency stop is available by the command(EMG).
(Note3) If using DC24V, make sure to connect resistor suitable for a driver(1.5K,1/2W) in series.
(Note4) Since the positioning pulse of XGB forward/reverse-rotates by the rotation direction as in the below figure, make
sure to change the input mode of a stepping motor driver into 1 phase input mode prior to use.

9-111

Chapter 9. Built-in Positioning Function

9.9 Error Code List

It describes error codes and the countermeasures.
Regarding error code, monitor positioning monitoring window or X-axis : K427 & Y-axis : K437.
Error
code

Countermeasures

Operation

Description

exceeding error
Manual operation parameter jog low speed range
exceeding error
Manual operation parameter inching speed range
exceeding error
Home return parameter home return mode value range
exceeding error
Home return parameter home return address range
exceeding error
Home return parameter home return high speed range
exceeding error
Home return parameter home return low speed range
exceeding error

Stop
Stop
Stop
Stop

Re-adjust to be 0 < home return parameter 3.

(1:Dog/origin(On)

2:upper/lower limit/origin 3:DOG)

Re-adjust to be S/W upper limit home return address S/W lower

limit
Re-adjust to be max speed home return high speed bias speed
Re-adjust to be home return high speed home return low speed
bias speed

speed
Operation speed of operation data set lower than bias
speed.
Exceeding dwell time setting range of operation data
Exceeding end/continuous/sequential setting range of
operation data
Home return command is unavailable during operation

Stop

Home return command is unavailable in case of no output

status.
Floating origin setting command is unavailable during
operation.
Direct start command is unavailable during operation.

Stop

Stop
Stop
Stop

9-112

Re-set operation pattern of operation data as one of 0:end,

1:continuous or 2:sequential
Check whether command axis was not operating at the time of
home return command.
Check whether command axis was not in no output status at the
time of home return command.
Check whether command axis was not operating at the time of
floating origin setting command.
Check whether command axis was not operating at the time of
direct start command

Chapter 9. Built-in Positioning Function

Error
code
222
223

224

231
232
233

234

236
241
242
244
245
247
248

250

251

253

257

Check whether sub axis was not designated at the time of linear
interpolation command.
Check whether the target position of operation data of a step for

Stop

linear interpolation was not the present status in case of absolute

coordinate or set to 0 in case of Incremental coordinate.

Linear interpolation is unavailable when main axis is

controlling speed.

Countermeasures

Operation

Description

Check whether the control method of main axis operation data

Stop

step for linear interpolation operation was not set by speed

control.

9-113

Chapter 9. Built-in Positioning Function

Error
code
259

Operation

Description
Linear interpolation is unavailable when sub axis is

Stop

controlling speed.

Countermeasures
Check whether the control method of sub axis operation data step
for linear interpolation was not set by speed control.
Check whether an axis with error was not contained in concurrent

291

Concurrent start command is unavailable during operation.

342

Stop

controlling speed.

321

341

Operation

Speed synchronic command is unavailable in no output

Stop

status.
Speed synchronic command is unavailable with M code on

Stop

There is an error of main/sub axis setting of speed

Stop

synchronic command.
There is an error of synchronization ratio setting of speed

Stop

synchronic command
Delay time setting error

Stop

Position override command is unavailable in any other

Stop

status but busy

Position override command is unavailable during dwelling

Stop

Position override command is unavailable in any other

status but positioning operation.
Position override command is unavailable for an axis of
linear interpolation operation.
Position override command is unavailable for a synchronic
operation sub axis.

Operation
Operation
Operation

Speed override command is unavailable in any other status

Stop

but busy.
Out-of speed override range error

Stop

Speed override command is unavailable to an sub axis of

linear interpolation operation.
Speed override command is unavailable to an sub axis of
synchronic operation
Speed override command is unavailable in a DEC section

Operation
Operation
Operation

Positioning speed override command is unavailable in any

other status but operation.
Positioning speed override command is unavailable in any
other operation but positioning operation
Out of speed override range error of positioning sped
override command

9-115

Stop
Stop
Stop

Check whether main axis was without origin set at the time of
position synchronic command.
Check whether main axis of position synchronic command was not
set equally with command axis.
Check whether an axis was not

operating at the time of speed

synchronic command.
Check whether an axis was not in no output status at the time of
speed synchronic command.
Check whether M code signal of an axis was not on at the time of
speed synchronic command.
Check whether the main axis of speed synchronic command was
not set equally with command axis.
Check whether the synchronization ratio of speed synchronic
command was not set between 0~10,000.
Check whether delay time was set between 1 ~ 10ms.
Check whether an axis did not stop at the time of position override
command.
Check whether an axis was not dwelling at the time of position
override command.
Check whether an axis was not operating by position control at the
time of position override command.
Check whether an axis was not in linear-interpolation operation at
the time of position override command.
Check whether an axis was not operating as a sub axis of
synchronic operation at the time of position override command.
Check whether an axis did not stop at the time of speed override
command.
Re-set the speed of speed override command equal to or lower
than the max speed set in the basic parameter.
Check whether an axis was not operating as a sub axis of linear
interpolation at the time of speed override command.
Check whether an axis was not operating as a sub axis of
synchronic operation at the time of speed override command.
Check whether an axis was not decelerating for stoppage at the
time of speed override command.
Check whether an axis did not stop at the time of positioning speed
override command.
Check whether an axis was not in speed control operation at the
time of positioning speed override.
Check whether the speed of positioning speed override command
was not equal to or lower than the max speed set in parameter.

Chapter 9. Built-in Positioning Function

Error
code
384

386

Description
Positioning speed override command is unavailable to an
sub axis of linear interpolation operation.
Positioning speed override command is unavailable to an
sub axis of synchronic operation.

401

Inching command is unavailable during operation.

402

Inching command is unavailable in no output status.

411

Jog start command is unavailable during operation.

412

Jog start command is unavailable in no output status.

Operation

Check whether an axis was not operating as a sub axis of linear

interpolation at the time of positioning speed override command.
Check whether an axis was not operating as a sub axis of

Operation

synchronic operation at the time of positioning speed override

command.

Operation
Stop
Operation
Stop

Start step number change/repeat operation start step

441

452

upper/lower limits at the time of present position preset

Stop

Stop

9-116

Check whether an axis was not operating at the time of present

position present command.
Check whether the position of present position present command
was within the soft upper/lower limits.
Remove emergency stop causes and clear the error by executing
RST command.
Remove emergency stop causes and clear the error with RST
command.
Escape from external upper signal range by using jog command and
clear the error with RST command.
Escape from external upper signal range by using jog command and
clear the error with RST command.
Check whether upper/lower limits were reversely set.
Escape from soft upper limit range by using jog command and
clear the error with RST command.
Escape from soft lower limit range by using jog command and
clear the error with RST command.
Check whether the direction are turned during sequential operation.
A step over 30 was set in a command. Re-set step number between
1 ~ 30.
Check whether it repetitively operates a step of which address is 0
during indirection start.

Chapter 10 Built-in Communication Function

10. 1 XGT Dedicated Communication
10.1.1 XGT dedicated protocol
1) Introduction
Dedicated communication is a protocol for communication within XGT series. XGBs main unit has 2
channels built-in communication port and serves all channels dedicated communication. XGBs built-in
Cnet communication uses only XGB main unit for a dedicated communication. That is, it doesnt need a
separate Cnet I/F module to facilitate the user-intended communication system by utilizing reading or writing
of any area in CPU, and monitoring function.
XGB main unit serves as follows;
Individual/continuous reading of device
Individual/continuous writing of device
Reading CPU status
Monitor devices registration
Executing monitoring
1:1 connection (link between XGBs) system configuration (XGB main unit : RS-232C)
Remark
XGBs built-in communication function supports Cnet communication without any separate Cnet I/F
module. It must be used under the following instructions.
1) Channel 0 of XGBs main unit supports 1:1 communication only. For 1:N system having master-slave
Format, use RS-485 communication in channel 1 or XGBs main unit with XGL-C41A module
connected. XGL-C41A module supports RS-422/485 protocol.
2) RS-232C communication cable for XGBs main unit is different from RS-232C cable for
XG5000 (XG-PD) in pin arrangement and from the cable for Cnet I/F module, too. The cable
cant be used without any treatment. For the detailed wiring method, refer to configuration of
respective communication.
3) Its possible to set baud rate type and station No. in XG5000 (XG-PD).

10-1

Chapter 10 Built-in Communication Function

2) System configuration for dedicated communication
According to the method of connection, the system using XGBs built-in communication can be composed.
A) Connecting system configuration (Link between XGBs)
(1) 1:1 connection with general PC
Communication program made by C or BASIC computer language on the users computer, or utility
program like FAM or CIMON can be used.

XGB main unit

RS-232C I/F
Wiring

Female Type

PC
Pin No.

Pin assignment and direction

XGB main unit

XGB

Pin No.

Signal

485+

2(RXD)

485-

3(TXD)

GND

TXD

5(GND)

RXD

8
9

In case channel 2 is used, it is connected using the 485+ and 485- of 485 terminals.

10-2

Chapter 10 Built-in Communication Function

(2) 1:1 connection with a monitoring device like PMU

PMU (LSIS)
XGB main unit
RS-485 I/F

RS-232C I/F
Wiring

Pin assignment and

direction

XGB main unit

Pin No.

Signal

485+

2(RXD)

485-

3(TXD)

GND

TXD

5(GND)

RXD

Pin No.

Female Type

PMU

Pin assignment and direction

XGB main unit

485+

485-

10-3

Chapter 10 Built-in Communication Function

(3) 1:1 connection with other XGB main unit

XGB main unit

RS-232C I/F
RS-485 I/F

Wiring
XGB

XGB main unit

Pin No.

1
2
3
4
5

Pin assignment and

direction

XGB main unit

Pin No.

Signal

1(485+)

485+

2(485-)

485-

3(GND)

GND

4(TXD)

5(RXD)

10-4

Chapter 10 Built-in Communication Function

3) Frame structure
A) Base format
(1) Request frame (external communication device XGB main unit)(max. 256 bytes)
Header
(ENQ)

Station
number

Command

Command
type

Structurized data area

Tail
(EOT)

Frame check
(BCC)

(2) ACK response frame (XGB main unit external communication device, when receiving data
normally) (max. 256 bytes)
Header
(ACK)

Station
number

Command

Command
type

Structurized data area or null

code

Tail
(ETX)

Frame check
(BCC)

(3) NAK response frame (Cnet I/F module external communication device when receiving data
abnormally)(max. 256 bytes)
Header
(NAK)

Station
number

Command

Command
type

Error code (ASCII 4 Byte)

Tail
(ETX)

Frame check
(BCC)

Remark
1) The numerical data of all frames are ASCII codes equal to hexadecimal value, if theres no
clear statement.
The terms in hexadecimal are as follows.
Station No.
When the main command is R(r) or W (w) and the command type is numerical (means a data type)
All of the terms indicating size of all data in the Formatted data area.
Monitoring registration and command registration number of execution commands.
All contents of data

2) If it is hexadecimal, H is attached in front of the number of frames like H01, H12345, H34, H12,
and H89AB.
3) Available frame length is maximum 256 bytes.
4) Used control codes are as follows.
Codes

Hex value

Name

Contents

ENQ

H05

Enquire

ACK

H06

Acknowledge

ACK response frame initial code

NAK

H15

Not Acknowledge

NAK response frame initial code

EOT

H04

End of Text

ETX

H03

End Text

Request frame initial code

Request frame ending ASCII code

Response frame ending ASCII code

5) If the command is small letter (r), BCC value is added in check frame. The other side capital
letter (R), BCC value is not added in check frame.

10-5

Chapter 10 Built-in Communication Function

B) Command frame sequence

Sequence of command request frame
ENQ Station
No.

Command

Formatted data

EOT

BCC

ACK

Station
No.

Command

Data or null

ETX

BCC

Error code

ETX

BCC

(PLC ACK response)

NAK

Station
No.

Command

(PLC NAK response)

4) List of commands

List of commands used in dedication communication is as shown below.

Command

Classification

Main command
Code

Items
Reading
device

Writing
device

Individual

r(R)

Continuous

r(R)

Individual

w (W)

Continuous

w(W)

Command type

Treatment

ASCII code Code ASCII code

H72
(H52)
H72
(H52)
H77
(H57)
H77
(H57)

Classification

5353

Reads data from device of Bit, Byte, Word type.

5342

Reads device Word in block unit.

(Continuous reading Bit is unavailable)

5353

Writes data to device of Bit, Byte and Word type.

5342

Writes data to Byte and Word type in block unit.

(Continuous reading Bit is unavailable)

Command
Main command

Treatment

Item

Code

ASCII code

Monitoring variable
register

x(X)

H78
(H58)

H00~H0F

Register device to monitor.

Execution of
monitoring

y(Y)

H79
(H59)

H00~H0F

Execute registered device to monitor.

Remark
- XGB main unit identifies capitals or small letters for main commands, but not for the others.

10-6

Chapter 10 Built-in Communication Function

5) Data type
Its possible to read and write device in built-in communication. When device is used, be aware of data
type.
Data type of variable
Available types of device
Device

Range

Size (Word)

Remark

P0 P127

128

Read/Write/Monitor available

M0 M255

256

Read/Write/Monitor available

K0 K255

256

Read/Write/Monitor available

F0 F255

256

Read/Monitor available

T0 T255

256

Read/Write/Monitor available

C0 C255

256

Read/Write/Monitor available

L0 L127

128

Read/Write/Monitor available

N0 N3935

1024

Read/Monitor available

D0 D5119

5120

Read/Write/Monitor available

When device is designated, attach % (25H) in front of the marking characters.

(% is stands for starting of device.)
Marking
Data type
Examples
characters
Bit

X(58H)

%PX000,%MX000,%LX000,%KX000,%CX000,%TX000,%FX000 etc.

Byte

B(42H)

%PB000,%MB000,%LB000,%KB000,%CB000,%TB000,%FB000 etc.

Word

W(57H)

Dword

D(44H)

Lword

L(4CH)

%PW000,%MW000,%LW000,%KW000,%CW000,%TW000,%FW000,
%DW000,%SW000 etc.
%PD000,%MD000,%LD000,%KD000,%CD000,%TD000,
%FD000,%DD000,%SD000 etc.
%PL000,%ML000,%LL000,%KL000,%CL000,%TL000,
%FL000,%DL000,%SL000 etc.

Remark
1) Timer/Counter used in bit command means contact point values. (word command means
current values.)
2) Data register (D) and Step relay (R) can uses only word or byte commands.
3) In byte type commands, address is doubled. For example, D1234 is addressed to %DW1234 in
word type, and is addressed to %DB2468 in byte type.

10-7

Chapter 10 Built-in Communication Function

6) Execution of commands
A) Individual reading of device (R(r)SS)
(1) Introduction
This is a function that reads PLC device specified in accord with memory data type. Separate
device memory can be read up to 16 at a time.
(2) PC request format
Format
name
Ex. of
frame
ASCII
value

Header

Station
No.

Command

Command
type

Number of
blocks

Device
length

Device name

Tail

Frame check

......
ENQ

H20

R(r)

H01

H06

%MW100

EOT

BCC

H05

H3230

H52(72)

H5353

H3031

H3036

H254D57313030

H04

1 block (setting can be repeated up to max. 16 blocks)

Item

Description
When command is lowercase(r), only one lower byte of the value resulted by adding
1 Byte each to ASCII values from ENQ to EOT is converted into ASCII and added to

BCC

BCC. For example, the BCC of the above frame is gotten as below:
H05+H32+H30+H72+H53+H53+H30+H31+H30+H36+H25+H4D+H57+H31+H30+H3
0+H04 = H03A4 Therefore BCC value is A4.

Number of
Blocks

This specifies how much of the blocks composed of "[device length][device name]"
are in this request format. This can be set up to 16. Therefore, the value of [Number
of blocks] must be set between H01(ASCII value:3031)-H10(ASCII value:3030).

Device

This indicates the number of name's characters that means device, which is

length

allowable up to 16 characters. This value is one of ASCII converted from hex type,

(Length of

and the range is from H01(ASCII value:3031) to H10(ASCII value:3130). For

device

example, if the device name is %MW0, it has 4 characters to be H04 as its length.

name)

If %MW000 characters to be H06.

Device
name

Address to be actually read is entered. This must be ASCII value within 16

characters, and in this name, digits, upper/lower case, '%' only is allowable to be
entered.

Remark
H of example frame represents hex value, and is unnecessary during preparing real frame.

10-8

Chapter 10 Built-in Communication Function

(3) XGB response format (ACK response)

Format name Header Station No. Command Command type

Number of Number of
blocks

data
H02

Ex. of frame ACK

H20

R(r)

H01

ASCII value H06

H3230

H52(72)

H5353

H3031

data

......

HA9F3

Tail
ETX

H3032 H41394633

Frame
check
BCC

H04

1 block(max. 16 blocks possible)

Item

Description

BCC

When command is lowercase(r), only one lower byte of the value resulted by
adding 1 Byte each to ASCII values from ACK to ETX is converted into ASCII and
added to BCC, and sent.
Number of data means byte number of hex type, and is converted into ASCII. This
number is determined according to data type(X,B,W) included in device name of
computer request Format.

Number of
data

Number of data in accordance with its data type is as follows:

Data type
Bit(X)

Data

Available variable

Number of data

%(P,M,L,K,F,T,C)X

Byte(B)

%(P,M,L,K,F,T,C,D,S)B

Word(W)

%(P,M,L,K,F,T,C,D,S)W

In data area, there are the values of hex data converted to ASCII code saved.

Ex.1
The fact that number of data is H04(ASCII code value:H3034) means that there is hex data of 4
bytes in data .
Hex data of 4 bytes is converted into ASCII code in data.

Ex.2
If number of data is H04 and the data is H12345678, ASCII code converted value of this is "31 32
33 34 35 36 37 38," and this contents is entered in data area. Name directly, highest value is
entered first, lowest value last.

Remark
If data type is Bit, data read is indicated by bytes of hex. Namely, if Bit value is 0, it indicated by H00, and
if 1, by H01.

10-9

Chapter 10 Built-in Communication Function

(4) XGB response format (NAK response)

Format

Command

Error code

type

(Hex 2 Byte)

R(r)

H52(72)

H5353

Header

Station No.

Command

Ex. of frame

NAK

H20

ASCII value

H15

H3230

name

Item
BCC

Error code

Tail

Frame check

H1132

ETX

BCC

H31313332

H03

Explanation
When command is lowercase(r), only one lower byte of the value resulted by adding 1 Byte each to
ASCII values from NAK to ETX is converted into ASCII and added to BCC.
Hex and 2 bytes(ASCII code, 4 bytes) indicate error type. Refer to 10.1.4 XGT dedicated
communication error codes and countermeasures.

(5) Example

XGB main unit

This example supposes when 1 WORD from M20 and 1 WORD from P001 address of station No.1
are read and BCC value is checked. Also it is supposed that H1234 is entered in M20, and data of
H5678 is entered in P001.
PC request format (PC XGB main unit)

Format name

Header

Station No. Command

Ex. of frame

ENQ

H01

ASCII value

H05

H3031

Command Number of

Variable

Format

Device

type

blocks

length

name

length

H02

H05

%MW20

H06

H72

H5353

H3032

H3035

H254D57
3230

H3036

Frame

Format name

Tail

%PW001

EOT

BCC

H04

H25505730
3031

check

For ACK response after execution of command (PC XGB main unit)

Format name

Header

Station No. Command

Ex. of frame

ACK

H01

ASCII value

H06

H3031

Command Number of Number of

type

blocks

data

H02

H52(72)

H5353

H3032

10-10

Data
H1234

Number of
data
H02

Data

Tail

H5678

ETX

H31323334 H3032 H35363738 H03

Frame
check
BCC
-

Chapter 10 Built-in Communication Function

For NAK response after execution of command (PC XGB main unit)
Format
name

Header

Station No.

Ex. of frame

NAK

H01

ASCII value

H15

H3031

H52(72)

Command Command type

Error code

Tail

Frame check

Error code (2 bytes)

ETX

BCC

H5353

Error code (4 bytes)

H03

B) Continuous reading (R(r)SB) of device

(1) Introduction
This is a function that reads the PLC device memory directly specified in accord with memory
data type. With this, data is read from specified address as much as specified continuously.
(2) PC request format
Format
name
Ex. of frame
ASCII value

ENQ

Station
No.
H10

H05

H3130

Header

R(r)

Command
type
SB

Device
length
H06

H52(72)

H5342

H3036

Command

Device
%MW100
H254D573
13030

Number of data
(Max. 128 Bytes)
H05

EOT

Frame
check
BCC

H3035

H04

Tail

Remark
1) Number of data specifies the number to read according to the type of data. Namely, if the
data type of device is word and number is 5, it means that 5 words should be read.
2) Max. of %MW in number of data can be used up to 120(240bytes).
3) Protocol of RSB doesn't have number of blocks.
4) R(r)SB command of bit devices is not available.

Item

Description
When command is lowercase(r), only one lower byte of the value resulted by

BCC

adding 1 Byte each to ASCII values from ENQ to EOT is converted into
ASCII and added to BCC.

Device length
(Length of
device name)

This indicates the number of name's characters that means device, which is
allowable up to 16 characters. This value is one of ASCII converted from hex
type, and the range is from H01(ASCII value:3031) to H10(ASCII
value:3130).
Address to be actually read is entered. This must be ASCII value within 16

Device name

characters, and in this name, digits, upper/lowercase, and '%' only are
allowable to be entered.

10-11

Chapter 10 Built-in Communication Function

(3) XGB response format (ACK response)
Station

Format name

Header

Ex. of frame

ACK

H10

ASCII value

H06

H3130

No.

Command

Number of

type

blocks

data

R(r)

H01

H52(72)

H5342

H3031

Command

Item

Frame

data

Tail

H02

H1122

EOT

BCC

H3134

H31313232

H03

check

Description
It means byte number of hex type, and is converted into ASCII.
Data type
BYTE(B)
WORD(W)
DWord(D)
LWord(L)

Number of data

Available device
%(P,M,L,K,F,T,C,D)B
%(P,M,L,K,F,T,C,D)W
%(P,M,L,K,F,T,C,D)D
%(P,M,L,K,F,T,C,D)L

Data size (Byte)

1
2
4
8

Ex.1
When memory type included in variable name of computer request Format is W(Word), and
data number of computer request Format is 03, data number of PLC ACK response after
execution of command is indicated by H06(2*03 = 06 bytes)Byte and ASCII code value 3036 is
entered in data area.

Ex.2
In just above example, when data contents of 3 words are 1234, 5678, and 9ABC in order,
actual ASCII code converted values are 31323334 35363738 39414243, and the contents are
entered in data area.

(4) XGB response format (NAK response)

Number of

Format name

Header

Station No.

Command

Command type

Number of blocks

Ex. of frame

NAK

H10

R(r)

H1132

ETX

BCC

ASCII value

H15

H3130

H52(72)

H5342

H31313332

H03

Item
BCC
Error code

data

Description
When command is lowercase(r), only one lower byte of the value resulted by
adding 1 Byte each to ASCII values from NAK to ETX is converted into ASCII and
added to BCC, and sent.
Hex and 2 bytes (ASCII code, 4 bytes) indicate error type. For the details, Refer to
10.1.4 XGT dedicated communication error codes and countermeasures.

10-12

Chapter 10 Built-in Communication Function

(5) Example
This example supposes that 2 WORDs from M000 of station No. 10 is read and BCC value is
checked. Also it is supposed that data in M000 and in M001 is as follow:
M000 = H1234
M001 = H5678
PC request format (PC XGB main unit)
Station
Format name Header

Command

Command type

Device length

Device name

Number of data

Tail

Frame check

No.
Frame (Example)

ENQ

H0A

R(r)

H06

%MW000

H02

EOT

BCC

ASCII value

H05

H3041

H52(72)

H5342

H3036

H254D3030
30

H3032

H04

For ACK response after execution of command (PC XGB main unit)
Station
Format name Header

Command

Command type

Number of data

Data

Tail

Frame check

No.
Frame (Example)

ACK

H0A

R(r)

H04

12345678

ETX

BCC

ASCII value

H06

H3041

H52(72)

H5342

H3034

H3132333435363738

For NAK response after execution of command (PC XGB main unit)

Format name

Header

Station No

Command

Command type

Error code

Tail

BCC

Frame (Example)

NAK

H0A

R(r)

Error code (2Byte)

ETX

BCC

ASCII value

H15

H3041

H52(72)

H5342

Error code (4Byte)

H03

10-13

Chapter 10 Built-in Communication Function

C) Individual writing of device (W(w)SS)
(1) Introduction
This is a function that writes the PLC device memory directly specified in accord with memory data
type.
(2) PC request format
Command Number of
Format name

Frame

Device

Header Station No. Command

type

blocks

Length

Frame (Example)

ENQ

H20

W(w)

H01

H06

ASCII value

H05

H3230

H57(77)

H5353

H3031

H3036

.....

Tail

Device Name

Data

%MW100

H00E2

EOT

BCC

H30304532

H04

H254D573130
30

check

1 block (setting can be repeated up to max. 16 blocks)

Item

Description

BCC

When command is lowercase(r), only one lower byte of the value resulted by
adding 1 Byte each to ASCII values from ENQ to EOT is converted into ASCII
and added to BCC.

Number of
blocks
Device
Length
(Name length of

This specifies how much of the blocks composed of "[device length][device

name]" are in this request Format. This can be set up to 16. Therefore, the value
of [Number of blocks] must be set between H01(ASCII value:3031)-H10(ASCII
value:3030).
This indicates the number of name's characters that means device, which is
allowable up to 16 characters. This value is one of ASCII converted from hex
type, and the range is from H01(ASCII value:3031) to H10(ASCII value:3130).

device)
device

Data

Address to be actually read is entered. This must be ASCII value within 16

characters, and in this name, digits, upper/lower case, and '%' only are allowable
to be entered.
If the value to be written in %MW100 area is H A, the data Format must be
H000A. If the value to be written in %MW100 area is H A, the data Format must
be H000A. In data area, the ASCII value converted from hex data is entered.

Ex.1
If type of data to be currently written is WORD, the data is H1234, ASCII code converted value of
this is "31323334" and this content must be entered in data area. Namely, most significant value
must be sent first, least significant value last.
Remark
1) Device data types of each block must be the same.
2) If data type is Bit, the data to be written is indicated by bytes of hex. Namely, if Bit value is 0, it must be
indicated by H00(3030), and if 1, by H01(3031).

10-14

Chapter 10 Built-in Communication Function

(3) Response format (ACK response)
Format name

Header

Station No.

Command

Command type

Tail

Frame check

Frame (Example)

ACK

H20

W(w)

ETX

BCC

ASCII value

H06

H3230

H57(77)

H5353

H03

Item

Description

BCC

When command is lowercase(r), only one lower byte of the value resulted by adding
1 Byte each to ASCII values from ACK to ETX is converted into ASCII and added to
BCC, and sent.

(4) Response format (NAK response)

Format name

Header

Station No.

Command

Command type

Error code
(Hex 2 Byte)

Tail

Frame check

Frame (Example)

NAK

H20

W(w)

H4252

ETX

BCC

ASCII value

H15

H3230

H57(77)

H5353

H34323532

H03

Item
BCC
Error code

Description
When command is lowercase(r), only one lower byte of the value resulted by adding
1 Byte each to ASCII values from NAK to ETX is converted into ASCII and added to
BCC, and sent.
Hex and 2 bytes(ASCII code, 4 bytes) indicate error type. For the details, Refer to
10.1.4 XGT dedicated communication error codes and countermeasures.

(5) Example
This example supposes that "HFF" is written in M230 of station No. 1.
PC request format (PC XGB main unit)
Format name Header

Station
No.

Frame (Example) ENQ

ASCII value

H05

Command

Command Number

Device

type

of blocks

Length

Device Name

Data

Tail

Frame
check

H01

W(w)

H01

H06

%MW230

H00FF

EOT

BCC

H3031

H57(77)

H5353

H3031

H3036

H254D573233
30

H30304646

H04

For ACK response after execution of command (PC XGB main unit)
Format name

Header

Station No.

Command

Command type

Tail

Frame check

Frame (Example)

ACK

H01

W(w)

ETX

BCC

ASCII value

H06

H3031

H57(77)

H5353

H03

For NAK response after execution of command (PC XGB main unit)
Format name

Header

Frame (Example)

NAK

H01

ASCII value

H15

H3031

Command type

Tail

Format name

W(w)

Error code (2 Byte)

ETX

BCC

H57(77)

H5353

Error code (4 Byte)

H03

Station No. Command

10-15

Chapter 10 Built-in Communication Function

D) Continuous writing of device (W(w)SB)
(1) Introduction
This is a function that directly specifies PLC device memory and continuously writes data from
specified address as much as specified length.
(2) Request format
Format
name

Header

Station
No.

Command

Comma
nd type

Device
Length

Device

Number of data
(Max.128 Byte)

Data

Tail

Frame
check

ENQ

H10

W(w)

H06

%MW100

H02

H11112222

EOT

BCC

H05

H3130

H254D57313
030

H3032

H3131313132
323232

H04

Frame
(Example)
ASCII
value

H57(77) H5342 H3036

Remark
1) Number of data specifies the number according to the type of device. Namely, if the data type
of device is WORD, and number of data is 5, it means that 5 WORDs should be written.
2) Number of data can be used up to 240Bytes(120 Words).

Item

Description
When command is lowercase(r), only one lower byte of the value resulted by

BCC

adding 1 Byte each to ASCII values from ENQ to EOT is converted into ASCII and
added to BCC.

Device

This indicates the number of name's characters that means device, which is

Length
(Name length of
variable)

device

allowable up to 16 characters. This value is one of ASCII converted from hex type,
and the range is from H01(ASCII value:3031) to H10(ASCII value:3130).
Address to be actually read. This must be ASCII value within 16 characters, and in
this name, digits, upper/lower case, and '%' only are allowable to be entered.

(3) Response format (ACK response)

Format name

Header

Station No.

Command

Command type

Tail

Frame check

Frame (Example)

ACK

H10

W(w)

ETX

BCC

ASCII value

H06

H3130

H57(77)

H5342

H03

Item

Description
When command is lowercase(r), only one lower byte of the value resulted by adding 1

BCC

Byte each to ASCII values from ACK to ETX is converted into ASCII and added to
BCC, and sent.
10-16

Chapter 10 Built-in Communication Function

(4) Response format NAK response)

Format name

Header

Station No.

Command

Command type

Frame (Example)

ENQ

H10

W(w)

ASCII value

H05

H3130

H57(77)

H5342

Item

Error code

Tail

Frame check

H1132

EOT

BCC

H31313332

H03

(Hex 2 Byte)

Description
When command is lowercase(r), only one lower byte of the value resulted by adding

BCC

1 Byte each to ASCII values from NAK to ETX is converted into ASCII and added to
BCC, and sent.

Error code

Hex and 2 bytes(ASCII code, 4 bytes) indicate error type. For the details, Refer to
10.1.4 XGT dedicated communication error codes and countermeasures.

(5) Example
This example supposes that 2 byte HAA15 is written in D000 of station No. 1.
PC request format (PC XGB main unit)

Format name Header

Frame

Station
No.

ENQ

H01

Command

W(w)

Comman

Device

d type

Length

H06

H5342

H3036

Number of

Device

Data

Tail

Frame check

H01

HAA15

EOT

BCC

H3031

H41413135

H04

data

%DW000

(Example)
ASCII value

H05

H3031 H57(77)

H2544573030
30

For ACK response after execution of command (PC XGB main unit)
Format name

Header

Station No.

Command

Command type

Tail

Frame check

Frame (Example)

ACK

H01

W(w)

ETX

BCC

ASCII value

H06

H3031

H57(77)

H5342

H03

For NAK response after execution of command (PC XGB main unit)
Format name

Header

Station No.

Command

Command type

Tail

Frame check

Format name

Frame (Example)

NAK

W(w)

Error code (2)

ETX

BCC

ASCII value

H15

H3031

H57(77)

H5342

Error code (4)

H03

10-17

Chapter 10 Built-in Communication Function

E) Monitor variable register(X##)
(1) Introduction
Monitor register can separately register up to 10 in combination with actual variable reading
command, and carries out the registered one through monitor command after registration.
(2) PC request format
Format name

Head
er

Station
No.

Comma
nd

Registration
No.

Registration format

Tail

Frame
check

Frame
(Example)

ENQ

H10

X(x)

H09

Refer to
registration format

EOT

BCC

ASCII value

H05

H3130

H58(78)

H3039

Refer to *1

H04

Item

Description
When command is lowercase(x), only one lower byte of the value resulted by

BCC

adding 1 byte each to ASCII values from ENQ to EOT is converted into ASCII,
added to BCC.

This can be registered up to 10(0 to 9, H00-H09), and if an already registered No.

is registered again, the one currently being executed is registered.

This is used to before EOT in command of Formats of separate reading of

Format

variable, continuous reading, and named variable reading.

*1: Register Format of request Formats must select and use only one of the followings.
Individual reading of device
RSS

Number of blocks(2 Byte)

Device length (2 Byte)

Device name (16 Byte)

...

1 block (max. 16 blocks)

Continuous reading of device
RSB

Device length (2 Byte)

Device name (16 Byte)

Number of data

(3) Response format (ACK response)

Format name

Header

Station No.

Command

Command type

Tail

Frame check

Frame (Example)

ACK

H10

X(x)

H09

ETX

BCC

ASCII value

H06

H3130

H58(78)

H3039

H03

Item

Description

BCC

When command is lowercase(r), only one lower byte of the value resulted by
adding 1 Byte each to ASCII values from ACK to ETX is converted into ASCII and
added to BCC, and sent.

10-18

Chapter 10 Built-in Communication Function

(4) Response format (NAK response)
Format name

Header

Station No.

Command

Registration No.

Error code
(Hex 2Byte)

Tail

Frame
check

Frame (Example)

ACK

H10

X(x)

H09

H1132

ETX

BCC

ASCII value

H06

H3130

H58(78)

H3039

H31313332

H03

Item

Description
When command is one of lower case(r), only one lower byte of the value resulted

BCC

by adding 1 Byte each to ASCII values from NAK to ETX is converted into ASCII
and added to BCC, and sent.
Hex and 2 bytes (ASCII code, 4 bytes) indicate error type. For the details, Refer to

Error code

10.1.4 XGT dedicated communication error codes and countermeasures.

(5) Example
This example supposes that device M000 of station NO. 1 is monitor registered.
PC request format (PC XGB basic unit)

Format name

Header

Frame (Example)

ENQ

ASCII value

Station
No.
H01

Registration Format

Registration
Command
No.
X(x)

H05 H3031 H58(78)

R##

H01
H3031

Number of
blocks Device length

RSS

H01

Device name

H06

H525353 H3031

H3036

%MW000

Tail

Frame
check

EOT BCC

H255457303030 H04

For ACK response after execution of command (PC XGB unit)

Format name

Header

Frame (Example)

ACK

H01

ASCII value

H06

H3031

Registration No.

Tail

Frame check

X(x)

H01

ETX

BCC

H58(78)

H3031

H03

Station No. Command

For NAK response after execution of command (PC XGB unit)

Format name

Header

Frame (Example)

NAK

H01

X(x)

ASCII value

H15

H3031

H58(78)

Registration No.

Tail

Frame check

H01

Error code(2)

ETX

BCC

H3031

Error code(4)

H03

Station No. Command

10-19

Chapter 10 Built-in Communication Function

E) Monitor execution(Y##)
(1) Introduction
This is a function that carries out the reading of the variable registered by monitor register. This
also specifies a registered number and carries out reading of the variable registered by the number.

(2) PC request format

Format name

Header

Station No.

Command

Registration No.

Tail

Frame check

Frame (Example)

ENQ

H10

Y(y)

H09

EOT

BCC

ASCII value

H05

H3130

H59(79)

H3039

H03

Item

Description

No.

execution. It is possible to set from 00-09(H00-H09).

When command is lower case(y), only one lower byte of the value resulted by

BCC

adding 1 byte each to ASCII values from ENQ to EOT is converted into ASCII,
added to BCC.

(3) Response format (ACK response)

In case that the register Format of register No. is the Individual reading of device
Registration Number of
Number of data
No.
Blocks

Format name

Header

Station
No.

Command

Frame (Example)

ACK

H10

Y(y)

H09

H01

ASCII value

H06

H3130

H59(79)

H3039

H3031

Data

Tail

Frame check

H02

H9183

ETX

BCC

H3032

H39313833

H03

In case that the register Format of register No. is the continuous reading of device
Registration
Number of data
No.

Format name

Header Station No. Command

Frame (Example)

ACK

H10

Y(y)

H09

ASCII value

H06

H3130

H59(79)

H3039

Data

Tail

Frame check

H04

H9183AABB

ETX

BCC

H3034

H3931383341414242

H03

(4) Response Format (NAK response)

Format name

Header

Station
No.

Command

Registration
No.

Error code
(Hex 2Byte)

Tail

Frame check

Frame (Example)

NAK

H10

Y(y)

H09

H1132

ETX

BCC

ASCII value

H15

H3130

H59(79)

H3039

H31313332

H03

Item

Description
When command is lowercase(y), only one lower byte of the value resulted by

BCC

adding 1 Byte each to ASCII values from NAK to ETX is converted into ASCII and
added to BCC, and sent.

Error code

Hex and 2 bytes (ASCII code, 4 bytes) indicate error type. For the details, Refer to
10.1.4 XGT dedicated communication error codes and countermeasures.
10-20

Chapter 10 Built-in Communication Function

(5) Example
This example supposes that registered device No. 1 of station No. 1 is read. and BCC value is
checked. And it is supposed that device M000 is registered and the number of blocks is 1.
PC request format (PC XGB unit)
Format name

Header

Station No.

Command

Registration No.

Tail

Frame check

Frame (Example)

ENQ

H01

Y(y)

H01

EOT

BCC

ASCII value

H05

H3031

H59(79)

H3031

H04

For ACK response after execution of command (PC XGB unit)

Station
Format name

Header
No.

Frame (Example)

ACK

ASCII value

H06

Command Registration No.

H01

Y(y)

H3031 H59(79)

Number of
Blocks

Number of data

Data

Tail

Frame check

H2342

ETX

BCC

H01

H02

H3031

H3032

H32333432 H03

For NAK response after execution of command (PC XGB unit)

Format name

Header

Station No.

Command

Registration No.

Error code

Tail

Frame check

Frame (Example)

NAK

H01

Y(y)

H01

Error code(2)

ETX

BCC

ASCII value

H15

H3031

H59(79)

H3031

Error code(4)

H03

direction

XGB Basic Unit #1

RXD1

PIN
No.
1

TXD1

GND

485+

485-

Signal

PIN
No.

Signal

RXD1

If using CH2, connect it by means of 485+ and 485- of RS-485 Terminal.

3) Communication Parameter Setting
The followings describe how to set parameters for XGT dedicated server communication.
(1) Open a new project file in XG5000.
Make sure to select XGP as PLC type.
Select Network Manager in Tools menu of (XG-PD) XG5000.
Then, Network Manager is called XG-PD throughout this document.
(2) Selecting XG-PD and setting XGB-XBMS in Option shows the following window.

P2P Setting
High speed Link setting

Communication Parameter Setting mode

Basic parameter setting

10-23

communication
Connector
1
2
3
4
5

Chapter 10 Built-in Communication Function

Double-clicking Built-in Cnet shows the following basic communication window.

(3) Communication setting

Set the following items at users option for communication.
Item
Type

Description
Basic unit communication type is fixed as follows.
(CH 1 : RS-232C , CH 2 : RS-485)

Speed

Available from/to 1200, 2400, 4800, 9600, 19200, 38400, 57600 bps.

Data bit

Set to 7 or 8 bits.

Stop bit

Set to 1 or 2 bit(s).
(1 if parity bit is set or 2 if not)

Parity bit

None, Even or Odd.

Station No.

Available from 1 to 31 as station number

(The broadcast station number, 0 is not available. It may cause malfunction)

Delay time

Set the time from when this frame is sent to when the next frame is sent.
(0 ~ 255 in the unit of 10 )

Timeout

Set the time elapsed waiting for response after asking data.
(1~ 65535 in the unit of 100 )

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Chapter 10 Built-in Communication Function

(4) Operation Mode Setting
Set XGT server driver.
Driver type

Meaning

Remarks
Refer to
setting

Modbus ASCII server

The port works as a client and performs communication

by P2P parameter setting
It works by XGT server supporting XGT dedicated
communication.
It operate by modbus ASCII server

Modbus RTU server

It operates by modbus RTU server

Dedicated service

P2P
XGT server

(5) Upon the settings, save the above parameter and run Online Write Parameter.
For communication monitoring, use Online System Diagnosis.

Clicking the right mouse button displays the following menu.

Item
communication
Module info
Frame monitor
Service status

Description
Displays communication module information.
Monitors each frame currently used for communication.
Displays the current communication service status.

10-25

P2P

Dedicated service
Dedicated service

Chapter 10 Built-in Communication Function

a) Communication Module Infomation
It displays communication module information currently connected.

b) Frame Monitor
It displays each frame currently used for communication.

10-26

Chapter 10 Built-in Communication Function

c) Service status

Item

Description
Base No.

Standard
information
Dedicated
service
information

Detailed
information

Slot No.

Remarks
-

Built-in communication Base is set to 0.

Link type

Display communication module type.

Drive type

Display a preset drive.

Port No.

Display communication CH No.

Service
count

Display communication frequency

Error count
Status

Display the no. of communication error

occurred.
Display communication status

10-27

Cnet / Enet

Display the current

communication frequency
Display the current no. of
communication error occurred.
-

Chapter 10 Built-in Communication Function

10.1.3 XGT dedicated client communication

XGT dedicated client communication is a communication method demand types of data from each slave device
connected to master communication at a desirable time.

1) Communication Parameter Setting

It describes how to set types of parameters for XGT dedicated client communication.
A) Open a new project file in XG5000.
Make sure to select XGB as PLC type.
Select Network Manager in Tools menu of (XG-PD) XG5000.
Then, Network Manager is called XG-PD throughout this document.
B) Selecting XG-PD, set each item for communication(as same as XGT server communication).
C) Operation Mode Setting
Set XG-PD operation mode as Use P2P.

Set P2P Channel in P2P Setting of Parameter Setting Mode.

Double-clicking P2P Channel shows the following P2P driver setting window.

10-28

Chapter 10 Built-in Communication Function

ClickingEdit shows the P2P Driver Setting window as follows.

Select XGT Client.

By double-clickingP2P Block, edit XGT dedicated client communication frame.

It is allowed to edit up to 32 communication frames. If double-clicking on index, the following communication

mode (READ, WRITE) setting window is displayed.

10-29

Chapter 10 Built-in Communication Function

XGT dedicated client sets one of two modes; READ or WRITE.

Item

Description

Remarks

Standard Operating Settings

CH. Setting

1,2

Condition flag
Command
type

Designate a desirable communication Channel.

(CH1 : RS-232C, CH2 : RS-485)
Designate communication command condition flag.

Single

Designate individual communication device.

Series

Designate communication device in series.

BIT
Byte
Data type
WORD
Dword
Lword
No. of variables
Data size
Destination station number

Built in Basic unit

Set the communication data type as BIT.

Set the communication data type as Byte.
Set the communication data type as Word.
Set the communication data type as Double Word.
Set the communication data type as Long Word.
Not used for Modbus Communication.

1 : 1Byte
2 : 2Byte
4 : 4Byte
8 : 8Byte

Valid only when command type is series and designated up

to 120 bytes.

Unit: Byte

Set the designation station number for communication.

Memory Settings
Read area
Read area
If designating
READ

Save area

Designate a READ device of a connected designation station

number.
Designate read area to save data read from a designation
station number.

Address
Read area
If designating
WRITE

Save area
Address

Bit device

Designate a device with data to write.

Designate a WRITE device of a connected designation station
number.
-

Upon the completion of settings for each block, save the above parameter and write parameters.
For communication monitoring, use Diagnosis System Diagnosisfunction.

10-30

Chapter 10 Built-in Communication Function

Upon the completion of settings for each block, the set parameters are written to PLC by runningOnline
Write Parameter.

After writing parameters(WRITE), setting Enable Link starts communication.

10-31

Chapter 10 Built-in Communication Function

2) Examples
A) System Structure
XBM-DxxxS #0
Client

XBM-DxxxS #1
Server

XBM-DxxxS #2
Server

XBM-DxxxS #3
Server

XBM-DxxxS #4
Server

RS-485 (38400 , 7/1, None )

Communication uses RS-485(using CH2) communication channel built in XGB basic unit.
Communication speed: 38400bps
Communication mode: XGT dedicated mode
Data bit: 8it
Stop bit: 1Bit
Parity setting: None
B) Communication Operation
It is assumed that the above-structured system operates as follows.
Read P000 Input 16 Point value of station no.1 at every 100ms and save it to M010.
If M0 No.1 Bit is On, it reads P000 Input of No.2 and saves it into M020.
If M0 No.2 Bit is On, it saves P000 16 point data into No.3 M020.
If M0 No.3 Bit is On, it reads P000 Input of No.4 and saves it into M030.
C) No.0 Client Setting
(1) Open a new project file in XG5000.
(2) Selecting XG-PD, set the communication basic parameters as follows.

Basic Parameter Setting

P2P setting for XGT dedicated client setting

10-32

Chapter 10 Built-in Communication Function

(3) In a parameter setting mode, P2P setting, set CH 2 P2P driver as XGT client.

(4) Set the communication parameter with each XGB basic unit(XGT dedicated server) in P2P Block.

10-33

Chapter 10 Built-in Communication Function

Communication Parameter Setting of XGB Basic Unit (Client #0)
Set the communication parameter for each station as seen in the following table.
Condition Command Data
Data Designation
Read
Index Operation Channel
flag
type
type
size
station No.
area
0

Read

Write

Read

Save
area

Remarks

F091

Single

P000

M0010

2 Byte

M0001

Single

P000

M0020

2 Byte

M0002

Single

P000

M0020

2 Byte

M0003

Single

P000

M0030

2 Byte

a) Communication Setting Window of XGB Basic Unit #1

b) Communication Setting Window of XGB Basic Unit #2

10-34

Chapter 10 Built-in Communication Function

c) Communication Setting Window of XGB Basic Unit #3

d) Communication Setting Window of XGB Basic Unit #4

Upon P2P block setting, it is displayed as seen in the following window.

10-35

Chapter 10 Built-in Communication Function

Once P2P parameter setting is complete, it writes the parameters.
To execute P2P service, start P2P service by using Online Enable Link menu.

D) Slave Setting
Regarding Slave Stations, set the basic parameters only, write parameters(WRITE) and allows Enable Link,
completing the setting.

Set the station number.

Set the operation mode as XGT server.

10-36

Chapter 10 Built-in Communication Function

E) System Diagnosis
Upon Enable Link, it diagnoses communication and monitors by using system diagnosis function.
(exemplifying client #0 station)

Clicking System Diagnosis shows the following window.

It shows communication module information.

10-37

Chapter 10 Built-in Communication Function

It shows communication Status by service.

Then, it monitors frames currently used for communication.

10-38

Chapter 10 Built-in Communication Function

10.1.4 XGT dedicated communication error codes and countermeasures
It describes the types, causes and measures of error codes.
Error type is displayed by hexadecimal 2 bytes (4bytes in ASCII code). Errors can be confirmed by Frame
Monitor. Followed error frame is shown in ASCII mode.
Error code

Error type

0003

Exceeding of block
number error

0004

Variable size error

0007

Data type error

0011

Data error

Description & Cause

Measure

Block number is larger than 16 when Single Read

01rSS1105%MW10
and Write is requested.
Variable size is larger than 16 (Max. size).

01rSS113%MW10000000000

If any other characters but X, B, W, D and L are

01rSS1105%MK10
used in data type.
If area information of data size is incorrect.

01rSB05%MW%4

If % is omitted.

01rSS0105$MW10

If Value of variable area is incorrect.

01rSS0105%MW^&

If the value is not appropriate.

On Bit mode, it must be written 00 of 01 bit.

01wSS0105$MX1011

0090

Monitor execution error Out of range of registration number.

0190

Monitor execution error Out of range of registration number.

0290

Monitor registration
error

Out of range of registration number.

1132

Device memory error

Designating incorrect device memory.

1232

Data size error

1234

Overplus frame error

1332

Data type discordance In case of single read and write, all block have to
01rSS0205%MW1005%MB10
error
request for identical data type..

1432

Data value error

If data value is unable to Hexadecimal conversion.

01wSS0105%MW10AA%5

7132

Requesting of
exceeding area of
variable

If exceeding area is requested respective device.

01rSS0108%MWFFFFF

If data is requested more than 60 words (Max.).

If there is unnecessary contents.

10-39

01wSB05%MW1040AA5512
01rSS0105%MW10000

Chapter 10 Modbus Communication

10.2 Modbus Communication

10.2.1 Modbus communication
1. Introduction
XGB built-in communication supports Modbus, the Modicon products communication protocol. It
supports ASCII mode, using ASCII data and RTU mode using Hex data. Function code used in
Modbus is supported by instruction and especially function code 01, 02, 03, 04, 05, 06, 15 and 16.
Refer to "Modicon Modbus Protocol Reference Guide".
2. Basic specification
1) ASCII mode
A) It communicates, using ASCII data.
B) Each frame uses : (Colon: H3A), for header, CR/LF (Carriage return-line feed: HoD H0A), for tail.
C) It checks errors, using LRC.
D) Frame structure (ASCII data)
Item

Header

Address

Function code

Data

LRC

Tail(CR/LF)

Size

1 byte

2 bytes

n bytes

2 bytes

2) RTU mode
A) It communicates, using hexadecimal data.
B) Theres no header and tail. It starts with address and finishes frame with CRC.
C) It has at least 3.5 character times between two frames.
D) It checks errors, using 16 bit CRC.
E) Frame structure (Hexadecimal data)
Item

Address

Function code

Data

CRC

Size

1 byte

1 bytes

n bytes

2 bytes

3) Address area
(1) Setting range is available from 1 to 247, but XGB supports from 0 to 63.
(2) Address 0 is used for broadcast address. Broadcast address is all slave device recognize and
respond to like the self-address, which can't be supported by XGB.
4) Function code area
(1) It divides the command using 0~225. XGB supports only 01, 02, 03, 04, 05, 06, 15, and 16
among function codes.
(2) If the response format is confirm+(ACK), it uses the same function code.
(3) If the response format is confirm-(NAK), it returns as it sets the 8th bit of function code as 1.
Ex.) If function code is 03
- We write here only function code part, because only function codes are different.
[Request]
0000 0011 (H03)
[Confirm+]
0000 0011 (H03)
[Confirm-]
1000 0011 (H83)
It returns as it sets the 8th bit of
function code of request frame.

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Chapter 10 Modbus Communication

5) Data area
(1) It sends data, using ASCII data(ASCII mode) or hex (RTU mode).
(2) Data is changed according to each function code.
(3) Response frame uses data area as response data or error code.
6) LRC check/CRC check area
(1) LRC (Longitudinal Redundancy Check) : It works in ASCII mode. It takes 2 complement from sum
of frame except header or tail to change into ASCII code,
(2) CRC (Cyclical Redundancy Check): It works in RTU mode. It uses 2-byte CRC check rules.
Remark
1) All numerical data can use hexadecimal, decimal, and binary type. If we convert decimal 7
and 10 into each type:
Hexadecimal : H07, H0A or 16#07, 16#0A
Decimal : 7, 10

4XXXX(word-output)

Write words

8) The size of using data

As for data size, XGB unit supports 240 bytes. The maximum size of the Modicon products is different
from each other kind. So refer to "Modicon Modbus Protocol Reference Guide."

10-41

Chapter 10 Modbus Communication

9) Wiring
XGB

1
2
3
4

XGB unit

Signal

Pin no.

Connecting no. and

direction

Quantum (9 pin)
Pin no.

Signal

485+

485-

RXD

GND

TXD

DTR

RXD

GND

DSR

RTS

CTS

9
Use RS-485+ and 485- of RS-485 terminal connector when using channel 2.

PMU

Connecting no. and direction

XGB unit

485+

485-

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Chapter 10 Modbus Communication

10.2.2 Modbus server communication

Modbus server communication may not demand data to each device connected as a slave
communication but send data requested by the connected master module.
1) Communication parameter setting
The following describes how to set types of parameters for Modbus server communication.
A) Open a new project file in XG5000.
Make sure to select XGB as PLC type.
Select Network Manager in Tools menu of (XG-PD) XG5000.
Then, Network Manager is called XG-PD throughout this document..
B) Selecting XGB-XBMS in Optionmenu of XG-PD shows the following window..

P2P setting
High speed Link setting

Communication parameter

Module setting (Cnet,Enet)

10-43

Chapter 10 Modbus Communication

Double-clicking00 : Built-in Cnet shows the following basic communication window.

It is activated if Modbus server is selected.

C) communication setting
Set the following items at a users option for communication.
Item
Station No.

Description
Available from 0 to 63 as station number.

Speed

Available from/to 1200, 2400, 4800, 9600, 19200, 38400, 57600, 115200bps.

Data bit

Set to 7 or 8 bits.
(7 bits for ASCII mode or 8 bits for RTU mode.

Parity bit

None, Even or Odd.

Stop bit

Set to 1 or 2 bit(s).

Type

Basic unit built-in communication channel is fixed as follows.

(CH 1 : RS-232C , CH 2 : RS-485)

10-44

Chapter 10 Modbus Communication

D) Operation mode setting
Set a Modbus driver.
Driver type

Meaning

Modbus ASCII server

The port operates by client and communicates through

P2P parameter setting.
(used when Modbus client communication is designated)
Operate with XGT server supporting XGT dedicated
communication
Operate with Modbus ASCII server

Modbus RTU server

Operate with Modbus RTU server

P2P
XGT server

Remarks
Refer to P2P
setting
Dedicated service
-

E) Address mapping (address designation) when setting Modbus server (ASCII , RTU)
Clicking Modbus Setting shows the following address mapping window.

Modbus setting

Meaning

Start address of DI area

Designate Input contact start address

Start address of DO area

Designate Output contact start address

Start address of AI area

Designate Input register start address

Start address of AO area

Designate Output register start address

According to the above Modbus bus addressing rules, designate each XGB device (If designating
00000 as a function code 01 in Modbus master, it means that XGB series bit area is designated
as M0000; if designating 0000 as a function code, h10, it means that it designates XGB series
word D0020.)

10-45

Chapter 10 Modbus Communication

F) Upon the setting, save the above parameters and download them.
Resetting communication module or turning off/on PLC after downloading applies the
communication parameters. For the communication monitoring, use Online System
Diagnosis.

Frame Monitor
It shows frames currently used for communication.

10-46

Chapter 10 Modbus Communication

communication frame analysis
Client (Master) Demand Frame
Header

Station
No.

Function
code

Address

No. of Data

No. of Byte

Date

LRC

Tail

077F

0002

192B0000

CR/LF

This frame is commanded to write(Function Code h10: continue to write output register) two
words data(4 bytes) in 07ff(2047) address of 00 station no. by Modbus ASCII Communication(if
4xxxx area is set as D0020 in the address mapping, the address actually written is D(0020 +
2047) = D2067, from which the data, D2067 = h192B, D2068 = h0000 is written.)
Server (Slave) Normal Response Frame
Header

Station No.

Function code

Address

No. of Data

LRC

Tail

077F

0002

CR/LF

The response is that 2 words data (4 bytes) are written to 07ff (2047) of #00 by Modbus ASCII
Communication.
Server(Slave) Abnormal Response Frame
Header
:

Station No.
00

Function code
90

Error code

LRC

Tail

CR/LF

In case of an error, set the function code MSB as 1 and respond the error code.
*1 function code : 0001 0000 = h10, if error occurs: 1001 0000 = h90
*2 for details of error codes, refer to Error Code.

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Chapter 10 Modbus Communication

10.2.3 Modbus client communication
Modbus client communication may demand data to each slave device connected to master
communication at a desirable time.
1) Communication parameter setting
The following describes how to set types of parameters for Modbus client communication.
A) Set XG-PD basic parameters.

Set by Use P2P.

B) communication Setting
Set the following items at a users option for communication.
Item
Station No.

Description
Available from 1 to 63.

Speed

Available from/to 1200, 2400, 4800, 9600, 19200, 38400, 57600 bps.

Data bit

Set to 7 or 8.
(7 bits for ASCII mode or 8 bits for RTU mode.)

Parity bit

None, Even or Odd.

Stop bit
Type

Set to 1 or 2 bit(s).
(1 with parity bit or 2 without parity bit.)
Basic unit built-in communication channel is fixed as follows.
(CH 1 : RS-232C , CH 2 : RS-485)

10-48

Chapter 10 Modbus Communication

Set P2P Channel in P2P Setting of Parameter Setting Mode.

Double-clicking P2P Channel shows the following P2P driver setting window.

10-49

Chapter 10 Modbus Communication

ClickingEdit shows the P2P Driver Setting window as follows.
Select Modbus ASCII client or Modbus RTU client.

Double click P2P Block to edit Modbus Client communication Frame.

Edit up to 21 communication frames. Double-click it to show communication Mode (Read, Write)

Setting window.

10-50

Chapter 10 Modbus Communication

As a Modbus Client, set one of two modes; READ and WRITE.

Item

Description

Remarks

Standard Operation Settings

Channel

1,2

Condition flag
Command

Designate a desirable communication Channel.

(CH1 : RS-232C, CH2 : RS-485)
Designate communication command condition flag.

Built in Basic
unit
Bit device

Single

Designate individual communication device.

Continuous

Designate communication device in series.

Set the communication data type as BIT.

Set the communication data type as Word.

Not used for Modbus Communication.

Valid only when a command type is series; available
up to 124 bytes in case of ASCII mode or 250 bytes in
case of RTU mode.
Set the designation station number for communication.

BIT

Data type

WORD

No. of variables
Data size
Destination station number

Unit: Byte
-

Memory settings
If
designating
READ

Read area
Save area
Address

If
designating
WRITE

Read area
Save area
Address

Designate a READ device of a connected designation

station number.
Designate read area to save data read from a
designation station number.
Address saved in Network Device.
Designate a device with data to write.
Designate a WRITE device of a connected designation
station number.
Address saved in Network Device.

Auto allocation
Auto allocation

Upon the completion of settings for each block, save the above parameter and write parameters.
Once downloading is complete, reset communication module or turn off/on PLC to apply the set
communication parameter. For communication monitoring, use Diagnosis System
Diagnosis function.
For details of communication monitor function, refer to the examples, 10.1.1 Built-in dedicated
communication.

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Chapter 10 Modbus Communication

3) Example
A) System Configuration
XBM-DxxxS #0
Communication speed: 38400bps
communication Mode : Modbus RTU
Data bit : 7Bit
Stop bit : 1Bit
Parity Setting : None
RS-485 (38400 , 7/1, None , RTU)

SMART I/O #1
SMART I/O #2
SMART I/O #3
SMART I/O #4
SMART I/O #5
Input 32
Input 16
Output 16
Input 32
Output 32
Communication uses RS-485 (using CH2) communication Channel built in XGB basic unit.
B) Communication Operation
It is assumed that the above-structured system operates as follows.
Read 32 point input data of Smart I/O #1 at every 200ms and save it to M10.
If P04 #1 Bit is set, it reads 16 point input of Smart I/O #2 and saves it into M20.
If M10 #2 Bit is set, it outputs 1word of M11 to Smart I/O #3.
If P04 #2 Bit is set, it reads 32 input of Smart I/O #4 and saves into MW30.
If P04 #3 Bit is set, it outputs 2 words of M20 to Smart I/O #5.
C) Parameter Setting
(1) Open a new file in XG5000.
(2) Selecting XG-PD, set the communication basic parameters as follows.

Basic parameter setting

P2P setting for Modbus Client Setting

10-52

Chapter 10 Modbus Communication

(3) In P2P Setting of Parameter Setting Mode, set CH2 P2P Driver as Modbus RTU
Client.

(4) Set communication parameter with each SMART I/O inP2P Block.

10-53

Chapter 10 Modbus Communication

Communication Parameter Setting for Slave Module (SMART I/O)
Set the communication parameter for each station as seen in the following table.
Condition Command
Data
Data Destination
Read
Index Operation Ch.
flag
type
Type
size
station No.
area

Save
area

Read

F092

Series

Word

0x30000

M0010

Read

P0041

Single

Word

0x30000

M0020

Write

M0102

Single

Word

M0011

0x40000

Read

P0042

Series

Word

0x30000

M0030

Write

P0043

Series

Word

M040

0x40000

Remark
SMART
I/O #1
SMART
I/O #2
SMART
I/O #3
SMART
I/O #4
SMART
I/O #5

a) SMART I/O #1 Setting Window

Communication Frame Analysis

Client(Master) Demand Frame
Station No.

Function Code

Address

No. of Data

CRC

0000

0002

71CB

The frame is commanded to read 2words(4 bytes) in 0000 address of #01 by Modbus RTU
Communication(Function Code h04: read input register).
Server(Slave) Normal Response Frame
Station No.

Function Code

No. of Bytes

Data

CRC

12345678

xxxx

It normally responds 4 bytes data of 0000 address(h12345678) to #01 by Modbus RTU

Communication.

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Chapter 10 Modbus Communication

Server(Slave) Abnormal Response Frame
Station No.

Function Code

Error Code

LRC

84 *1

xx *2

In case of an error, set the function code MSB as 1 and respond the error code.
*1 function code : 0000 0100 = h04, if error occurs : 1000 0100 = h84
*2 for details of error codes, refer to Error Code.
b) SMART I/O #2 Setting Window

Communication Frame Analysis

Client(Master) Demand Frame
Station No.

Function Code

Address

No. of Data

CRC

0000

0001

xxxxx

The frame is commanded to read 1 word(4 bytes) in 0000 address of #2 by Modbus RTU
communication(Function Code h04: read input register).
Server(Slave) Normal Response Frame
Station No.

Function Code

No. of Bytes

Data

CRC

1234

xxxx

It normally responds 2 bytes data of 0000 address(h1234) by Modbus RTU Communication.

Server(Slave) Abnormal Response Frame
Station No.
02

Function Code
84

Error Code
xx

LRC
xx

In case of an error, set the function code MSB as 1 and respond the error code.
*1 function code : 0000 0100 = h04, if error occurs: 1000 0100 = h84
*2 for details of error codes, refer to Error Code.

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Chapter 10 Modbus Communication

c) SMART I/O #3 Setting Window

Communication Frame Analysis

Client(Master) Demand Frame
Station No.

Function Code

Address

Data

CRC

0000

1234

xxxx

The frame is commanded to write 1 word(2bytes: h1234) in 0000 address of #3 by Modbus RTU
Communication(Function Code h06: write 1 word output register).
Server(Slave) Normal Response Frame
Station No.

Function Code

Address

Data

CRC

0000

1234

xxxx

The response is that 2 bytes data(h1234) of 0000 address is written to #01 by Modbus RTU
Communication.
Server(Slave) Abnormal Response Frame
Station No.

Function Code

Error Code

LRC

86 *1

xx *2

In case of an error, set the function code MSB as 1 and respond the error code
*1 function code : 0000 0110 = h06, if error occurs : 1000 0110 = h86
*2 for details of error code, refer to Error Code.

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Chapter 10 Modbus Communication

d) SMART I/O #4 Setting window

Communication Frame Analysis

Client(Master) Demand Frame
Station No.

Function Code

Address

No. of Data

CRC

0000

0002

xxxx

This frame is commanded to read 1 word(4bytes) in 0000 address of #02 by Modbus RTU
Communications(Function Code h04 : read input register).
Server(Slave) Normal Response Frame
Station No.

Function Code

No. of Bytes

Data

CRC

1234

xxxx

The response is that 2 bytes data(h1234) of 0000 address is read to #01 by Modbus RTU
Communications.
Server(Slave) Abnormal Response Fram
Station No.

Function Code

Error Code

LRC

84 *1

xx *2

In case of an error, set the function code MSB as 1 and respond the error code
*1 function code : 0000 0100 = h04, if error occurs: 1000 0100 = h84
*2 for details of error code, refer to Error Code.

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Chapter 10 Modbus Communication

e) SMART I/O #4 Setting window

Communication Frame Analysis

Client(Master) Demand Frame
Station No.

Function Code

Address

No. of Data

No. of Bytes

Data

CRC

0000

0002

12345678

xxxx

The frame is commanded to write 2 words(4 bytes) data(h12345678) to 0000 address of #05 by
Modbus RTU Communication(Function code h10: continue to write output register)
Server(Slave) Normal Response Frame
Station No.

Function Code

Address

No. of Data

CRC

0000

0002

xxxx

The response is that 2 words data(h12345678) of 0000 address is normally written to #01 by
Modbus RTU Communication.
Server(Slave) Abnormal Response Frame
Station No.
05

Function Code
90

Error Code
xx

LRC
xx

In case of an error, set the function code MSB as 1 and respond the error code.
*1 function code : 0001 0000 = h10, if error occurs : 1001 0000 = h90
*2 for details of error codes, refer to Error Code.

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Chapter 10 Modbus Communication

Upon P2P Block Setting, the window is displayed as follows.

Once P2P parameter setting is complete, connect to the system by using XG-PD Online
Connectmenu and download the set parameters by using Write Parameter menu..

Select and download Basic Setting and P2P.

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Chapter 10 Modbus Communication

Set Online Enable Link and start Communication.

Enable the only set communication.

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Chapter 10 Modbus Communication

Monitor communication status by using Online System Diagnosismenu.

f) Communication Module Info

Display the information of communication module connected.

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Chapter 10 Modbus Communication

Item
Base no.
Standard
Information

Slot no.
Link type

Link information

Description
Display base number (XGB has 0 as its base)
Display a location of communication module slot
(built-in communication is 0)
Display communication Module type (Cnet / Enet).
Display the station number and communication type for
each channel.

Hardware/Software
information

Display communication type and the status and version of

H/W.

Run mode / Additional Info.

Display communication type and Enable info.

System parameter setup

information

Display system parameter setting info.

g) Frame Monitor
Display each frame currently used for communication.

h) Monitor communication service status.

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Chapter 10 Modbus Communication

Item
Standard
Information

Base no.

Display Base No (XGB has 0 as its base.)

Slot no.

Display the location of communication Module slot(built-in

communication is 0).

Link type

Display communication module type(Cnet / Enet)

P2P service Information

Detailed
information

Description

Display the existence of P2P communication parameter

and driver type by channels.

Block number

Display P2PBlock Setting No.(Parameter setting)

Port number

Display a user-designated channel.

Status

Display the current communication status(error code).

Service count
Error count

Display the communication service frequency executed till

now.
Display the number of communication errors occurred till
now.

4) Modbus communication Error Codes and the Countermeasures

Error codes and the description
Code

Name

Description

Illegal Function

Function code error

Illegal Address

Out of range of allowable address

Illegal Data Value

Out of data range

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Chapter 10 Built-in communication

10.3 User Defined Communication

10.3.1 User defined protocol communication
1) Introduction
User Defined Protocol Communication allows users who do communication between XGB unit and other
kind of device to define the other companys protocol at XGB PLC. Therere a number of kinds of
protocols made by many companies, that its difficult to have all protocols in it. So if a user defines a
protocol that can be applied to his/her purpose, XGB unit executes the communication with the other
kind of device through the defined protocol.
For this, protocol frame must be defined in XG5000. And exact knowledge about the contents of the
protocol defined by the user is vital in making the communication possible. XG5000 can download a user
defined protocol frame into XGB unit and it is saved. it is not erased by powers off/on. For using userdefined mode, he/she should program with instruction controlling sending of PLC as well as edit frames.
This section explains User Defined Protocol Communication setting & usage.

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Chapter 10 Built-in communication

2) Parameter Setting
A) Communication parameter setting
It describes how to set types of parameters for Modbus server communication.
(1) Open a new project file in XG5000.
Make sure to select XGB as PLC type.
Select Network Manager in Tools menu of (XG-PD) XG5000.
Then, Network Manager is called XG-PD throughout this document.
(2) Selecting XGB-XBMS in Optionmenu of XG-PD shows the following window.

P2P Setting
High speed Link setting
Module setting (Cnet, Enet)

Communication parameter
setting mode

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Chapter 10 Built-in communication

Double-clicking00 : Cnet shows the following basic communication window.

(3) Communication setting

Set the following items at a users option for communication.
Item

Description

Station No.

Available from 1 to 31 as station number.

Speed

Available from/to 1200, 2400, 4800, 9600, 19200, 38400, 57600 bps.

Data bit

Set to 7 or 8 bits.
(7 bits for ASCII mode or 8 bits for RTU mode.

Parity bit

None, Even or Odd.

Stop bit
Type
Delay time

Set to 1 or 2 bit(s).
(1 with parity bit or 2 without parity bit.)
Basic unit built-in Communication channel is fixed as follows.
(CH 1 : RS-232C , CH 2 : RS-485)
Set the interval of communication frame (0 ~ 255 in the unit of 10 ).

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Chapter 10 Built-in communication

Set to P2P Channel in P2P setting of parameter setting mode.

Double-clickingP2P Channel opens the following P2P Driver Setting Window.

ClickingEdit shows the following P2P Driver Setting Window.

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Chapter 10 Built-in communication

Select Define user frame.

It describes the procedure and method of how to create a user-defined transmission frame for the
communication with the following frame.
Item

Header

Frame

h05

Setting
Size

Body
00

wSB 06%MW100

Tail
04

Numeric String String

String
String constant
constant constant constant
constant
1

Set Add Group inDefine user frame.

10-68

Variable size
variable

h04

BCC

Hex To ASCII
conversion

Byte Checksum
ASCII
conversion(Body)

Transmission
condition setting

Chapter 10 Built-in communication

Designate group name and frame type. First of all, select transmission.

Upon the designation, the following frame menus are displayed.

To show editing menus, click the right mouse button on the frame.

Item
Edit Group
Delete Group
Add Frame

Description
Edit user frame group.
Delete user frame group.
Add user frame.

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Chapter 10 Built-in communication

Add HEAD frame.

To show HEAD frame registration window, double click it with cursor placed on the right window.

Set a numeric constant, 05 (ENQ).

Item
Type

Numeric
constant
String
constant
Data

Description

Remark

Set numeric constant.

Set data with 20 numbers(10bytes) to the max.

Set string constant.

Set data with 10

(10bytes) to the max.

Set data.

numbers
-

The following window shows the status that HEAD setting is complete.

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characters

Chapter 10 Built-in communication

From Add Frame, add BODY frame.

Double-clicking on the right window opens the below Add Segment window, in which a string
constant, 00 is set.

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Chapter 10 Built-in communication

Item

Type

Numeric constant

Description
Set a numeric
constant.

Set data with 20 digits (10 bytes) to the max.

String constant

Set a string constant.

Variable Conversion
size
variables
Swap

Set data conversion

Data

Remarks

Set data swap

Set data

Set data with 10 numbers and characters (10

bytes) to the max.
Set whether to convert data as ASCII->HEX
and HEX->ASCII or not
Set swap in the unit of 2, 4 or 8 bytes.
Set data when setting numeric or character
constant.

According to the above method, set the string constants, wSB, 06%MW100 and 04.

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Chapter 10 Built-in communication

Set variable size variables.

It shows the window of complete transmission frame body.

Group

Frame

Segment (detailed frame)

Add TAIL frame in Add Frame.

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Chapter 10 Built-in communication

Set a numeric constant, 04 (EOT).

Item
Type

Numeric
constant
String
constant
Data

Description

Remarks

Set a numeric constant.

Set a string constant.
Set data.

Set data with 20 numbers (10 bytes) to the max.

Set data with 10 numbers and characters (10 bytes)
to the max.
-

Set BCC(to show the following window, click the right mouse button in the frame setting window).

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Chapter 10 Built-in communication

To show the following window, click Insert BCC.
Create a desirable BCC form, referring to the below table.

Method

Item

Description

BYTE SUM

Sum up and attach bytes.

WORD SUM

Sum up and attach words.

BYTE XOR

Execute Exclusive OR of each byte and attach the results.

DLE AB

Attach BCC Check Option of AB PLC.

DLE SIEMENS

Attach BCC Check Option of SIEMENS PLC.

LSIS CRC

Attach CRC16 Check Option of LSIS.

BYTE SUM 2S
CMP

Sum up bytes and attach the 2s complement.

CRC 16

Attach CRC 16 Check Options of Modbus.

BYTE SUM 1S
CMP

Sum up bytes and attach the 2s complement.

7BIT SUM

Sum up bytes and attach the value taking the only 7 bits.

7BIT XOR

Execute Exclusive OR of each byte and attach the value taking the only 7 bits.

Start
position

HEAD

Start SUM Check from the designated segment(number) of HEAD frame.

BODY

Start SUM Check from the designated segment(number) of BODY frame.

TAIL

End
position

Before
BCC
End of
area
Settings

ASCII Conversion

Start SUM Check from the designated segment(number) of TAIL frame.

Designate up to just before BCC.
Designate up to the last segments of HEAD, BODY and TAIL frames.
Designate up to the designated segments of HEAD, BODY, TAIL frames.
Execute ASCII conversion of the calculated SUM Check values.

BCC Check is a method in which, in order to transmit and receive accurate frame, values are
calculated in accordance with the defined method, the calculated values, in turn, inserted into a
designated place and transmitted while it is checked at the receiver whether to determine if correct
and normal data are received in order that the only correct data would be received. It sends data with
2bytes inserted to the designated place of frame (designated BCC segment).

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Chapter 10 Built-in communication

Once SEND group is set, SEND Command conditions are to be readily designated in P2P block.

In user defined communication command, send is designated as SEND; receive as RECEIVE.

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Chapter 10 Built-in communication

Item
Channel
Condition flag

Variable

Frame
Read area
Size
Address

Description

Remark

Designate Communication channel.

Set SEND condition.

F00092: 200 clock

Designate a SEND group.

Group already registered as SEND Group

Designate an internal device to send.

Set the size of device to send.
Display network device allocation.

Available only when variable size

variables are set in the BODY segment of
SEND group.

It shows the window that settings are completed.

Write parameter and allow Enable Link.

Looking at the above settings in the frame monitor, you may confirm that the following
communication frame is sent.

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Chapter 10 Built-in communication

i.e.) If sending the below frame when the above BCC is designated, it shows how to calculate SUM
Check.
(excl. variable size variable)
Header
h05

Body
00

wSB

Numeric String
String
constant constant constant

Tail

06%MW100

String
constant

Variable size
variable
(h1234)
Hex To ASCII
conversion

0x04

BCC

Numeric
constant

Byte Checksum
ASCII conversion

BCC method: byte: SUM , start position : HEAD segment 0 , stop position : just before BCC
05 + 30 + 30 + 77 + 53 + 42 + 30 + 36 + 25 + 4D + 57 + 31 + 30 + 30 + 30 + 34 + 31 + 32 + 33 +
34 + 04 = 463 (36 33)
The following describes the procedure and method of creating user-defined receive frame.
Item

Header

Frame

h05

Setting

Numeric
constant

Byte

Body

wSB

String
String
constant constant
2

06%MW100

Fixed size Variable size

0x04
variable
variable

String
constant

Hex To ASCII
conversion

Set Add Group inDefine user frame.

Designate group name and frame type and then, designate RECEIVE.

10-78

Tail

BCC
Byte Checksum
ASCII
conversion
2

Chapter 10 Built-in communication

recv_1[recv] Group is added as follows.

Add each frame.

Add HEAD frame.

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Chapter 10 Built-in communication

Set numeric constant, 05 (ENQ) to a segment, #00.

Add the above segment to HEAD frame and edit it.

Set string constants, 00 , wSB and 06%MW100 in accordance with segment order.

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Chapter 10 Built-in communication

HEAD frame setting is completed.

Add BODY frame.

Set a fixed size variable as 2 bytes in segment.

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Chapter 10 Built-in communication

Set a variable size variable as ASCII To Hex and 2 bytes swap in segment.

BODY frame setting is completed.

Add TAIL frame.

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Chapter 10 Built-in communication

Set a numeric constant, 04 (EOT).

Set BCC segment(clicking the right mouse button in segment setting window shows the following
window).

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Chapter 10 Built-in communication

Setting of recv_1 RECEIVE Group is completed.

Group

Frame

Segment setting

Once RECEIVE Group setting is completed, it is to designate RECEIVE condition in P2P block.

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Chapter 10 Built-in communication

Then, designate RECEIVE.

Item
Channel
Frame
Variable

Save
area
Address

Description
Designate Communication channel.
Designate RECEIVE Group
Designate internal device to receive.
Display network device allocation.

Remarks
Group already registered as RECEIVE
Group
Available only when variable size
variables are set in the BODY segment
of RECEIVE group.

In case of RECEIVE, if a frame corresponding to the communication type of a designated group is

received, it starts receiving data to variable size variable area.
Download parameters set before.
Looking at the above settings in the frame monitor, you may confirm that the following communication
frame is sent, and data h1234 is written in Word M000 area.
Each send/receive communication frames may be monitored in System Diagnosis frame monitor.

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Chapter 10 Built-in Communication

10.4 Remote Access Service

It is possible to control PLC program in a remote place, for instance, PLC program download/upload,
program debugging and monitor as long as XGB PLC is connected to Cnet I/F module. Especially, it is
so useful and convenient function to support easy access to PLC CPU by means of remote access
(XGB-C21A) through aerial lines by using XG5000 remote access function and model access from a
computer link in case XG5000 and PLC are remotely placed each other. Remote access is a function to
support the built-in Cnet and Enet at XGB PLC communication module and Cnet at I/F module,
enabling inter-network access and conveniently controlling PLC program at a remote place through the
multiple access. The remote access using Cnet module also makes it possible the remote access
directly connected the built-in RS-485, Cnet I/F module (RS-232C, RS-422). This chapter describes the
remote access in case it is accessed to the built-in Cnet (RS-485).

10.4.1 Remote 1 communication module access

1) System Configuration
It is configured to communicate by using RS-485 (use of CH 2) communication channel built in XGB basic
unit. (It also assumes that communication is normally operated.)
#0
#1
#2
#3
#4

XG5000
RS-485
2) It exemplifies the remote access to #01.
Execute Online->Connection Settings of XG5000.

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Chapter 10 Built-in Communication

Options in Connection Settings are as follows.
Item
Connection
settings
General

Description
Type
Depth

Timeout interval
Retrial times

Select one of RS-232C ,USB ,Ethernet and Modem.

(USB is not supported in XGB series)
Select one of local, remote 1 communication module and remote 2
communication module.
Set waiting duration of time out when communication fails.
Set the frequency of retry when communication fails.

Click Settings... with Remote 1 as Depth.

Setting Port number and Baud rate of the locally connected RS-232C, click Remote 1.

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Chapter 10 Built-in Communication

Set the Connection Settings of Remote 1.

Item

Description

Network type
Local
communication
module
Remote 1
communiction
module

Base number
Slot number
Station number
IP address
Cnet channel

Set a type of communication network to remotely access.

(Rnet , Enet, FDnet, Cnet, FEnet, FDEnet)
Set a base number to mount communcation module of Local.
(XGB series have the default, 0 .)
Designate a slot location for communication module of Local.
(it should be set to 0 for built-in communcation.)
Set the prefix of remote communication module.
Set IP address in case a network type is Ethernet.
Set a communication channel of Cnet to remotely access.

Upon the setup, click OK.

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Chapter 10 Built-in Communication

Execute Online->Connect of XG5000.

Upon the Connect, XG5000 operates as if XG5000 is locally connected to #1 although it is physically
connected to #0.
#0

Physical access

XG5000
RS-485
Actual access
If running program read, it starts reading the program of #1.

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Chapter 10 Built-in Communication

10.4.2 Remote 2 communication module access
1) System Configuration
It is configured to communicate by using RS-485 (use of CH 2) communication channel built in XGB basic
unit. (it also assumes that communication is normally operated.)
#2
#3
#4
#0

XG5000

RS-485

RS-232C

#6
2) It exemplifies the remote Connect to #01.
Execute Online->Connection Settings of XG5000.

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Chapter 10 Built-in Communication

Options in Connection Settings are as follows.
Item
Connection
settings

General
Read/Write
data size in
PLC run
mode

Description
Type
Depth

Time out
duration
Retrial times
Normal

Select one of RS-232C ,USB ,Ethernet and Modem.

Maximum

Click Settings... with Remote 2 as Depth.

Setting communication port number and Baud rate of the locally connected RS-232C, click Remote 1.

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Chapter 10 Built-in Communication

Set the Connection Settings of Remote 1.

Item

Description

Network type
Local
communication
module
Remote 1
communication
module

Base number
Slot number
Station number
IP address
Cnet channel

Set a type of communication network to remotely access.

(Rnet , Enet, FDnet, Cnet, FEnet, FDEnet)
Set a base number to mount communcation module of Local.
(XGB series have the default, 0.)
Designate a slot location for communication module of Local.
(it should be set to 0 for built-in communcation.)
Set the station number of remote communication module.
Set IP address in case a network type is Ethernet.
Set a communication channel of Cnet to remotely access.

Set the Connection Settings ofRemote 1.

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Chapter 10 Built-in Communication

Execute Online->Connect of XG5000.

Upon the connect, XG5000 operates as if XG5000 is locally connected to #6 although it is physically
connected to #0.
Physical access

XG5000

RS-485
#5

RS-232C
Actual access

#6
If running program read, it starts reading the program of #6.

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Chapter 11 PID Control Function

11.1 Features
11.1.1 Introduction
The built-in PID control functions of XGB series 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 junction designated by a user through PWM.
4) Improving convenience of control settings and monitoring
Through parameter setting method and K area flag, it maximizes control parameter settings during
operation and monitoring convenience
5) Freely selectable operation direction
Forward, reverse and mixed forward/reverse operations are available
6) Cascade operation realizing quick and precise PID control
It can increase quickness of response to disturbance through cascade loop.
7) 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.

11-1

Chapter 11 PID Control Function

11.2 PID Control

11.2.1 Functional specifications of PID control
1) Functional Specifications
The performance specifications of the built-in PID control function in XGB series are summarized
in the below table.
Item

Specifications

No. of loops
Scope of
setting
PID
constants

Proportional
constant(P)

16 Loop
Real number (0 ~ 3.40282347e+38)

Integral constant(I)

Real number (0 ~ 3.40282347e+38), unit: second

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)

RUN/STOP
Indication

Error
Warning

Control operation
Control interval

Additional
functions

PWM output
Mixed forward/reverse
output
Limiting change of
present value
Limiting change of
maneuver value
Equally dividing set
value
Present value followup
Cascade control
Min./max. present
value
Differential filter
Dead band setting
Prevention of dual
integral accumulation
PID operation pause

Operation: PID RUN Flag On (by loops)

Stop: PID RUN Flag Off (by loops)
Normal: PID Error Flag Off (by loops)
Error: PID Error Flag On, error code occurrence(by loops)
Normal: PID Warning Flag Off (by loops)
Error: PID Warning Flag On, error code occurrence(by loops)
Control of P,PI,PD and PID, control of forward/reverse
operation
10.0ms ~ 6,553.6ms (0.1msUnit)
Available
Supportable
INT(-32,768 ~ 32,767)
INT(-32,768 ~ 32,767)
0 ~ 65,536(frequency of control cycle time)
0 ~ 65,536(frequency of control cycle time)
Supportable.
-32,768 ~ 32,767
0.01 ~ 655.35 (x 100 Scaled Up)
0 ~ 65,535
Supportable
Supportable

[Performance specifications of built-in PID control]

11-2

Chapter 11 PID Control Function

11.2.2

PID control parameter setting

To use the built-in PID control function of XGB 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 to set the PID control function parameters of XGB series.
(1) If selecting the built-in parameters in Parameter of the project window, it shows the built-in
parameter setting window as in below figure.

< Parameters setting window>

(2) If selecting PID Control, it shows the PID control parameter setting window as in below figure.

[Built-in PID function parameters setting window]

11-3

Chapter 11 PID Control Function

(3) 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
RUN mode
RUN direction
Prevention of dual
integral accumulation
PWM output
Operation cycle time
Set value
Proportional gain
Integral time
Differential time
Limiting change of
present value
Limiting change of
maneuver value

Description

Scope

Set the operation direction of PID control.

Auto/manual
operation
Forward/reverse

Set whether to allow dual integral accumulation.

Disabled/enabled

Set the operation mode of PID control.

Set whether to allow PWM output of maneuver

value.
Set the operation cycle time of PID control
cycle.
Set target control value.

Disabled/enabled
100 ~ 65535
-32,768 ~ 32,767

Set proportional gain.

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

Set the filter coefficient of differential operation.

0 ~ 65,535

Set the junction to which PWM output is out.

P20 ~ P3F

Differential filter value

PWM junction
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

Set the follow-up frequency of the present value

follow-up function.

0 ~ 65,535

Present value followup

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

< PID function parameter setting items>

2) Description of Setting of PID Parameters

(1) 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.

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Chapter 11 PID Control Function

(2) 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.
(3) 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 while a
value is limited not to be open/close over the complete size. 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

MVd = K P Td

dE
shows that the integral control among PID control output components
dt

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. 11.9, 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 XGB 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
Integral accumulation phenomenon

< Integral accumulation phenomenon >

11-5

Time

Chapter 11 PID Control Function

(4) 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(P20 ~ P3F)
designated in the parameter. At the moment, the PWM output cycle follows the PWM output cycle
separately set in PID operation cycle. figure shows the relation between PID control output and
PWM output.
i.e.) if PWM output cycle: 1 second, PWM output junction: P20, max. output: 10000, min. output:
0
Time

Output

P40 junction operation

0 sec

5000

0.5 sec On, 0.5 sec Off

1 sec

3000

0.3 sec On, 0.7 sec Off

MV = 5000
0.5sec

MV = 7000

0.5sec

0.3sec

0.7sec

P20 output

Output cycle = 1sec

Time

[Relation between PWM output cycle and MV ]

(5) 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 XGB, 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 XBE-AD04A).
(6) 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.
(7) 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.
(8) 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.
(9) 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.
11-6

Chapter 11 PID Control Function

(10) 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 sensors 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.
(11) Limiting change of MV(MV 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.
(12) 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.
(13) 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.
(14) Manual MV
It sets the output when the operation mode is manual. The available scope is between -32,768 ~
32,767.
(15) 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
Target
value

[Example of DeadBand setting ]

11-7

Chapter 11 PID Control Function

If setting deadband as in the figure, the PID control built in XGB may regard the error between PV
and set value as 0 as long as PV is within the available scope of deadband.
That is, in the case, the change of MV is reduced. The available scope is between 0 ~ 65,535 and
if it is set as 0, it does not work.
(16) 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, XGB 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.
(17) 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 is between 0
~65,535 and it is set as 0, it does not work.

If SV Ramp is not used

Modified SV

If SV Ramp is used
SV * operation cycle

Existing SV

Time

[SV Ramp function]

(18) 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.
(19) 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.

11-8

Chapter 11 PID Control Function

11.2.3 PID Flag
The parameter set by the XGB 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.

1) PID Flag Configuration

K area flags for XGB series built-in PID control function are summarized in the below table.
Loop

Common

K area

Data
type

Default

Description

K12000~F

_PID_MAN

Bit

Auto

PID
output
1:manual)

K12010~F

_PID_PAUSE

Bit

RUN

PID pause (0:RUN, 1:pause)

K12020~F

_PID_REV

Bit

Forward

K12030~F

_PID_AW2D

Bit

Disabled

K12040~F

_PID_REM_RUN

Bit

Disabled

WORD

K1205~K1207

Reserved

designation(0:auto,

Control
direction(0:forward,
1:reverse) operation control
Dual
integral
accumulation
prevention(0:enabled, 1:disabled)
PID remote operation(0:disabled,
1:enabled)
Reserved
PWM output enable(0:disabled,
1:enabled)
PID operation indication(0:stop,
1:run)

K12080~F

_PID_PWM_EN

Bit

Disabled

K12090~F

_PID_STD

Bit

K12100~F

_PID_ALARM

Bit

PID warning(0:normal, 1:warning)

K12110~F

_PID_ERROR

Bit

PID error(0:normal, 1:error)

WORD

Reserved
PID SV

K1212~K1215

Loop 0

Symbol

Reserved

K1216

_PID00_SV

INT

K1217

_PID00_T_s

WORD

100

PID MV max. value limit

K1227

_PID00_MV_min

INT

PID MV min. value limit

K1228

_PID00_MV_man

INT

PID manual output

K1229

_PID00_PV

INT

PID PV

< K area flags for PID control >

11-9

PID operation cycle[0.1ms]

Chapter 11 PID Control Function

Loop

K area

Loop 0

Symbol

Default

Description

K1230

_PID00_PV_old

INT

PID PV of previous cycle

K1231

_PID00_MV

INT

PID MV

K1232

_PID00_ERR

DINT

PID control error

K1234

_PID00_MV_p

REAL

PID
MV
component

K1236

_PID00_Mv_i

REAL

PID MV integral control component

K1238

_PID00_MV_d

REAL

PID
MV
component

K1240

_PID00_DB_W

WORD

K1244

_PID00_SV_RAMP

WORD

PID SV Ramp value

K1245

_PID00_PV_Track

WORD

PID PV follow-up setting

K1246

_PID00_PV_MIN

INT

PID PV min. value limit

K1247

_PID00_PV_MAX

INT

4000

PID PV max. value limit

K1248

_PID00_ALM_CODE

Word

PID warning code

K1249

_PID00_ERR_CODE

Word

PID error code

K1250

_PID00_CUR_SV

INT

PID SV of current cycle

WORD

Reserved

PID Loop1 control parameter

PID Loop16 control parameter

K1251-1255
Loop 1

Data
type

K1256~K1295

Reserved
1

proportional

differential

value

control

~
Loop16

K1816~K1855

< 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 XGB 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 XGB 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
1) PID control flag expression : _PID[n]_xxx
[n] : loop number
xxx : flag function
i.e.) _PID10_K_p : means K_p of loop 10.

Occupies 40 words per loop.

11-10

Chapter 11 PID Control Function

2) PID flag function
Each function of K area flags for XGB 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

Unit

Setting

_PID_MAN
(PID RUN mode setting)

K1200n

BIT

Available

It determines whether to operate the PID control of n loop automatically or manually. For more
information about RUN mode, refer to 11.2.2 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

Unit

Setting

_PID_PAUSE (PID pause setting)

K1201n

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

Unit

Setting

_PID_REV
(PID RUN direction setting)

K1202n

BIT

Available

It sets the RUN direction of PID control of n loop. For more information about run direction,
refer to 11.2.2 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

Unit

Setting

_PID_AW2D
(dual integral accumulation
prevention setting)

K1203n

BIT

Available

It sets enable/disable of dual integral accumulation prevention of n th loop. For more

information about dual integral accumulation prevention, refer to 11.2.2 PID control parameter
setting. If the bit is off, it is enabled; if on, it is disabled.
(5) _PID_REM_RUN (PID remote operation setting)
Flag name

Address

Unit

Setting

_PID_REM_RUN
(PID remote run setting)

K1204n

BIT

Available

XGB series built-in PID function can be started by both run from commands start junction and
remote run bit setting. That is, XGB starts PID control if PIDRUN commands start junction is on
or remote run setting bit is on. Namely, if one of them is on, it executed PID control.

11-11

Chapter 11 PID Control Function

(6) _PID_PWM_EN (PWM output enable)
Flag name

Address

Unit

Setting

_PID_PWM_EN
(PWM output enable)

K1208n

BIT

Available

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 11.2.2 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

Unit

Setting

_PID_STD
(PID RUN status indication)

K1209n

BIT

Unavailable

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

Unit

Setting

_PID_ALARM
(PID Warning occurrence)

K1210n

BIT

Unavailable

It indicates warning if any warning occurs during PID control of nth 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 11.6. 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

Unit

Setting

_PID_ERROR
(PID error occurrence)

K1211n

BIT

Unavailable

If an error that discontinues running during PID control of n th loop occurs, it indicates the
errors 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 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 11.6. In the area as monitoring area, it is changed to
the current run status by PLC although a user enters any value temporarily.
B) PID Flag area by loops
PID flag areas by loops are allocated between K1216 ~ K1855 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). 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

Unit

Scope

_PIDxx_SV (PID xx Loop SV setting)

K1216+16*xx

INT

-32,768 ~ 32,767

It sets/indicates the SV of PID control of xx th loop. For more information about SV, refer to
11.2.2 PID control parameter setting. The available scope is between -32,768 ~ 32,767.

11-12

Chapter 11 PID Control Function

(2) _PIDxx_T_s (PID xx Loop operation cycle)
Flag name

Address

Unit

Scope

_PIDxx_T_s
(PID xx Loop operation cycle)

K1217+16*xx

WORD

100 ~ 65,535

It sets/indicates the operation cycle of PID control of x th loop. For more information about
operation cycle, refer to 11.2.2 PID control parameter setting. The available scope is between
100 ~ 65,535.
(3) _PIDxx_K_p (PID xx Loop proportional constant)
Flag name

Address

Unit

Scope

_PIDxx_K_p
(PID xx Loop proportional constant)

K1218+16*xx

REAL

Real number

It sets/indicates the proportional constant of PID control of x th loop. For more information
about proportional constant, refer to 8.3.3 PID Control Parameter Setting. 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

Unit

Scope

_PIDxx_T_i (PID xx Loop integral time)

K1220+16*xx

REAL

Real number

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

Unit

Scope

_PIDxx_T_d (PID xx Loop differential

time)

K1222+16*xx

REAL

Real number

It sets/indicates differential time of PID control of x 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

Unit

Scope

_PIDxx_d_PV_max (PV change limit)

K1224+16*xx

WORD

0 ~ 65,535

It sets the PV change limit of xx th loop.

For more information about PV change limit, refer to 11.2.2 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

Unit

Scope

_PIDxx_d_MV_max (MV change limit)

K1225+16*xx

WORD

0 ~ 65,535

It sets the MV change limit of xxth loop. For more information about MV change limit, refer to
11.2.2 PID control parameter setting. If it is set as 0, the MV change limit function does not work.

11-13

Chapter 11 PID Control Function

(8) _PIDxx_MV_max, _PIDxx_MV_min, _PIDxx_MV_man (max. MV, min. MV, manual MV)
Flag name

Address

_PIDxx_MV_max (max. MV)

_PIDxx_MV (control MV)

K1231+16*xx

INT

Unavailable

The areas shows the MV of xx th PID control loop. As the area in which XGB 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.
(12) _PID00_ERR (Present error)
Flag name

Address

Unit

Scope

_PID00_ERR (present error)

K1232+16*xx

DINT

Unavailable

The areas shows the current error of xx th PID control loop. It is also used as an indicated
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.

11-14

Chapter 11 PID Control Function

(13) _PIDxx_MV_p, _PIDxx_MV_i, _PIDxx_MV_d (P/I/D control components of MV)
Flag name

Address

Unit

Scope

_PIDxx_MV_p (MV proportional control

K1234+16*xx
component)
_PIDxx_MV_i (MV integral control
REAL
Unavailable
K1236+16*xx
component)
_PIDxx_MV_d (MV differential control
K1238+16*xx
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

Unit

Scope

K1244+16*xx

WORD

0 ~ 65,535

It sets the SV ramp value of xx th loop. For more information about SV ramp of PV, refer to
11.2.2 PID control parameter setting. If it is set as 0, the function does not work.

11-15

Chapter 11 PID Control Function

(19) _PIDxx_PV_Track(PV follow-up setting)
Flag name

Address

Unit

Scope

_PIDxx_PV_Track(PV follow-up setting)

K1245+16*xx

WORD

0 ~ 65,535

It sets the PV follow-up SV of xx th loop. For more information about PV follow-up, refer to
11.2.2 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

_PIDxx_MV_p (MV proportional control

component)
_PIDxx_MV_i (MV integral control
component)
It sets the min./max. PV of n th loop.

Unit

Scope

INT

-32,768 ~ 32,767

K1246+16*xx
K1247+16*xx

(21) _PIDxx_ALM_CODE(Warning code)

Flag name

Address

Unit

Scope

_PIDxx_ALM_CODE(Warning code)

K1248+16*xx

WORD

Unavailable

It indicates warning code if a warning occurs during x 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 11.5.
(22) _PIDxx_ERR_CODE(Error code)
Flag name

Address

Unit

Scope

_PIDxx_ERR_CODE(error code)

K1249+16*xx

WORD

Unavailable

It indicates error code if an error occurs during x 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 11.5.
(23) _PIDxx_CUR_SV(SV of the present cycle)
Flag name

Address

Unit

Scope

_PIDxx_CUR_SV
(SV of the present cycle)

K1250+16*xx

INT

Unavailable

It indicates SV currently running of x 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.

11-16

Chapter 11 PID Control Function

11.2.4 PID instructions
It describes PID control commands used in XGB series. The command type of PID control used in
XGB 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 is on, the PID control of a loop starts.
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 junction 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.

[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.
XGB 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.

11-17

Chapter 11 PID Control Function

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 junction 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 XGB
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 11.3.5. The mixed forward/reverse run is executed as follows in the
XGB 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 11.14.

[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.

11-18

Chapter 11 PID Control Function

D) WRT
WRT is a command to save K area flags changed during operation to the internal flash memory of
PLC.

Once start juction is on, it writes K area values to flash memory.

Each operand description is summarized as follows.
Operand

Item
designated

Available device

OP1

Slot

To use the XGB 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 XGB 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.

< Built-in parameter setting window >

11-20

Chapter 11 PID Control Function

B) If selecting auto-tuning, it shows the parameter setting window as seen in figure.

< 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.

Set whether to set PWM output of MV
enabled/disabled.
Set SV.

Forward/reverse

PWM output enable

SV
Operation time

Set auto-tuning operation time.

Disable/enable
-32,768 ~ 32,767
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
designation

Designate the junction to which PWM output is

output.

PWM output cycle

Set the output cycle of PWM output.

Hysterisis setting

Set the hysteris of auto-tuning MV.

P20 ~ P3F
100 ~ 65,535
0 ~ 65,535

< 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)
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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Chapter 11 PID Control Function

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 XBE-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) Hysterisis setting
Looking at relay tuning in figure, 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,
hysterisis may be set. XGB auto-tuning converts output at SV + Hysterisis when PV increases or
at SV Hysterisis when it decreases once hysterisis is set. With it, it may prevent incorrect
tuning by a slight vibration around SV.

Hysteresis
SV+Hysteresis

SV- Hysteresis

[Example of Hysterisis setting ]

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Chapter 11 PID Control Function

11.3.3 Auto-tuning flag
The parameters set in the XGB 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.
1) Auto-tuning flag configuration
The K area flags of XGB series auto-tuning function are summarized in Table.
Loops

Common

Loop0

K area

Symbol

Data type

Default

Description
Auto-tuning
direction(0:forward,
1:reverse)
PWM output enable(0:disable,
1:enable)

K18560~F

_AT_REV

Bit

Forward

K18570~F

_AT_PWM_EN

Bit

Disable

K18580~F

_AT_ERROR

Bit

Auto-tuning error(0:normal,1:error)

K1859

Reserved

WORD

Reserved

K1860

_AT00_SV

INT

AT SV loop 00

K1861

_AT00_T_s

WORD

100

AT operation cycle (T_s)[0.1msec]

K1862

K1875

_AT00_PV

INT

AT PV

K1876

_AT00_MV

INT

AT MV

Word

Reserved

K1877~1879

Reserved

[K area flags for auto-tuning]

K1856 ~ K1859 areas are the common bit areas for auto-tuning and each bit represents auto-tuning
loop status respectively. K1860~K1879 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 builtin parameter window are saved and the XGB built-in auto-tuning function executes auto-tuning by
the device values and saves the results into the K areas.

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Chapter 11 PID Control Function

2) Auto-tuning flag function
Each function of K area flags for XGB 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

Unit

Setting

_AT_REV
(PID RUN direction setting)

K1856n

BIT

Available

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

Unit

Setting

_AT_PWM_EN
(PWM output enable)

K857n

BIT

Available

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

Unit

Setting

_PID_ERROR
(PID error occurrence)

K1858n

BIT

Unavailable

It indicates the error in case an error that discontinues operation during auto-tuning of nth 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 11.6. 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 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).
(1) _ATxx_SV (auto-tuning xx Loop SV setting)
Flag name

Address

Unit

Scope

_ATxx_SV (AT xx Loop SV setting)

K1860+16*xx

INT

-32,768 ~ 32,767

It sets/indicates the auto-tuning SV of xxth loop.

The available scope is between -32,768 ~ 32,767.

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Chapter 11 PID Control Function

(2) _ATxx_T_s (Auto-tuning xx Loop operation cycle)
Flag name

Address

Unit

Scope

_PIDxx_T_s
(Auto-tuning xx Loop operation cycle)

K1861+16*xx

WORD

100 ~ 65,535

It sets/indicates the operation cycle of x 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

_PIDxx_MV_max (Max. MV)

K1862+16*xx

_PIDxx_MV_min (Min. MV)

K1863+16*xx

Unit

Scope

INT

-32,768 ~ 32,767

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

Unit

Scope

_AT00_PWM
(AT output junction setting)

K1864+16*xx

WORD

H20 ~ H3F

It sets the junction that PWM output of xth loop is output. The PWM output junction is valid
only between H20 ~ H3F(hex). If any other value is entered, PWM output does not work.
(5) _ATxx_PWM_Prd (PWM output cycle setting)
Flag name

Address

Unit

Scope

_ATxx_PWM_Prd
(PWM output cycle setting)

K1865+16*xx

WORD

100 ~ 65,535

It sets the PWM output cycle of x th loop. The available scope is between 100 ~ 65,535 at the
unit of 0.1ms.
(6) _ATxx_HYS_val (Hysterisis setting)
Flag name

Address

Unit

Scope

_ATxx_HYS_val (Hysterisis setting)

K1866+16*xx

WORD

0 ~ 65,535

It sets the hysterisis of xx th loop. For more information about hysterisis function, refer to
11.4.3 Auto-Tuning Parameter Setting. If it is set as 0, it does not work.
(7) _ATxx_STATUS (Auto-tuning status)
Flag name

Address

Unit

Scope

_ATxx_STATUS (Auto-tuning status)

K1867+16*xx

WORD

Unavailable

It indicates the auto-tuning status of xx th loop. If auto-tuning is in operation, it is 1; if

completed, it is 128. In any other cases, it shows 0.
(8) _ATxx_ERR_CODE(Error code)
Flag name

Address

Unit

Scope

_ATxx_ERR_CODE(Error code)

K1868+16*xx

WORD

Unavailable

It indicates error code in case an error occurs during the auto-tuning of xth loop. The flag, as a
dedicated monitor, is updated although a user directly enters it. For more information about
error code, refer to Error codes.
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Chapter 11 PID Control Function

(9) _ATxx_K_p, _ATxx_T_i, _ATxx_T_d (AT result proportional coefficient, integral time,
differential time)
Flag name

Address

_ATxx_K_p (proportional coefficient)

K1869+16*xx

_ATxx_T_i (integral time)

K1871+16*xx

_ATxx_T_d (differential time)

K1873+16*xx

Unit

Scope

Real

Unavailable

The area indicates proportional coefficient, integral time and differential time calculated after
the auto-tuning of x 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

Unit

Scope

_ATxx_PV (PV)

K1875+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

Unit

Scope

_ATxx_MV (auto-tuning MV)

K1876+16*xx

INT

Unavailable

It is the area to output MV of xx th auto-tuning loop. Every auto-tuning cycle, it saves XGB
auto-tuning and it delivers the value in the area by using commands like MOV in a program and
operates a drive every scanning.

11.3.4 Auto-tuning instructions

The commands used in XGB 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 junction is on, the PID control of a loop starts.

11-26

Chapter 11 PID Control Function

11.4 Example Programs

The paragraph explains example programs regarding the directions of XGB built-in PID function. The
example programs are explained with water level system as illustrated in 11.17.

Water
level sensor

Tank

Pump
0~10V

RS-232C
XG5000

11.4.1 System structure

XGB D/A

A/D

0~10V
[Example of water level control system ]

The example system in figure is an example of a system to control a pails water level to a desired
level. The pails 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 pumps
rotation velocity, regulating the water amount flowing into a pail and regulating the water level as
desired. Each mechanism is explained as follows.
1) XGB basic unit
The XGB basic unit operates by PID control operating PID control operation. It receives PV from
A/D input module(XBF-AD04A), executes the built-in PID control operation, output the MV to
D/A(XBF-DV04A) and executes PID control.
2) A/D input module(XBF-AD04A)
It functions as receiving PV of an object to control from a water level sensor and delivering it to
basic unit. XBF-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 12. Analog I/O
Module.
3) D/A output module(XBF-DV04A)
It functions as delivering control MV from basic unit to a drive(pump). XBF-DV04A is a 4CH analog
voltage output module and ranges 0 ~ 10V. For detail setting, refer to 12. Analog I/O Module.
4) Water Level Sensor
A water level sensor plays a role to deliver the PV of an object to control to XGB 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
modules input scope. The example uses a water level sensor outputting between 0 ~ 10V.
11-27

Chapter 11 PID Control Function

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 XBF-DV04A(0~10V) should be same with
that of a pumps control input. The example uses a pump that receives its control input between 0
~ 10V.

11.4.2. 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.

[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 pumps 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 XBF-AD04A is set as the voltage input of 0~10V.
Max. MV : 4000
- Max. MV is set as 4000. If MV is 4000, XBF-DV04A outputs 10V.
Min. MV : 0
- Min. MV is set as 0. If MV is 0, XBF-DV04A outputs 0V.
PWM junction, PWM output cycle
- It is not necessary to set it because the example does not use PWM output.
Hysterisis setting: 10
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Chapter 11 PID Control Function

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.

[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.

[A/D input mode setting window]

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 XBF-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 12 Analog I/O Module.

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Chapter 11 PID Control Function

3) D/A Output Module Parameter setting
A) Set the parameter of D/A output module(XBF-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 scope : 0 ~ 10V
Input data type: 0 ~ 4000
4) Example of PID Auto-tuning program
The example of PID auto-tuning program is illustrated as figure.

< Auto-tuning example program>

11-30

Chapter 11 PID Control Function

A) Devices used
Device

Data type

Application

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 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 XGB 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.
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. Then, if selecting a variable to monitor and
clicking OK, a selected device is registered to variable monitor window as illustrated in
figure. Through the monitor window, a user can monitor auto-tuning run status or change
the settings.

11-31

Chapter 11 PID Control Function

[Variable registration window]

[Auto-tuning variables registered]

11-32

Chapter 11 PID Control Function

D) Observing RUN status by using trend monitor function
Since it is possible to monitor the operation status of XGB series built-in auto-tuning
graphically, it is useful to monitor the operation status of auto-tuning clearly.
(1) If selecting Monitor Trend monitor menu, it shows the trend monitor widow as illustrated in
figure.

[Trend Monitor window]

(2) If right-clicking trend setting, a user can select a variable to monitor as illustrated in figure.

[window to register trend monitor variable]

(3) For more information about trend monitor, refer to XG5000 Uses Manual.

11-33

Chapter 11 PID Control Function

11.4.3. Stand-along 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 11.4.2 Example of PID Autotuning.
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
11.4.2 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.

[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 pumps 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.
11-34

Chapter 11 PID Control Function

SV : 1000(2.5V)
- It shows an example in which XBF-AD04A is set as the voltage input of 0~10V
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, XBF-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, XBF-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
modules input scope.

11-35

Chapter 11 PID Control Function

4) Example of PID control program after PID auto-tuning
The program example for PID auto-tuning is illustrated as figure.

[Example program of PID control after auto-tuning]

A) Devices used
Device

Data type

Application

11-36

Chapter 11 PID Control Function

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) Once M0000 junction is on, the auto-tuning of loop 0 starts. At the moment, PV entered
to CH0 is moved to K1875, the PV input device of loop 0 and saved accordingly.
(3) The auto-tuning MV of Loop 0 output by PIDAT command is output to D/A output module
by line 11, MOV command.
(4) 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, sets M001 and starts the
operation of PID loop 0.

11-37

Chapter 11 PID Control Function

11.5 Error/Warning Codes

It describes error codes and warning codes of the XGB built-in PID function. The error codes and
warning codes that may occur during use of the XGB 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.

11.5.1. Error codes

Error
codes

Indications

H0001

MV_MIN_MAX_ERR

H0002

PV_MIN_MAX_ERR

H0004

SV_RANGE_ERR

H0005

PWM_ADDRESS_ERR

H0006

P_GAIN_SET_ERR

It occurs when proportional constant is set lower than 0.

H0007

I_TIME_SET_ERR

It occurs when integral time is set lower than 0.

H0008

D_TIME_SET_ERR

It occurs when differential time is set lower than 0.

H0009

Measures
It occurs when max. MV is set lower than min. MV. Make
sure to set max. MV larger than min. MV.
It occurs when max. PV is set lower min. Pv. Make sure to
set max. PV larger than min. PV.
It occurs when SV is larger than PV at the start time of
auto-tuning if auto-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 between P20 ~ P3F.

CONTROL_MODE_ERR It occurs when control mode is not P, PI, PD or PID.

H000A

TUNE_DIR_CHG_ERR

H000B

PID_PERIOD_ERR

H000C

HBD_WRONG_DIR

H000D

HBD_SV_NOT_MATCH

It occurs when operation direction is changed during autotuning. Never attempt to change operation direction during
auto-tuning.
It occurs when period of operation is smaller than 100
(10ms) at Auto-tuning or 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 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 concurrent. Make sure set to Set value
concurrently.
[PID error codes]

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Chapter 11 PID Control Function

11.5.2. Warning codes
Error
codes

Indications

H0001

PV_MIN_MAX_ALM

H0002
H0003
H0004
H0005
H0006

Measures
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 operation cycle longer than PLC scan
time.
It occurs when the PV change of PID cycle exceeds PV
PID_dPV_WARN
change limit.
It occurs when the PV cycle MV change exceeds MV
PID_dMV_WARN
change limit.
It occurs when the calculated MV of PID cycle exceeds the
PID_MV_MAX_WARN
max. MV.
It occurs when the calculated MV of PID cycle is smaller
PID_MV_MIN_WARN
than the min. MV
PID_SCANTIME_ALM

[PID warning codes]

11-39

Chapter 12 Analog Input/Output Module

12.1 Analog Voltage Input Module
12.1.1 Performance specification
Performance specifications of A/D conversion modules are as specified as below table.
Classification
Analog input
range
Analog input
range setting

Specifications
XBF-AD04A
DC 0 10 V (Input resistance: 1 M min.)
DC 4 20 mA (Input resistance 250 )
DC 0 ~ 20 mA (Input resistance 250 )
Analog input range can be selected through XG5000 users (or sequence) program or
[I/O parameter].
Respective input ranges can be set based on channels.
Analog input

Digital output

Digital output
Unsigned Value
Signed Value
Precise Value

0 ~ 10 V

4 ~ 20 mA

0 ~ 20 mA

0 ~ 4000
-2000 ~ 2000
0 ~ 1000

400 ~ 2000

Percentile Value

0 ~ 2000

0 ~ 1000

Format of digital output data can be set through user program or S/W package
respectively based on channels.

Max. resolution

Analog input range

Resolution (1/4000)

Analog input range

Resolution (1/4000)

0 ~ 10 V

2.5 mV

4 ~ 20 mA
0 ~ 20 mA

5.0 A

Accuracy
Max. conversion
speed
Absolute max.
input
Analog
input points
Insulation method
Terminal
connected
I/O points
occupied
Internalconsumed current

0.5% or less
1.5 ms/channel
15 V

25 mA
4 channels/1 module

Photo-coupler insulation between input terminal and PLC power

(no insulation between channels)
11 point terminal block
Fixed type: 64 points, Changeable: 16 points
DC 24V: 62

Weight

67g

Remark
1) When A/D conversion module is released from the factory, Offset/Gain value is as adjusted for
respective analog input ranges, which is unavailable for user to change.
2) Offset Value: Analog input value where digital output value is 0 when digital output format is set
to Unsigned Value.
3) Gain Value: Analog input value where digital output value is 16000 when digital output format
is set to Unsigned Value.

12-1

Chapter 12 Analog Input/Output Module

12.1.2 Name of part and function

Respective designations of the parts are as described below.

No.

Description
RUN LED

Displays the operation status of XBF-AD04A

On: Operation normal
Flickering: Error occurs (page 12-30)
Off: Module error
Terminal block

Analog input terminal, whose respective channels can be connected with

external devices.
Voltage/Current selection switch

Switch for voltage and current selection of analog input

12-2

Chapter 12 Analog Input/Output Module

12.1.3 Characteristic of I/O conversion
Characteristics of I/O conversion are the inclination connected in a straight line between Offset and
Gain values when converting analog signal (voltage or current input) from PLCs external device to
digital value. I/O conversion characteristics of A/D conversion modules are as described below.
Analog input applicable
range

Digital
output
value

1011
1000

2047
2000

4047
4000

750

1000

3000

500

2
2000

250

- 1000

1000

- 2000

Gain
value

Offset value

Analog input
value

DC 0 ~ 10 V

10V

12.1.4 Input/Output characteristics of XBF-AD04A

XGF-AV8A is a module exclusively used for 4-channel analog voltage, where Offset/Gain can not be
adjusted by user. Voltage input range can be set through user program or special module package for
respective channels. Output formats of digital data are as specified below;
A. Unsigned Value
B. Signed Value
C. Precise Value
D. Percentile Value
1) If the range is DC 0 ~ 10 V
On the XG5000 menu [I/O Parameters Setting], set [Input Range] to 0~10 V.

12-3

Chapter 12 Analog Input/Output Module

Digital output value for voltage input characteristic is as specified below.

(Resolution (based on 1/4000): 2.5 mV)
Digital output
range

Analog input voltage (V)

2.5

7.5

10.11

Unsigned value
(0 ~ 4047)

1000

2000

3000

4000

4047

Signed value
(-2000 ~ 2047)

-2000

-1000

1000

2000

2047

Precise value
(0 ~ 1011)

250

500

750

1000

1011

Percentile value
(0 ~ 1011)

250

500

750

1000

1011

2) If the range is DC0 ~ 20mA

On the XG5000 menu [I/O Parameters Setting], set [Input Range] to 0 ~ 20 .
(Select current mode switch on the upper of the module.)

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Chapter 12 Analog Input/Output Module

Digital output value for current input characteristic is as specified below.

(Resolution (based on 1/4000): 5 )
Digital output
range

Analog input current ()

20.23

Unsigned value
(0 ~ 4047)

1000

2000

3000

4000

4047

Signed value
(-2000 ~ 2047)

-2000

-1000

1000

2000

2047

Precise value
(0 ~ 2023)

500

1000

1500

2000

2023

Percentile value
(0 ~ 1011)

250

500

750

1000

1011

3) If the range is DC4 ~ 20mA

On the XG5000 menu [I/O Parameters Setting], set [Input Range] to 4~ 20 .
(Select current mode switch on the upper of the module.)

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Chapter 12 Analog Input/Output Module

Digital output value for current input characteristic is as specified below.

(Resolution (Based on 1/4000): 5 )
Digital
Output range

Analog input current ()

20.23

Unsigned value
(-48 ~ 4047)

-48

1000

2000

3000

4000

4047

Signed value
(-2048 ~ 2047)

-2048

-2000

-1000

1000

2000

2047

Precise value
(381 ~ 2023)

381

400

800

1200

1600

2000

2023

Percentile value
(-12 ~ 1011)

-12

250

500

750

1000

1011

Remark
1) If analog input value exceeding digital output range is input, the digital output value will be kept to be the
max. or the min. value applicable to the output range specified. For example, if the digital output range is
set to unsigned value (0 ~ 4047) and the digital output value exceeding 4047 or analog value exceeding
0 is input, the digital output value will be fixed as 0~4047.
2) Voltage and current input shall not exceed 15 V and 25 respectively. Rising heat may cause
defects.
3) Offset/Gain setting for XBF-AD04A module shall not be performed by user.

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Chapter 12 Analog Input/Output Module

12.1.5 Accuracy of XBF-AD04A
Accuracy of digital output value does not changed even if input range is changed. Figure 2.1 shows
the range of the accuracy with analog input range of 0 ~ 10 V and digital output type of unsigned value
selected.

[ Accuracy ]

12-7

Chapter 12 Analog Input/Output Module

12.1.6 Functions of XBF-AD04A
Functions of A/D conversion module are as described below.
Function

Description

Channel Run/Stop
setting

(1) Specify Run/Stop of the channel to execute A/D conversion.

(2) If the unused channel is set to Stop, whole Run time can be reduced.

Input voltage/Current
range setting

(1) Specify analog input range to be used.

(2) Select range in parameter setting after select Voltage/Current switch.

Output data format

setting

A/D conversion
methods

(1) Specify digital output type.

(2) 4 output data formats are provided in this module.
(1) Sampling processing
Sampling process will be performed if A/D conversion type is not specified.
(2) Filter processing
Used to delay the sudden change of input value.
(3) Average processing
Outputs average A/D conversion value based on frequency or time.

There are three A/D conversion methods, sampling processing, filter processing and average processing.

Sampling Processing
A/D Conversion Methods

Filter Processing
Average Processing

Time Average
Count Average

1) Sampling processing
It collects analog input sign through general A/D conversion processing at a specific interval so to
convert to digital. The time required for A/D conversion of analog input sign till saved on the memory
depends on the number of channels used.
(Processing time) = (Number of channels used) X (Conversion speed)
Ex.) If the number of channels used is 3, its process time will be
3 x 1.5 = 4.5
Sampling is to calculate the sampling value of continuous analog sign at a specific interval.

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Chapter 12 Analog Input/Output Module

2) Filter processing
Filter process function is used to obtain stable digital output value by filtering (delaying) noise or
sudden change of input value. Filter constant can be specified for respective channels through user
program or I/O parameters setting.
Setting range: 1 ~ 99 (%)
F[n] = (1 - ) x A[n] + x F [n - 1]
F[n] : Present filter output value
A[n] : Present A/D converted value
F[n-1] : Previous filter output value
: Filter constant (0.01 ~ 0.99: previous value added)
If filter setting value is not specified within 1 ~ 99, RUN LED blinks at an interval of 1 second. In
order to set RUN LED to On status, reset the filter setting value within 1 ~ 99 and then convert
PLC CPU from STOP to RUN. Be sure to use request flag of error clear (UXY.11.0) to clear the
error through modification during RUN.
Analog input range: DC 0 ~ 10 V, Digital output range: 0 ~ 4000
If analog input value changes 0 V 10 V (0 4000), filter output value based on value is
as specified below.
Filter output value
value
value
0 scan
1 scan
2 scan
3 scan
*1)

0.01

3600

3960

3997

1% inclined toward previous value

*2)

0.66

1360

2257

2850

50% inclined toward previous value

*3)

0.99

119

99% inclined toward previous value

*1) 4000 output after about 4 scans

*2) 4000 output after about 18 scans
*3) 4000 output after about 950 scans(1.19 s for 1 channel Run)
If filter process function is not used, present A/D converted value will be output as it is. The filter
process function takes value-added data between Present A/D converted value and Previous
A/D converted value. And the value-added data can be decided with filter constant. If output
data shakes too much, set a big filter constant value.
3) Average processing
This process is used to execute A/D conversion of the channel designated for specified frequency or
for specified time and save the average of the accumulated sum on memory. Average processing
option and time/frequency value can be defined through user program or I/O parameters setting for
respective channels.
A) What is the average process used for
This process is used for A/D conversion of abnormal analog input signal such as noise to a value
near to normal analog input signal.
B) Average processing type
Average processing type is of time average and count average.
(1) Time average processing
Setting range: 4 ~ 16000 (ms)
Average processing count within specified time is decided based on the number of channels
used.
Average processing

count =

(Number

12-9

Setting time
of Channels used) x ( Conversion

Speed)

Chapter 12 Analog Input/Output Module

Ex.1) Channels used: 1, setting time: 16000 ms

Average

processing

count

16000 ms
1 1 . 5 ms

10667 times

Ex.2) Channels used: 8, setting time: 4 ms

Average

processing

count

4 ms
4 1 . 5 ms

1 times

If setting value of time average is not specified within 4 ~ 16000, RUN LED blinks at an interval
of 1 second. In order to set RUN LED to On status, reset the setting value of time average within
4 ~ 16000 and then convert PLC CPU from STOP to RUN. Be sure to use request flag of error
clear (UXY.11.0) to clear the error through modification during RUN.
Time average is processed after converted to average of the times inside the A/D conversion
module. In this case, a remainder may be produced when setting time is divided by (number of
channels used X conversion speed), which will be disregarded. Thus, the average processing
frequency will be the quotient of [(setting time) (number of channels used x conversion
speed)].
Ex.) If the number of channels used is 5, and setting time is 151 ms
151 ms (4 X 1.5 ms) = 26 times Remainder of 2 26 times
(2) Count average process
A) Setting range: 2 ~ 64000 (times)
B) The time required for average value to be saved on memory when frequency average used
depends on the number of channels used.
Process time = setting frequency X number of channels used X conversion speed
*1: If setting value of count average is not specified within 2 ~ 64000, RUN LED blinks at
an interval of 1 second. In order to set RUN LED to On status, reset the setting value
of frequency average within 2 ~ 64000 and then convert PLC CPU from STOP to
RUN. Be sure to use request flag of error clear (UXY.11.0) to clear the error through
modification during RUN..
*2: If any error occurs in setting value of frequency average, the default value 2 will be
saved.
Ex.) If the number of channels used is 4, and average processing frequency is 50
50 X 4 X (1.5 ms) = 300 ms

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Chapter 12 Analog Input/Output Module

12.1.7 Wiring
1) Precaution for wiring
A) Dont let AC power line near to A/D conversion modules external input sign line. With an enough
distance kept away between, it will be free from surge or inductive noise.
B) Cable shall be selected in due consideration of ambient temperature and allowable current, whose
size is not less than the max. cable standard of AWG22 (0.3).
C) Dont let the cable too close to hot device and material or in direct contact with oil for long, which
will cause damage or abnormal operation due to short-circuit.
D) Check the polarity when wiring the terminal.
E) Wiring with high-voltage line or power line may produce inductive hindrance causing abnormal
operation or defect.
2) Wiring examples
A) Voltage input

B) Current input

*1) Use a 2-core twisted shielded wire. AWG 22 is recommended for the cable standard.
*2) XGF-AC8As input resistance is 250 (typ.).
*3) XGF-AV8As input resistance is 1 M (min.).

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Chapter 12 Analog Input/Output Module

D) Wiring example of 2-wire sensor/transmitter (current input)

-. Run the channel to be used only.

-. Analog input module does not provide power for the input device. Use an external power
supplier.
E) Wiring example of 4- wire sensor/transmitter (voltage/current input)

-. Start the channel to be used only.

-. Analog input module does not provide power for the input device. Use an external power
supplier.
* 1) Use a 2-core twisted shielded wire. AWG 22 is recommended for the cable standard.
* 2) Currents input resistance is 250 (typ.).
* 3) Voltages input resistance is 1 M (min.).
F) Relationship between voltage input accuracy and wiring length
In voltage input, the wiring (cable) length between transmitter or sensor and module has an effect
on digital-converted values of the module as specified below;
Rs

Vin

Rc
Load

Analog input (voltage)

Where,
12-12

Chapter 12 Analog Input/Output Module

Rc: Resistance value due to line resistance of cable
Rs: Internal resistance value of transmitter or sensor
Ri: Internal resistance value (1) of voltage input module
Vin: Voltage allowed to analog input module
% Vi: Tolerance of converted value (%) due to source and cable length in voltage input

Vin =

Ri Vs
[Rs + (2 Rc ) + Ri ]

Vin
%Vi = 1
100 %
Vs

Remark
In current input, there will be no accuracy tolerance caused by cable length and internal resistance of the
source.

12-13

Chapter 12 Analog Input/Output Module

12.1.8 Operation parameter setting
A/D conversion modules operation parameters can be specified through XG5000s [I/O parameters].
1) Settings
For the users convenience of A/D conversion module, XG5000 provides GUI (Graphical User
Interface) for parameters setting of A/D conversion module. Setting items available through [I/O
parameters] on the XG5000 project window are as described below in the table.

Item

Details

[I/O parameter]

(1) Specify the following setting items necessary for the module
operation.
- Channel Enable/Disable setting
- Setting ranges of input voltage/current
- Output data format setting
- Filter processing Enable/Disable setting
- Filter constant setting
- Average processing Enable/Disable setting
- Average processing method setting
- Average value setting
(2) The data specified by user through S/W package will be saved on A/D
conversion module when [Special Module Parameters] are
downloaded. In other words, the point of time when [Special Module
Parameters] are saved on A/D conversion module has nothing to do
with PLC CPUs status RUN or SPOP.

2) I/O Parameter setting

(1) Run XG5000 to create a project.
(Refer to XG5000 program manual for details on how to create the project)
(2) Double-click [I/O parameters] on the project window.

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Chapter 12 Analog Input/Output Module

(3) On the I/O parameters setting screen, find and click the slot of the base A/D conversion module is
installed on. 8-channel voltage type of A/D conversion module is installed on Base No.0, Slot No.4
in this description.

(4) Click the arrow button on the screen above to display the screen where an applicable module can
be selected. Search for the applicable module to select.

(5) After the module selected, click [Details].

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Chapter 12 Analog Input/Output Module

(6) A screen will be displayed for you to specify parameters for respective channels as shown below.
Click a desired item to display parameters to set for respective items.

(7) Run channel: Select Stop or Run.

(8) Input range: Select the range of analog input voltage as desired.

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Chapter 12 Analog Input/Output Module

(9) Output data format: Select the format of output data. 4 formats are available in total.

(10) Filter process: Set the filter process to Enable or Disable.

(11) Filter constant: Set the filter process above surely to [Enable] in order to input the filter constant
in this field. With the filter process set to [Enable], double-click the value of the filter constant to
input the value. The range of the value available in this field is 1 ~ 99. Any value exceeding this
range will not be input.

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Chapter 12 Analog Input/Output Module

(12) Average process: Set the average process to Enable or Disable.

(13) Average method: Set the average process above surely to [Enable] in order to change the
value in this field. Average processing can be selected between time average and frequency
average.

(14) Average value: Set the average process above surely to [Enable] in order to input the average
value in this field. With the average process set to [Enable], double-click the average value to
input the value. The range of the value available in this field is 2 ~ 64000 for frequency average,
and 4 ~ 16000 for time average. Any value exceeding this range will not be input

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Chapter 12 Analog Input/Output Module

(15) How to select the whole channels to change parameters
Click and check the radio button in the parameters item in order to change the whole channels
to identical setting value. And then change the parameters of an optional channel to change the
parameters of the whole channels at a time. Fig. 4.2 shows an example that Run channel is
changed to whole channels Run by means of this function.

[Parameters change of the whole channels ]

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Chapter 12 Analog Input/Output Module

12.1.9 Special module monitoring functions
Functions of Special Module Monitoring are as described below in table.
Item

Details

[Special Module
Monitoring]

(1) Monitor/Test
Through applicable XG5000 menu of [Monitor] -> [Special Module
Monitoring], A/D converted value can be monitored and the operation
of A/D conversion module can be tested.
(2) Monitoring the max./min. value
The max./min. value of the channel can be monitored during Run.
However, the max./min. value displayed here is based on the present
value shown on the screen. Accordingly, when [Monitoring/Test]
screen is closed, the max./min. value will not be saved.

Remark
The screen may not be normally displayed due to insufficient system resource. In such a case, close the
screen and finish other applications in order to restart XG5000.

The parameters specified for the test of A/D conversion module on the Special Module Monitoring
screen of [Special Module Monitoring] will be deleted the moment the Special Module Monitoring
screen is closed. In other words, the parameters of A/D conversion module specified on the Special
Module Monitoring screen will not be saved in [I/O parameters] located on the left tap of XG5000.
Test function of [Special Module Monitoring] is provided for user to check the normal operation of A/D
conversion module even without sequence programming. If A/D conversion module is to be used for
other purposes than a test, use parameters setting function in [I/O parameters].

Not saved in [I/O

parameters]

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Chapter 12 Analog Input/Output Module

12.1.10 Special module monitoring
Monitoring special module will be based on XBF-AD04A.
1) Start of [Special Module Monitoring]
Go through [On-Line] -> [Connect] and [Monitor] -> [Special Module Monitoring] to start. If the status is
not [On-Line], [Special Module Monitoring] menu will not be active.

2) How to use [Special Module Monitoring]

A) With XG5000 connected to PLC CPU (on-line status), click [Monitor] -> [Special Module
Monitoring] to display Special Module Select screen as in Fig. 5.1 showing base/slot information
in addition to special module type. The module installed on the present PLC system will be
displayed on the list dialog box.

Screen of [Special Module Select]

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Chapter 12 Analog Input/Output Module

B) Select Special module and click [Module information] to display the information as below.

C) Click [Monitor] on the Special Module screen in [Special Module List] to display [Special Module
Monitoring] screen as below, where 4 options are available such as [Reset max./min. value],
[Monitor Start], [Test Execute] and [Close]. A/D conversion modules output value and max./ min.
value are displayed on the monitoring screen at the top of the screen, and parameters items of
respective modules are displayed for individual setting on the test screen at the bottom of the
screen.

Screen of [Special Module Monitoring]

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Chapter 12 Analog Input/Output Module

D) [Start Monitoring]: Click [Start Monitoring] to display A/D converted value of the presently
operated channel. Below screen is the monitoring screen displayed when the whole channels
are in Stop status. In the present value field at the screen bottom, presently specified
parameters of A/D conversion module are displayed.

Execution screen of [Start Monitoring]

E) [Test]: [Test] is used to change the presently specified parameters of A/D conversion module.
Click the setting value at the bottom field of the screen to change parameters. Below screen
will be displayed after [Test] is executed with channels 0s input voltage range changed to 0~20 mAin the state of input not wired.

[ ]

12-23

Chapter 12 Analog Input/Output Module

F) [Reset max./min. value]: The max./min. value field at the upper screen shows the max. value
and the min. value of A/D converted value. Click [Reset max./min. value] to initialize the
max./min. value. Below screen is after [Reset max./min. value] button is clicked in the screen of
Special Module Monitor, where channel 0s A/D converted value can be checked as reset.

Execution screen of [Reset max./min. value]

.
G) [Close]: [Close] is used to escape from the monitoring/test screen. When the monitoring/test screen
is closed, the max. value, the min. value and the present value will not be saved any more.

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Chapter 12 Analog Input/Output Module

12.1.11 Register U devices

This section describes the automatic registration function of the U device in the XG5000.
1) Register U devices
Register the variables for each module referring to the special module information that is set in the
I/O parameter. The user can modify the variables and comments.
[Procedure]
A) Select the special module type in the [I/O parameter] setting window.

B) Double click Variable/Comment from the project window.

C) Select [Edit] [Register U Device].

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Chapter 12 Analog Input/Output Module

D) Click Yes.

E) As shown below, the variables are registered.

2) Save variables
A) The contents of View Variable can be saved as a text file.
B) Select [Edit] -> [Export to File].
C) The contents of View variable are saved as a text file.
3) View variables
A) The example program of XG5000 is as shown below.

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Chapter 12 Analog Input/Output Module

B) Select [View] -> [Variables]. The devices are changed into variables.

C) Select [View] -> [Devices/Variables]. Devices and variables are both displayed.

D) Select [View] -> [Device/Comments]. Devices and comments are both displayed.

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Chapter 12 Analog Input/Output Module

12.1.12 Configuration and function of internal memory
A/D conversion module has the internal memory to transmit/receive data to/from PLC CPU.
1) I/O area of A/D converted data
I/O area of A/D converted data is as displayed in table.
Device assigned

UXY.00.0
UXY.00.F
UXY.01.0
UXY.01.1
UXY.01.2
UXY.01.3
UXY.02
UXY.03
UXY.04
UXY.05
UXY.11.0

Details

Module ERROR flag

Module READY flag
CH0 Run flag
CH1 Run flag
CH2 Run flag
CH3 Run flag
Ch0 digital output value
Ch1 digital output value
Ch2 digital output value
Ch3 digital output value
Flag to request error clear

R/W

Sign direction

A/D CPU

R
R
R
R
W

A/D CPU

CPU A/D

A) In the device assigned, X stands for the Base No. and Y for the Slot No. on which module is
installed.
B) In order to read CH1 digital output value of A/D conversion module installed on Base No.0, Slot
No.4, it shall be displayed as U04.03.

C) In order to read Flag to detect CH4 disconnection of A/D conversion module installed on Base
No.0, Slot No.5, it shall be displayed as U05.10.4.

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Chapter 12 Analog Input/Output Module

2) Operation parameters setting area
Setting area of A/D conversion modules Run parameters is as described in Table.
Memory address
Hex.
Dec.
0H
0
1H
2H
3H
4H
5H
6H
7H
CH
DH
EH
FH
10H
11H
16H

Details

R/W

Remark

PUT
PUT
PUT
PUT
PUT

PUT

GET

3) Module READY/ERROR flag (UXY.00, X: Base No., Y: Slot No.)

A) UXY.00.F: It will be ON when PLC CPU is powered or reset with A/D conversion ready to process
A/D conversion.
B) UXY.00.0: It is a flag to display the error status of A/D conversion module.
B15

B14

B13

B12

B11

B10

UXY.00

R
R

Error information
Bit ON (1): Error, Bit Off (0): Normal

Module READY
Bit ON (1): READY, Bit Off (0): NOT READY

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Chapter 12 Analog Input/Output Module

4) Run channel flag (UXY.01, X: Base No., Y: Slot No.)
The area where Run information of respective channels is saved. (XGB series base number is 0)

B15 B14 B13 B12 B11 B10

UXY.01

C
H
3

C
H
2

C
H
1

C
H
0

Run channel information

Bit ON (1): During Run, Bit Off (0): Operation Stop

5) Digital output value (UXY.02 ~ UXY.09, X: Base No., Y: Slot No.)

A) A/D converted-digital output value will be output to buffer memory addresses 2 ~ 5 (UXY.02 ~
UXY.05) for respective channels.
B) Digital output value will be saved in 16-bit binary.
B15 B14 B13 B12 B11 B10

UXY.02 ~ UXY.09

Channel # digital output value

Address

Details

Address No.2
Address No.3
Address No.4
Address No.5

CH0 digital output value

CH1 digital output value
CH2 digital output value
CH3 digital output value

6) Flag to request error clear (UXY.11.0, X: Base No., Y: Slot No.)

A) If a parameters setting error occurs, address No.22s error code will not be automatically erased
even if parameters are changed correctly. At this time, turn the error clear request bit ON to delete
address No.22s error code and the error displayed in XG5000s [System Monitor]. In addition, RUN
LED which blinks will be back to On status.
B) The flag to request error clear shall be used surely together with UXY.00.0 attached thereon for
guaranteed Normal operation.
(XGB series base number is 0)
B15 B14 B13 B12 B11 B10 B9

UXY.11.0

C
R

Flag to request error clear (UXY.11.0)

Bit ON (1): Error clear request, Bit Off (0): Error clear standing-by

[How to use the flag to]

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Chapter 12 Analog Input/Output Module

7) Error code (22 address)
A) It saves the error code detected from A/D conversion module.
B) Error type and details is as below.
Address 22

B15

B14

B13

B12

B11

B10

Error code (Dec.)

Error code

Details

Normal operation

Remark

RUN LED flickering

50#

Exceeding of filter constant setting range

60#

Exceeding of time average setting range

70#

Exceeding of Frequency average setting

range

80#

Setting error of analog input range

Flickering RUN LED per

1 second

# of the error codes stands for the channel with error found.

C) If 2 or more errors occur, the module sill not save other error codes than the first error code found.
D) If an error found is corrected, use the flag to request error clear, or let power OFF ON in
order to stop LED blinking and to delete the error code.
.

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Chapter 12 Analog Input/Output Module

12.1.13 Program to sort A/D converted value in size
1) System configuration

XBMDR16S

XBFAD04A

XBERY16A

2) Initial setting
No.

Item

1
2
3
4
5
6

Channel
Input voltage range
Output data range
Filter process
Ch0 filter constant
Average process
Average process
method

6
7

Average value

Details
Ch0, Ch1, Ch2
0 ~ 10 V
0 ~ 4000
Ch0
50
Ch1, Ch2
Frequency average: Ch1
Time average: Ch2
Frequency average value:
100 (times)
Time average value:
200 (ms)

Internal memory
address
0
1
2
3
4
12

The value to write in

internal memory
h0007
h0000
h0000
h0001
50
h0006

h0100

100

200

3) Program
A) If Ch 0s digital value is less than 3000, Contact No. 0 (P00080) of relay output module installed
on Slot No.2 will be On.
B) If CH 1s digital value is greater than 3200, Contact No.2 (P00082) of relay output module
installed on Slot No.2 will be On.
C) If CH 2s digital value is greater than or equal to 3000 and less than or equal to 3200, Contact
No.4 (P00086) of relay output module installed on Slot No.2 will be On.
D) If CH 2s digital value is equal to 3200, Contact No.5 (P00085) of relay output module installed
on Slot No.2 will be On.

12-32

Chapter 12 Analog Input/Output Module

4) Program
A) Program example using [I/O Parameters]

Data no. to read

Read error code

Slot no.

12-33

Internal Device for

memory
saving
address

Chapter 12 Analog Input/Output Module

B) Program example of PUT/GET instruction used

Channel Run signal

If A/D conversion value of Ch4 is 3000 or more and 3200 or less, P0085 is changed to On status. 204

12-34

Chapter 12 Analog Input/Output module

12.2 Analog Output Module

12.2.1 Performance specification
Performance specifications of D/A conversion module(XBF-DV04A and XBF-DC-04A) are as specified in
table below.
Specification
Item
XBF-DV04A
XBF-DC04A
Type
Voltage
Current
Analog
DC 4 ~ 20mA
DC 0 ~ 10V
output
Range
DC 0 ~ 20mA
(Load resistance: 2k or more)
(Load resistance: 510 or less)
Type
Digital
input

Range

12-bit binary data

Signed value

0 ~ 4000

Unsigned value

-2000 ~ 2000

Precise value

0 ~ 1000

400 ~ 2000/0 ~ 2000

Percentile value

0 ~ 1000

2.5(1/4000)

5(1/4000)

Maximum resolution
Accuracy

0.5% or less

Maximum conversion speed

1/channel

Absolute maximum output

DC 15V

DC +25

Number of maximum channel

4 channels

Insulation method

Photo-coupler insulation between input terminal and PLC power

(no insulation between channels)

Terminal connected

11-point terminal block

I/O points occupied

Fixed type: 64 points

Current
consump
tion

Internal (DC 5V)

110mA

External
(DC 21.6 ~26.4V)

70mA

120mA

64g

70g

Weight

Remark
1) You may set a range of digital input and an analog output with parameters or a program by
channels.
2) When D/A conversion module is released from the factory, Offset/Gain value is as adjusted for
respective analog output ranges, which is unavailable for user to change.
3) Offset Value: Digital input value when analog output value reaches 0V (0mA) while analog output
type is Unsigned Value type.
4) Gain Value: Digital input value when analog output value reaches 0V (0mA) while analog output
type is Unsigned Value type.

12 - 35

Chapter 12 Analog Input/Output module

12.2.2 Name of part and function
XBF-DV04A
RUN

CH0

XBF-DC04A
RUN

CH0

CH1

CH2

CH3

No.

Description
RUN LED

It displays the operation status of D/A conversion module

- On: Normal operation status
- Flickering: Error occurred
- Off: Power off or abnormal status of the module
Analog output terminal (Voltage, Current)

It is an output terminal to connect an analog output (Voltage, Current) of each

channel to external machinery and tools.
External power input terminal

It is an external DC 24V input terminal that supplies power for an analog

output (voltage, current).

12 - 36

Chapter 12 Analog Input/Output module

12.2.3 Characteristic of I/O conversion
Characteristic of I/O conversion converts a digital input into an analog output (voltage, current) and
displays a straight line with the gradient as shown below. The range of digital input is shown with Unsigned
Value, Signed Value, Precise Value, and Percentile Value such as the graph below.

12 - 37

Chapter 12 Analog Input/Output module

12.2.4 Input/Output characteristic of XBF-DV04A, XBF-DC04A
The range of a voltage output is DC 0 ~ 10V and a current output is DC 4 ~ 20mA / DC 0 ~ 20mA.

Digital input value toward analog voltage output is shown below.

Resolution: 2.5mV(1/4000), Accuracy: within 0.5%
The range of
digital input
Unsigned value
(-48 ~ 4047)
Signed value
(-2048 ~ 2047)
Precise value
(-12 ~ 1011)
Percentile value
(-12 ~ 1011)

Analog voltage output

under 0V

2.5V

7.5V

10V

over 10V

under 0

1000

2000

3000

4000

over 4000

under -2000

-2000

-1000

1000

2000

over 2000

under 0

250

500

750

1000

over 1000

under 0

250

500

750

1000

over 1000

Digital input value toward analog current output is shown below.

Resolution: 5A(1/4000), Accuracy: within 0.5%
The range of
digital input
Unsigned value
(-48 ~ 4047)
Signed value
(-2048 ~ 2047)
Precise value
(381 ~ 2018,
-24 ~ 2023)
Percentile value
(-12 ~ 1011)

Analog current output

under 4mA

4mA

8mA

12mA

16mA

20mA

over 20mA

under 0mA

0mA

5mA

10mA

15mA

20mA

over 20mA

under 0

1000

2000

3000

4000

over 4000

under -2000

-2000

-1000

1000

2000

over 2000

under 400

400

800

1200

1600

2000

over 2000

under 0

500

1000

1500

2000

over 2000

under 0

250

500

750

1000

over 1000

12 - 38

Chapter 12 Analog Input/Output module

12.2.5 Accuracy of XBF-DV04A, XBF-DC04A
Though the range of input is changed, the accuracy for the analog output values doesnt change. The
range of accuracy is displayed at the ambient temperature of 25 5 if you select unsigned value as
your range of the digital input. The accuracy is satisfied 0.5%.
10.05V
20.1mA
10V
20mA
9.95V
19.9mA

10mA

0.05V
0.1mA
0V
0mA
-0.05V
-0.1mA
0

2000
Digital input

12 - 39

4000

Chapter 12 Analog Input/Output module

12.2.6 Functions of XBF-DV04A, XBF-DC04A
Function
Operation
channel

Details
1) It sets up Run/Stop of a channel that will operate an analog output.
2) You can save the time of whole operation by stopping unused channels.

The range of
output

1) It sets up the range of an analog output.

2) Analog voltage output module offers one range of output (DC 0 ~ 10V) and
analog current output module offers two (DC 4 ~ 20mA, DC 0 ~ 20mA).

The range of
input data

1) It sets up the range of a digital input.

2) It offers four ranges of digital input.

The status of
channel output

1) It sets up the output status of a channel when it switches Run to Stop.

2) It offers four types of output status.

12 - 40

Chapter 12 Analog Input/Output module

12.2.7 Wiring
Precautions for wiring
1) Use separate cable of an A.C. power line and an external output signal of an analog output module to
prevent a surge or inductive noise from the A.C. side.
2) Select the cable with consideration of an ambient temperature and a permitted current limit. It is
recommended over AWG22(0.3).
3) Dont let the cable at close range to hot devices or materials. And dont bring it into contact with oil for
a long time. These are the factors of a short circuit occurs unusual operation or damages devices.
4) Check the polarity before external power is supplied to the terminal.
5) It may produce inductive hindrance that is a cause of unusual operations or defects if you wire the
cable with a high-voltage line or a power line.

Wiring example
Analog voltage output module
Motor driver etc.

XBF-DV04A
CH0
CH0+

Over 2k

CH0-

D/A
Conversion
circuit

CH1+

1
GND

CH1-

Motor driver etc.

CH2+
CH2-

CH3

CH3+

Over 2k

CH3+15V

DC/DC
Conversion circuit

DC +24V
DC 0V

GND

-15V

Analog current output module

Motor driver etc.

XBF-DC04A
CH0
CH0+

Under
510

CH0-

D/A
Conversion
circuit

CH1+

1
GND

CH1-

Motor driver etc.

CH2+
CH2-

CH3

CH3+

Under
510

CH3+15V

DC/DC
Conversion circuit

DC +24V
DC 0V

-15V

1: Use a 2-core twisted shielded wire.

12 - 41

GND

Chapter 12 Analog Input/Output module

12.2.8 Operation parameter setting
You can specify operation parameters of the analog output module through [I/O parameters] menu in
XG5000.
1) Setting items
For the users convenience, XG5000 provides GUI (Graphical User Interface) for parameters setting of
analog voltage/current output module.
Followings are available through [I/O parameters] on the XG5000 project window.
Item
Details

[I/O parameters]

(1) It specifies the following items for the module operation.

- Channel Enable/Disable
- Analog output range
- Input type
- Channel output type
(2) After the parameters that user specified in XG5000 are downloaded, they
will be saved to a flash memory in the CPU unit.

2) How to use [I/O parameters] menu

It is described below how to set I/O parameters based on an analog voltage output module (XBF-DV04A).
(1) Run XG5000 to create a project. (Refer to XG5000 program manual for details on how to create the
project)
(2) Double-click [I/O parameters] on the project window.

(3) If [I/O parameter setting] window is displayed, click the module area of the applicable slot to select
the applicable module.
(4) Click the slot of the base that contains analog voltage output module in the [I/O Parameter Setting]
window.

12 - 42

Chapter 12 Analog Input/Output module

(5) Click the arrow button then you can see the menu to choose the applicable module. Select the
applicable module.

(6) Double-click the applicable slot that is selected for the parameters setting or click [Details].

(7) A screen will be displayed for you to specify parameters for respective channels as shown below.
Click a desired item to display parameters to set for respective items.

Default value of each item is shown above.

Channels

12 - 43

Chapter 12 Analog Input/Output module

Output range

Input type

CH. Output type

8) After finish the setting, click [OK].

9) If you want to replace the value of the whole channel at a time, check the radio button then change
the value. All the channel s values will be changed at the same time. The figure below shows an
example.

12 - 44

Chapter 12 Analog Input/Output module

12.2.9 Special module monitoring/test
You can start to test the analog output module connecting by [Online] [Connect] and then click [Monitor]
[Special Module Monitoring] menu in XG5000.
Remark
1) If the program is not displayed normally because of insufficient system resource, you may start
XG5000 again after close the program and other applications.
2) I/O parameters those are specified in the state of [Special Module Monitoring] menu are temporarily
set up for the test. They will be disappeared when the [Special Module Monitoring] is finished.
3) Testing of [Special Module Monitoring] is the way to test the analog output module. It can test the
module without a sequence program.
Special module monitoring function is described below based on the analog voltage output module (XGFDV04A).
1) Go through [Online] [Connect] and [Monitor] [Special module Monitoring] to start. If the status is
not online, [Special Module Monitoring] menu will not be activated.

2) [Special Module List] window will show base/slot information and types of special module by click
[Monitor] [Special Module Monitoring].

12 - 45

Chapter 12 Analog Input/Output module

3) Select a special module then click [Module Info.] button to display the information as described below.

4) Select a special module then click [Start Monitoring] button to display the information as described
below.

Parameter setting for a test

12 - 46

Chapter 12 Analog Input/Output module

5) [Start Monitoring] button will show you digital input data of the operating channel.

Monitoring screen

Details of channel 0

6) [Test] is used to change the parameters of the voltage output module. You can change the parameters
when you click the values at the bottom of the screen. It is only available when XGB CPU units status is
in [Stop Monitoring].

7) [Close] is used to escape from the monitoring/test screen.

12 - 47

Chapter 12 Analog Input/Output module

12.2.10 Register U devices
Register the variables for each module referring to the special module information that is set in the I/O
parameter. The user can modify the variables and comments.
This section describes the automatic registration function of the U device based on analog voltage output
module (XBF-DV04A).
1) Select a special module type in [I/O Parameter Setting] window.

2) Double-click [Variable/Comment] from the project window.

3) Select [Edit] [Register U Device].

12 - 48

Chapter 12 Analog Input/Output module

4) Click Yes.

5) As shown below, the variables are registered.

Save variables
(1) The contents of View Variables can be saved as a text file.
(2) Click [Edit] [Export to File].
(3) The contents of View Variable are saved as a text file.
View variables in a program
(1) The example of XG5000 is shown below.

12 - 49

Chapter 12 Analog Input/Output module

(2) Select [View] [Variables]. The devices are changed into variables.

(3) Select [View] [Devices/Variables]. Device and variable both are displayed.

(4) Select [View] [Devices/Comments]. Device and comment both are displayed.

12 - 50

Chapter 12 Analog Input/Output module

12.2.11 Internal memory

Configuration of internal memory is described below.

1) I/O area of digital/analog conversion
XBF-DV04A/XBF-DC04A
Address

Description

Details

U0x.00

Module Ready / Error

U0x.01

CH operation information

U0x.02

Output setting

U0x.03

CH0 digital input value

U0x.04

CH1 digital input value

U0x.05

CH2 digital input value

U0x.06

CH3 digital input value

Remarks

F Bit On(1): Module Ready

0~3 Bit On(1): Channel Error
Bit On(1): Channel Run
Bit Off(0): Channel Stop
Bit On(1): Output Allow
Bit Off(0): Output Forbid

Read
available

Read/Write
available

12-bit binary data

In the device assignment, x stands for a slot number that the module is installed.
In order to write CH0 digital input value of the analog output module installed on Slot No.4, it should be
named as U04.03.

U0x.00

B15 B14 B13 B12 B11 B10 B9

Module

(1) Module Ready/Channel Error information

a) U0x.00.F: It will be ON when XGB CPU unit is powered or reset with the condition that an analog
output module has prepared to convert.
b) U0x.00.0 ~ U0x.00.3: It is the flags those display error status of each channel in the analog output
module.

C
H
3

C
H
2

C
H
1

C
H
0

Module Ready
Bit On (1): Ready
Bit Off (0): Not Ready

Error information (bit)

Bit On (1): Error
Bit Off (0): Normal

(2) Channel operation information

a) This area is used to display the channel being used.
B15 B14 B13 B12 B11 B10 B9

U0x.01

C
H
3

C
H
2

C
H
1

C
H
0

Run channel information (bit)

Bit On (1): During Run
Bit Off (0): Operation Stop

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Chapter 12 Analog Input/Output module

(3) Output setting
a) Each channel can be specified enable/disable the analog output.
b) If the output is not specified, output of all the channels will be disabled.
B15 B14 B13 B12 B11 B10 B9

U0x.02

C
H
3

C
H
2

C
H
1

C
H
0

Output status setting (bit)

Bit On (1): Allowed
Bit Off (0): Forbidden

(4) Digital input

a) Digital input value can be selected and used within the range of -48~4047, -2048~2047, -12~1011
(381~2018/-24~2023), and -12~1011 based on input type.
b) If the digital input value is not specified, it will be set to 0.
U0x.03
~
U0x.06

B15 B14 B13 B12 B11

B10 B9

12-bit digital input data

Input digital data (decimal)

Address

Details

U0x.03

Digital input value of CH0

U0x.04

Digital input value of CH1

U0x.05

Digital input value of CH2

U0x.06

Digital input value of CH3

12 - 52

Chapter 12 Analog Input/Output module

2) Setting area of operation parameters
XBF-DV04A
Address
(Dec)

Description

Details

Remarks

Bit On(1): Run

Bit Off(0): Stop

Set up the run channel

Set up the output voltage range

Set up the input data type

Set up the output type of CH0

Set up the output type of CH1

Set up the output type of CH2

Set up the output type of CH3

11
12
13

CH0 setting error

CH1 setting error
CH2 setting error

CH3 setting error

Bit (00): 0 ~ 10V

Bit (00): 0 ~ 4000
Bit (01): -2000 ~ 2000
Bit (10): 0 ~ 1000
Bit (11): 0 ~ 1000

Read/Write
available

0: outputs the previous value

1: outputs the min. value of output range
2: outputs the mid. value of output range
3: outputs the max. value of output range

Read
available

Error code

XBF-DC04A
Address
(Dec)

Description

Details

Remarks

Bit On(1): Run

Bit Off(0): Stop

Set up the run channel

Set up the output voltage range

Set up the input data type

Set up the output type of CH0

Set up the output type of CH1

Set up the output type of CH2

Set up the output type of CH3

CH0 setting error

CH1 setting error

CH2 setting error

CH3 setting error

Bit (00): 4 ~ 20mA

Bit (01): 0 ~ 20mA
Bit (00): 0 ~ 4000
Bit (01): -2000 ~ 2000
Bit (10): 400 ~ 2000/0 ~ 2000
Bit (11): 0 ~ 1000

Read/Write
available

0: outputs the previous value

1: outputs the min. value of output range
2: outputs the mid. value of output range
3: outputs the max. value of output range

Read
available

Error code

(1) Setting up the run channel

If the run channel is not specified, all the channels will be set to Stop.
B15 B14 B13 B12 B11 B10 B9

Address 0

C
H
3

C
H
2

C
H
1

C
H
0

Run channel (bit)

1: Run
0: Stop
12 - 53

Chapter 12 Analog Input/Output module

(2) Setting up the output voltage/current range

The range of analog output voltage is DC 0 ~ 10V and analog output current is DC 4 ~ 20mA, DC 0
~ 20mA.
B15 B14 B13 B12 B11 B10 B9

Address 1

CH 3

CH 2

CH 1

CH 0

Output range (bit)

00: 0 ~ 10V(4 ~ 20mA)
01: 0 ~ 20mA
(3) Setting up the input data type
a) Input type can be specified for respective channels.
b) If input data type is not specified, all the channels will be set to the range of 0 ~ 4000.
B15 B14 B13 B12 B11 B10 B9

Address 2

CH 3

CH 2

CH 1

CH 0

Input data type (bit)

00: 0 ~ 4000
01: -2000 ~ 2000
10: 0 ~ 1000(400 ~ 2000/0 ~ 2000)
11: 0 ~ 1000
(4) Setting up the output type
a) It defines an analog output status when XGB CPU unit is stopped.
b) The range is 0 ~3 and used devices are regarded as Words.

Address 3
~
Address 6

B15 B14 B13 B12 B11

B10 B9

Address

Details

Set up the output type of CH0

Set up the output type of CH1

Set up the output type of CH2

Set up the output type of CH3

12 - 54

Value

Input data type (bit)

00: Previous value
01: Min. value
10: Mid. value
11: Max. value

Chapter 12 Analog Input/Output module

(5) Error code
It displays error codes of each channel.

Address 11
~
Address 14
Address

B15 B14 B12 B11 B11

Error code

Error code (Decimal)

Details

CH0 error

CH1 error

CH2 error

CH3 error

Error code
(Dec)
-

B10 B9

Details

LED status

Offset/Gain setting error

Blinks every 2 sec.

31#

Exceed the range of parameter

41#

Exceed the range of digital input

# stands for the channel with error found.

12 - 55

Blinks every 1sec.

Chapter 12 Analog Input/Output module

12.2.12 Basic program
Analog voltage output module is installed on slot no.1.
1) Program example with [I/O Parameter Setting].

Module ready

CH. Run information

Digital input data

12 - 56

Chapter 12 Analog Input/Output module

2) Program example with PUT/GET instruction.

12 - 57

Chapter 13 Installation and Wiring

13.1 Installation
13.1.1 Installation environment
This unit has high reliability regardless of its installation environment, but be sure to check the following for
system reliability.

1) Environment requirements

Avoid installing this unit in locations which are subjected or exposed to:
(1) Water leakage and dust.
(2) Continuous shocks or vibrations.
(3) Direct sunlight.
(4) Dew condensation due to rapid temperature change.
(5) Higher or lower temperatures outside the range of 0 to 55
(6) Relative humidity outside the range of 5 to 95
(7) Corrosive or flammable gases

2) Precautions during installing

(1) During drilling or wiring, do not allow any wire scraps to enter into the PLC.
(2) Install it on locations that are convenient for operation.
(3) Make sure that it is not located on the same panel that high voltage equipment located.
(4) Make sure that the distance from the walls of duct and external equipment be 50mm or more.
(5) Be sure to be grounded to locations that have good ambient noise immunity.

3) Heat protection design of control box

(1) When installing the PLC in a closed control box, be sure to design heat protection of control box
with consideration of the heat generated by the PLC itself and other devices.
(2) It is recommended that filters or closed heat exchangers be used.

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Chapter 13 Installation and Wiring

13.1.2 Handling Instructions
It describes handling instruction from handling to installation.
Do not drop it off, and make sure that strong shock should not be applied.
Do not unload the PCB from its case. It can cause faults.
During wiring, be sure to check any foreign matter like wire scraps should not enter into the upper side of
the PLC. If any foreign matter has entered into it, always eliminate it.
1) Input/Output Module handling instructions
The followings explains instructions for handling or installing the Input/Output Module.
(1) I/O specifications re-check
Re-check the input voltage for the input part. if a voltage over the maximum switching capacity is
applied, it can cause faults, destruction or fire.
(2) Used wire
Select the wire with due consideration of ambient temperature and rated current. Its minimum
specifications should be AWG22 (0.3 ) or more.
(3) Environment
When wiring the I/O part, if it locates near a device generating an cause short circuit, destruction or
malfunction.
(4) Polarity
Before applying the power to part that has polarities, be sure to check its polarities.
(5) Wiring
Wiring I/O wires with high voltage cable or power supply line can cause malfunction or disorder.
Be sure that any wire does not pass across during input LED(I/O status will not be clearly
identified).
If an inductive load has been connected to output part, connect parallel surge killer or diode to a
load. Connect the cathode of diode to the + part of the power supply.

Inductive load

OUT
Output part

Surge Killer
COM

OUT

Inductive load
+

Output part

Diode

COM
(6) Terminal block
Check its fixing. During drilling or wiring, do not allow any wire scraps to enter the PLC. It can cause
malfunction and fault.
(7) Be cautious that strong shock does not applied to the I/O part. Do not separate the PCB from its case.

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Chapter 13 Installation and Wiring

2) Mounting instructions
Here describes the notices in case of attaching PLC to the control panel.
(1) Keep the distance enough between the upper part of module and the structures or parts in order to
make a ventilation good and change the module easily.
(2) Avoid the longitudinal connection or horizontal attachment considering a ventilation.
(3) Use the panel different from the vibration sources of large sized electronic contactor or no fuse breaker
etc., or keep the clearance when installing.
(4) Install the wiring duct if necessary. But cares should be taken for the following notices in case the
dimension of the upper or lower part of PLC is smaller than that of Figure 10.1.
In case of installing on the upper part of PLC, keep the height of wiring duct less than 50mm for good
ventilation. And keep the distance from the upper part of PLC enough to press the hook on the upper
part of Base.
In case of installing on the lower part of PLC, consider the connection of optical cable or coaxial cable
and minimum radius of cables.
(5) PLC should be installed to the direction as shown on the following Figure for good ventilation against
radiation.

(6) Do not install PLC to the direction as below.

1) Do not lay down the XGB series as shown below.

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Chapter 13 Installation and Wiring

2) Do not install the XGB series to reverse side as shown below.

(7) When installing PLC or other equipment (Relay, electronic contactor), keep the distance to avoid
radiant noise or heat.

100 mm or more

50 mm or more

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Chapter 13 Installation and Wiring

13.1.3 Attachment and detachment of module

It describes attachment and detachment of module.
1) Attachment of module
Remove the extension cover on upper part of module.
Attach connecting protrusion on module and fixed position protrusion of corner on module.
After attachment, pull down the fixed hook of module correctly..

Fixed position
protrusion

Fixed hook

Connecting protrusion

Warning
Module must be attached after fixed the module correctly. Module is broken when attach the
module by force.

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Chapter 13 Installation and Wiring

2) Detachment of module
Push up the fixed hook.
Detach the module. (Do not detach by force.)

Fixed hook

Warning
If detach the module by force, fixed hook or fixed position of module would be broken.

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Chapter 13 Installation and Wiring

13.2 Wiring
13.2.1 Power wiring
(1) Use a power supply which generates minimal noise across wire and across PLC and ground.

XGB
Main unit

DC power supply

(2) Use a DV power supply capacity more than 1A.

13.2.2 Input/Output device wiring

1) The spec. of cable for I/O wiring shall be 0.3~2 mm2 but it is recommend to use the convenient cable
spec.(0.3 mm2)).
2) Separate Input cable and Output cable for wiring.
3) I/O signal cable should be separated more than 100mm from main circuit cable of high voltage/high current.
4) If not possible to separate main circuit cable and power cable, use the shielded cable all and earth a PLC.
PLC

Shield cable

Input

Output

5) In case of pipe wiring, check the pipe completely for earth.

6) Separate output cable of DC24V from AC110V cable or AC220V cable.
7) For the long distance wiring more than 200m, as it is expected to have problem by leakage current caused
by the capacity between cables, please refer to 12.4 Various Cases.

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Chapter 13 Installation and Wiring

13.2.3 Earth wiring
1) As this PLC has a sufficient measures against noise, it is possible to use it without earth except the case
having specially lots of noises.
2) Use the dedicated earth if possible.
In case of Earth works, use 3 class earth (earth resistance 100 or less).
3) If not possible to use dedicated earth, use the common earth as shown on the Figure B] as below.

PLC

Other

PLC

3 class earth
A) Dedicated earth : Best

Other

PLC

Other

3 class earth
B) Common earth : Good

C) Common earth : Poor

2
4) Use more than 2 mm cable for earth. Place the earth point near this PLC as possible to have the short
length of earth cable.

13.2.4 Cable specifications for wiring

The specification of cable used for wiring is as below.
Cable specification (mm2)

Type of External
Connection

Low limit

High 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)

Protection earth

1.5 (AWG16)

2.5 (AWG12)

138

Chapter 10 Maintenance

Chapter 14 Maintenance

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

14.1 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

Change rate of input voltage

Power supply for input/output
Temperature

Ambient
environment

Within change rate of input

voltage
(Less than 15% to +20% )
Input/Output specification of
each module
0 ~ + 55

Humidity

5 ~ 95%RH

Vibration

No vibration

Corrective Actions
Hold it with the allowable range.
Hold it with the allowable range of each module.
Adjust the operating temperature and humidity with the
defined range.

Play of modules

No play allowed

Use vibration resisting rubber or the vibration prevention

method.
Securely enrage the hook.

Connecting conditions of
terminal screws

No loose allowed

Retighten terminal screws.

Check the number of

Spare parts and their
Store conditions

Spare parts

Cover the shortage and improve the conditions.

14.2 Daily Inspection

The following table shows the inspection and items which are to be checked daily.
Check Items
Connection conditions of
base
Connection conditions of
Input/Output module

indicator

Judgment

Corrective
Actions
Retighten
Screws.
Retighten
Screws.
Retighten
Screws.

Check the screws.

Screws should not be loose.

Check the connecting screws

Check module cover.

Screws should not be loose.

Check for loose mounting screws.

Screws should not be loose.

Check the distance between solderless

terminals.

Proper clearance should be provided.

Correct.

Connecting of expansion cable.

Connector should not be loose.

Correct.

PWR LED

Check that the LED is ON.

ON(OFF indicates an error)

See chapter 15.

Run LED

Check that the LED is ON during Run.

ON (flickering indicates an error)

See chapter 15.

OFF(ON indicates an error)

See chapter 15.

Connecting conditions of
terminal block or extension
cable

LED

Check Points

ERR LED
Input LED
Output LED

Check that the LED is OFF during

Run.
Check that the LEO turns ON and
OFF.
Check that the LEO turns ON and
OFF

141

ON when input is ON,

OFF when input is off.
ON when output is ON,
OFF when output is off

See chapter 15.

Chapter 10 Maintenance

14.3 Periodic Inspection

Check the following items once or twice every six months, and perform the needed corrective actions.
Check Items

Checking Methods

0 ~ 55 C

Ambient temperature
Ambient
environment

Ambient Humidity
Ambient pollution level

PLC
Conditions

Connecting
conditions

Looseness, Ingress
dust or foreign
material
Loose terminal
screws
Distance between
terminals
Loose connectors

Line voltage check

Judgment

-. Measure with thermometer and

hygrometer
-. measure corrosive gas

5 ~ 95%RH

Corrective
Actions
Adjust to general
standard
(Internal environmental
standard of control section)

The module should be move

the unit

There should be no
corrosive gases
The module should be
mounted securely.

Visual check

No dust or foreign material

Re-tighten screws

Screws should not be loose

Retighten

Visual check

Proper clearance

Correct

Connectors should not be loose.

Retighten connector mou

nting
screws

Visual check
Measure voltage between input
terminals

142

DC24V:DC20.4 ~ 28.8V

Retighten screws

Change supply power

Chapter 15 Troubleshooting

Chapter 15 Troubleshooting
The following explains contents, diagnosis and corrective actions for various errors that can occur during system
operation.

15.1 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 is 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?

15.2 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 O

FF?

Flowchart used when the POWER LED is turned OFF.

Is the ERR LED flickering?

Flowchart used when the ERR LED is flickering.

Are the RUN LED turned

OFF?

Flowchart used when the RUN turned OFF.

I/O module doesnt operate

properly.

Flowchart used when the output load of the output module

doesnt turn on.

Program cannot be written.

Flowchart used when a program cant be written to the

PLC.

15-1

device activated?
1) Eliminate the excess current
2) Switch the input power OFF then
ON.
No
No

Does the power LED

turns On?

Yes

Write down the troubleshooting

Questionnaire and contact
the nearest service center.

Complete

15-2

Chapter 15 Troubleshooting

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

STOP LED goes flickering

Check the error code, with

connected XG5000.

See Appendix 1 Flag list

and remove the cause of
the error.

Warning error?

Yes

Complete

Is ERR LED still

flicking ?

Yes

Write down the Troubleshooting

Questionnaires and contact the nearest
service center.

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

15-3

Chapter 15 Troubleshooting

15.2.3 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 operation is in the process.

RUN, STOP LED is Off.

Turn the power unit Off and On.

Is RUN/ STOP LED Off?

Yes

Write down the Troubleshooting

Questionnaires and contact the nearest
service center.

15-4

Complete

Chapter 15 Troubleshooting

15.2.4 Troubleshooting flowchart used when the I/O part doesnt operate normally.
The following flowchart explains corrective action procedure used when the I/O module doesnt
operate normally.

When the I/O module doesnt work normally.

I\s the output LED of SOL1

On?

Yes

Measure the voltage of terminal

in SOL1 by Tester.

Replace the connector of

the terminal block.

Correct wiring.

Is the measured value

normal?

Yes

Check the status of SOL1 by

XG5000.

Is the
terminal connector
appropriate?

Is the output
wiring correct?

Yes

Is it normal condition?
Yes

Yes
Yes

Separate the external

wiring than check the
condition of output module.
Continue

Yes

Is it normal condition?

Check the status of SOL1.

Replace the Unit

15-5

Chapter 15 Troubleshooting

Continue

Are the indicator LED of the

switch 1 and 2 on?
Yes

Check voltage of switch 1,2

by tester

Is the measured value

normal?

Check voltage of switch 1,2

by tester

Is the measured value

normal?

Yes

Is the measured value

normal?

Yes

Is the condition
of the terminal board connector
appropriate?

Is input wiring correct?

Separate the external

wiring witch then check
the status by forced input

Is the
terminal screw tighten
securely?

Yes

Correct wiring

Retighten the terminal

screw.

Replace the terminal

board connector.

Yes

Input unit replacement

is Needed.

Check the status of the switch 1

and 2.

Check from the beginning.

15-6

Input unit replacement is

Needed.

Chapter 15 Troubleshooting

15.3 Troubleshooting Questionnaire

When problems have been met during operation of the XGB series, please write down this Questionnaires and
contact the service center via telephone or facsimile.
y For errors relating to special or communication modules, use the questionnaire included in the Users manual
of the unit.
1. Telephone & FAX No
Tell)
2. Using equipment model:
3. Details of using equipment
CPU model: .(
)

FAX)

OS version No.(

Serial No.(

4.General description of the device or system used as the control object:

5. The kind of the base unit:
Operation by the mode setting switch (
Operation by the KGLWIN or communications (
External memory module operation (

),
),
),

6. Is the ERR. LED of the CPU module turned ON? Yes(

), No(

7. XG5000 error message:

8. History of corrective actions for the error message in the article 7:
9. Other tried corrective actions:
10. Characteristics of the error
y Repetitive( ): Periodic( ), Related to a particular sequence(
y Sometimes(
): General error interval:
11. Detailed Description of error contents:
12. Configuration diagram for the applied system:

15-7

), Related to environment(

Chapter 15 Troubleshooting

15.4 Troubleshooting Examples

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

15.4.1 Input circuit troubles and corrective actions

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

Cause
Leakage current of external device
(Such as a drive by non-contact switch)

Corrective Actions
y Connect an appropriate register and
capacity, which will make the voltage lower

Input signal
doesnt turn

AC input

off.

across the terminals of the input module.

Leakage current

AC input

External device

R
~

Input signal

Leakage current of external device

(Drive by a limit switch with neon lamp)

doesnt turn

current value.

off.

AC input
C

(Neon lamp

Leakage current

External device

on)

Recommended value C : 0.1 ~ 0.47

R: 47 ~ 120 (1/2W)
Or make up another independent display
circuit.

may be still

Input signal

y CR values are determined by the leakage

Leakage current due to line capacity of wiring

cable.

doesnt turn
off.

y Locate the power supply on the external

device side as shown below.

AC input

Leakage current

External device

Input signal
doesnt turn
off.

External device

Leakage current of external device (Drive by

switch with LED indicator)
DC input

y Connect an appropriate register, which will make

the voltage higher than the OFF voltage across the
input module terminal and common terminal.
DC input

Leakage current

R
External device

Input signal
doesnt turn
off.

y Sneak current due to the use of two

different power supplies.

y Use only one power supply.

y Connect a sneak current prevention diode.

DC input
E
E

DC input
E1

y E1 > E2, sneaked.

15-8

Chapter 15 Troubleshooting

15.4.2 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

yLoad is half-wave rectified inside (in some

y Connect registers of tens to hundreds K

is off, excessive

cases, it is true of a solenoid)

across the load in parallel.

voltage is

yWhen the polarity of the power supply is as

applied to the

shown in , C is charged. When the polarity is

load.

as shown in , the voltage charged in C plus

R
D

the line voltage are applied across D. Max.

voltage is approx. 22.

Load

C
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

y Leakage current by surge absorbing circuit,

y Connect C and R across the load, which are of

doesnt

which is connected to output element in parallel.

registers of tens K. When the wiring distance

turn off.

Output

C
R

from the output module to the load is long, there

may be a leakage current due to the line

Load

capacity.

Leakage current

Load

When the load

y Leakage current by surge absorbing circuit,

y Drive the relay using a contact and drive the

is C-R type

which is connected to output element in parallel.

C-R type timer using the since contact.

timer, time
constant

y Use other timer than the CR contact some

Output

timers have half-ware rectified internal circuits

Load

fluctuates.

therefore, be cautious.

C
R

Leakage current

Timer

Output

The load does

y Sneak current due to the use of two different

y Use only one power supply.

not turn off.

power supplies.

y Connect a sneak current prevention diode.

Output

Load

If the load is the relay, etc, connect a

E1<E2, sneaks. E1 is off (E2 is on), sneaks.

counter-electromotive voltage absorbing code as

shown by the dot line.

15-9

Chapter 15 Troubleshooting
Output circuit troubles and corrective actions (continued).
Condition

Cause

Corrective actions

The load off

y Over current at off state [The large y Insert a small L/R magnetic contact and

response

solenoid current fluidic load (L/R is large) drive the load using the same contact.

time is long.

such as is directly driven with the transistor

output.

Outpu

Outpu
Off current
Loa
Loa

y 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.
Output

y To suppress the surge current make the

Surge current of the white lamp

dark current of 1/3 to 1/5 rated current flow.

transistor is
destroyed.

Output

Sink type transistor output

A surge current of 10 times or more when

turned on.

Output
R

Source type transistor

output

15-10

Chapter 15 Troubleshooting

15.5 Error Code List

Error
code
23

Error cause
Program to execute is
abnormal

I/O parameter error

Action
(restart mode after taking an action)
Start after reloading the program
Start after reloading I/O parameter,
Battery change if battery has a problem.
Check the preservation status after I/O
parameter reloading and if error occurs,
change the unit.
Start after reloading Basic parameter,
Change battery if it has a problem.
Check the preservation status after Basic
parameter reloading and if error occurs,
change the unit.

Operation
status

LED
status

Diagnosis
point

Warning

0.5 second
Flicker

RUN
mode

Warning

0.5 second
Flicker

error.
1) If it occurs repeatedly when power
reinput, request service center
2) Noise measures

Heavy
error

0.1 second
Flicker

Ordinary
time

Warning

0.5 second
Flicker

While
running
the
program

Warning

0.5 second
Flicker

While
running
the
program

Scan time of program

during operation
exceeds the scan
watchdog time
designated by
parameter.
Operation error
occurs while
running the user
program.

After checking the scan watchdog time

designated by parameter, modify the
parameter or the program and then restart.
Remove operation error reload the
program and restart.

Timer index user

error

After reloading a timer index program

modification, start

Warning

0.5 second
Flicker

Scan end

Heavy error of
external device

Refer to Heavy error detection flag and

modifies the device and restart. (Acc.
Parameter)

Heavy
error

1 second
Flicker

Scan end

E_STOP function
executed

After removing error causes which starts

E_STOP function in program, power reinput

Heavy
error

1 second
Flicker

While
running
the
program

Data memory backup

If not error in battery, power reinput

not possible

Remote mode is switched to STOP mode.

500

15-11

Warning

1 second
Flicker

Power On

Appendix 1 Flag List

App. 1.1 Special Relay (F) List
Word

Bit

Variables

Function

_SYS_STATE

Mode and state

Indicates PLC mode and operation State.

F0000

_RUN

Run

Run state.

F0001

_STOP

Stop

Stop state.

F0002

_ERROR

Error

Error state.

F0003

_DEBUG

Debug

Debug state.

F0004

_LOCAL_CON

Local control

Local control mode.

F0006

_REMOTE_CON

Remote mode

Remote control mode.

F0008

_RUN_EDIT_ST

Editing during RUN

Editing program download during RUN.

F0009

_RUN_EDIT_CHK

Editing during RUN

Internal edit processing during RUN.

F000A

_RUN_EDIT_DONE

Edit done during RUN

Forced input

Forced input state.

F0011

_FORCE_OUT

Forced output

Forced output state.

F0014

_MON_On

Monitor

Monitor on execution.

F0015

_USTOP_On

Stop

Stop by Stop function.

F0016

_ESTOP_On

EStop

Stop by EStop function.

F0017

_CONPILE_MODE

Compile

Compile on execution.

F0018

_INIT_RUN

Initialize

Initialization task on execution.

F001C

_PB1

Program Code 1

Program Code 1 selected.

F001D

_PB2

Program Code 2

Program Code 2 selected.

F001E

_CB1

Compile Code 1

Compile Code 1 selected.

F001F

_CB2

Compile Code2

Compile Code 2 selected.

_CNF_ER

System error

Reports heavy error state of system.

F0021

_IO_TYER

Module Type error

Module Type does not match.

F0022

_IO_DEER

Module detachment
error

Module is detached.

F0024

_IO_RWER

Module I/O error

Module I/O error.

F0025

_IP_IFER

Module interface error

Special/communication module interface error.

F0026

_ANNUM_ER

External device error

Detected heavy error in external

Device.

F000~1

F002~3

App. 1-1

Description

Remote

Appendix 1 Flag List

Word

F002~3

F004

Bit

Function

Description

F0028

_BPRM_ER

Basic parameter

Basic parameter error.

F0029

_IOPRM_ER

IO parameter

I/O configuration parameter error.

F002A

_SPPRM_ER

F002B

_CPPRM_ER

Special module
parameter
Communication module
parameter

Special module parameter is

Abnormal.
Communication module parameter is
abnormal.

F002C

_PGM_ER

Program error

Program error.

F002D

_CODE_ER

Code error

Program Code error.

F002E

_SWDT_ER

System watchdog

System watchdog operated.

F0030

_WDT_ER

Scan watchdog

Scan watchdog operated.

_CNF_WAR

System warning

Reports light error state of system.

F0041

_DBCK_ER

Backup error

Data backup error.

F0043

_ABSD_ER

Operation shutdown
error

Stop by abnormal operation.

F0046

_ANNUM_WAR

External device error

Detected light error of external device.

F0048

_HS_WAR1

High speed link 1

High speed link parameter 1 error.

F0049

_HS_WAR2

High speed link 2

High speed link parameter 2 error.

F0054

_P2P_WAR1

P2P parameter 1

P2P parameter 1 error.

F0055

_P2P_WAR2

P2P parameter 2

P2P parameter 2 error.

F0056

_P2P_WAR3

P2P parameter 3

P2P parameter 3 error.

F005C

_CONSTANT_ER

Constant error

Constant error.

_USER_F

User contact

Timer used by user.

F0090

_T20MS

20ms

20ms cycle Clock.

F0091

_T100MS

100ms

100ms cycle Clock.

F0092

_T200MS

200ms

200ms cycle Clock.

F0093

_T1S

1s Clock

1s cycle Clock.

F0094

_T2S

2 s Clock

2s cycle Clock.

F0095

_T10S

10 s Clock

10s cycle Clock.

F0096

_T20S

20 s Clock

20s cycle Clock.

F0097

_T60S

60 s Clock

60s cycle Clock.

F0099

_On

Ordinary time On

Always On state Bit.

F009A

_Off

Ordinary time Off

Always Off state Bit.

F009B

_1On

1scan On

First scan On Bit.

F009C

_1Off

1scan Off

First scan OFF bit.

F009D

_STOG

Reversal

Reversal every scan.

F009

Variable

App. 1-2

Appendix 1 Flag List

Word

F010

Bit

F0107

_USR_CLK7

Setting scan repeat

On/Off as much as set scan Clock 7.

_LOGIC_RESULT

Logic result

Indicates logic results.

F0110

_LER

operation error

On during 1 scan in case of operation

error.

F0111

_ZERO

Zero flag

On when operation result is 0.

F0112

_CARRY

Carry flag

On when carry occurs during operation.

F0113

_ALL_Off

All output OFF

On in case that all output is Off.

F0115

_LER_LATCH

Operation error
Latch

Keeps On during operation error.

_CMP_RESULT

Comparison result

Indicates the comparison result.

F0120

_LT

LT flag

On in case of less than.

F0121

_LTE

LTE flag

On in case of equal or less than.

F0122

_EQU

EQU flag

On in case of equal.

F0123

_GT

GT flag

On in case of greater than.

F0124

_GTE

GTE flag

On in case of equal or greater than.

F0125

_NEQ

NEQ flag

On in case of not equal.

F012

Function

F011

Variable

F014

_FALS_NUM

FALS no.

Indicates FALS no.

F015

_PUTGET_ERR0

PUT/GET error 0

Main base Put / Get error.

F023

_PUTGET_NDR0

PUT/GET end 0

Main base Put/Get end.

F044

_CPU_TYPE

CPU Type

Indicates information for CPU Type.

F045

_CPU_VER

CPU version

Indicates CPU version.

F046

_OS_VER

OS version

Indicates OS version.

F048

_OS_DATE

OS date

Indicates OS distribution date.

F050

_SCAN_MAX

Max. scan time

Indicates max. scan time.

F051

_SCAN_MIN

Min. scan time

Indicates min. scan time.

F052

_SCAN_CUR

Current scan time

Current scan time.

App. 1-3

Appendix 1 Flag List

Word

Bit
-

F057

Variable
_FPU_INFO

Function
FPU operation result

Description
Fixed decimal operation result.

F0570

_FPU_LFLAG_I

F0571

_FPU_LFLAG_U

F0572

_FPU_LFLAG_O

F0573

_FPU_LFLAG_Z

F0574

_FPU_LFLAG_V

F057A

_FPU_FLAG_I

F057B

_FPU_FLAG_U

F057C

_FPU_FLAG_O

F057D

_FPU_FLAG_Z

Zero divide

Reports in case of zero divide.

F057E

_FPU_FLAG_V

Invalid operation

Reports in case of invalid operation.

F057F

_FPU_FLAG_E

Irregular input

Reports in case of irregular input.

Zero(0) divide latch

Latch in case of zero(0) divide.

F058

_ERR_STEP

Error step

Saves error step.

F060

_REF_COUNT

Refresh

Increase when module Refresh.

F062

_REF_OK_CNT

Refresh OK

Increase when module Refresh is normal.

F064

_REF_NG_CNT

Refresh NG

F066

_REF_LIM_CNT

Refresh Limit

F068

_REF_ERR_CNT

Refresh Error

F070

_MOD_RD_ERR_CNT

Module Read Error

F072

_MOD_WR_ERR_CNT

Module Write Error

Increase when module 1 word abnormally.

F074

_CA_CNT

Block service

Increase when module block data service.

F076

_CA_LIM_CNT

Block service Limit

F078

_CA_ERR_CNT

Block service Error

F080

_BUF_FULL_CNT

Buffer Full

Increase when CPU internal buffer is full.

F082

_PUT_CNT

Put count

Increase when Put count.

F084

_GET_CNT

Get count

Increase when Get count.

F086

_KEY

Current key

indicates the current state of local key.

F088

_KEY_PREV

Previous key

indicates the previous state of local key

F090

_IO_TYER_N

Mismatch slot

Module Type mismatched slot no.

F091

_IO_DEER_N

Detach slot

Module detached slot no.

F093

_IO_RWER_N

Fuse cutoff slot

Fuse cutoff slot no.

F094

_IP_IFER_N

RW error slot

Module read/write error slot no.

F096

_IO_TYER0

IF error slot

Module interface error slot no.

App. 1-4

Increase when module Refresh is

Abnormal.
Increase when module Refresh is
abnormal (Time Out).
Increase when module Refresh is
Abnormal.
Increase when reading module 1 word
abnormally.

Increase when block data service is

limited.
Increase in case of block data service
error.

Appendix 1 Flag List

Word

Bit

F104

_IO_DEER0

Module Type 0 error

Main base module Type error.

F120

_IO_RWER0

Module RW 0 error

Main base module read/write error.

F128

_IO_IFER_0

Module IF 0 error

Main base module interface error.

F140

_AC_FAIL_CNT

Power shutdown times

Saves the times of power shutdown.

F142

_ERR_HIS_CNT

Error occur times

Saves the times of error occur.

F144

_MOD_HIS_CNT

Mode conversion times

Saves the times of mode conversion.

F146

_SYS_HIS_CNT

History occur times

Saves the times of system history.

F148

_LOG_ROTATE

Log Rotate

Saves log rotate information.

F150

_BASE_INFO0

Slot information 0

Main base slot information.

_USER_WRITE_F

Available contact point

Contact point available in program.

F2000

_RTC_WR

RTC RW

Data write and read in RTC.

F2001

_SCAN_WR

Scan WR

Initializing the value of scan.

F2002

_CHK_ANC_ERR

F2003

_CHK_ANC_WAR

_USER_STAUS_F

User contact point

User contact point.

F2010

_INIT_DONE

Initialization completed

Initialization complete displayed.

F202

_ANC_ERR

Display information of external serious

error

F203

_ANC_WAR

Display information of
external serious error
Display information of
external slight error
(warning)

F200

F201

Variable

Function

Request detection of
external serious error
Request detection of
external slight error
(warning)

App. 1-5

Description

Request detection of external error.

Request detection of external slight error
(warning).

Display information of external slight

error (warning)

Appendix 1 Flag List

Appendix 1.2 Communication Relay (L) List

Here describes data link communication relay(L).
1. High-speed Link 1
Device

Keyword

Type

Description
High speed link parameter 1 normal operation of all station

L000

_HS1_RLINK

Bit

Indicates normal operation of all station according to parameter set

in High speed link, and On under the condition as below.
1. In case that all station set in parameter is RUN mode and no
error,
2. All data block set in parameter is communicated normally, and
3. The parameter set in each station itself is communicated
normally.
Once RUN_LINK is On, it keeps On unless stopped by
LINK_DISABLE.
Abnormal state after _HS1RLINK On

L001

_HS1_LTRBL

L0020 ~
L005F

_HS1_STATE[k]
(k = 00~63)

Bit

In the state of _HSmRLINK flag On, if communication state of the

station set in the parameter and data block is as follows, this flag
shall be On.
1. In case that the station set in the parameter is not RUN mode, or
2. There is an error in the station set in the parameter, or
3. The communication state of data block set in the parameter is not
good.
LINK TROUBLE shall be On if the above 1, 2 & 3 conditions occur,
and if the condition return to the normal state, it shall be OFF
again.
High speed link parameter 1, k block general state

Bit
Array

Indicates the general state of communication information for each

data block of setting parameter.

_HS1_STATE[k] = HS1MOD[k]&_HS1TRX[k]&(~_HS1_ERR[k])

L0060 ~
L009F

_HS1_MOD[k]
(k = 00~63)

Bit
Array

L0100 ~
L013F

_HS1_TRX[k]
(k = 00~63)

Bit
Array

L0140 ~
L017F

_HS1_ERR[k]
(k = 00~63)

Bit
Array

L0180 ~
Bit
_HS1_SETBLOCK[k]
L021F
Array

High speed link parameter 1, k block station RUN operation mode

Indicates operation mode of station set in k data block of
parameter.
Normal communication with High speed link parameter 1, k block
station
Indicates if communication state of k data of parameter is
communicated smoothly according to the setting.
High speed link parameter 1, k block station operation error mode
Indicates if the error occurs in the communication state of k data
block of parameter.
High speed link parameter 1, k block setting
Indicates whether or not to set k data block of parameter.

App. 1-6

Appendix 1 Flag List

2. High-speed 2
Device

Keyword

Type

Description
High-speed link parameter 2 normal operation of all station.

L0260

_HS2_RLINK

Bit

Indicates normal operation of all station according to parameter set in

High-speed link and On under the condition as below.
1. In case that all station set in parameter is Run mode and no error
2. All data block set in parameter is communicated and
3.The parameter set in each station itself is communicated normally.
Once RUN_LINK is On, it keeps On unless stopped by LINK_DISABLE.

Abnormal state after _HS2RLINK On.

L0261

_HS2_LTRBL

L0280 ~
L031F

_HS2_STATE[k]
(k = 00~63)

Bit

Bit
Array

In the state of _HSmRLINK flag On, if communication state of the station

set in the parameter and data block is as follows, this flag shall be On.
1. In case that the station set in the parameter is not RUN mode, or
2. There is an error in the station set in the parameter, or
3. The communication state of data block set in the parameter is not
good.
LINK TROUBLE shall be On if the above 1, 2 & 3 conditions occur, and
if the condition return to the normal state, it shall be OFF again.
High speed link parameter 1, k block general state.
Indicates the general state of communication information for each data
block of setting parameter.

_HS2_STATE[k]=HS2MOD[k]&_HS2TRX[k]&(~_HS2_ERR[k])
L0320 ~
L035F

_HS2_MOD[k]
(k = 00~63)

Bit
Array

L0360 ~
L039F

_HS2_TRX[k]
(k = 00~63)

Bit
Array

L0400 ~
L043F

_HS2_ERR[k]
(k = 00~63)

Bit
Array

L0440 ~
Bit
_HS2_SETBLOCK[k]
L047F
Array

High speed link parameter 1, k block station RUN operation mode.

Indicates operation mode of station set in k data block of parameter.
Normal communication with High speed link parameter 1, k block
station.
Indicates if communication state of k data of parameter is communicated
smoothly according to the setting.
High speed link parameter 1, k block station operation error mode.
Indicates if the error occurs in the communication state of k data block of
parameter.
High speed link parameter 1, k block setting.
Indicates whether or not to set k data block of parameter.

App. 1-7

Appendix 1 Flag List

3. Common area
Device

Keyword

Type

Description

L5120

_P2P1_NDR00

Bit

L5121

_P2P1_ERR00

Bit

L513

_P2P1_STATUS00

Word

L514

_P2P1_SVCCNT00

DWord

L516

_P2P1_ERRCNT00

DWord

L5180

_P2P1_NDR01

Bit

P2P parameter 1, 1 Block service normal end.

L5181

_P2P1_ERR01

Bit

P2P parameter 1, 1 Block service abnormal end.

L519

_P2P1_STATUS01

Word

L520

_P2P1_SVCCNT01

DWord

L522

_P2P1_ERRCNT01

DWord

L524~L529

Word

P2P parameter 1,2 Block service total.

L530~L535

Word

P2P parameter 1,3 Block service total.

L536~L697

Word

P2P parameter 1,4~30 Block service total.

L698~L703

Word

P2P parameter 1,31 Block service total.

Indicates P2P parameter 1, 0 Block service

normal end.
Indicates P2P parameter 1, 0 Block service
abnormal end.
Indicates error code in case of P2P parameter 1, 0 Block
service abnormal end.
Indicates P2P parameter 1, 0 Block service
normal count.
Indicates P2P parameter 1, 0 Block service
abnormal count.

Indicates error code in case of P2P parameter 1, 1 Block

service abnormal end.
Indicates P2P parameter 1, 1 Block service
normal count.
Indicates P2P parameter 1, 1 Block service
abnormal count.

[Communication flag list according to P2P service setting] P2P parameter: 1~3, P2P block: 0~31

App. 1-8

Appendix 1 Flag List

Appendix 1.3 Network Register (N) List

Here describes Network Register (N).
Device

Keyword

Type

Description

N1312~2623

Word

Saving area of

P2P parameter 2.

N2624~3935

Word

Saving area of

P2P parameter 3.

[Network register according to P2P service setting] P2P parameter: 1~3, P2P block: 0~31
Remark
In XGB S type, Network register is available only monitoring. (Read Only)

App. 1-9

Appendix 2 Dimension

Appendix 2 Dimension (Unit: mm)

1) Basic unit
-. XBM-DN16S/32S

0 XBM-DN32S
0
PWR
1
RUN
2
3
ERR
4
5
6
RS-232C
7
8
9
A
B
C
D
E
F

RUN

2
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F

-. XBM-DR16S

0 XBM-DR16S
0
PWR
1
RUN
2
3
ERR
4
5
6
RS-232C
7

RUN

2
0
1
2
3
4
5
6
7

App. 21

Appendix 2 Dimension
2) Expansion module
-. XBE-DC32A, XBE-TR32A

XBE-DC32A

B A
20
19
18
17
16
15
14
13
12
11
10
09
08
07
06
05
04
03
02
01

-. XBE-RY16A

XBE-RY16A
RUN

App. 22

Appendix 2 Dimension
3) Communication module
-. XBL-C41/21A

XBL-CU41A

XBL-CU21A

RS-422

RS-232C

-. XBL-EMTA

XBL-EUMTA

10/100BASE-TX

App. 23

Appendix 2 Dimension
4) Special module
-. XBF-AD04A

XBF-AD04A
RUN

CH0
CH1
CH2
CH3

CH0

CH1

CH2

CH3

-. XBF-DV04A

XBF-DV04A
RUN

CH0

CH1

CH2

CH3

App. 24

Appendix 3 Compatibility with MASTER-K

MASTER-K
Device

XGB

Function

Symbol

Device

Function

F0000

RUN mode

_RUN

F0000

RUN Edit mode

F0001

Program mode

_STOP

F0001

Program mode

F0002

Pause mode

_ERROR

F0002

Error mode

F0003

Debug mode

_DEBUG

F0003

Debug mode

F0004

N/A

_LOCAL_CON

F0006

Remote mode

F0005

N/A

_MODBUS_CON

F0006

Remote mode

F0006

Remote mode

_REMOTE_CON

F0006

Remote mode

F0007

User memory setup

F0007

N/A

F000E

N/A

_CMOD_RPADT

F000E

F000F

STOP command execution

_CMOD_RLINK

F000F

F0010

Ordinary time On

_FORCE_IN

F0010

Forced input

F0011

Ordinary time Off

_FORCE_OUT

F0011

Forced output

F0012

1 Scan On

_SKIP_ON

F0012

I/O Skip execution

F0013

1 Scan Off

_EMASK_ON

F0013

Error mask execution

F0014

Reversal every Scan

_MON_ON

F0014

Monitor execution

_USTOP_ON

F0015

Stop by Stop Function

_ESTOP_ON

F0016

Stop by ESTOP Function

_CONPILE_MODE

F0017

Compile

_INIT_RUN

F0018

Initialize

F0019 ~
F001F

N/A

_PB1

F001C

Program Code 1

F0015 ~
F001C

N/A

Operation mode change by Remote

PADT
Operation mode change cause by
remote communication module

F001D

N/A

_PB2

F001D

Program Code 2

F001E

N/A

_CB1

F001E

Compile code 1

F001F

N/A

_CB2

F001F

Compile code 2

App. 3-1

Appendix 3 Compatibility with MASTER-K

MASTER-K
Device

Function

XGB
Symbol

Device

Function

F0020

1 Step RUN

_CPU_ER

F0020

CPU configuration error

F0021

Break Point RUN

_IO_TYER

F0021

Module type mismatch error

F0022

Scan RUN

_IO_DEER

F0022

Module detach error

F0023

Contact value match RUN

_FUSE_ER

F0023

Fuse cutoff error

F0024

Word value match RUN

_IO_RWER

F0024

_IP_IFER

F0025

_ANNUM_ER

F0026

F0025 ~
F002F

N/A

I/O module read/write error

Special/communication module interface
error
Heavy error detection of external
equipment error

F0027

N/A

_BPRM_ER

F0028

Basic parameter error

_IOPRM_ER

F0029

I/O configuration parameter error

_SPPRM_ER

F002A

Special module parameter error

_CPPRM_ER

F002B

Communication module parameter

error

_PGM_ER

F002C

Program error

_CODE_ER

F002D

Program Code error

_SWDT_ER

F002E

System watchdog error

_BASE_POWER
_ER

F002F

Base power error

_WDT_ER

F0030

Scan watchdog

F0030

Heavy error

F0031

Light error

F0031

F0032

WDT error

F0032

F0033

I/O combination error

F0033

F0034

Battery voltage error

F0034

F0035

Fuse error

F0035

F0036 ~
F0038

N/A

F0036 ~
F0038

F0039

Backup normal

F0039

F003A

Clock data error

F003A

F003B

Program change

F003B

F003C

Program change error

F003C

F003D ~
F003F

F0040~
F005F

N/A

_RTC_ER

F0040

RTC data error

_DBCK_ER

F0041

Data backup error

_HBCK_ER

F0042

Hot restart disabled error

_ABSD_ER

F0043

Abnormal operation stop

_TASK_ER

F0044

Task collision

_BAT_ER

F0045

Battery error

_ANNUM_ER

F0046

Light error detection of external

equipment

App. 3-2

Appendix 3 Compatibility with MASTER-K

MASTER-K
Device

F0040 ~ F005F

XGB
Function

N/A

_P2P_WAR8

F005B

P2P parameter 8 error

_Constant_ER

F005C

Constant error

F005D ~ F005F

N/A

F0060 ~ F006F

Error Code save

F0060 ~ F006F

N/A

F0070 ~ F008F

Fuse cutoff save

F0070 ~ F008F

N/A

F0090

20ms cycle Clock

_T20MS

F0090

20ms cycle Clock

F0091

100ms cycle Clock

_T100MS

F0091

100ms cycle Clock

F0092

200ms cycle Clock

_T200MS

F0092

200ms cycle Clock

F0093

1s cycle Clock

_T1S

F0093

1s cycle Clock

F0094

2s cycle Clock

_T2S

F0094

2s cycle Clock

F0095

10s cycle Clock

_T10S

F0095

10s cycle Clock

F0096

20s cycle Clock

_T20S

F0096

20s cycle Clock

F0097

60s cycle Clock

_T60S

F0097

60s cycle Clock

F0098

N/A

_ON

F0099

Ordinary time On

_OFF

F009A

F0098
~F009F

N/A

App. 3-3

Ordinary time Off

Appendix 3 Compatibility with MASTER-K

MASTER-K
Device

F0098~F009F

XGB
Function

N/A

Symbol

Device

Function

_1ON

F009B

1 Scan On

_1OFF

F009C

1 Scan Off

_STOG

F009D

Reversal every Scan

F009B ~ F009F

N/A

F0100

User Clock 0

F0100

User Clock 0

F0101

User Clock 1

F0101

User Clock 1

F0102

User Clock 2

F0102

User Clock 2

F0103

User Clock 3

F0103

User Clock 3

F0104

User Clock 4

F0104

User Clock 4

F0105

User Clock 5

F0105

User Clock 5

F0106

User Clock 6

F0106

User Clock 6

F0107

User Clock 7

F0107

User Clock 7

F0108 ~ F010F

N/A

F0110

Operation error flag

_Ler

F0110

Operation error flag

F0111

Zero flag

_Zero

F0111

Zero flag

F0112

Carry flag

_Carry

F0112

Carry flag

F0113

Full output Off

_All_Off

F0113

Full output Off

F0114

N/A

F0115

Operation error flag(latch)

F0116 ~ F011F

N/A

F0114
F0115

Common RAM R/W

error
Operation error flag
(latch)

_Ler_Latch

F0116 ~ F011F

F0120

LT flag

_LT

F0120

LT flag

F0121

LTE flag

_LTE

F0121

LTE flag

F0122

EQU flag

_EQU

F0122

EQU flag

F0123

GT flag

_GT

F0123

GT flag

F0124

GTE flag

_GTE

F0124

GTE flag

F0125

NEQ flag

_NEQ

F0125

NEQ flag

F0126 ~ F012F

N/A

F0126 ~ F012F

N/A

F0130~ F013F

AC Down Count

_AC_F_CNT

F0130~ F013F

AC Down Count

F0140~ F014F

FALS no.

_FALS_NUM

F0140~ F014F

FALS no.

_PUTGET_ERR

F0150~ F030F

PUT/GET error flag

CPU TYPE

F0440 ~ F044F

CPU TYPE

CPU VERSION

F0450 ~ F045F

CPU VERSION

O/S version no.

F0460 ~ F047F

System O/S version no.

O/S date

F0480 ~ F049F

System O/S DATE

F0150~ F015F

F0160~ F049F

PUT/GET error flag

N/A

App. 3-4

Appendix 3 Compatibility with MASTER-K

MASTER-K
Device

Function

XGB
Symbol

Device

Function

F0500~ F050F

Max. Scan time

_SCAN_MAX

F0500~ F050F

Max. Scan time

F0510~ F051F

Min. Scan time

_SCAN_MIN

F0510~ F051F

Min. Scan time

F0520~ F052F

Current Scan time

_SCAN_CUR

F0520~ F052F

Current Scan time

F0530~ F053F

Clock data
(year/month)

_YEAR_MON

F0530~ F053F

Clock data (year/month)

F0540~ F054F

Clock data (day/hr)

_DAY_TIME

F0540~ F054F

Clock data(day/hr)

F0550~ F055F

Clock data (min/sec)

_MIN_SEC

F0550~ F055F

Clock data(min/sec)

F0560~ F056F

Clock data
(100year/weekday)

_HUND_WK

F0560~ F056F

Clock data(100year/weekday)

_FPU_LFlag_I

F0570

_FPU_LFlag_U

F0571

_FPU_LFlag_O

F0572

_FPU_LFlag_Z

F0573

_FPU_LFlag_V

F0574

F0570~ F058F

N/A

F0590~ F059F

Error step save

F0600~ F060F

FMM detailed error

information

F0610~ F063F

N/A

F0575 ~ F0579

Zero divide error latch flag

N/A

_FPU_Flag_I

F057A

_FPU_Flag_U

F057B

_FPU_Flag_O

F057C

_FPU_Flag_Z

F057D

_FPU_Flag_V

F057E

_FPU_Flag_E

F057F

Irregular value Input error flag

Error Step

F0580~ F058F

Error step save

F0590~ F059F

N/A

_REF_COUNT

F060~F061

Refresh Count

_REF_OK_CNT

F062~F063

Refresh OK Count

_REF_NG_CNT

F064~F065

Refresh NG Count

_REF_LIM_CNT

F066~F067

Refresh Limit Count

_REF_ERR_CNT

F068~F069

Refresh Error Count

_MOD_RD_ERR_CNT

F070~F071

MODULE Read Error Count

_MOD_WR_ERR_CNT

F072~F073

MODULE Write Error Count

_CA_CNT

F074~F075

Cmd Access Count

_CA_LIM_CNT

F076~F077

Cmd Access Limit Count

_CA_ERR_CNT

F078~F079

Cmd Access Error Count

_BUF_FULL_CNT

F080~F081

Buffer Full Count

App. 3-5

Zero divide error flag

Appendix 4 Instruction List

Appendix 4.1 Classification of Instructions
Classification

Basic
Instructions

Instructions
Contact Point Instruction

LOAD, AND, OR related Instructions

Unite Instruction

AND LOAD, OR LOAD, MPUSH, MLOAD, MPOP

Reverse Instruction

NOT

Master Control Instruction

MCS, MCSCLR
OUT, SET, RST, 1 Scan Output Instruction, Output Reverse
Instruction (FF)

Output Instruction
Sequence/Last-input
Preferred Instruction
End Instruction

END
NOP

Timer Instruction

TON, TOFF, TMR, TMON, TRTG

Counter Instruction

CTD, CTU, CTUD, CTR

Data Transfer Instruction

Transfers specified Data, Group, String

Conversion Instruction

Converts BIN/BCD of specified Data & Group

Rotate Instruction
Move Instruction
Exchange Instruction
BIN Operation Instruction
BCD Operation Instruction
Logic Operation Instruction
System Instruction
Data Process Instruction
Data Table Process
Instruction

4/8/64 Bits
available
4/8 Bits
available

Converts Integer/Real Number

Saves compared results in special relay
Saves compared results in BR. Compares Real Number,
String & Group. Compares 3 Operands
Increases or decreases specified data 1 by 1
Rotates specified data to the left and right,
including Carry
Moves specified data to the left and right, word by word, bit
by bit
Exchanges between devices, higher & lower byte, group
data
Addition, Subtraction, Multiplication & Division for Integer/
Real Number, Addition for String, Addition & Subtraction for
Group
Addition, Subtraction, Multiplication, Division.
Logic Multiplication, Logic Addition, Exclusive OR, Exclusive
NOR, Group Operation
Error Display, WDT Initialize, Output Control, Operation
Stop, etc.
Encode, Decode, Data Disconnect/Connect, Search, Align,
Max., Min., Total, Average, etc.
Data Input/Output of Data Table

Special Function
Instruction
Data Control Instruction

String related Convert, Comment Read, String Extract,

ASCII Convert, HEX Convert, String Search, etc.
Trigonometric Function, Exponential/Log Function, Angle/
Radian Convert, etc.
Max/Min Limit Control, Dead-zone Control, Zone Control

Time related Instruction

Date Time Data Read/Write, Time Data Adjust & Convert

Diverge Instruction

JMP, CALL

String Process Instruction

Remarks

Step Control Instruction ( SET Sxx.xx, OUT Sxx.xx )

Non-Process Instruction

Data Type Conversion

Instruction
Output Terminal Compare
Instruction
Input Terminal Compare
Instruction
Increase/Decrease
Instruction

Application
Instructions

Details

Loop Instruction

FOR/NEXT/BREAK

Flag related Instruction

Special/Communication
related Instruction
Interrupt related Instruction

Carry Flag Set/Reset, Error Flag Clear

Signal Reverse Instruction

Reverse Integer/Real Signals, Absolute Value Operation

Data Read/Write by BUSCON Direct Access

Interrupt Enable/Disable

App. 4-1

Compare to
Unsigned
Compare to
Signed
4/8 Bits
available
4/8 Bits
available
4/8 Bits
available

Appendix 4 Instruction List

Appendix 4.2 Basic Instructions

1) Contact point instruction
Classification

Designations

Symbol

Description

LOAD

A Contact Point Operation Start

LOAD NOT

B Contact Point Operation Start

A Contact Point SeriesConnected

B Contact Point SeriesConnected
A Contact Point ParallelConnected
B Contact Point ParallelConnected
Positive Convert Detected
Contact Point
Negative Convert Detected
Contact Point
Positive Convert Detected
Contact Point Series-Connected
Negative Convert Detected
Contact Point Series-Connected
Positive Convert Detected
Contact Point ParallelC
t Convert
d
Negative
Detected
Contact Point ParallelC
t d

AND
AND NOT
OR
Contact
Point

Support
XGK
XGB

OR NOT
LOADP

LOADN

ANDP

ANDN

ORP

ORN

2) Union instruction
Classification

Designations

Symbol

AND LOAD

OR LOAD
Unite

Description

MPUSH
MPUSH

Support
XGK
XGB

A,B Block Series-Connected

A,B Block Parallel-Connected

Operation Result Push up to

present

MLOAD

Operation Result Load

Previous to Diverge Point

MPOP

Operation Result Pop Previous

to Diverge Point

Remark
1) The number of Basic Steps means the case that indirect specification, index formula and direct
variable input were not used. In other words, it represents the minimum number of the steps of the
applicable instruction.
2) The number of steps depends on indirect specification, index formula and pulse application used.

App. 4-2

Appendix 4 Instruction List

3) Reverse instruction
Classification
Reverse

Designations

Symbol

Description
Previous Operation results
Reverse

NOT

Support
XGK
XGB

4) Master Control instruction

Classification
Master
Control

Designations

Symbol

Description

XGB

MCS

Master Control Setting (n:0~7)

MCSCLR

Master Control Cancel (n:0~7)

MCS
MCSCLR

Support
XGK

5) Output instruction
Classification

Output

Designations

Symbol

Description

Support
XGK
XGB

OUT

Operation Results Output

OUT NOT

Operation Results Reverse

Output

OUTP

1 Scan Output if Input

Condition rises

OUTN

1 Scan Output if Input

Condition falls

SET

Contact Point Output ON kept

RST

Contact Point Output OFF

kept

Output Reverse if Input

Condition rises

6) Sequence/Last-input preferred instruction

Classification

Designations

Symbol

Description
Syy.xx

SET S

Step
Control

Syy.xx

OUT S

Support
XGK
XGB

Sequence Control

Last-input Preferred

7) End instruction
Classification
End

Designations

Symbol

END

Description
END

Program End

8) Non-process instruction
Classification

Designations

Non-Process

NOP

Symbol

Description
Non-Process Instruction, used
in Nimonic

Ladder not displayed

App. 4-3

Support
XGK

XGB

Support
XGK
XGB

Appendix 4 Instruction List

9) Timer instruction
Classification

Designations

Symbol

TON

Support

Description
Input
T

XGK

XGB

Input

TOFF

T
t1+t2 = t

Input

Timer

TMR

Input

TMON

Input

TRTG

10) Counter instruction

Classification Designations

Symbol

Support

Description

XGK

XGB

Reset

CTD

C c

Count
Pulse

Setting

Present
Output
Reset
Count
Pulse

CTU

Setting

C c

Present
Output

Reset

Counter

Increased

Pulse

Decreased

CTUD

Pulse
CTUD

C U D c

Setting
Present
Output

Reset

CTR

C c

Count
Pulse
Present
Output

App. 4-4

Setting

Appendix 4 Instruction List

Appendix 4.3 Application Instruction

1) Data transfer instruction
Classification
16 bits
Transfer

32 bits
Transfer
Short
Real Number
Transfer
Long
Real Number
Transfer

4 bits
Transfer

8 bits
Transfer

1s complement
Transfer

16 bits
Group Transfer

Multiple
Transfer

Designations

Symbol

MOV

S D

MOVP

S D

DMOV

S D

DMOVP

S D

RMOV

S D

RMOVP

S D

LMOV

S D

LMOVP

S D

MOV4

Sb Db

(S)

(D)

(S+1,S)

(D+1,D )

(S+3,S+2,S+1,S)
(D+3,D+2,D+1,D)
(Sb): Bit Position

MOV4P

Sb Db

MOV8

Sb Db

MOV8P

Sb Db

b15

CMOV

S D

(Db): Bit Position

(Sb): Bit Position
b15

b0
8bit trans

CMOVP

S D

DCMOV

S D

DCMOVP

S D

GMOV

S D N

GMOVP

S D N

FMOV

S D N

FMOVP

S D N

BMOV

S D N

(Db): Bit Position

1s complement
(S)

(D)

1s complement
(S+1,S)

(D+1,D )

(S)

(S)
(D)

GBMOV

BMOVP

GBMOV

S D N

S D Z N

Specified Bits
Group Transfer
GBMOVP

(D+1,D )

4bit trans

BMOVP

(S+1,S)

(D)

b15

Specified Bits
Transfer

Support
XGK
XGB

Description

GBMOVP

S D Z N

* Z: Control Word

(S) b15
:
(S+N)
(D)
:
(D+N)

App. 4-5

b0
N

* Z: Control Word

Appendix 4 Instruction List

1) Data Transfer Instruction (continued)
Classification Designations
String
Transfer

Symbol

Support
XGK
XGB

Description

$MOV

S D

$MOVP

S D

String started from (S)

String started from (D)

2) BCD/BIN conversion instruction

Classification Designations

BCD
Conversion

Symbol

Support
XGK
XGB

Description

BCD

S D

BCDP

S D

DBCD

S D

DBCDP

S D

BCD4

Sb Db

(S)

To BCD

(D)

Data (S) to N converted to BCD, and

(D) to N saved

Data (S) to N converted to BIN, and

(D) to N saved

BIN( 0~9999 )
(S+1,S)

To BCD

(D+1,D )

BIN( 0~99999999 )

(Sb):Bit, BIN(0~9)
b15

b0
To 4bit BCD

4/8 Bits
BCD
Conversion

BCD4P

BCD8

Sb Db

(Db): Bit
Sb Db

(Sb):Bit, BIN(0~99)
b15

b0
To 8bit BCD

BCD8P

Sb Db

(Db):Bit

BIN
Conversion

BIN

S D

BINP

S D

DBIN

S D

DBINP

S D

BIN4

Sb Db

(S)

To BIN

(D)

BCD( 0~9999 )
(S+1,S)

To BIN

(D+1,D )

BCD( 0~99999999 )
(Sb):Bit, BCD(0~9)
b15

b0
To 4bit BIN

4/8 Bits
BIN
Conversion

BIN4P

Sb Db

(Db):Bit

BIN8

Sb Db

(Sb):Bit, BCD(0~99)
b15

b0
To bit BIN

BIN8P

Sb Db

(Db):Bit

Group
BCD,BIN
Conversion

GBCD

S D N

GBCDP

S D N

GBIN

S D N

GBINP

S D N

App. 4-6

Appendix 4 Instruction List

3) Data type conversion instruction
Classification Designations
I2R

Symbol
I2R

S D

(S)

I2RP
16 Bits
Integer/Real
Conversion I2L

I2RP

S D

I2L

S D

I2LP

S D

D2R

S D

D2RP
32 Bits
Integer/Real
Conversion D2L

D2RP

S D

D2L

S D

D2LP

S D

R2I

S D

R2IP
Short
Real/Integer
Conversion R2D

R2IP

S D

R2D

S D
S D

L2I

S D

L2IP

S D

L2D

S D

L2DP

S D

(D+1,D)

Int( -32768~32767 )
(S)

To Long

(D+3,D+2,D+1,D)

Int( -32768~32767 )

(S+1,S)

To Real

(D+1,D)

Dint(-2147483648~2147483647)

(S+1,S)

To Long

(D+3,D+2,D+1,D)

Dint(-2147483648~2147483647)

To INT

(D)

Whole Sing Real Range

(S+1,S)
R2DP

L2DP

To Real

(S+1,S)

R2DP

L2IP
Long
Real/Integer
Conversion L2D

Support
XGK
XGB

Description

To DINT

(D+1,D)

Whole Sing Real Range

(S+3,S+2,S+1,S)

To INT

(D)

Whole Double Real Range

(S+3,S+2,S+1,S)

To DINT

(D+1,D)

Whole Double Real Range

Remark
1) Integer value and Real value will be saved respectively in quite different format. For such reason, Real
Number Data should be converted as applicable before used for Integer Operation.

App. 4-7

Appendix 4 Instruction List

4) Comparison instruction
Classification Designations

Symbol

CMP
Unsigned
Compare
CMPP
with Special
Relay
DCMP
used
DCMPP

4/8 Bits
Compare

Table
Compare

Group
Compare
(16 Bits)

Description

CMP

S1 S2

CMPP

S1 S2

DCMP

S1 S2

DCMPP

S1 S2

CMP4

S1 S2

CMP4P

S1 S2

CMP8

S1 S2

CMP8P

S1 S2

TCMP

S1 S2 D

TCMPP

S1 S2 D

DTCMP

S1 S2 D

DTCMPP

S1 S2 D

GEQ

S1 S2 D N

GEQP

S1 S2 D N

GGT

S1 S2 D N

GGTP

S1 S2 D N

GLT

S1 S2 D N

GLTP

S1 S2 D N

GGE

S1 S2 D N

GGEP

S1 S2 D N

GLE

S1 S2 D N

GLEP

S1 S2 D N

GNE

S1 S2 D N

GNEP

S1 S2 D N

Support
XGK

XGB

CMP(S1,S2) and applicable Flag SET

(S1, S2 is Word)

CMP(S1,S2) and applicable Flag SET

(S1, S2 is Double Word)

CMP(S1,S2) and applicable Flag SET

(S1, S2 is Nibble)

CMP(S1,S2) and applicable Flag SET

(S1, S2 is Byte)

CMP(S1,S2))
:
CMP(S1+15,S2+15)
Result:(D) ~ (D+15), 1 if identical

CMP((S1+1,S1),(S2+1,S2))
:
CMP((S1+31,S1+30),(S2+31,S2+30))
Result:(D) ~ (D+15)

Compares S1 data to S2 data word

by word, and saves its result in
Device (D) bit by bit from the lower
bit
( N 16 )

Remark
1) CMP(P), DCMP(P), CMP4(P), CMP8(P), TCMP(P) & DTCMP(P) Instructions all process the results of
Unsigned Compare. All the other Compare Instructions will perform Signed Compare.

App. 4-8

Appendix 4 Instruction List

4) Comparison instruction (continued)
Classification Designations

Group
Compare
(32 Bits)

Symbol

Description

Support
XGK

XGB

GDEQ

S1 S2 D N

GDEQP

S1 S2 D N

GDGT

S1 S2 D N

GDGTP

S1 S2 D N

GDLT

S1 S2 D N

Compares S1 data to S2 data 2 by

2 words, and saves its result in
Device (D) bit by bit from the lower
bit
( N 16 )

GDLTP

S1 S2 D N

GDGE

S1 S2 D N

GDGEP

S1 S2 D N

GDLE

S1 S2 D N

GDLEP

S1 S2 D N

GDNE

S1 S2 D N

GDNEP

S1 S2 D N

App. 4-9

Appendix 4 Instruction List

4) Comparison instruction (continued)
Classification Designations

16 Bits
Data
Compare
(LOAD)

16 Bits
Data
Compare
(AND)

16 Bits
Data
Compare
(OR)

32 Bits
Data
Compare
(LOAD)

Symbol

LOAD=

S1 S2

LOAD>

S1 S2

LOAD<

S1 S2

LOAD>=

S1 S2

LOAD<=

S1 S2

LOAD<>

S1 S2

AND=

S1 S2

AND>

S1 S2

AND<

S1 S2

AND>=

S1 S2

AND<=

S1 S2

AND<>

S1 S2

OR=

S1 S2

OR<=

S1 S2

OR<>

S1 S2

LOADD=

S1 S2

LOADD>

S1 S2

LOADD<

S1 S2

LOADD>=

D>=

S1 S2

LOADD<=

D<=

S1 S2

LOADD<>

D<>

S1 S2

Description

Compares (S1) to (S2), and saves

its result in Bit Result(BR) (Signed
Operation)

Performs AND operation of (S1) &

(S2) Compare Result and Bit Result
(BR), and then saves its result in BR
(Signed Operation)

Performs OR operation of (S1) &

(S2) Compare Result and Bit Result
(BR), and then saves its result in BR
(Signed Operation)

Support
XGK

XGB

Compares (S1) to (S2), and saves

its result in Bit Result(BR) (Signed
Operation)

Remark
Comparison instruction process Signed comparison instruction generally. To process Unsigned comparison, Use
comparison instruction.

App. 4-10

Appendix 4 Instruction List

4) Comparison instruction (continued)
Classification

32 Bits
Data
Compare
(AND)

32bt
Data
Compare
(OR)

Short
Real Number
Compare
(LOAD)

Short
Real Number
Compare
(AND)

Designations

Symbol

ANDD=

S1 S2

ANDD>

S1 S2

ANDD<

S1 S2

ANDD>=

D>=

S1 S2

ANDD<=

D<=

S1 S2

ANDD<>

D<>

S1 S2

ORD=

S1 S2

ORD>

S1 S2

ORD<

S1 S2

ORD>=

D>=

S1 S2

ORD<=

D<=

S1 S2

ORD<>

D<>

S1 S2

LOADR=

S1 S2

LOADR>

S1 S2

LOADR<

S1 S2

LOADR>=

R>=

S1 S2

LOADR<=

R<=

S1 S2

LOADR<>

R<>

S1 S2

ANDR=

S1 S2

ANDR>

S1 S2

ANDR<

S1 S2

ANDR>=

R>=

S1 S2

ANDR<=

R<=

S1 S2

ANDR<>

R<>

S1 S2

Description

Support
XGK

XGB

Performs AND operation of (S1) &

(S2) Compare Result and Bit Result
(BR), and then saves its result in
BR (Signed Operation)

Performs OR operation of (S1) &

(S2) Compare Result and Bit Result
(BR), and then saves its result in
BR (Signed Operation)

Performs OR operation of (S1) &

(S2) Compare Result and Bit Result
(BR), and then saves its result in
BR (Signed Operation)

Compares (S1+1,S) to (S2+1,S2)

and saves its result in Bit Result
(BR) (Signed Operation)

App. 4-11

Appendix 4 Instruction List

4) Comparison instruction (continued)
Classification Designations

Real Number
Compare
(OR)

Symbol

ORR=

S1 S2

ORR>

S1 S2

ORR<

S1 S2

ORR>=

R>=

S1 S2

ORR<=

R<=

S1 S2

ORR<>

R<>

S1 S2

LOADL=

S1 S2

LOADL>

S1 S2

L>=

S1 S2

LOADL<=

L<=

S1 S2

LOADL<>

L<>

S1 S2

ANDL=

S1 S2

ANDL>

S1 S2

L>=

S1 S2

ANDL<=

L<=

S1 S2

ANDL<>

L<>

S1 S2

Long
Real Number LOADL<
Compare
(LOAD)
LOADL>=

Long
ANDL<
Real Number
Compare
ANDL>=
(AND)

Description

Compares (S1+1,S1) to (S2+1,S2)

and saves its result in Bit Result
(BR) (Signed Operation)

Compares (S1+3,S1+2,S1+1,S) to
(S2+3,S2+2, S2+1,S2) and saves its
result in Bit Result(BR) (Signed
Operation)

Performs AND operation of (S1+

1,S1) & (S2+1,S2) Compare Result
and Bit Result(BR), and then saves
its result in BR (Signed Operation)

App. 4-12

Support
XGK

XGB

Appendix 4 Instruction List

4) Comparison instruction (continued)
Classification

Double Real
Number
Compare
(OR)

String
Compare
(LOAD)

String
Compare
(AND)

Designations

Symbol

ORL=

S1 S2

ORL>

S1 S2

ORL<

S1 S2

ORL>=

L>=

S1 S2

ORL<=

L<=

S1 S2

ORL<>

L<>

S1 S2

LOAD$=

S1 S2

LOAD$>

S1 S2

LOAD$<

S1 S2

LOAD$>=

$>=

S1 S2

LOAD$<=

$<=

S1 S2

LOAD$<>

$<>

S1 S2

AND$=

S1 S2

AND$>

S1 S2

AND$<

S1 S2

AND$>=

$>=

S1 S2

AND$<=

$<=

S1 S2

AND$<>

$<>

S1 S2

Description

Support
XGK

XGB

Compares (S1) to (S2) Starting

String and saves its result in Bit
Result(BR)

Performs AND operation of (S 1)

& (S2) Starting String Compare
Result and Bit Result(BR), and
then saves its result in BR

Performs OR operation of (S1

+1,S1) & (S2+1,S2) Compare
Result and Bit Result(BR), and
then saves its result in BR
(Signed Operation)

App. 4-13

Appendix 4 Instruction List

4) Comparison instruction (continued)
Classification

String
Compare
(OR)

16 Bits
Data
Group Compare
(LOAD)

16 Bits
Data
Group Compare
(AND)

16 Bits
Data
Group Compare
(OR)

Designations

Symbol

Description

OR$=

S1 S2

OR$>

S1 S2

OR$<

S1 S2

OR$>=

$>=

S1 S2

OR$<=

$<=

S1 S2

OR$<>

$<>

S1 S2

LOADG=

S1 S2 N

LOADG>

S1 S2 N

LOADG<

S1 S2 N

LOADG>=

G>=

S1 S2 N

LOADG<=

G<=

S1 S2 N

LOADG<>

G<>

S1 S2 N

ANDG=

S1 S1 N

ANDG>

S1 S1 N

ANDG<

S1 S1 N

ANDG>=

G>=

S1 S1 N

ANDG<=

G<=

S1 S1 N

ANDG<>

G<>

S1 S1 N

ORG=

S1 S2 N

ORG>

S1 S2 N

ORG<

S1 S2 N

ORG>=

G>=

S1 S2 N

ORG<=

G<=

S1 S2 N

ORG<>

G<>

S1 S2 N

App. 4-14

Support
XGK

XGB

Compares (S1), (S1+1), ,

(S1+N) to (S2), (S2+1), ,
(S2+N) 1 to 1, and then saves
1 in Bit Result(BR) if each
value compared meets given
condition

Performs AND operation of

(S1), (S1+1), , (S1+N) &
(S2), (S2+1), , (S2+N) 1 to
1 Compare Result and Bit
Result (BR), and then saves its
result in BR

Performs OR operation of (S1),

(S1+1), , (S1+N) & (S2),
(S2+1), , (S2+N) 1 to 1
Compare Result and Bit Result
(BR), and then saves its result
in BR

Performs OR operation of (S1)

& (S2) Starting String Compare
Result and Bit Result(BR), and
then saves its result in BR

Appendix 4 Instruction List

4) Comparison instruction (continued)
Classification

32 Bits
Data
Group
Compare
(LOAD)

32 Bits
Data
Group
Compare
(AND)

32 Bits
Data
Group
Compare
(OR)

Designations

Symbol

LOADDG=

DG=

S1 S2 N

LOADDG>

DG>

S1 S2 N

LOADDG<

DG<

S1 S2 N

LOADDG>=

DG>=

S1 S2 N

LOADDG<=

DG<=

S1 S2 N

LOADDG<>

DG<>

S1 S2 N

ANDDG=

DG=

S1 S1 N

ANDDG>

DG>

S1 S1 N

ANDDG<

DG<

S1 S1 N

ANDDG>=

DG>=

S1 S1 N

ANDDG<=

DG<=

S1 S1 N

ANDDG<>

DG<>

S1 S1 N

ORDG=

DG=

S1 S2 N

ORDG>

DG>

S1 S2 N

ORDG<

DG<

S1 S2 N

ORDG>=

DG>=

S1 S2 N

ORDG<=

DG<=

S1 S2 N

ORDG<>

DG<>

S1 S2 N

App. 4-15

Description

Support
XGX
XGB

Compares (S1), (S1+1), ,

(S1+N) to (S2), (S2+1), ,
(S2+N) 1 to 1, and then saves
1 in Bit Result(BR) if each
value compared meets given
condition

Performs AND operation of

(S1), (S1+1), , (S1+N) &
(S2), (S2+1), , (S2+N) 1 to
1 Compare Result and Bit
Result(BR), and then saves its
result in BR

Performs OR operation of
(S1), (S1+1), , (S1+N) &
(S2), (S2+1), , (S2+N) 1 to
1 Compare Result and Bit
Result(BR), and then saves its
result in BR

Appendix 4 Instruction List

4) Comparison instruction (continued)
Classification

Designations

Symbol

Description

LOAD3=

S1 S2 S3

LOAD3>

S1 S2 S3

3>=

S1 S2 S3

LOAD3<=

3<=

S1 S2 S3

LOAD3<>

3<>

S1 S2 S3

AND3=

S1 S2 S3

AND3>

S1 S2 S3

3>=

S1 S2 S3

AND3<=

3<=

S1 S2 S3

AND3<>

3<>

S1 S2 S3

OR3=

S1 S2 S3

OR3>

S1 S2 S3

Three 16-Bit LOAD3<

Data Compare
(LOAD)
LOAD3>=

Three 16-Bit AND3<

Data Compare
(AND)
AND3>=

Three 32-Bit OR3<

Data Compare
(OR)
OR3>=

>=3

S1 S2 S3

OR3<=

3<=

S1 S2 S3

OR3<>

3<>

S1 S2 S3

LOADD3=

D3=

S1 S2 S3

LOADD3>

D3>

S1 S2 S3

D3<

S1 S2 S3

D3>=

S1 S2 S3

LOADD3<=

D3<=

S1 S2 S3

LOADD3<>

D3<>

S1 S2 S3

Three 16-Bit LOADD3<

Data Compare
(LOAD)
LOADD3>=

Support
XGK

XGB

Saves 1 in Bit Result(BR) if each

value of (S1), (S2), (S3) meets
given condition

Performs AND operation of (S1),

(S2), (S3) Compare Result by
given condition and Bit Result
(BR), and then saves its result in
BR

Performs OR operation of (S1),

(S2), (S3) Compare Result by
given condition and Bit Result
(BR), and then saves its result in
BR

Saves 1 in Bit Result(BR) if each

value of (S1+1,S1), (S2+ 1,S2),
(S3+1,S3) meets given condition

App. 4-16

Appendix 4 Instruction List

4) Comparison instruction (continued)
Classification

Designations

Description

ANDD3=

D3=

S1 S2 S3

ANDD3>

D3>

S1 S2 S3

D3<

S1 S2 S3

D3>=

S1 S2 S3

ANDD3<=

D3<=

S1 S2 S3

ANDD<>

D3<>

S1 S2 S3

ORD3=

D3=

S1 S2 S3

ORD3>

D3>

S1 S2 S3

ORD3<

D3<

S1 S2 S3

Three 32-Bit ANDD3<

Data Compare
(AND)
ANDD3>=

Three 32-Bit
Data Compare
(OR)

Symbol

ORD3>=

D3>=

S1 S2 S3

ORD3<=

D3<=

S1 S2 S3

ORD3<>

D3<>

S1 S2 S3

Support
XGK

XGB

Performs AND operation of (S1+

1,S1), (S2+1,S2), (S3+1,S3) Compare
Result by given condition and Bit
Result(BR), and then saves its
result in BR

Performs OR operation of (S1+1,

S1), (S2+1,S2), (S3+1,S3) Compare
Result by given condition and Bit
Result (BR), and then saves its
result in BR

App. 4-17

Appendix 4 Instruction List

5) Increase/Decrease instruction
Classification

Designations

Symbol

Support

Description

INC

INCP

DINC

DINCP

DEC

(D)+1

XGK

XGB

(D)

4-94
BIN Data
Increase
/
Decrease
(Signed)

(D+1,D)

(D+1,D)+1

(D)-1

DECP

DDEC

DDECP

INC4

INC4P

INC8

INC8P

DEC4

DEC4P

DEC8

DEC8P

INCU

INCUP

DINCU

DINCUP

DECU

DECUP

DDECU

DDECUP

(D)

2
4-96
(D+1,D)

(D+1,D)-1

(D:x bit ~ D:x bit+4) + 1

(D:x bit ~ D:x bit+4)

2
3
4-95

4/8 Bits Data

Increase
/
Decrease
(Signed)

(D:x bit ~ D:x bit+8) + 1

(D:x bit ~ D:x bit+8)
(D:x bit ~ D:x bit+4) - 1
(D:x bit ~ D:x bit+4)

2
3
2
3
4-97

(D:x bit ~ D:x bit+8) - 1

(D:x bit ~ D:x bit+8)

(D)+1

(D)

2
3

2
4-98

BIN Data
Increase
/
Decrease
(Unsigned)

(D+1,D)+1

(D)-1

(D+1,D)

(D)

2
4-99

(D+1,D)-1

App. 4-18

(D+1,D)

Appendix 4 Instruction List

6) Rotation instruction
Classification

Designations
ROL

Rotate to Left

Symbol
ROL

D n

b15

ROLP

D n

DROL

D n

DROLP

D n

ROL4

Db n

ROL4P

Db n

ROL8

Db n

ROL8P

Db n

ROR

D n

b31

b15

D+1

b+3

Rotate to Right

D n

DROR

D n

DRORP

D n

ROR4

Db n

ROR4P

Db n

ROR8

Db n

ROR8P

Db n

RCL

D n

Rotate to Left
(including
Carry)

b+7

4/8 Bits
Rotate to Left
(including
Carry)

Rotate
to Right
(including
Carry)

DRCL

D n

DRCLP

D n

RCL4

Db n

RCL4P

Db n

RCL8

Db n

RCL8P

Db n

RCR

D n

RCRP

D n

DRCR

D n

DRCRP

D n

RCR4

Db n

RCR4P

Db n

RCR8

Db n

RCR8P

Db n

RCR8P

b15

b31

b
CY

b15

b31

b15

b+3
CY

D+1

b+7

b15

b31

D
b+3

b
CY

b+7

App. 4-19

D+1

4/8 Bits
RCR4P
Rotate to Right
(including
RCR8
Carry)

b15

CY
D n

b+7

RCLP

b+3

RCLP

D+1

4/8 Bits
Rotate to Right

D
RORP

RORP

XGB

ROL4P

XGK
b0

4/8 Bits
Rotate to Left

Support

Description

Appendix 4 Instruction List

7) Move instruction
Classification

Designations

Symbol

Support

Description

BSFT

St Ed

BSFTP

St Ed

b15

BSFL

D n

BSFLP

D n

DBSFL

D n

DBSFLP

D n

BSFL4

Db n

Move to Higher BSFL4P

Bit within 4/8
Bits range
BSFL8

BSFL4P

Db n

BSFL8

Db n

BSFL8P

Db n

BSFR

D n

BSFRP

D n

DBSFR

D n

DBSFRP

D n

BSFR4

Db n

Move to Lower BSFR4P

Bit within 4/8
Bits range
BSFR8

BSFR4P

Db n

BSFR8

Db n

BSFR8P

Db n

WSFT

Et Ed

WSFTP

Et Ed

Bit Move

b31

(D+1, D)

b+3

b+7

D
CY

(D)
0

CY
b0

(D+1, D)

D
CY

D
0

h0000

St (Start Word)

Ed (End Word)

WSFL

D1 D2 N

WSFLP

D1 D2 N

WSFR

D1 D2 N

h0000

D1 D2 N

D N

b+7

Db I

b+3

WSFL

b31

WSFRP

(D)

b15

WSFRP

0
b15

Word Move

Word Data
Move to
Left/Right

..
..

D1
N

Move to Lower
Bit

Move to Higher
Bit

XGB

Bits Move

BSFL

XGK

Moves N bits starting from Db bit

along Input direction (I) and Move
direction (D)

App. 4-20

Appendix 4 Instruction List

8) Exchange instruction
Classification

Designations

Symbol

XCHG

D1 D2

XCHGP

D1 D2

(D1)

Data
Exchange

DXCHG

D1 D2

DXCHGP

D1 D2

Higher/Lower
Byte
Exchange

Group
Byte
Exchange

GXCHG

D1 D2 N

(D1)

SWAP
SWAPP
GSWAP
GSWAPP

GXCHGP

XGB

(D2+1, D2)

(D2)

:
GXCHGP

XGK

(D2)

(D1+1, D1)

Group
Data
Exchange

Support

Description

D1 D2 N

SWAP

SWAPP

GSWAP

GSWAPP

b15

(D)

Upper Byte

Lower Byte

(D)

Lower Byte

Upper Byte

D N

App. 4-21

Exchanges Higher/Lower
Byte of Words N starting from D

Appendix 4 Instruction List

9) BIN operation instruction
Classification

Designations

Symbol

ADD

S1 S2 D

ADDP

S1 S2 D

DADD

S1 S2 D

DADDP

S1 S2 D

SUB

S1 S2 D

SUBP

S1 S2 D

DSUB

S1 S2 D

DSUBP

S1 S2 D

MUL

S1 S2 D

Integer
Multiplication
(Signed)

MULP

S1 S2 D

DMUL

S1 S2 D

DMULP

S1 S2 D

DIV

S1 S2 D

DIVP

S1 S2 D

Integer Division
(Signed)

DDIV

S1 S2 D

XGB

(S1+1,S1)+(S2+1,S2)
(D+1,D)

(D)

(S1)-(S2)

Integer
Subtraction
(Signed)

XGK
(D)

(S1)+(S2)

Integer Addition
(Signed)

Support

Description

(S1+1,S1)-(S2+1,S2)
(D+1,D)

(D+1,D)

(S1)(S2)

(S1+1,S1)(S2+1,S2)
(D+3,D+2,D+1,D)

(S1)(S2)

(D) Quotient
(D+1) Remainder

(S1+1,S1)(S2+1,S2)
(D+1,D) Quotient

Integer Addition
(Unsigned)

Integer
Subtraction
(Unsigned)

Integer
Multiplication
(Unsigned)

DDIVP

S1 S2 D

ADDU

S1 S2 D

ADDUP

S1 S2 D

DADDU

S1 S2 D

DADDUP

S1 S2 D

SUBU

S1 S2 D

SUBUP

S1 S2 D

DSUBU

S1 S2 D

DSUBUP

S1 S2 D

MULU

S1 S2 D

MULUP

S1 S2 D

DMULU

S1 S2 D

DMULUP

S1 S2 D

(D+3,D+2) Remainder

(D)

(S1)+(S2)

(S1+1,S1)+(S2+1,S2)
(D+1,D)

(D)

(S1)-(S2)

(S1+1,S1)-(S2+1,S2)
(D+1,D)

(D+1,D)

(S1)(S2)

(S1+1,S1)(S2+1,S2)
(D+3,D+2,D+1,D)

App. 4-22

Appendix 4 Instruction List

9) BIN operation instruction (continued)
Classification

Designations
DIVU

Symbol
DIVU

S1 S2 D

DIVUP

S1 S2 D

DDIVU

S1 S2 D

XGK

XGB

(D) Quotient

(S1)(S2)

Integer Division
(Unsigned)

Support

Description

(D+1) Remainder

(S1+1,S1)(S2+1,S2)
(D+1,D) Quotient

Real Number
Addition

Real Number
Subtraction

Real Number
Multiplication

Real Number
Division

String
Addition

DDIVUP

S1 S2 D

RADD

S1 S2 D

RADDP

S1 S2 D

LADD

S1 S2 D

LADDP

S1 S2 D

RSUB

S1 S2 D

RSUBP

S1 S2 D

LSUB

S1 S2 D

LSUBP

S1 S2 D

RMUL

S1 S2 D

RMULP

S1 S2 D

LMUL

S1 S2 D

LMULP

S1 S2 D

RDIV

S1 S2 D

RDIVP

S1 S2 D

LDIV

S1 S2 D

LDIVP

S1 S2 D

$ADD

S1 S2 D

$ADDP

S1 S2 D

(D+3,D+2) Remainder

(S1+1,S1)+(S2+1,S2)
(D+1,D)
(S1+3,S1+2,S1+1,S1)
+(S2+3,S2+2,S2+1,S2)
(D+3,D+2,D+1,D)

(S1+1,S1)-(S2+1,S2)
(D+1,D)
(S1+3,S1+2,S1+1,S1)
-(S2+3,S2+2,S2+1,S2)
(D+3,D+2,D+1,D)

(S1+1,S1)(S2+1,S2)
(D+1,D)
(S1+3,S1+2,S1+1,S1)
(S2+3,S2+2,S2+1,S2)
(D+3,D+2,D+1,D)

(S1+1,S1)(S2+1,S2)
(D+1,D)

GADD

S1 S2 D N

GADDP

S1 S2 D N

GSUB

S1 S2 D N

GSUBP

S1 S2 D N

(S1+3,S1+2,S1+1,S1)
(S2+3,S2+2,S2+1,S2)
(D+3,D+2,D+1,D)

Connects S1 String with S2 String

to save in D

Group Addition

Group
Subtraction

(S2)

(S1)

+
(S2)

(S1)

App. 4-23

(D)

Appendix 4 Instruction List

10) BCD operation instruction
Classification

Designations

Symbol

Support

Description

ADDB

S1 S2 D

ADDBP

S1 S2 D

DADDB

S1 S2 D

DADDBP

S1 S2 D

SUBB

S1 S2 D

SUBBP

S1 S2 D

DSUBB

S1 S2 D

DSUBBP

S1 S2 D

MULB

S1 S2 D

MULBP

S1 S2 D

DMULB

S1 S2 D

DMULBP

S1 S2 D

DIVB

S1 S2 D

DIVBP

S1 S2 D

DDIVB

S1 S2 D

BCD Addition

(S1+1,S1)+(S2+1,S2)
(D+1,D)

(D)

(S1)-(S2)

BCD Subtraction
(S1+1,S1)-(S2+1,S2)
(D+1,D)

(D+1,D)

(S1)(S2)

(S1+1,S1)(S2+1,S2)
(D+3,D+2,D+1,D)

BCD Division

(S1)(S2)

(D) Quotient
(D+1) Remainder

(S1+1,S1)(S2+1,S2)
(D+1,D) Quotient

DDIVBP

XGB

(D)

(S1)+(S2)

BCD
Multiplication

XGK

DDIVBP

S1 S2 D

App. 4-24

(D+3,D+2) Remainder

Appendix 4 Instruction List

11) Logic operation instruction
Classification

Logic
Multiplication

Designations

Symbol

Basic
Steps

Page

Description

WAND

S1 S2 D

WANDP

S1 S2 D

DWAND

S1 S2 D

DWANDP

S1 S2 D

WOR

S1 S2 D

WORP

S1 S2 D

DWOR

S1 S2 D

DWORP

S1 S2 D

WXOR

S1 S2 D

WXORP

S1 S2 D

DWXOR

S1 S2 D

DWXORP

S1 S2 D

WXNR

S1 S2 D

WXNRP

S1 S2 D

DWXNR

S1 S2 D

DWXNRP

S1 S2 D

Word AND
(S1) (S2)

(D)

DWord AND
(S1+1,S1)(S2+1,S2)

(D+1,D)

Word OR
(S1) (S2)

(D)

Logic Addition

Exclusive
OR

Exclusive
NOR

Group
Logic Operation

GWAND

S1 S2 D N

GWANDP

S1 S2 D N

GWOR

S1 S2 D N

GWORP

S1 S2 D N

GWXOR

S1 S2 D N

GWXORP

S1 S2 D N

GWXNR

S1 S2 D N

DWord OR
(S1+1,S1)(S2+1,S2)

Word Exclusive OR
(S1) (S2)

Word Exclusive NOR

(S1) (S2)

(S1)

(S2)

App. 4-25

(D)

(S1)

(D)

(S2)

(D)

(S2)

(S1)

(D)

(S2)

(S1)

(D+1,D)

S1 S2 D N

(D+1,D)

DWord Exclusive NOR

(S1+1,S1)(S2+1,S2)

GWXNRP

(D)

DWord Exclusive OR
(S1+1,S1)(S2+1,S2)

GWXNRP

(D+1,D)

(D)

Appendix 4 Instruction List

12) Data process instruction
Classification

Designations

Symbol

XGK

XGB

Right after masking I/O data (located

on S1) with S2 and S3 data, perform
process

Finds S1 value within S2 ~ N range

and saves the first identical valued
position in D and S1s identical valued
total number in D+1

b15

BSUM

S D

BSUMP

S D

DBSUM

S D

DBSUMP

S D

BRST

D N

BRSTP

D N

Bit Check

Bit Reset

1s number

b31

I/O
Refresh

Data
Search

Max. Value
Search

b15

S
1s number

Resets N Bits (starting from D) to 0

ENCO

S D n

ENCOP

S D n

DECO

S D n

DECOP

S D n

N bits
2binary

DIS

S D n

...

D
...

...

N bits
2binary

2 bits
S

...

Decode

Word/
Byte
Conversion

Encode

Data
Disconnect &
Connect

Support

Description

...
2N bits

DISP

S D n

UNI

S D n

UNIP

S D n

WTOB

S D n

WTOBP

S D n

BTOW

S D n

...
...

Higher Lower

S+N-1 Higher Lower

BTOWP

IORF

S1 S2 S3

IORFP

S1 S2 S3

D
D+1

S D n

SCH

S1 S2 D N

SCHP

S1 S2 D N

DSCH

S1 S2 D N

DSCHP

S1 S2 D N

MAX

S D n

MAXP

S D n

DMAX

S D n

DMAXP

S D n

...

D
D+1
D+N-1

...

D
D+1
D+N-1

...
...

h00
h00
h00
h00

Lower
Higher
Lower
Higher

S
...

h00
h00
h00
h00

Lower D
Higher D+1
Lower
Higher

Higher Lower

Higher Lower S+N-1

Saves the max value in D among N

words starting from S

Saves the max value in D among N

double words starting from S

App. 4-26

Appendix 4 Instruction List

12) Data process instruction (continued)
Classification

Min. Value
Search

Designatio
ns

Symbol

Support

Description

MIN

S D n

MINP

S D n

DMIN

S D n

DMINP

S D n

SUM

S D n

SUMP

S D n

DSUM

S D n

DSUMP

S D n

AVE

S D n

AVEP

S D n

DAVE

S D n

DAVEP

S D n

XGK

XGB

Detects N data from S1, to save the

first value larger than S2 in D, and
the extra number in D+1

Saves linear-changed value in D1

during n3 scanning of initial value
n1 to final n2 and present scanning
number in D1+1, and changes D2
value to ON after completed

S : Head Address of Sort Data

n1 : Number of Words to sort
n1+1 : Sorting Method
n2: Operation number per Scan
D1 : ON if complete
D2 : Auxiliary Area

Saves the min value in D among N

words starting from S

Saves the min value in D among N

double words starting from S

Adds up N words starting from S to

save in D

Sum
Adds up N double words starting
from S to save in D

Averages N words starting from S

to save in D

Average

MUX

Averages N double words starting

from S to save in D
S2

S1 S2 D N

S1st data
D

MUXP

S1 S2 D N

DMUX

S1 S2 D N

DMUXP

S1 S2 D N

DETECT

S1 S2 D N

DETECTP

S1 S2 D N

MUX
S2+1
N

Data
Detect

Ramp Signal
Output

RAMP

n1 n2 D1 n3 D2

SORT

S n1 n2 D1 D2

Data
Align
SORTP

SORTP

S n1 n2 D1 D2

App. 4-27

S1st data
D+1

Appendix 4 Instruction List

13) Data table process instruction
Classification

Data
Write

First-input
Data
Read

Last-Input
Data
Read

Designations

Data
Pull

Description

FIWR

S D

FIWRP

S D

FIFRD

S D

FIFRDP

S D

FILRD

S D

FILRDP
FIINS

Data
Insert

Symbol

FILRDP

FINS

S D

S D n

FIINSP

FINSP

S D n

FIDEL

FDEL

S D n

FIDELP

FDELP

S D n

Support
XGK

XGB

Adds S to the last of Data Table D ~

D+N, and increases Data Table
Length(N) saved in D by 1

Moves first data, S+1 of Data Table

S ~ S+N to D (pull 1 place after origin
deleted) and decreases Data Table
Length(N) saved in D by 1 S

Moves last data, S+N of Data Table

S ~ S+N to D (origin deleted) and
decreases Data Table Length(N)
saved in D by 1 S

Adds S to Nth place of Data Table D

~ D+N (origin data pulled by 1), and
increases Data Table Length(N)
saved in D by 1

Deletes Nth data of Data Table S ~

S+N (pull 1 place) and decreases
Data Table Length(N) saved in D by
1

14) Display instruction

Classification
7 Segment
Display

Designations

Symbol

Description

SEG

S D Z

SEGP

S D Z

Converts S Data to 7-Segment as

adjusted in Z Format so to save in D

App. 4-28

Support
XGK

XGB

Appendix 4 Instruction List

15) String Process instruction
Classification

Convert to
Decimal
ASCII
Cord

Convert to
Hexadecimal
ASCII
Cord

Convert BCD
to Decimal
ASCII
Cord

Designations

BINDA

S D

BINDAP

S D

DBINDA

S D

DBINDAP

S D

BINHA

S D

BINHAP

S D

DBINHA

S D

DBINHAP

S D

BCDDA

S D

BCDDAP

S D

DBCDDA

S D

DBCDDAP

S D

DABIN

S D

DABINP

S D

DDABIN

S D

DDABINP

S D

HABIN

S D

HABINP

S D

DHABIN

S D

DHABINP

S D

DABCD

S D

DABCDP

S D

DDABCD

S D

DDABCDP

S D

LEN

S D

LENP

S D

DABCDP
Convert
Decimal ASCII
to BCD
DDABCD

String
Length Detect

Description

BINDA

DABINP
Convert
Decimal ASCII
to BIN
DDABIN

Convert
Hexadecimal
ASCII to BIN

Symbol

Support
XGK

XGB

Converts S of 1-word BIN value to

Decimal ASCII Cord to save in
starting D
Converts S of 2-word BIN value to
Decimal ASCII Cord to save in
starting D
Converts S of 1-word BIN value to
Hexadecimal ASCII Cord to save
in starting D
Converts S of 2-word BIN value to
Hexadecimal ASCII Cord to save in
starting D
Converts S of 1-word BCD to ASCII
Cord to save in starting D

Converts S of 2-word BCD to ASCII

Cord to save in starting D

Converts S S+2,S+1,Ss Decimal

ASCII Cord to BIN to save in D
Converts S+5~Ss Decimal ASCII
Cord to BIN value to save in D+1 &
D
Converts S+1,Ss Hexadecimal ASCII
Cord to BIN value to save in D

Converts S+3~Ss Hexadecimal ASCII

Cord to BIN to save in D

Converts S+1,Ss Decimal ASCII

Cord to BCD to save in D

Converts S+3~Ss Decimal ASCII

Cord to BCD to save in D

Saves String Length with S starting

in D

App. 4-29

Appendix 4 Instruction List

15) String process instruction (continued)
Classification

Convert BIN16/32 to
String

Convert String to
BIN16/32

Convert Real Number to

String

Convert String to Real

Number

Designations

Symbol

Description

STR

S1 S2 D

STRP

S1 S2 D

DSTR

S1 S2 D

DSTRP

S1 S2 D

VAL

S D1 D2

VALP

S D1 D2

DVAL

S D1 D2

DVALP

S D1 D2

RSTR

S1 S2 D

RSTRP

S1 S2 D

LSTR

S1 S2 D

LSTRP

S1 S2 D

STRR

S D

STRRP

S D

STRL

S D

STRLP

S D

ASC

S D cw

ASCP

S D cw

HEX

S D N

HEXP

S D N

RIGHT

S D N

RIGHTP

S D N

LEFT

S D N

LEFTP

S D N

MID

S1 S2 D

MIDP

S1 S2 D

ASCII Conversion

HEX Conversion

String Extract from

Right

String Extract from Left

String Random Extract

App. 4-30

Support
XGK

XGB

Extracts n string from S

strings final letter to save
in starting D

Extracts n string from S

strings first letter to save
in starting D

Extracts
string
which
conforms to S2 condition
among S1 string to save in
starting D

Adjusts S2 saved word

data to S1 saved place
number to convert to String
and save in D
Adjusts S2 saved double
word data to S1 saved
place number to convert to
String and save in D
Adjusts S saved string to
number to save in word
D1 and saves the place
number in D2
Adjusts S saved string to
number to save in double
word D1 and saves the
place number in D2
Adjusts Floating decimal
point point Real Number
Data (S1: number, S2:
places) to String format to
save in D
Adjusts Floating decimal
point point Double Real
Number Data (S1:number,
S2:places) to String format
to save in D
Converts String S to Floating
decimal point point Real
Number Data to save in D
Converts String S to
Floating decimal point
point Double Real Number
Data to save in D
Converts BIN Data to
ASCII in Nibble unit,
based on cws format from
S to save in D
Converts 2N ASCII saved
in N words from S in byte
unit to Nibble unit of
Hexadecimal BIN so to
save in D

Appendix 4 Instruction List

15) String process instruction (continued)
Classification
String Random
Replace

Designations
REPLACE
REPLACEP

Symbol
REPLACE S1 D S2
REPLACEP S1 D S2

FIND

S1 S2 D N

FINDP

S1 S2 D N

String Find

Parse Real
Number to BCD

Convert BCD
Data to Real
Number

RBCD

S1 S2 D

RBCDP

S1 S2 D

LBCD

S1 S2 D

LBCDP

S1 S2 D

BCDR

S1 S2 D

BCDRP

S1 S2 D

BCDL

BCDR

S1 S2 D

BCDLP

S1 S2 D

App. 4-31

Description

Basic
Steps

Page

Processes
S1
String
as
applicable to S2 Condition to
save in D String

Finds identical String to S2 in

S1 ~ N data to save the
absolute position in D

Adjusts Floating decimal point

point Real Number Data S1 to
S2 place to convert to BCD,
and then to save in D
Adjusts Floating decimal point
point Double Real Number
Data S1 to S2 place to convert
to BCD, and then to save in D
Adjusts BCD Data S1 to S2
place to convert to Floating
decimal point point Real
Number, and then to save in D
Adjusts BCD Data S1 to S2
place to convert to Floating
decimal point point Double
Real Number, and then to
save in D

Appendix 4 Instruction List

16) Special function instruction
Classification

Designations

Symbol

Description

SIN

S D

SINP

S D

COS

S D

COSP

S D

TAN

S D

TANP

S D

RAD

S D

RADP

S D

DEG

S D

DEGP

S D

SQRT

S D

SQRTP

S D

SIN Operation

COS
Operation

SIN(S+1,S)

TAN Operation

RAD
Conversion

Angle
Conversion

Square Root
Operation

(D+1,D)

Basic
Steps

Page

COS(S+1,S)

(D+1,D)

TAN(S+1,S)

(D+1,D)

(S+1,S)
(D+1,D)
Converts angle to radian

(S+1,S)
(D+1,D)
Converts radian to angle

App. 4-32

(S+1,S)

(D+1,D)

Appendix 4 Instruction List

17) Data control instruction
Classification

Designations

Basic
Steps

Page

If S1 < -S2, then

D = S1+S2-S2(S3/100)
If S2 < S1 < S2, then
D = (S3/100)S1
If S1 < S2, then
D = S1-S2+S2(S3/100)

If S1 < -S2(S3/100), then

D = S1-S2+S2(S3/100)
If S2(S3/100) <S1< S2(S3/100),
then
D = (100/S3)S1
If S1 < S2(S3/100), then
D = S1+S2-S2(S3/100)

Operates PID Loop N

Stops PID Loop N

momentarily

Changes PID Loop Ns Parameter.

( SV(word) / Ts(word) / Kp(real)
/ Ti(real) / Td(real) )

Start of PID loop Auto-tuning

Symbol

Description

LIMIT

S1 S2 S3 D

LIMITP

S1 S2 S3 D

DLIMIT

If S1 < S2, then

Limit
Control

Dead-zone
Control

Vertical-zone
Control

Built-in
PID Control
Instruction

If S2 < S1 < S3, then

S1 S2 S3 D

DLIMITP

S1 S2 S3 D

DZONE

S1 S2 S3 D

DZONEP

S1 S2 S3 D

DDZONE

DDZONEP

DDZONEP S1 S2 S3 D

VZONE

VZONEP

S1 S2 S3 D

DVZONE

DVZONEP

DVZONEP S1 S2 S3 D

S1 S2 S3 D

PIDRUN

PIDPAUSE

PIDPAUSE N

PIDAT

D = S1
D = S3

S1 S2 S3 D

DVZONE

PIDPRMT

If S3 < S1, then

D = S2

PIDPRMT

PIDRUN

S N

PIDCAS

PIDPRMT

S N

Start of PID loop cascade operation

PIDHBD

PIDPRMT

S N

PID .

App. 4-33

Appendix 4 Instruction List

18) Time related instruction
Classification
Date/Time
Data
Read
Date/Time
Data
Write

Time Data
Increase

Time Data
Decrease

Designations

Symbol

DATERD

DATERDP

DATEWR

DATEWRP

ADDCLK

ADDCLKP

ADDCLKP S1 S2 D

SUBCLK

S1 S2 D

SUBCLKP

S1 S2 D

SECOND
Time Data
Format
Conversion

Description

S1 S2 D

SECOND

SECONDP S D

HOUR

HOURP

XGB

Reads PLC Time to save in D ~ D+6

(Yr/Mn/Dt/Hr/Mn/Sd/Day)

Input
S ~ S+6s Time Data in PLC
(Yr/Mn/Dt/Hr/Mn/Sd/Day)

Adds S1 ~ S1+2 & S2 ~ S2+2 Time

Data to save in D ~ D+2 in Time
Data format (Hr/Mn/Sd)

Extracts S2 ~ S2+2s Time Data from

S1 ~ S1+2 to save in D ~ D+2 in
Time Data format (Hr/Mn/Sd)

Converts Time Data S ~ S+2 to

seconds to save in double word D

Converts the seconds saved in

double word S to Hr/Mn/Sd to save
in D ~ D+2

S D

SECONDP

HOURP

Support
XGK

S D

19) Divergence instruction

Classification

Divergence
Instruction

Designations

Symbol

JMP
LABEL

JMP

Description
LABEL

CALL

LABEL

CALLP

LABEL

XGK

XGB

Jumps to LABEL location

Jumps and designates the location
to move to

LABEL

Support

Calls Function applicable to LABEL

Subroutine
Call Functional

SBRT
RET

SBRT

LABEL

RET

Designates Function to be called by

CALL
RETURN

App. 4-34

Appendix 4 Instruction List

20) Loop instruction
Classification

Designations

Symbol

FOR
Loop
Instruction

Support

Description

FOR

BREAK

Operates
times

FOR~NEXT

section

Escapes from FOR~NEXT section

XGK

XGB

21) Flag instruction

Classification
Carry
Flag Set,
Reset
Error Flag
Clear

Designations

Symbol

Description

STC

Carry Flag( F0112 ) SET

CLC

Carry Flag( F0112 ) RESET

CLE

Error Latch Flag(F0115) RESET

Support
XGK

XGB

22) System instruction

Classification

Designations

Error Display

FALS

Scan Cluck

DUTY

Time Cluck

TFLK

WDT
Initialize

Symbol

Description

FALS

DUTY

TFLK

D n1 n2

D1 S1 S2 D2

WDT

WDTP

Output Control OUTOFF

OUTOFF

Operation Stop

STOP

Emergent
Operation Stop

ESTOP

Support
XGK

XGB

Self Diagnosis
(Error Display )

On during n1 Scan, Off during n2

Scan

On during S1 set time, Off during S2

set time

Watch Dog Timer Clear

All Output Off

Finishes applicable scan to end PLC

Operation
Ends PLC operation right after
Instruction executed

23) Interrupt related instruction

Classification

Designations

All Channels
Interrupt
Setting

All Channels Interrupt allowed

All Channel Interrupt prohibited

Individual
Channel
Interrupt
Setting

Symbol

Description

EIN

Individual Channel Interrupt allowed

DIN

Individual Channel Interrupt prohibited

App. 4-35

Support
XGK

XGB

Appendix 4 Instruction List

24) Sign reversion instruction
Classification

2s
complement

Real Number
Data Sign
Reverse

Designations

Symbol

Description

NEG

NEGP

DNEG

DNEGP

RNEG

RNEGP

LNEGR

LNEG

LNEGP

ABS

ABSP

DABS

DABSP

Support
XGK

XGB

Saves D value again in D with 2s

complement taken
Saves (D+1,D)
(D+1,D)
with
taken

value again in
2s complement

Reverses D Real Number Sign then

to save again

Reverses D Double Real Number

Sign then to save again

Converts D highest Bit to 0

Absolute Value
Operation

Converts (D+1,D)
highest Bit to 0

25) File related instruction

Classification

Block
Conversion

Flash
Word Data
Transfer

Designations

Symbol

Description

RSET

RSETP

EMOV

S1 S2 D

EMOVP

S1 S2 D

Changes Block Number of file register

to S Number

Support
XGK

XGB

Transfers S2 word data in S1 Block

to D

Flash
Double Word
Data
Transfer

EDMOV

S1 S2 D

EDMOVP

S1 S2 D

Block Read

EBREAD

EBREAD S1 S2

Reads Flash Memory Block

Block Write

EBWRITE

EBWRITE S1 S2

Writes Flash Memory Block

Compares R Areas Bank with Flash

Areas Block

Block
Compare

EBCMP

S1 S2 D1 D2

Transfers S2+1, S2 double word data

in S1 Block to D+1, D

App. 4-36

Appendix 4 Instruction List

Appendix 4.4 Special/Communication Instruction

1) Communication module related instruction
Classification

Designations

Symbol

Station No. Set P2PSN

P2PSN

Support
XGK
XGB

Description
n1 n2 n3

Sets opposite station No. for P2P

Communication.
n1:P2P
No.,
n2:Block, n3:Station No.

Read Area Set

P2PWRD
(WORD)

P2PWRD

n1 n2 n3 n4 n5

Sets word data Read Area

n1:P2P No., n2:Block, n3:Variable
sequence, n4:Variable Size,
n5:Device

Write Area Set

P2PWWR
(WORD)

P2PWWR

n1 n2 n3 n4 n5

Sets word data Write Area

n1:P2P No., n2:Block, n3:Variable
sequence, n4:Variable Size,
n5:Device

Read Area Set

P2PBRD
(BIT)

P2PBRD

n1 n2 n3 n4 n5

Sets bit data Read Area

n1:P2P No., n2:Block, n3:Variable
sequence, n4: Variable Size,
n5:Device

n1 n2 n3 n4 n5

Sets bit data Write Area

n1:P2P No., n2:Block, n3:Variable
sequence,n4:Variable Size,
n5:Device

Write Area Set

P2PBWR
(BIT)

P2PBWR

2) Special module common instruction

Classification

Designations
GET

Special
Module
Read/Write

Symbol
GET

sl S D N

GETP

sl S D N

PUT

sl S1 S2 N

PUTP

Support

Description

Reads data of special

memory is installed on

module

Writes data on special

memory is installed on

module

sl S1 S2 N

App. 4-37

XGK

XGB

Appendix 4 Instruction List

3) Exclusive positioning instruction
Classification

Designations

Symbol

Description

Support
XGK

XGB

Instructions Positioning Modules ax

axis installed on sl slot to start n
step indirectly

Instructions Positioning Modules ax

axis installed on sl slot to return to
Origin Point
Instructions Positioning Modules ax
axis installed on sl slot to set
Floating Origin Point
Instructions Positioning Modules ax
axis installed on sl slot to start
directly with Target Position(n1),
Target Speed(n2), Dwell Time(n3),
M Code(n4) & Control Word(n5)

Return to Origin
Point

ORG

sl ax

Floating Origin
Point

FLT

sl ax

Direct Start

DST

Indirect Start

IST

Linear
Interpolation

LIN

sl ax n1 n2

Instructions Positioning Modules ax

axis installed on sl slot to let n2 axes
operate n1 step by Linear Interpolation

Circular
Interpolation

CIN

sl ax n1 n2

Instructions Positioning Modules ax

axis installed on sl slot to let n2 axes
operate n1 step by Circular Interpolation

Simultaneous
Start

SST

sl ax n1 n2 n3 n4

Instructions Positioning Modules ax

axis installed on sl slot to let n4 axes
operate n1(X), n2(Y), n3(Z) steps by
Simultaneous Start

DST

sl ax n1 n2 n3 n4 n5

IST

SST

sl ax n

Speed/Position
Control Switch

VTP

sl ax

Instructions Positioning Modules ax

axis installed on sl slot to switch
Speed to Position
Control

Position/Speed
Control Switch

PTV

sl ax

Instructions Positioning Modules ax

axis installed on sl slot to switch
Position to Speed Control

Decelerated Stop STP

STP

sl ax

Instructions Positioning Modules ax

axis installed on sl slot to stop as
decelerated.

SKP

sl ax

Instructions Positioning Modules ax

axis installed on sl slot to skip

sl ax n1 n2 n3

Instructions Positioning Modules ax

axis installed on sl slot to do
Position Sync with main axis of n3,
n1 sync-positioned and n2 step
operated

sl ax n1 n2 n3

Instructions Positioning Modules ax

axis installed on sl slot to do Speed
Sync with main axis of n3, n1
master and n2 slave

Instructions Positioning Modules ax

axis installed on sl slot to override
Position to change the target
position to n

Skip

Position
Synchronization

Speed
Synchronization

Position
Override

SKP

SSP

SSS

POR

SSP

SSS

POR

sl ax n

App. 4-38

Appendix 4 Instruction List

4) Exclusive position control instruction (continued)
Classification

Speed
Override

Designations

Symbol

SOR

Position specified
PSO
Speed
Override

PSO

Description

Support
XGK

XGB

sl ax n

Instructions Positioning Modules ax axis

installed on sl slot to override Speed to
change the target speed to n

sl ax n

Instructions Positioning Modules ax axis

installed on sl slot to override position
specified speed to change the target speed
to n2 from n1 position

Instructions Positioning Modules ax axis

installed on sl slot to operate continuously
to n step

sl ax n

Instructions Positioning Modules ax axis

installed on sl slot to inch to n position

sl ax

Instructions Positioning Modules ax axis

installed on sl slot to return to position
previous to manual operation

Continuous
Operation

NMV

Inching

INCH

Return to Position
Previous to Manual
Operation

of Positioning Modules ax axis installed
on sl slot

Teaching
Array

TEAA

sl ax n1 n2 n3 n4

Changes multiple target positions or speed

of Positioning Modules ax axis installed
on sl slot

Emergent Stop

EMG

Instructions Positioning Module installed on

sl slot to perform Emergent Stop

EMG

sl ax

App. 4-39

Appendix 4 Instruction List

5) Exclusive position control instruction (continued)
Classification

Error Reset
Error
History
Reset

Designations

CLR

Symbol

CLR

ECLR

Description

Support
XGK

XGB

sl ax n

Resets Error originated from Positioning

Modules ax axis installed on sl slot

sl ax

Deletes Error History originated from

Positioning Modules ax axis installed on
sl slot

sl ax n

Performs Point Operation of Positioning

Modules ax axis installed on sl slot

Point
Operation

PST

Basic Parameter
Teaching

TBP

sl ax n1 n2

Changes n2 to n1 among basic

parameters of Positioning Modules ax
axis installed on sl slot

Extended
Parameter
Teaching

TEP

sl ax n1 n2

Changes n2 to n1 among extended

parameters of Positioning Modules ax
axis installed on sl slot

Return to Origin
Point Parameter
Teaching

THP

sl ax n1 n2

Changes n2 to n1 among returned

parameters to origin point of Positioning
Modules ax axis installed on sl slot

Manual
Operation
Parameter
Teaching

TMP

sl ax n1 n2

Changes n2 to n1 among manual

operation parameters of Positioning
Modules ax axis installed on sl slot

Input Signal
Parameter
Teaching

TSP

Changes input signal parameter of

Positioning Modules ax axis installed on
sl slot to the value set in n1

Common
Parameter
Teaching

TCP

Changes n2 to n1 among common

parameters of Positioning Module
installed on sl slot

Parameter
Save

WRT

sl ax n

Instructions Positioning Modules ax axis

installed on sl slot to save present
parameter of n axis in flash ROM.

Present State
Read

SRD

sl ax D

Reads and saves present state of

Positioning Modules ax axis installed on
sl slot in D area of CPU

Point Operation
Step Write

PWR

sl ax S n1

Writes value of S area of CPU on point

operation step area of Positioning
Modules ax axis installed on sl slot in

Plural Teaching
Data
Write

TWR

sl ax S n1

Writes n value of S area of CPU on plural

teaching dada area of Positioning
Modules ax axis installed on sl slot in

PST

TSP

TCP

sl ax n

sl ax n1 n2

App. 4-40

Warranty
1. Warranty Period
The product you purchased will be guaranteed for 18 months from the date of manufacturing.
2. Scope of Warranty
Any trouble or defect occurring for the above-mentioned period will be partially replaced or repaired. However,
please note the following cases will be excluded from the scope of warranty.
(1) Any trouble attributable to unreasonable condition, environment or handling otherwise specified in the
manual,
(2) Any trouble attributable to others products,
(3) If the product is modified or repaired in any other place not designated by the company,
(4) Due to unintended purposes
(5) Owing to the reasons unexpected at the level of the contemporary science and technology when delivered.
(6) Not attributable to the company; for instance, natural disasters or fire

3. Since the above warranty is limited to PLC unit only, make sure to use the product considering the safety for
system configuration or applications.

Environmental Policy
LS Industrial Systems Co.,Ltd supports and observes the environmental policy as below.

Environmental Management

About Disposal

LS Industrial Systems considers the

LS Industrial Systems PLC unit is designed

environmental preservation as the

to protect the environment. For the disposal,

preferential management subject and every

separate aluminum, iron and synthetic resin

staff of LS Industrial Systems use the

(cover) from the product as they are

reasonable endeavors for the pleasurably

reusable.

environmental preservation of the earth.

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