Kinco KS, KS105-16DT, KS105C1-16DT, KS105C2-16DT Series Manual

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CONTENT

CHAPTER 1 GENERAL INTRODUCTION .............................................................................. 3

1.1 S UMMARY ............................................................................................................................ 3

1.2 P RODUCT L IST ..................................................................................................................... 3

1.3 E NVIRONMENTAL C ONDITION ............................................................................................. 4

CHAPTER 2 CPU MODULE INTRODUCTION ....................................................................... 5

2.1 O VERVIEW ........................................................................................................................... 5

2.1.1 Structure ....................................................................................................................... 5

2.1.2 CPU Types .................................................................................................................... 5

2.2 F UNCTIONS .......................................................................................................................... 7

2.2.1 CPU Status and LEDs ................................................................................................... 7

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2.2.2 Programming port and serial port ................................................................................. 8

2.2.3 CAN port ...................................................................................................................... 9

2.2.4 Expansion modules ....................................................................................................... 9

2.2.5 High Speed Counter and High Speed Pulse Output ...................................................... 9

2.2.6 Edge Interrupts ............................................................................................................. 9

2.2.7 Data Retentive and Data Backup ................................................................................ 10

2.2.8 Real-time Clock (RTC) ............................................................................................... 10

2.2.9 Backup Battery ........................................................................................................... 11

2.3 W IRING DIAGRAM .............................................................................................................. 12

2.4 D IMENSION ........................................................................................................................ 15

2.5 T ECHNICAL S PECIFICATION ................................................................................................ 15

CHAPTER 3 SOFTWARE INTRODUCTION .......................................................................... 16

2.1 O VERVIEW ......................................................................................................................... 16

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2.2 H IGH SPEED COUNTER ....................................................................................................... 17

2.2.1 Operation Modes and Inputs of the High-speed Counters .......................................... 17

2.2.2 Control Byte and Status Byte ..................................................................................... 18

2.2.3 Preset value (PV value) setting ................................................................................... 20

2.2.4 “ CV=PV ” Envent No. ................................................................................................. 22

2.2.5 How to use high speed counter ................................................................................... 23

2.3 H OW TO USE HIGH SPEED PULSE OUTPUT .......................................................................... 25

2.3.2 How to use PLS instruction ........................................................................................ 26

2.3.3 How to Use Position Control Instructions .................................................................. 33

2.4 H OW TO USE CAN OPEN ................................................................................................ 37

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Chapter 1 General Introduction

1.1

Summary

1.1

Summary

1.1

1.1 Summary

Summary

Kinco-K 5 series PLC is a small and integrated PLC . It is Kinco new thin and high performance PLC.

Based on high performance, high reliability and powerful function s of K5/K2 , KS series use higher level

CPU. KS has CANopen port, higher speed input and output, small size for installation.

It can fit more user ’ s requirement.

1.2

Product

1.2

Product

1.2

1.2 Product

Product List

List

series

Name

Name Order

CPU

Module

CPU

Module

CPU

CPU Module

Module

CPU 105

1.3

Environmental

1.3

Environmental

1.3

1.3 Environmental

Environmental Condition

Kinco-K S accords with GB/T 15969.3-2007 （ idt IEC61131-2 ： 2007 ） standard and test specifications.

The following table lists the conditions and requirements for Kinco-K S to work properly. It is the user's

responsibility to ensure that the service conditions are not exceeded.

Transport

Transport and

Order

Order No.

K S1 05-16DT

KS105C1-16DT

K S1 05 C2 -16D T

and

storage

and

storage

and storage

storage

No.

No. Description

DC 24V, DI 8* DC24V ， DO 8* DC24V .

1* RS232( programming port),1*RS485.

Expandable(max 14 modules)

DC 24V, DI 8* DC24V ， DO 8* DC24V

1* RS232( programming port),1*RS485,1*CAN

DC 24V, DI 8* DC24V ， DO 8* DC24V

1* RS232( programming port),1*RS485,2*CAN

Expandable(max 14 modules)

Condition

Description

Ambient

conditions

temperature -40 --- +70 ° C

relative humidity

10%~95%, no condensation

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Mechanical

conditions

Normal Operation

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Altitude Up to 3 000 m

Free falls With manufacturer's original packaging , 5 falls from 1m of height .

air temperature Open equipment : -10 --- +55 ° C; Enclosed equipment: -10 --- +40 ° C

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Ambient

conditions

Mechanical

conditions

Electromagnetic

compatibility

(EMC)

relative

humidity

Altitude Up to 2000 m

Pollution degree for use in pollution degree 2.

Sinusoidal

vibrations

Shock

Electrostatic

discharge

High energy

surge

Fast transient

bursts

Voltage drops

and

interruptions

10%~95%, no condensation

5<f<8.4Hz, Occasional : 3.5mm amplitude ; Continuous : 1.75mm

mplitude .

8.4<f<150, Occasional : 1.0g acceleration ; Continuous : 0.5g

acceleration .

occasional excursions to 15g, 11 ms, half-sine, in each of 3 mutually

perpendicular axes.

± 4 kV Contact , ± 8 kV Air . Performance criteria B.

a.c. main power:2KV CM, 1KV DM;

d .c. main power : 0.5KV CM, 0.5KV DM;

I/Os and Communication port: 1KVCM.

Performance criteria B .

main power : 2KV,

5KHz.

Performance criteria B .

a.c . supply : at 50Hz, 0% voltage for 1 period; 40% voltage for 10

periods; 75% voltage for 20 periods.

Performance criteria A.

5KHz.

I/Os and Communication port: 1KV,

Ingress Protection Rating IP20

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Chapter 2 CPU Module Introduction

2.1

Overview

2.1

Overview

2.1

2.1 Overview

Overview

2.1.1

Structure

2.1.1

Structure

2.1.1

2.1.1 Structure

Structure

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2.1.2

CPU

2.1.2

2.1.2 CPU

Kinco-K S provides different CPU models with a diversity of features and capabilities, all the CPU use

DC24V power supply. The following table describes main technical data of each CPU model.

Parameters KS105-16DT KS105C1-16DT KS105C2-16DT

Power supply

Rated voltage DC24V

Voltage range

I/O

Digital 8*DI / 8*DO

Types

CPU

Types

CPU Types

Types

DC20.4V － 28.8V

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Analog --

Expansion 14 --- 14

CAN --- CANopen master or CAN free potocol

PORT0,RS232 ， support programming protocol, MODBUS RTU slave, free protocol

S erial port

PORT1,RS485,support programming protocol, MODBUS RTU master, free protocol

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High speed

counter

H igh speed

output

Interrupt

S torage

P rogramming Max 4K bytes instruction

Data

Data backup

Data retention

Other

Timer

4, Max 200KHz,support single and double

4

C hannel 0&1& 2 Max 200KHz （ load resistance is less than 1.5 K Ω at highest

frequency ）。

C hannel 3 Max 1 0KHz

4 ， I0.0-I0.3 interrupt up and down

M area 1K bytes ； V area 4K bytes

E2PROM ， 448 bytes

2 K bytes. Lithium battery ， 3 years at normal environment

256

1ms ： 4

10ms ： 16

Timer

interrupt ion

Counter 256

RTC

100ms ： 236

2 ， 0.1ms

yes ， the difference is 5 min/month at 25 ℃

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2.2

Functions

2.2

Functions

2.2

2.2 Functions

Functions

2.2.1

CPU

2.2.1

2.2.1 CPU

The CPU has two mode s : STOP mode and RUN mode.

In RUN mode, the CPU executes the main scan cycle and all interrupt tasks.

In STOP mode, the CPU will set all output channels (including DO and AO) to the known values which are

Status

CPU

Status

CPU Status

Status and

and

LEDs

and

LEDs

and LEDs

LEDs

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Hardware

specified in the [ Hardware

which comes from KincoBuilder software and other Modbus RTU master device.

Change

� Change

Change CPU

Kinco-K S provides two ways for manually changing the CPU status:

Set all switch of CAN port [ OFF ] ,then PLC will be in STOP status.if any switch is [ ON ] ,PLC will be in RUN

status. (use all 5 switches for KS105,use 1~4 switches for KS105C1,use 1~3 switches for KS105C2.

Using the operation switch (RUN/STOP); Executing [Debug] -> [RUN] or [STOP] menu command in

Kincobuilder.

The following table lists the combined results of these two ways.

Operation

Operation Switch

Some Switch Position

All Switch Position

Besides, if CPU detects any seriously fault, it will enter STOP status immediately.

Hardware

Hardware Configuration

CPU

status

CPU

status

CPU status

status

Switch

Position

Switch

Position

Switch Position

Position KincoBuilder

Position

Position is ON

Position

Position is OFF

Configuration

Configuration ] through Kincobuilder, and only p rocess communication requests

KincoBuilder

KincoBuilder command

[RUN] RUN

[STOP] STOP

[RUN] STOP

[STOP] STOP

command

command Actual

Actual

Actual Operation

Operation

Operation Mode

Mode

CPU

Status

Status LED

LED

RUN

STOP

RUN

STOP

RUN , STOP

STOP , Comm.

Comm.

Comm. and Err.

Err.

CPU

� CPU

CPU Status

The CPU module provides 4 status LEDs: RUN

Run,

Err

Run,

Err

Run,

Run, Err

Err LEDs show the CPU operation status.

【 Run 】： If CPU is in RUN status,it will turn on. If CPU is in STOP status,it will turn off.

【 Err. 】： If CPU detects error in user program or module, it will turn on.

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K S separates errors into three level s : Fatal error, Serious error, Normal error. When CPU detects an

error, it will use different way to handle according to error level and turn on Err LED, then it will save the

error code in sequence for user analysis.

2.2.2

Programming

2.2.2

Programming

2.2.2

2.2.2 Programming

Programming port

KS provides 2 communication ports,PORT1 and PORT2.It supports baudrate up to 115.2kbps.PORT1 can

be used as programming port and also support Modbus RTU slave protocol and free protocol.PORT2

supports Modbus RTU protocol (as a slave or master) and free protocol.

PS232 programming port is in the RJ45 port. Pins and functions as below,

port

port and

and

and serial

serial

port

serial

port

serial port

port

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RS232 can ’ t insert and release with power. So we should turn off power of CPU or PC, otherwise i t will

break ports.

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2.2.

3

CAN

2.2.

3

2.2.

2.2. 3

3 CAN

KS105C1-16DT has 1 CAN port, CAN2.It can support CANopen master and free protocol .

KS105C2-16DT has 2 CAN port,,CAN1 and CAN2. CAN2 can support CANopen master and free

protocol.CAN1 can support free protocol.

2.2.4

2.2.4 Expansion

KS105-16DT has expansion port, it can connect KS series expansion modules

CAN1 port of KS105C2-16DT can work as expansion port, also it support protocol. Users can use them

directly without setup , PLC can identify it automatically.

2.2.5

2.2.5 High

K S provides 4 high speed counters (HSC0~HSC3).High speed counter supports multiple modes: single phase,

CW/CCW(Up/Down),AB phase (1 multiplication and 4 multiplication). All can support up to

20 0KHz(Include single phase and AB phase).

port

CAN

port

CAN port

port

Expansion

Expansion modules

High

High Speed

modules

Speed

Counter

Speed

Counter

Speed Counter

Counter and

and

and High

High

Speed

High

Speed

High Speed

Speed Pulse

Pulse

Output

Pulse

Output

Pulse Output

Output

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K S provides 4 high speed pulse outputs(Q0.0,Q0.1 and Q0.4 , Q0. 5 ).All support PTO and PWM.Q0.0 and

Q0.1 ,Q0.5 support up to 20 0KHz (The resistor of load should be less than 3K Ω ),Q0.4 supports up to 10KHz.

2.2.6

Edge

2.2.6

2.2.6 Edge

I0.0-I0.3 in CPU support edge interrupt function, it can execute interrupt by rising edge and falling edge of

input signal. By using this function, it can capture the rising edge and falling edge of input signal quickly. For

some input signal whose pulse width is less than the CPU scan time, it can respond quickly.

2.2.7

2.2.7 Data

Data retentive means the data in RAM can retain after power failure.CPU provides a lithium battery

(Replaceable but un-rechargeable) for data retentive. When CPU loses power, the data in the RAM will be

maintained by the lithium battery , and the retentive ranges will be left unchanged at next power on. Through

[Hardware]

[Hardware] configuration in KincoBuilder, user can select the type of data retentive (Such as V,C area) and

the range. The life of battery is 5 years and the retaining duration is 3 years at normal temperature.

Interrupts

Edge

Interrupts

Edge Interrupts

Interrupts

Data

Retentive

Data

Retentive

Data Retentive

Retentive and

and

Data

and

Data

and Data

Data Backup

Backup

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Data backup is that CPU provides an E2PROM to store data permanently. At power on, the CPU will restore

the data from E2PROM into RAM to execute.

Note:

Because

Note:

Because

Note:

Note: Because

Because E2PROM has a writing limit of 1 million times, users should avoid to write data into data

backup area frequently.

There are 448 bytes in V area for data backup (VB3648--VB4095),the data in this area will save in E2PROM

automatically.K2 sets VB3648--VB3902 as data backup by default,if user needs to use VB3903--VB4095 for

data backup,it needs to configure in 【 PLC hardware configuration 】 .The configuration interface is as

following figure.

2.2.8

Real-time

2.2.8

Real-time

2.2.8

2.2.8 Real-time

Real-time Clock

Clock

(RTC)

Clock

(RTC)

Clock (RTC)

(RTC)

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The real-time clock built in the all CPU modules can provide real-time clock/calendar indication. Users need to

use KincoBuilder 【 PLC 】 -> 【 Time of Day Clock... 】 to set the clock when using RTC first time. Then users can

use real-time clock instructions （ READ_RTC 、 SET_RTC 、 RTC_W 、 RTC_R ） .

After CPU power off , the real-time clock can be maintained by lithium battery. The life of battery is 5 years

and the retaining duration is 3 years at normal temperature.

2.2.9

Backup

2.2.9

Backup

2.2.9

2.2.9 Backup

Backup Battery

K S can use certain specification lithium battery as backup battery. When PLC is power -off , it will use the

backup battery to maintain real-time clock and RAM.

The backup battery is removable, user can replace new battery by themselves when the battery is empty.

The lithium battery is CR2032(3V) with connector. As shown in figure,

user can order the battery separately.

Battery

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2.3

Wiring

2.3

Wiring

2.3

2.3 Wiring

Wiring diagram

diagram

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2.4

Dimension

2.4

Dimension

2.4

2.4 Dimension

Dimension

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2.5

Technical

2.5

Technical

2.5

2.5 Technical

Technical Specification

� DI Specifications

Input type Source/Sink

Rated input voltage DC 24V (Max. 30V)

Rated input current 3.5mA@24VDC

Max input voltage of logic 0 5V@0.7mA

Minimum input voltage of logic 1 Common channel: 11V@2.0mA

Input filter time delay

· off-to-on

· on-to-off

Isolation between input and internal circuit

Specification

1.2 μ s

0.5 μ s;

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· Mode

· Voltage

� DO Specifications(Transistor type)

Output type Source

Rated power supply voltage

Output current per channel Rated current:200mA,max.300mA @24VDC

Instant impulse current per channel 1A,less than 1s

Output leakage current Max.0.5 ц A

Output impedance Max. 0.2 Ω

Output delay

· off-to-on

· on-to-off

Protection ：

· Reverse polarity protection of power supply

· Inductive load protection

· Short-circuit protection

· Reverse polarity protection of output

Isolation between output and internal circuit

· Mode

· Voltage

Opto-electrical isolation

500VAC/1 min

DC24V,allowance range: DC20.4V — DC28.8V.(Same

as power supply)

Common channel: 1 2 μ s; HSC channel: 0.5 s;

Common channel: 35 μ s; HSC channel: 1 μ s;

No

Yes

Yes,

less than 10s.

Opto-electrical isolation

500VAC/1 min

Chapter 3 Software Introduction

2.1

Overview

2.1

Overview

2.1

2.1 Overview

Overview

Based on K5, KS use same Kincobuilder software and instructions. Users can reference K5/K2 manual

for most functions. The main difference is the new functions.

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2.2

High

speed

2.2

High

2.2

2.2 High

High speed

K S provides 4 high speed counters HSC0-HSC3. All can support up to 20 0KHz

High speed counter supports multiple modes: single phase, CW/CCW,AB phase (1 multiplication and 4

multiplication).

All high speed counter can support maximum 32 PV and support 32 “ CV=PV ” interrupts. PV can be set as

relative value or absolute value. If it is relative value ,

2.2.1

Operation

2.2.1

Operation

2.2.1

2.2.1 Operation

Operation Modes

Input signals of high-speed counter include: clock (input impulse), direction, start and reset.

In different operation modes input signals is different. Please see below:

counter

speed

counter

speed counter

counter

Modes

Modes and

and

Inputs

and

Inputs

and Inputs

Inputs of

of

the

High-speed

of

the

High-speed

of the

the High-speed

High-speed Counters

Counters

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HSC

HSC 0

Mode

Mode Description

0

Single-phase up/down counter

with internal direction control: SM37.3

2 Reset Start

3

Single-phase up/down counter

with external direction control

4 Reset Direction

Two-phase counter with up/down clock

6

inputs

9 A/B phase quadrature counter Clock

Mode

Mode Description

0

Single-phase up/down counter

with internal direction control: SM47.3

2 Reset Start

3

Single-phase up/down counter

with external direction control

4 Reset Direction

6

Two-phase counter

with up/down clock inputs

7 Reset

Description

Description I0.1

Description

Description I0.4

0

I0.1

I0.1 I0.0

Clock1 Reset

Clock

Clock Down Clock Up

HSC1

I0.4

I0.4 I0.6

A

I0.6

I0.6 I0.3

Clock B

I0.0

I0.0 I0.5

I0.3

I0.3 I0.2

Clock1 Reset

Clock

Down

I0.5

Direction

I0.2

Direction

Clock Up

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9

A/B phase quadrature counter Clock

10 Reset

HSC

2

HSC

2

HSC

HSC 2

2

Mode

Mode Description

Single-phase up/down counter

0

with internal direction control: S M57.3

9 A/B phase quadrature counter Clock

Mode

Mode Description

Single-phase up/down counter

0

with internal direction control: S M1 2 7.3

9 A/B phase quadrature counter Clock

2.2.2

Control

2.2.2

Control

2.2.2

2.2.2 Control

Control Byte

Byte

Byte and

Description

Description I0.4

HSC

3

HSC

3

HSC

HSC 3

3

Description

Description I0.6

and

Status

and

Status

and Status

Status Byte

Byte

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I0.4

I0.4 I0.5

Clock

A

I0.6

I0.6 I0.7

A

Clock B

Clock

Clock B

I0.5

I0.7

Clock B

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�

Control

�

Control

�

� Control

Control Byte

In SM area,each high-speed counter is assigned control byte to save its configuration data: one control

word (8 bit), current value and pre-set (double-integer with 32 bit). Initial value of current assigned value. If

the current value is written in the high-speed counter, it will start counting from that value. Please see below:

HSC0

HSC0 HSC1

SM37.0 SM47.0 SM57.0 SM1 2 7.0

SM37.1 SM47.1 SM57.1 SM1 2 7.1

SM37.2 SM47.2 SM57.2 SM1 2 7.2

SM37.3 SM47.3 SM57.3 SM1 2 7.3

SM37.4 SM47.4 SM57.4 SM1 2 7.4 Write counting direction in HSC? 0= NO; 1=

SM37.5 SM47.5 SM57.5 SM1 2 7.5 Write new pre-set value in HSC? 0= NO; 1=

SM37.6 SM47.6 SM57.6 SM1 2 7.6 Write new current value in HSC? 0= NO; 1=

SM37.7 SM47.7 SM57.7 SM1 2 7.7 Allow this high-speed counter? 0=NO; 1= YES

HSC0

HSC0 HSC1

SMD38 SMD48 SMD58 SMD1 2 8 Current value

SMD42 SMD52 SMD62 SMD1 3 2 Pre-set value

Byte

HSC1

HSC1 HSC2

HSC1

HSC1 HSC2

HSC2

HSC2 HSC3

HSC2

HSC2 HSC3

HSC3

HSC3 Description

Effective electrical level of reset signal：0=high；1=low

Effective electrical level to start signal ： 0=high ； 1=low

Orthogonal counter rate ： 0=1x rate ； 1=4x rate

Counting direction:0=Decrease ； 1=Increase

HSC3

HSC3 Description

Description

*

Yes

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HSC0

HSC0 HSC1

SM141.0 SM151.0 SM161.0 SM171.0 Use multiple preset value:0=No. 1=Yes.

SM141.1 SM151.1 SM161.1 SM171.1

SM141.2 SM151.2 SM161.2 SM171.2

SM141.3 SM151.3 SM161.3 SM171.3 Reserved

SM141.4 SM151.4 SM161.4 SM171.4

SM141.5 SM151.5 SM161.5 SM171.5 Reset interrupt variable:0=Yes. 1=No.

SM141.6 SM151.6 SM161.6 SM171.6 Reserved

SM141.7 SM151.7 SM161.7 SM171.7 Reserved

HSC0

HSC0 HSC1

SMW142 SMW152 SMW162 SMW172

HSC1

HSC1 HSC2

HSC1

HSC1 HSC2

HSC2

HSC2 HSC3

HSC2

HSC2 HSC2

HSC3

HSC3 Description

HSC2

HSC2 Description

Description

Preset value type:0=Absolute value. 1=Relative

value.

Preset value comparison interrupt ( “ CV=PV ” ) cyclic

execution.

0=No. 1=Yes.

Note:Only valid when preset value is relative value.

Update multiple PV segment and preset value:0=No.

1=Yes

Description

Starting value of preset value table （ It is offset

corresponding to VB0),it must be odd value.

It needs to pay attention that not all the control bits of the control byte is suitable for all operation mode. For

example, “ Counting direction ” and “ Write counting direction in HSC ” can be only used in mode 0,1 and 2

(Single-phase up/down counter

with internal direction control),if the operation mode is with external direction control, then these two bits

will be ignored.

The control byte, current value and preset value are 0 by default after power on.

Status

Byte

Status

� Status

counter.

HSC0

HSC0 HSC1

SM36.0 SM46.0 SM56.0 SM1 2 6.0 Reserved

SM36.1 SM46.1 SM56.1 SM1 2 6.1 Reserved

SM36.2 SM46.2 SM56.2 SM1 2 6.2 Reserved

SM36.3 SM46.3 SM56.3 SM1 2 6.3 Fault in multiple PV value table:0=No,1=Yes

Byte

Status Byte

Byte

In SM area, each high-speed counter has a status byte, which indicates the current status of high speed

HSC1

HSC1 HSC2

HSC2

HSC2 HSC3

HSC3

HSC3 Description

Description

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SM36.4 SM46.4 SM56.4 SM1 2 6.4 Reserved

SM36.5 SM46.5 SM56.5 SM1 2 6.5

SM36.6 SM46.6 SM56.6 SM1 2 6.6

SM36.7 SM46.7 SM56.7 SM1 2 6.7

HSC0 HSC1 HSC2 HSC3 Description

SMB140 SMB150 SMB160 SMB170 Current PV segment No.(Start from 0)

2.2.3

Preset

2.2.3

Preset

2.2.3

2.2.3 Preset

Preset value

K S supports up to 32 PV value for each high speed counter, and supports setting PV value as relative value or

absolute value. It supports “ CV=PV ” interrupt cyclic execution.

Follows take HSC0 as example to describe PV value function and setting.

�

How

�

How

�

� How

How to

value

value (PV

to

select

to

select

to select

select “

(PV

(PV value)

“

multiple

“

multiple

“ multiple

multiple PV

value)

setting

value)

setting

value) setting

setting

PV

”

mode

PV

”

mode

PV ”

” mode

mode

Current counting direction:

0 = Down; 1= Up

Current value equal to preset value:

0 = No,1 =

Current value greater than preset value:

0 = No,1 =

Yes

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In the control byte of each high speed counter, there is one control bit for enable multiple preset value.

In HSC0, this control bit is SM141.0.

If SM141.0 is 0,it will use single PV value, same as K5 PLC.SMD42 is for new PV value,SM37.5 is to

update this new PV value.

If SM141.0 is 1,it will use multiple PV values. In this situation,SM37.5 and SMD42 is invalid. All the PV

values will be in the PV table(SMW142 is for starting address of the table),SM141.4 defines whether it use

the data in PV table or not.If SM141.4 is 1,it means when HSC starts, it will get the data from PV table. If

SM141.4 is 0,when HSC starts,it will ignore the data in PV table and get the data from last preset value.

�

Multiple

�

Multiple

�

� Multiple

Multiple PV

If using PV table,all the PV value will get from PV table.

Each HSC provides one control word which is used to set the starting address of PV table.If using multiple

PV,then all PV value will get from PV table.The starting address of PV table is odd address of V area,such as

301(Means VB301).

The format of PV table is as follows.

PV

table

PV

table

PV table

table

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OFFSET

（ 1

（

（ 4

（1）

0 BYTE Quantity of PV

1 DINT First PV

5 DINT Second PV

… DINT …

1

1 ） All the offset value are the offset bytes related to the table.

2

When it is set as relative value,then the absolute value of PV data must be greater than 1,or PLC

）

will consider the segment of multiple PV finish and count the number of PV according to

this(Higher priority than setting quantity of PV).

When it is set as absolute value,the difference between two adjacent PV ’ s absolute value must be

greater than 1,or PLC will consider the segment of multiple PV finish and count the number of PV

according to this(Higher priority than setting quantity of PV).

3

“ CV=PV ” interrupts must execute in sequence,it means that after the counter reaches the first PV

）

and executes interrupt,then it will compare with the second PV and so forth.

4

4 ） PV must be set reasonably.Here takes relative value as example,if it is positive counting,PV must

be greater than 0,otherwise the “ CV=PV ” interrupt will never execute.If it is negative counting,PV

must be less than 0,otherwise the “ CV=PV ” interrupt will also never execute.

Data

type

Data

type

Data

Data type

type Description

Description

�

Relative

�

Relative

�

� Relative

Relative value

In the control byte of each high speed counter, there is one control bit which is used to set PV as relative

value or absolute value.

For HSC0,the control bit is SM141.1.

If SM141.1 is 0,it means PV is absolute value. When counting value is equal to

interrupt. For example,if it sets 3 PV values,such as 1000,2000 and 3000,then when counting value reaches

1000,it will execute the first “ CV=PV ” interrupt. When the counting value reaches 2000,it will execute the

second “ CV=PV ” interrupt and so forth.

If SM141.1 is 1,it means PV is relative value.If counter takes current counting value as reference,when

the value it continues to count is equal to

values,such as 10,1000 and 1000,and the current counting value is 100 before HSC starts,then when the

value

value and

and

absolute

and

absolute

and absolute

absolute value

value

PV,it

will execute “ CV=PV ”

PV,it

will execute “ CV=PV ” interrupt.For example,if it sets 3 PV

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counting value reaches 110,1110 and 2110,it will execute corresponding “ CV=PV ” interrupt.

�

“

CV=PV

”

�

“

CV=PV

�

� “

“ CV=PV

CV=PV ”

“ CV=PV ” interrupt cyclic execution is only valid when PV is set as relative value.

If SM141.0 is 0,it means “ CV=PV ” interrupt only executes once.When all interrupts finish execution,then it

will stop.If it needs to execute again, it must modify the related registers and execute HSC instruction again.

If SM141.0 is 1,it means “ CV=PV ” interrupt is cyclic execution.When the last PV interrupt finishes

execution,PLC will take the current counting value as reference to calculate new value for PV interrupt,then

it will start to compare the counting value and execute “ CV=PV ” interrupt and so forth.This process will

execute cyclically.

For example,it sets 3 PV values,such as 10,1000 and 1000.And the current counting value is 100 before HSC

starts,then the value for every interrupt is as following table.

interrupt

”

interrupt

” interrupt

interrupt cyclic

cyclic

execution

cyclic

execution

cyclic execution

execution

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Current

Current counting

value

100 1st time 110 1110 2110

2110 2nd time 2120 3120 4120

4120 3rd time 4130 5130 6130

… N time … … …

2.2.4

2.2.4 “

When it uses single PV mode, the HSC will be fully compatible with K5 (Include “ CP=PV ” event No.).

When it uses multiple PV mode, the HSC will assign a new event No. for 32

High

High speed

counter

HSC0

HSC1

HSC2 128 “ CV=PV ” interrupt of 1st PV

counting

“

CV=PV

“

CV=PV

“ CV=PV

CV=PV ”

speed

Interrupt

Interrupt times

”

Envent

”

Envent

” Envent

Envent No.

Interrupt

Interrupt No.

64 “ CV=PV ” interrupt of 1st PV

65 “ CV=PV ” interrupt of 2nd PV

… …

95 “ CV=PV ” interrupt of 32nd PV

96 “ CV=PV ” interrupt of 1st PV

97 “ CV=PV ” interrupt of 2nd PV

… … （ Plus 1 ）

127 “ CV=PV ” interrupt of 32nd PV

times

times First

No.

No. Description

Description

First

value

First

value

First value

value Second

Plus 1

（

）

Second

value

Second

value

Second value

value Third

PV,

Third

value

Third

value

Third value

value

as shown in following table.

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129 “ CV=PV ” interrupt of 2nd PV

… … （ Plus 1 ）

159 “ CV=PV ” interrupt of 32nd PV

160 “ CV=PV ” interrupt of 1st PV

HSC3

2.2.5

How

2.2.5

How

2.2.5

2.2.5 How

How to

�

Method

�

Method

�

� Method

Method 1:Use

1) Configure the control byte of HSC and define the current value (i.e. starting value) and the preset value.

2) Use HDEF instruction to define the counter and its operation mode.

3) (Optional) Use ATCH instruction to define the interrupt routines.

4) Use HSC instruction to start the high-speed counter.

161 “ CV=PV ” interrupt of 2nd PV

… … （ Plus 1 ）

191 “ CV=PV ” interrupt of 32nd PV

to

use

high

speed

to

use

high

to use

use high

high speed

1:Use

instructions

1:Use

instructions

1:Use instructions

instructions for

counter

speed

counter

speed counter

counter

for

programming

for

programming

for programming

programming

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Method

�

Method

Method 2:Use

�

In K2 PLC, it provides configuration wizard for high speed counter. Users can use the wizard to configure all

high speed counters and don ’ t need to program. The wizard is as following figure:

After using wizard to configure HSC, user also can use “ M

2:Use

wizard

2:Use

wizard

2:Use wizard

wizard of

of

of HSC

HSC

M

ethod

M

M ethod

1

ethod

1

ethod 1

1 ” to modify the parameters of HSC.

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How to use HSC wizard:

1

Select the counter in【HSC

）

2 ） Check 【 Enable HSC 】 , and then continue following configuration.

3 ） Select counter mode in 【 Mode 】 .

4 ） Select the starting mode in 【 Start method 】 .

There are two starting method

“ Using HSC instruction ” : If selecting this method , then it needs to execute HSC instruction to start the

HSC . Before executing HSC instruction, it doesn ’ t need to configure the registers and execute HDEF

.

】

:

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instruction.

“ Run directly at PLC startup ” : If selecting this method , then the HSC will start automatically after PLC

power on without executing any instructions.

5 ） If user needs to use multiple PV mode, then check 【 Enable multiple PVs 】 and continue to configure all

PV value s and related ‘ Value’and ‘ I nterrupt subroutine ’ . If check ing 【 Update PV and quantity 】 , then

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it can adjust the value in【Quantity】to modify the number of

6 ） If user needs to use single PV mode, then check 【 Update preset value(PV) 】 in ‘ Single PV settings’and

modify the PV value and related interrupt subroutine.

7 ） For other options, please refer to the descriptions to HSC .

2.3

How

to

use

high

speed

pulse

2.3

How

to

use

high

2.3

2.3 How

How to

to use

use high

Kinco-K S provides 4 channels for high speed pulse output, they are Q0.0,Q0.1 and Q0.4 ,Q0.5.All support

PT0 and PWM output.

. Q0.0 and Q0.1 ,0.4 support maximum 20 0KHz, and Q0. 5 supports maximum 1 0KHz.

KS have one direction output channel for every high speed output. KS provide 1 direction enable control in

SM area.

D irection output

channel

D irection enable

speed

high speed

speed pulse

output

pulse

output

pulse output

output

Q0.0 Q0.1 Q0. 4 Q0. 5

Q0.2 Q0.3 Q0. 6 Q0. 7

SM201.3 SM231.3 SM2 5 1.3 SM2 2 1.3

PV.

C ontrol

Direction output channel output motor direction control signal, corotation output 0,inversion output 1.

Direction enable control can forbid or allow direction output channel. It is highest primary.

If it is forbidden , it won ’ t output direction control signal. The channel will work as common DO.

2.3.1 High speed pulse output instruction

K S provides 3 types of instructions for high speed pulse output.

1 ） PLS: it is used to output PTO(Single segment or multiple segments) and PWM.

2

2 ） Position control: There are 5 instructions, include PREL(Relative positioning), PABS(Absolute

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positioning) ,PHOME(Homing), PJOG(Jogging) and PSTOP(Emergency stop). User can use these

Note:

When

using

instructions to achieve positioning control easily . Note:

Note:

Note: When

When

using

When using

using position

position

position control

control

control instructions,

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instructions,

instructions, the

series

the

frequency

frequency of

3 ） Following instruction PFLO_F: There are parameters such as input frequency (F) ,electronic gear

ratio (

The frequency of pulse output is equal toFmultiple by electronic gear ratio. When the pulse number

reaches the value

instruction,

instruction, the

2.3.2

How

2.3.2

How

2.3.2

2.3.2 How

How to

PLS instruction can implement PTO and PWM output function.

• PTO ： Pulse Train Output .

PWM

•

Descriptions

�

LD

LD PLS

of

output

of

of output

NUME 、 DENOM

the

the frequency

to

use

to

use

to use

use PLS

Pulse-Width Modulation.

：

Name

Name Usage

pulse

output

pulse

output pulse

pulse must

COUNT

frequency

frequency of

PLS

instruction

PLS

instruction

PLS instruction

instruction

) , pulse number(

Usage

Usage Group

must

be

not

less

than

must

be

not

be not

less

not less

less than

COUNT

pulse

pulse must

must be

, then it will stop output and set

of

output

of

output

of output

output pulse

125Hz.

than

125Hz.

than 125Hz.

125Hz.

) and so on, these parameters can be used as variable.

must

be

be not

not

not less

must

must be

Group

Group Suitable

DONE

less

than

less

than

less than

than 30Hz.

Suitable

Suitable for

K2

K5

Note:

bit. Note:

Note: When

30Hz.

for

When

using

When

using

When using

using following

following

IL

IL PLS PLS

Operan

ds

Q

The PLS instruction is used to load the corresponding configurations of the PTO/PWM from the specified

SM registers and then start outputting pulse until it finish outputting pulse. The pulse output channel is

specified by parameter Q, 0 means Q0.0,1 means Q0.1,2 means Q0.4.

Note: In user program, it only needs to execute PLS instruction once when it is required. It is suggested to use

Input/Out

put

Input INT Constant （ 0 、 1 or 2 ）

Q

Data

Type

Data

Type

Data

Data Type

Type Description

U

Description

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edge instruction to execute PLS instruction. If executing PLS executing all the time, then it can ’ t output

normally.

LD

•

If EN is 1,then PLS is executed.

IL

•

If CR is 1,then PLS is executed. It won ’ t influence the value of CR.

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2.3.2.1

2.3.2.1 High-speed

The Kinco-K S provides 4 PTO/PWM pulse generators that can be used to output PTO/PWM. Thereof, one

generator is assigned to Q0.0, called PWM0 or PTO0; the second one is assigned to Q0.1, called PWM1 or

PTO1,and the third one is assigned to Q0.4,called PWM2 or PTO2. The forth one is assigned to Q0. 5 ,called

PWM 3 or PTO 3 .

The PTO/PWM pulse generators and the DO mapping area share the memory address Q0.0 ,Q0.1 and Q0.4 、

Q0.5 . When the user program executes the high speed pulse output instructions, then the PTO/PWM generator

controls the output and prohibits the normal use of this output channel.

relay-output!

�

� PWM

PWM provides a continuous pulse output with a variable duty cycle, and you can control the cycle time and the

pulse width.

The unit of cycle time and pulse width time is microsecond(us) or millisecond(ms). The maximum value of

High-speed

High-speed Pulse

Notice: Make sure not to use the PTO and PWM functions if Q0.0 ,Q0.1 and Q0.4 ， Q0.5 are

PWM

Pulse

Output

Pulse

Output

Pulse Output

Output Function

Function

cycle time is 65535. If the pulse width time is greater than the cycle time value, the duty cycle is set to be

100% automatically and the output is on continuously. If the pulse width time is 0, the duty cycle is set to be

0% and the output is off.

PTO

�

PTO

�

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PTO provides a square wave (50% duty cycle) output, and you can control the cycle time and the number of

the output pulses . The unit of cycle time is microsecond(us) or millisecond(ms).The maximum value of cycle

time is 65535.The range of pulse number is 2~4,294,967,295.If the specified pulse number is less than 2, then

KInco-K S will set related error bit and prohibit the output.

PTO function provides single segment of pulse and multiple segment of pulse.

Single

segment

Single

• Single

In single segment pulse mode, it only executes pulse train output once after executing PLS instruction.

segment

Single segment

segment pulse

pulse

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Multiple

• Multiple

Multiple segment

In multi-segment pulse mode, CPU automatically reads the configurations of each PTO segment from a

profile table located in V area and executes the related PTO segment.

The length of each segment is 8 bytes, including a cycle time value (16-bit, WORD ) , a reserved value (It

is not used now,16-bit, INT) , and a pulse number value (32-bit, D WORD) .Thereof, all the pulse output

frequency are the same in same segment. It uses PLS instruction to start multiple segment pulse.

In this mode , t he starting address of the profile table is stored in SMW168 (corresponding to PTO0 ) ,SMW178

(corresponding to PTO1) and SMW268(corresponding to PTO2) .T ime base is configured by SM67.3

(corresponding to PTO0) ,SM77.3 (corresponding to PTO1) and SM87.3 (corresponding to PTO2) . The time

base can be in either microsecond or millisecond. All cycle values in the profile table must use same time base,

and cannot be modified when the profile is executing.

The following table describes the format of the profile table.

Byte

offset

Byte

offset

Byte

Byte offset

offset

0 8-bit The number of segments (1 to 64)

1 16-bit

3 16-bit Reserved

segment

segment pulse

1

Length

Length Segment

pulse

Segment

Segment Description

1

Description

Initial cycle time (2 to 65535 times of the time base)

5 32-bit Pulse number(1 to 4,294,967,295)

9 16-bit

11 16-bit Reserved

13 32-bit Pulse number(1 to 4,294,967,295)

2

Initial cycle time (2 to 65535 times of the time base)

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… … …

1

1 All the offsets in this column are relative to the starting position of the profile table.

Notice: the starting position of the profile table must be an odd address in V area , e.g. VB3001.

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2.3.2.2

2.3.2.2 PTO/PWM

Each PTO/PWM generator is provided with some registers in SM area to store its configurations, as shown in

following table.

Q0.0

Q0.0 Q0.1

SM67.0 SM77.0 SM 9 7.0 SM 10 7.0 PTO/PWM

SM67.1 SM77.1 SM 9 7.1 SM 10 7.1 PWM

SM67.2 SM77.2 SM 9 7.2 SM 107 .2 PTO

SM67.3 SM77.3 SM 9 7.3 SM 107 .3 PTO/PWM Time base: 0=1 μ s ； 1=1ms

SM67.4 SM77.4 SM 9 7.4 SM 107 .4 PWM

SM67.5 SM77.5 SM 9 7.5 SM 107 .5 PTO

SM67.6 SM77.6 SM 9 7.6 SM 107.6 Function selection: 0= PTO

SM67.7 SM77.7 SM 9 7.7 SM 107.7 PTO/PWM Enable/disable: 0=disable；1= enable

Q0.0

Q0.0 Q0.1

SMW68 SMW78 SMW 9 8 SMW 10 8 PTO/PWM Cycle time , Range: 2~65535

SMW70 SMW80 SMW 10 0 SMW 11 0 PWM Pulse width, Range: 0~65535

SMD72 SMD82 SMD 10 2 SMD 11 2 PTO Pulse number, Range: 1~4,294,967,295

SMW168

PTO/PWM

PTO/PWM Register

Q0.1

Q0.1 Q0.4

Q0.1

Q0.1 Q0.4

SMW17

8

Register

Q0.4

Q0.4 Q0.4

Q0.4

Q0.4 Description

SMW2 1 8 SMW2 4 8

Q0.4

Q0.4 Description

Description

The starting location of the profile table (byte offset from

V0)For multi-segment PTO operation only

Whether to update the cycle time:

0 = No; 1 = Yes

Whether to update pulse width time: ： 0=No

1=Yes

Wheter to update the pulse number: ： 0=No

1=Yes

Update method:

0 = asynchronous update; 1 = synchronous

update

Operation mode:

0 = single segment; 1 = multiple segment

1=PWM

；

All the default value for control byte, cycle time and pulse number are 0.The way to modify configuration of

PTO/PWM is that configure related control registers first, if it is PTO multiple segment pulse, it also needs to

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configure profile table, and then execute PLS instruction.

Each PTO/PWM generator also provides a status bytes in SM area, user can get the status information of

PTO/PWM generator from the status bytes, as shown in following table.

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Q0.0

Q0.0 Q0.1

SM66.0 SM76.0 SM 9 6.0 SM 10 6.0 Reserved

SM66.1 SM76.1 SM 9 6.1 SM 10 6.1 Reserved

SM66.2 SM76.2 SM 9 6.2 SM 10 6.2 Reserved

SM66.3 SM76.3 SM 9 6.3 SM 10 6.3 PWM idle: 0=No, 1=Yes

SM66.4 SM76.4 SM 9 6.4 SM 10 6.4

SM66.5 SM76.5 SM 9 6.5 SM 10 6.5

SM66.6 SM76.6 SM 9 6.6 SM 10 6.6 Reserved

SM66.7 SM76.7 SM 9 6.7 SM 10 6.7 PTO idle: 0=No, 1=Yes

2.3.3.3

2.3.3.3 PTO

The fallowing takes PTO0 as an example to introduce how to configure and operate the PTO/PWM generator

in the user program.

Q0.1

Q0.1 Q0.4

The PTO idle bit or PWM idle bit indicate the completion of the PTO or PWM output .

PTO

Operations

PTO

Operations

PTO Operations

Operations

Q0.4

Q0.4 Q0.

Q0.

Q0. 5

5

5 Description

Description

Whether the cycle time or pulse number of PTO is

wrong: 0=No, 1=Yes

Note:

Cycle

Note:

Cycle

Note:

Note: Cycle

Cycle time

than

1.

than

1.

than

than 1.

1.

PTO profile terminated due to user command:

0=No, 1=Yes

time

time and

and

pulse

and

pulse

and pulse

pulse number

number

number must

must

must be

be

greater

be

greater

be greater

greater

There are two procedures for using PTO: Configure related control registers and initialize PTO. Execute PLS

instruction.

Use SM0.1 (the first scan memory bit) to call a subroutine that contains the initialization instructions. Since

SM0.1 is used, the subroutine shall be executed only once, and this reduces CPU scan time and provides a

better program structure.

�

Execute

�

Execute

�

� Execute

Execute the

1) Set control byte SMB67 according to the desired operation.

For example, SMB67 = B#16#85 indicates:

the

PTO

the

the PTO

• Enable the PTO/PWM function

(Single-Segment

PTO

(Single-Segment

PTO (Single-Segment

(Single-Segment Operation)

Operation)

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• Select PTO operation

• Select 1 μ s as the time base

• Allow updating the pulse number and cycling time.

2) Set SMW68 according to desired cycle time.

3) Set SMD72 according to desired pulse number.

4) (Optional) use ATCH to a ttach the PTO0-complete event (event 28) to an interrupt routine to respond

in real time to a PTO0-complete event.

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5) Execute the

�

Changing

�

Changing

�

� Changing

Changing the

Follow these steps to change the PTO cycle time.

1) Set control byte SMB67 according to the desired operation.

For example, SMB67 = B#16#81 indicates :

• Enable the PTO/PWM function

•

• Select 1 μ s as the time base

• Allow updating the cycle time value.

2) Set SMW68 according to desired cycle time.

3) Execute the

shall be generated.

Changing

�

Changing

Changing the

�

PLS

in struction to configure PTO0 and start it .

the

PTO

the

the PTO

Select PTO operation

the

the PTO

Cycle

PTO

Cycle

PTO Cycle

Cycle Time

PLS

in struction to configure PTO0 and start it, then a new PTO with the updated cycle time

PTO

Pulse

PTO

Pulse

PTO Pulse

Pulse Number(Single-Segment

Time

(Single-Segment

Time

(Single-Segment

Time (Single-Segment

(Single-Segment Operation)

Number(Single-Segment

Number(Single-Segment Operation)

Operation)

Follow these steps to change the PTO pulse count:

1) Set control byte SMB67 according to the desired operation.

For example, SMB67 = B#16#84 indicates:

• Enable the PTO/PWM function

Select PTO operation

•

30

• Select 1 μ s as the time base

• Allow u pdating the pulse number

2) Set SMD72 according to desired pulse number.

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3) Execute the

number shall be generated.

�

Execute

�

Execute

�

� Execute

Execute the

1) Set control byte SMB67 according to the desired operation.

For example, SMB67 = B#16#A0 indicates:

• Enable the PTO/PWM function

• Select PTO operation

•

• Select 1 μ s as the time base

2) Set an odd number as the starting position of the profile table into SMW168.

3) Use V area to configure the profile table.

4) (Optional) Use ATCH to a ttach the PTO0-complete event (event 28) to an interrupt routine to respond in

real time to a PTO0-complete event.

5) Execute the

PLS

in struction to configure PTO0 and start it, then a new PTO with the updated pulse

the

PTO

the

the PTO

Select multi-segment operation

(Multiple-Segment

PTO

(Multiple-Segment

PTO (Multiple-Segment

(Multiple-Segment Operation)

PLS

instruction to configure PTO0 and start it .

Operation)

2.3.3.3

2.3.3.3 PWM

Following takes PWM0 as an example to introduce how to configure and operate the PTO/PWM generator in

the user program.

There are two procedures for using PWM: Configure related control registers and initialize PTO. Execute

PLS instruction.

Use SM0.1 (the first scan memory bit) to call a subroutine that contains the initialization instructions. Since

SM0.1 is used, the subroutine shall be executed only once, and this reduces CPU scan time and provides a

better program structure.

PWM

Operations

PWM

Operations

PWM Operations

Operations

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Execute

�

Execute

Execute PWM

�

1) Set control byte SMB67 according to the desired operation.

For example, SMB67 = B#16#D3 indicates:

2) Set SMW68 according to desired cycle time.

3) Set SMW70 according to desired pulse width.

4) Execute the

�

Changing

�

Changing

�

� Changing

Changing the

The following steps describes how to change PWM output pulse width.

1) Set control byte SMB67 according to the desired operation.

For example, SMB67 = B#16#D2 indicates:

PWM

• Enable the PTO/PWM function

• Select PWM operation

• Select 1 μ s as the time base

• Allow u pdating the pulse width value and cycle time value

PLS

in struction to configure PWM0 and start it .

the

Pulse

Width

for

the

PWM

the

Pulse

the Pulse

Pulse Width

Width

Width for

for

for the

the

the PWM

Output

PWM

Output

PWM Output

Output

• Enable the PTO/PWM function

• Select PWM operation

• Select 1 μ s as the time base

• Allow u pdating the pulse width value and cycle time value

2) Set SMW70 according to desired pulse width.

3) Execute the

2.3.3

How

2.3.3

How

2.3.3

2.3.3 How

How to

2.3.3.1

How

2.3.3.1

How

2.3.3.1

2.3.3.1 How

How to

�

Control

�

Control

�

� Control

Control Registers

For the Position Control instructions,KS1 specifies a control byte for each high-speed output channel t o store

PLS

to

Use

to

Use

to Use

Use Position

to

Modify

to

Modify

to Modify

Modify the

Registers

Registers and

in struction to configure PWM0 and start it .

Position

Position Control

Control

Control Instructions

the

Current

the

Current

the Current

Current Value

and

Status

and

Status

and Status

Status Registers

Instructions

Value

Value of

Registers

of

Position

of

Position

of Position

Position Control

Control

Control Instructions

Instructions

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its configurations . Besides, it assigns a current value register(DINT) to store the pulse number which has

outputted currently (This value will increase when run forward and decrease when run reverse).The following

table describes the control byte and the current value.

Description

Q0.0 Q0.1 Q0.4 Q0. 5 Description

SMD212 SMD242 SMD262 SMD2 26

SMD208 SMD238 SDM258 SDM2 22

Q0.0 Q0.1 Q0.4 Q0.4 Description

SM201.7 SM231.7 SM251.7 SM2 2 1.7

SM201.6 SM231.6 SM251.6 SM2 2 1.6

Description

Read only. Current value (Increase when run forward,

decrease when run reverse).It indicates the pulse number

which has already outputted.

Read/Write. New current value. Use to modify the current

value together with specific control bit.

Read/Write. Emergency-Stop bit.

If this bit is 1, no position control instructions can be

executed.

When executing the PSTOP instruction, this bit is set to 1

automatically, and it must be reset in the program. 。

Read/Write. Reset the current value or not

1 --- Clear the current value.

0 --- Maintain the current value. 。

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series

SM201.5 SM231.5 SM251.5 SM2 2 1.5 Reserved

Read/Write. Use to modify current value.

SM201.4 SM231.4 SM251.4 SM2 2 1.4

SM201.3 SM231.3 SM251.3 SM2 2 1.3

SM201.0

~

SM201.2

�

� How

Each high speed output channel has one register for current value, they are SMD212,SMD242 and

SMD262 ,SMD226 .The outputted pulse number are stored in these registers. Current value registers are read

How

How to

SM231.0~

SM231.2

to

modify

to

modify

to modify

modify current

SM251.0~

SM251.2

current

current value

value

SM2 2 1.0~

SM2 2 1.2

1 - Modify current value.

0 - Maintain the current value.

Read/Write. Direction control bit.

1 --- Disable the direction output channel, it will be used as

normal output.

0 --- Enable the direction output channel.

Reserved

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only, if user needs to modify the current value, it can use following methods.

•

Method

•

Method

•

• Method

Method 1

User reset bit to clear current value.

The reset bits for 4 output channels are SM201.6 、 SM231.6 、 SM251.6 and SM221.6 .

When the reset bit is 1, PLC will set the current value as 0.Therefore, t only needs one scan time for the

reset bit to activate. When it needs to use this bit, try to avoid to keep this bit always 1 and also and also

avoid to set this bit while the Position Control instruction (Include PHOME, PREL, PABS, JOG and PFLO_F)

is executing , othe rwise the counting value may be wrong.

Following takes channel 0 as example to describe how to reset current value.

(* Network 0 *)

(*Based on homing signal, when it moves to homing, it requires to clear current value*)

LD %SM0.0

PHOME 0, %M0.0, %M0.1, %M0.2, %VW0, %VW2, %VW4, %VD6, %VW10, %M0.4, %M0.5, %MB1

(* Network 1 *)

(*After PHOME finishing, it uses finishing bit “ DONE ” to clear current value*)

LD %M0.4

R_TRIG

ST %SM201.6

1

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series

•

Method

•

Method

•

• Method

Method 2

Modify current value by using following registers.

Q0.0 Q0.1 Q0.4 Q0. 5 Description

SMD208 SMD238 SDM258 SDM2 22

SM201.4 SM231.4 SM251.4 SM2 21 .4

Here takes channel 0 as example to describe the method: If SM201.4 is 0,then it will maintain the current

value SMD212. If SM201.4 is 1, then it will move the value of SMD208 to SMD212.When it needs to use

this bit, avoid to keep this bit always 1 and also avoid to set this bit while the Position Control instruction

(Include PHOME, PREL, PA BS, JOG and PFLO_F) is executing, otherwise the counting value may be

2

Read/Write. New current value. Use to modify the

current value together with specific control bit.

Read/Write. Use to modify current value.

1 - Modify current value.

0 - Maintain the current value. 。

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wrong.

Following takes channel 0 as example to describe how to modify current value:

(* Network 0 *)

(*Based on homing signal, hen it moves to homing, t requires to set current value as 100.*)

LD %SM0.0

PHOME 0, %M0.0, %M0.1, %M0.2, %VW0, %VW2, %VW4, %VD6, %VW10, %M0.4, %M0.5, %MB1

(* Network 1 *)

(*When PHOME instruction finishing, it uses finishing bit DONE to modify current value.*)

LD %M0.4

R_TRIG

MOVE DI#100, %SMD208

ST %SM201.4

2.3.3.2

Can

it

change

2.3.3.2

2.3.3.2 Can

Can

Can it

it

it change

maximum

change

maximum

change maximum

maximum output

output

frequency

output

frequency

output frequency

frequency when

when

position

when

position

when position

position control

control

instruction

control

instruction

control instruction

instruction is

is

executing?

is

executing?

is executing?

executing?

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S

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series

PREL （ Relative position ） and PABS （ Absolute position ） will not change maximum output frequency when

it is executing . It will read the parameters minimum frequency, maximum frequency and

acceleration/deceleration time parameters when it starts, and calculates suitable acceleration/deceleration

segments according to the value of these parameters, then it will start outputting pulse. During pulse

outputting, PREL and PABS will not read the parameters above again, therefore, changing these parameters

will not affect the pulse output.

PJOG （ Jogging ） will read pulse input frequency(MAXF) all the time when it is executing, and adjust the

pulse output frequency according to new setting frequency.

PHOME （ Homing ） will read the maximum frequency (MAXF) all the time when it is running at maximum

frequency but hasn ’ t found homing signal, and calculate acceleration or deceleration segment automatically

according the new setting frequency, then it will accelerate or decelerate to new frequency to output pulse.

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2.4

How

to

use

2.4

How

2.4

2.4 How

How to

KS105C1-16DT has 1 CAN port, CAN2

KS105C2-16DT has 2 CAN ports,CAN1 and CAN2.

CAN2 support CANopen master protocol and free protocol.CAN1 support free protocol.

CANopen master function of KS is same as K5 and K2.

For free communication instruction( （ CAN_INIT 、 CAN_WRITE 、 CAN_READ 、 CAN_RX ） ,CH parameters,0 is

CAN1,1 is CAN2.

CANopen

to

use

CANopen

to use

use CANopen

CANopen

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36

Kinco KS, KS105-16DT, KS105C1-16DT, KS105C2-16DT Series Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Chapter 1 General Introduction

Chapter 2 CPU Module Introduction

2.1.1 Structure

Chapter 3 Software Introduction

2.1 Overview

PTO/PWM Register

PWM Operations