Kinco KS series, KS105-16DT, KS105C1-16DT, KS123-14DR, KS122-12XR User Manual

...

Kinco-KS series

CONTENT

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

1.1 SUMMARY..............................................................................................................................3

1.2 PRODUCT LIST.......................................................................................................................3

1.3 ENVIRONMENTAL CONDITION............................................................................................... 4

CHAPTER 2 CPU MODULE INTRODUCTION.................................................................... 6

2.1 OVERVIEW............................................................................................................................. 6

2.1.1 Structure......................................................................................................................... 6

2.1.2 CPU Types......................................................................................................................6

2.2 FUNCTIONS............................................................................................................................ 8

2.2.1 CPU Status and LEDs....................................................................................................8

2.2.2 Programming port and serial port................................................................................ 10

2.2.3 CAN port......................................................................................................................10

2.2.4 Expansion modules.......................................................................................................11

2.2.5 High Speed Counter and High Speed Pulse Output.................................................... 12

2.2.6 Edge Interrupts............................................................................................................. 12

2.2.7 Data Retentive and Data Backup................................................................................. 12

2.2.8 Real-time Clock (RTC)................................................................................................ 13

2.2.9 Backup Battery.............................................................................................................13

2.3 WIRING DIAGRAM................................................................................................................14

2.4 DIMENSION..........................................................................................................................17

2.5 TECHNICAL SPECIFICATION................................................................................................. 17

CHAPTER 3 EXPANSION MODULES................................................................................. 19

3.1 INTRODUCTION....................................................................................................................19

Kinco-KS series

3.2 DO，DO 12×RELAY...........................................................................................................19

3.2.1 Wiring........................................................................................................................20

3.3 DI/O， DI 8×DC24V DO 6×RELAY.............................................................................. 20

3.3.1 Wiring...........................................................................................................................21

3.3.2 Technic specification.................................................................................................22

3.4 AI/O，AI 4×IV AO 2×IV，CURRENT/VOLTAGE INPUT/OUTPUT................................. 23

3.4.1 Wiring...........................................................................................................................23

3.4.2 measure range and measure value for AI.....................................................................24

3.4.3 AO output range and value format............................................................................24

3.4.4 Technical specification..............................................................................................25

CHAPTER 4 SOFTWARE INTRODUCTION....................................................................... 26

4.1 OVERVIEW........................................................................................................................... 26

4.2 HIGH SPEED COUNTER.........................................................................................................26

4.2.1 Operation Modes and Inputs of the High-speed Counters.......................................... 26

4.2.2 Control Byte and Status Byte.......................................................................................27

4.2.3 Preset value (PV value) setting.................................................................................... 29

4.2.4 “CV=PV” Envent No...................................................................................................32

4.2.5 How to use high speed counter.................................................................................... 33

4.3 HOW TO USE HIGH SPEED PULSE OUTPUT............................................................................35

4.3.1 High speed pulse output instruction.............................................................................36

4.3.2 How to use PLS instruction......................................................................................... 36

4.3.3 How to Use Position Control Instructions................................................................... 44

4.4 HOW TO USE CANOPEN...................................................................................................... 48

4.4.1 Wiring...........................................................................................................................48

4.4.2 Programming................................................................................................................48

Kinco-KS series

Name

Type

Description

CPU Module

CPU105

KS105-16DT

DC 24V, DI 8*DC24V，DO 8*DC24V.

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

Expandable(max 14 modules)

KS105C1-16DT

DC 24V, DI 8*DC24V，DO 8*DC24V

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

KS105C2-16DT

DC 24V, DI 8*DC24V，DO 8*DC24V

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

Expandable(max 14 modules)

Expansion modules

PM122

KS122-12XR

DC24V，DO 12*relay，Modbus slave

PM123

KS123-14DR

DC24V，DI 8*DC24V，DO 6*relay，Modbus slave

PM133

KS133-06IV

DC24V，4 analog input/2 analog output

4-20mA/1-5V/0-20mA/0-10V as option，Modbus slave

Chapter 1 General Introduction

1.1 Summary

Kinco KS 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 functions of K5/K2, KS series use

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

installation.

It can meet more user’s requirement.

1.2 Product List

Kinco-KS series

Transport and storage

Ambient

conditions

temperature

-40 --- +70 °C

relative

humidity

10%~95%, no condensation

Altitude

Up to 3000 m

Mechanical

conditions

Free falls

With manufacturer's original packaging, 5 falls from 1m

of height.

Normal Operation

Ambient

conditions

air

temperature

Open equipment : -10 --- +55°C; Enclosed equipment: -10

--- +40°C

relative

humidity

10%~95%, no condensation Altitude

Up to 2000 m

Pollution

degree

for use in pollution degree 2.

Mechanical

conditions

Sinusoidal

vibrations

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

1.75mm mplitude.

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

0.5g acceleration.

Shock

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

mutually perpendicular axes.

Electromagnet

Electrostatic

discharge

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

1.3 Environmental Condition

Kinco-KS 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-KS to work properly. It

is the user's responsibility to ensure that the service conditions are not exceeded.

Kinco-KS series

compatibility

(EMC)

High energy

surge

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.

Fast transient

bursts

main power: 2KV,

5KHz.

I/Os and Communication port:

1KV,

5KHz.

Performance criteria B.

Voltage drops

and

interruptions

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

for 10 periods; 75% voltage for 20 periods.

Performance criteria A.

Ingress Protection Rating

IP20

Chapter 2 CPU Module Introduction

2.1 Overview

2.1.1 Structure

Kinco-KS series

2.1.2 CPU Types

Kinco-KS 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.

Kinco-KS series

Parameters

KS105-16DT

KS105C1-16DT

KS105C2-16DT

Power supply

Rated voltage

DC24V

Voltage range

DC20.4V－28.8V

I/O

Digital

8*DI / 8*DO

Analog

Expansion14---

CAN

---

CANopen master、

slave and free protocol

CAN1 can support CANopen

slave and free protocol

CAN2 can support CANopen

master and free protocol.

Serial port

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

PORT1,RS485,support programming protocol, MODBUS RTU (as a master or

slave), free protocol

High speed

counter

4, Max 200KHz,support single and double

High speed

output

Channel 0&1&2 Max 200KHz （load resistance is less than 1.5KΩ at highest

frequency）。

Channel 3 Max 10KHz

Interrupt

4，I0.0-I0.3 interrupt up and down

Storage

Programming

Max 4K bytes instruction

Data

M area 1K bytes；V area 4K bytes

Data backup

E2PROM，448 bytes

Data retention

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

Other

Timer

256

1ms ：4

10ms ：16

100ms ：236

Timer

interruption

2，0.1ms

Counter

256

RTC

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

2.2 Functions

 Change CPU status

Kinco-KS series

2.2.1 CPU Status and LEDs

The CPU has two modes: 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 specified in the [Hardware Configuration] through Kincobuilder, and only

process communication requests which comes from KincoBuilder software and other

Modbus RTU master device.

Kinco KS provides two ways for manually changing the CPU status: Using the operation

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

Kincobuilder.

Usually when the PLC is power on, the PLC status is based on switch and Kincobuilder

Kinco-KS series

(1) The PLC status only depend on Kincobuilder RUN/STOP setup. The switch won’t be

a— PLC RUN mistake (strong mistake) will stop the PLC

b— The user use Kincobuilder [setup], PLC is RUN/STOP status

c— Users use STOP instruction to stop PLC

d— If downloading project failed, PLC will keep STOP status. Until below situation



CPU Status LED

[RUN] or [STOP]. If switch and Kincobuilder are RUN, the PLC real status is RUN. The

PLC real status is STOP for all other situation.

In below situation, the PLC status depend on single control way.

valid.

happen.

（2）PLC status only depend on switch, Kincobuilder RUN/STOP won’t be valid.

a—PLC is power on again. PLC status depend on the switch

b—Kincobuild execute clean PLC instruction. After cleaning PLC status depend on

switch.

c—When downloading, if switch is RUN, then PLC will be defaulted STOP for

downloading.

After downloading, PLC will be RUN again. If switch is STOP,PLC will be STOP after

downloading.

d—Anytime switch can change PLC RUN/STOP status

The CPU module provides 4 status LEDs: RUN, STOP, Comm. and Err.

Run, 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.

KS separates errors into three levels: 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.

Kinco-KS series

2.2.2 Programming port and serial port

KS provides 2 communication ports,PORT0 and PORT1.It supports baud rate up to

115.2kbps.PORT0 can be used as programming port and also supports Modbus RTU slave

protocol and free protocol.PORT1can be used as programming port and also supports Modbus

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

RS232 programming port is in the RJ45 port. Pins and functions as below,

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

otherwise it will break ports.

2.2.3 CAN port

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

protocol.

Kinco-KS series

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

and free protocol.CAN1 can support CANopen slave and free protocol.

2.2.4 Expansion modules

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.( only one

between expansion or CANopen communication)

CPU can connect expansion modules with standard double wires directly. Expansion modules

have one input port and one output port. It is convenient to connect multiple expansion

modules.

Pls reference below figure.

We don’t need to setup address for connecting expansion modules. The real address in the net

depend on the turn that KincoBuilder configurate hardware.

Kinco-KS series

2.2.5 High Speed Counter and High Speed Pulse Output

KS 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 200KHz(Include single phase and AB phase).

KS 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 ,Q0.4support up to 200KHz (The resistor of load should be less than

1.5KΩ),Q0.5 supports up to 10KHz.

2.2.6 Edge Interrupts

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 Data Retentive and Data Backup

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] 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.

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 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

Kinco-KS series

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

figure,

user can order the battery separately.

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 Clock (RTC)

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 Battery

KS 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.

2.3 Wiring diagram

Kinco-KS series

2.4 Dimension

 DI Specifications

Input type

Source/Sink

Kinco-KS series

2.5 Technical Specification

Kinco-KS series

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

1.2μs

0.5μs;

Isolation between input and internal

circuit

· Mode

· Voltage

Opto-electrical isolation

500VAC/1 min

 DO Specifications(Transistor type)

Output type

Source

Rated power supply voltage

DC24V,allowance range:

DC20.4V—DC28.8V.(Same as power supply)

Output current per channel

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

Instant impulse current per channel

1A,less than 1s

Output leakage current

Max.0.5цA

Output impedance

Max. 0.2Ω

Output delay

· off-to-on

· on-to-off

Common channel: 12μs; HSC channel: 0.5μs;

Common channel: 35μs; HSC channel: 1μs;

Protection：

·Reverse polarity protection of power

supply

·Inductive load protection

·Short-circuit protection

·Reverse polarity protection of output

Yes

Yes, less than 10s.

Isolation between output and internal

circuit

· Mode

Opto-electrical isolation

500VAC/1 min

Kinco-KS series

· Voltage

Type

Mold

MODBUS coder

Area

MODBUS

Address

KS122-12XR

DO（0XXXX）

01，05，15

Q0.0-Q1.3

0-11

KS123-14DR

DI（1XXXX）

I0.0 --- I0.7

0-7

DO（0XXXX）

01，05，15

Q0.0-Q0.5

0-5

KS133-06IV

AI（3XXXX）

AIW0 --- AIW6

0-3

AO（4XXXX）

03，06，16

AQW0 --- AQWQ

0-1

Chapter 3 Expansion modules

3.1 Introduction

KS series can expand with expansion modules. The power supply for KS expansion modules

is 24VDC. So we don’t need power supply from expansion CANopen.

KS expansion modules have one standard RS485 port. It can work as Modbus slave.

Note: Some address of Modbus RTU master start from 1,so the data in the below form should

add 1 directly.

3.2 DO，DO 12×Relay

Type：Kinco-KS122-12XR.

This modules is DO 12*Relay.

3.2.1 Wiring

Kinco-KS series

3.3 DI/O

Type：Kinco-KS123-14DR.

This module is 14IO,DI 8*DC24V,DO 6*Relay.

DI 8×DC24V DO 6×Relay

，

3.3.1 Wiring

Kinco-KS series

3.3.2 Technic specification

Rated voltage

DC 24V，≥100mA Electric parameters

input

8（8 channel/group）

Input type

source/drain Rated voltage

DC 24V

Rated input current

3.5mA@24VDC

Digital “0”max. input voltage

Digital“1”min. input voltage

11V@2.0mA

Isolation between input and inside power

·isolation type

·isolation voltage

Photoelectric couple 500VAC/1 分钟 Output

6 relay（3channel/group）

Max. loading voltage

DC 30V/AC250V

Loading current

2A（DC 30V/AC250V）

Max. output current

10A

Delay time for output on

10ms（max.）

Delay time for output off

5ms（max.）

Life of relay

·Mechanic life（no loading）

· Electric life（rated loading）

20，000，000 times（1200times/min） 100，000times（6times/min）

Output isolation

· isolation mode

· isolation voltage

relay

2000Vrms

Measurement and weight

Measurement(length ×width× height)

100×84.5×25.4mm

Net weight

200g

Kinco-KS series

3.4 AI/O，AI 4×IV AO 2×IV，current/voltage input/output

type：Kinco-KS133-06IV.

This module have 4*AI and 2*AO. Measure and output standard voltage and current

signal （4-20mA、1-5V、0-20mA、0-10V. All channel in one module can choose different

signal.

3.4.1 Wiring

Kinco-KS series

Signal type

Range

Format

4-20mA

3.92-20.4mA

I×1000 0-20mA

0-20.4mA

1-5V

0.96-5.1V

V×1000 0-10V

0-10.2V

Signal types

Output range

Ourput value

4-20mA

3.92-20.4mA

I×1000 0-20mA

0-20.4mA

1-5V

0.96-5.1V

V×1000 0-10V

0-10.2V

3.4.2 measure range and measure value for AI

The input signal in each channel will sample ADC and counter. The results will be send

to CPU AI area from expansion CAN. Then user programming can visit it.

All the signal types have detection range. If the value is over range, the modules will

warn, and the LED will be on. Meanwhile it will send problem file to CPU by expansion

module. Pls connect all the channels that is not used, also setup signal type to 【0-20mA】 or

【0-10V】,then these channels won’t warn.

Below is detection range and value format. I is input current, V is input voltage.

3.4.3 AO output range and value format

AQ output will be send AO modules by expansion bus, then counter and change. After that it

will output from channel by DAC.

The output range of all signal types is limited. If the output is over range, the output will keep

the up/down limited value.

Below form is output range and value format., I is real current, V is real voltage

3.4.4 Technical specification

Electric parameters

AI channels

Rated supply current

DC 24V，≥100mA

Signal type

4-20mA、1-5V、0-20mA、0-10V

Resolution

12 bit

Accuracy

0.3% F.S.

Signal limitation

Current is not over 24mA ， voltage is not over

12V

Change speed（each channel）

15 times /S

Input resistor

Current mode：<=250Ω Voltage mode：>4MΩ

AO channel

Rated supply current

DC 24V ≥100mA

Signal type

4-20mA、1-5V、0-20mA、0-10V

Resolution

Output accuracy

0.3% F.S.

Change speed（each channel）

15times /S

Extra loading

Current mode： Max. 500Ω Voltage mode： Min. 10KΩ

Dimension and weight

Dimension(length×width× height)

100×84.5×25.4mm

Net weight

200g

Kinco-KS series

HSC 0

Mod

Description

I0.1

I0.0

I0.5

Single-phase up/down counter

with internal direction control:

SM37.3

Clock

Reset

Start

Single-phase up/down counter

with external direction control

Clock

Direction

Reset

Direction

Two-phase counter with up/down

clock inputs

Clock Down

Clock Up

Chapter 4 Software Introduction

4.1 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.

4.2 High speed counter

KS provides 4 high speed counters HSC0-HSC3.All can support up to 200KHz

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,

4.2.1 Operation Modes and Inputs of the High-speed Counters

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:

Kinco-KS series

A/B phase quadrature counter

Clock A

Clock B

HSC1

Mode

Description

I0.4

I0.6

I0.3

I0.2

Single-phase up/down counter

with internal direction control:

SM47.3

Clock

Reset

Start

Single-phase up/down counter

with external direction control

Clock

Direction

Reset

Direction

Two-phase counter

with up/down clock inputs

Clock

Down

Clock Up

Reset

A/B phase quadrature counter

Clock A

Clock B

Reset

HSC 2

Mode

Description

I0.4

I0.5

Single-phase up/down counter

with internal direction control:SM57.3

Clock

A/B phase quadrature counter

Clock A

Clock B

HSC 3

Mode

Description

I0.6

I0.7

Single-phase up/down counter

with internal direction control:SM127.3

Clock

A/B phase quadrature counter

Clock A

Clock B

 Control Byte

4.2.2 Control Byte and Status 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:

Kinco-KS series

HSC0

HSC1

HSC2

HSC3

Description

SM37.0

SM47.0

SM57.0

SM127.0

Effective electrical level of reset signal ：

0=high；1=low

SM37.1

SM47.1

SM57.1

SM127.1

Effective electrical level to start signal：0=high；

1=low

SM37.2

SM47.2

SM57.2

SM127.2

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

SM37.3

SM47.3

SM57.3

SM127.3

Counting direction:0=Decrease；1=Increase

SM37.4

SM47.4

SM57.4

SM127.4

Write counting direction in HSC? 0= NO; 1=

Yes

SM37.5

SM47.5

SM57.5

SM127.5

Write new pre-set value in HSC? 0= NO; 1=

Yes

SM37.6

SM47.6

SM57.6

SM127.6

Write new current value in HSC? 0= NO; 1=

Yes

SM37.7

SM47.7

SM57.7

SM127.7

Allow this high-speed counter? 0=NO; 1= YES

HSC0

HSC1

HSC2

HSC3

Description

SMD38

SMD48

SMD58

SMD128

Current value

SMD42

SMD52

SMD62

SMD132

Pre-set value

HSC0

HSC1

HSC2

HSC3

Description

SM141.0

SM151.0

SM161.0

SM171.0

Use multiple preset value:0=No. 1=Yes.

SM141.1

SM151.1

SM161.1

SM171.1

Preset value type:0=Absolute value.

1=Relative value.

SM141.2

SM151.2

SM161.2

SM171.2

Preset value comparison interrupt

(“CV=PV”) cyclic execution.

0=No. 1=Yes.

Note:Only valid when preset value is

relative value.

SM141.3

SM151.3

SM161.3

SM171.3

Reserved

SM141.4

SM151.4

SM161.4

SM171.4

Update multiple PV segment and preset

value:0=No. 1=Yes

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

HSC1

HSC2

Description

Kinco-KS series

SMW142

SMW152

SMW162

SMW172

Starting value of preset value table （ It is

offset corresponding to VB0),it must be odd

value.



Status Byte

HSC0

HSC1

HSC2

HSC3

Description

SM36.0

SM46.0

SM56.0

SM126.0

Reserved

SM36.1

SM46.1

SM56.1

SM126.1

Reserved

SM36.2

SM46.2

SM56.2

SM126.2

Reserved

SM36.3

SM46.3

SM56.3

SM126.3

Fault in multiple PV value

table:0=No,1=Yes

SM36.4

SM46.4

SM56.4

SM126.4

Reserved

SM36.5

SM46.5

SM56.5

SM126.5

Current counting direction:

0 = Down; 1= Up

SM36.6

SM46.6

SM56.6

SM126.6

Current value equal to preset value:

0 = No,1 = Yes

SM36.7

SM46.7

SM56.7

SM126.7

Current value greater than preset value:

0 = No,1 = Yes

HSC0

HSC1

HSC2

HSC3

Description

SMB140

SMB150

SMB160

SMB170

Current PV segment No.(Start from 0)

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.

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

of high speed counter.

4.2.3 Preset value (PV value) setting

KS supports up to 32 PV value for each high speed counter, and supports setting PV value as

Kinco-KS series

 How to select “multiple PV” mode



Multiple PV table

OFFSET

（1）

Data type

Description

BYTE

Quantity of PV

DINT

First PV

DINT

Second PV

…

DINT

…

（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

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

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

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.

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.

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).

Kinco-KS series

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

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

 Relative value and absolute value



“CV=PV”interrupt cyclic execution

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).

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

forth.

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.

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 PV,it will

execute “CV=PV” 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 PV,it will execute “CV=PV”

interrupt.For example,if it sets 3 PV values,such as 10,1000 and 1000,and the current

counting value is 100 before HSC starts,then when the counting value reaches 110,1110 and

2110,it will execute corresponding“CV=PV” interrupt.

“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

Kinco-KS series

Current

counting value

Interrupt times

First value

Second value

Third value

100

1st time

110

1110

2110

2nd time

2120

3120

4120

3rd time

4130

5130

6130

…

N time

………

High speed

counter

Interrupt No.

Description

HSC0

“CV=PV”interrupt of 1st PV

“CV=PV”interrupt of 2nd PV

…

…（Plus 1）

“CV=PV”interrupt of 32nd PV

HSC1

“CV=PV”interrupt of 1st PV

“CV=PV”interrupt of 2nd PV

…

…（Plus 1）

127

“CV=PV”interrupt of 32nd PV

HSC2 128

“CV=PV”interrupt of 1st PV

129

“CV=PV”interrupt of 2nd PV

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.

4.2.4 “CV=PV” Envent No.

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 PV, as shown in

following table.

…

…（Plus 1）

159

“CV=PV”interrupt of 32nd PV

HSC3

160

“CV=PV”interrupt of 1st PV

161

“CV=PV”interrupt of 2nd PV

…

…（Plus 1）

191

“CV=PV”interrupt of 32nd PV

4.2.5 How to use high speed counter

 Method 1:Use instructions for programming

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

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.

 Method 2:Use wizard of HSC

preset value.

Kinco-KS series

In KS 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 “Method 1” to modify the parameters

of HSC.

Kinco-KS series

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】.

How to use HSC wizard:

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

Kinco-KS series

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

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

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

Q0.0

Q0.1

Q0.4

Q0.5

Direction output

channel

Q0.2

Q0.3

Q0.6

Q0.7

Direction enable

Control

SM201.3

SM231.3

SM251.3

SM221.3

configure the registers and execute HDEF instruction.

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

automatically after PLC power on without executing any instructions.

to configure all PV values and related ‘Value’ and ‘Interrupt subroutine’. If checking

【Update PV and quantity】, then it can adjust the value in【Quantity】to modify the

number of PV.

PV settings’ and modify the PV value and related interrupt subroutine.

4.3 How to use high speed pulse output

Kinco-KS 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 200KHz, and Q0.5supports maximum 10KHz.

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

enable control in SM area.

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.

Kinco-KS series

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

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

3） Following instruction PFLO_F: There are parameters such as input

 PTO：Pulse Train Output.

 PWM：Pulse-Width Modulation.

 Descriptions

Name

Usage

Group

Suitable for

PLS

PLS Q

Opera

nds

Input/O

utput

Data Type

Description

4.3.1 High speed pulse output instruction

KS provides 3types of instructions for high speed pulse output.

PABS(Absolute positioning) ,PHOME(Homing), PJOG(Jogging) and PSTOP(Emergency

stop). User can use these instructions to achieve positioning control easily .Note: When

using position control instructions, the frequency of output pulse must be not less

than 80Hz.

frequency(F),electronic gear ratio(NUME、DENOM), pulse number(COUNT) and so on,

these parameters can be used as variable. The frequency of pulse output is equal to F

multiple by electronic gear ratio. When the pulse number reaches the value COUNT, then

it will stop output and set DONE bit. Note: When using following instruction, the

frequency of output pulse must be not less than 30Hz.

4.3.2 How to use PLS instruction

PLS instruction can implement PTO and PWM output function.

Kinco-KS series

Input

INT

Constant（0、1 or 2）

 LD

 IL

4.3.2.1High-speed Pulse Output Function

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



PWM

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

Q0.4,3 means Q0.5.

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

suggested to use edge instruction to execute PLS instruction. If executing PLS executing all

the time, then it can’t output normally.

If EN is 1,then PLS is executed.

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

The Kinco-KS 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 PWM3 or PTO3.

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.

Q0.5 are relay-output!

Kinco-KS series

 PTO

 Single segment pulse

 Multiple segment pulse

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 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 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-KS will set related

error bit and prohibit the output.

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

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

PLS instruction.

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,

DWORD).Thereof, all the pulse output frequency are the same in same segment. It uses PLS

instruction to start multiple segment pulse.

In this mode, the starting address of the profile table is stored in SMW168 (corresponding to

PTO0) ,SMW178 (corresponding to PTO1) , SMW218(corresponding to PTO2) and

SMW248(corresponding to PTO3) .Time base is configured by SM67.3 (corresponding to

Kinco-KS series

Byte offset

Lengt

Segment

Description

8-bit

The number of segments (1 to 64)

16-bit

Initial cycle time (2 to 65535 times of the time

base)

16-bit

Reserved

32-bit

Pulse number(1 to 4,294,967,295)

16-bit

Initial cycle time (2 to 65535 times of the time

base)

16-bit

Reserved

32-bit

Pulse number(1 to 4,294,967,295)

…

4.3.2.2PTO/PWM Register

Q0.0

Q0.1

Q0.4

Q0.5

Description

SM67.0

SM77.0

SM97.0

SM107.0

PTO/PWM

Whether to update the cycle time: 0 =

No; 1 = Yes

SM67.1

SM77.1

SM97.1

SM107.1

PWM

Whether to update pulse width time: ： 0=No；1=Yes

PTO0) ,SM77.3 (corresponding to PTO1) , SM97.3 (corresponding to PTO2) and

SM107.3(corresponding to PTO3). 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.

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.

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

configurations, as shown in following table.

Kinco-KS series

SM67.2

SM77.2

SM97.2

SM107.2

PTO

Wheter to update the pulse number: ：

0=No；1=Yes

SM67.3

SM77.3

SM97.3

SM107.3

PTO/PWM

Time base: 0=1μs；1=1ms

SM67.4

SM77.4

SM97.4

SM107.4

PWM

Update method:

0 = asynchronous update; 1 = synchronous

update

SM67.5

SM77.5

SM97.5

SM107.5

PTO

Operation mode:

0 = single segment; 1 = multiple segment

SM67.6

SM77.6

SM97.6

SM107.6

Function selection: 0= PTO；1=PWM

SM67.7

SM77.7

SM97.7

SM107.7

PTO/P

Enable/disable: 0=disable；1= enable

Q0.0

Q0.1

Q0.4

Description

SMW68

SMW78

SMW98

SMW108

PTO/PWM

Cycle time , Range:2~65535

SMW70

SMW80

SMW100

SMW110

PWM

Pulse width, Range: 0~65535

SMD72

SMD82

SMD102

SMD112

PTO

Pulse number, Range:1~4,294,967,295

SMW168

SMW178

SMW218

SMW248

The starting location of the profile table (byte offset

from V0)For multi-segment PTO operation only

Q0.0

Q0.1

Q0.4

Q0.5

Description

SM66.0

SM76.0

SM96.0

SM106.0

Reserved

SM66.1

SM76.1

SM96.1

SM106.1

Reserved

SM66.2

SM76.2

SM96.2

SM106.2

Reserved

SM66.3

SM76.3

SM96.3

SM106.3

PWM idle: 0=No, 1=Yes

SM66.4

SM76.4

SM96.4

SM106.4

Whether the cycle time or pulse number of PTO

is wrong: 0=No, 1=Yes

Note: Cycle time and pulse number must be

greater than 1.

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 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.

Kinco-KS series

SM66.5

SM76.5

SM96.5

SM106.5

PTO profile terminated due to user command:

0=No, 1=Yes

SM66.6

SM76.6

SM96.6

SM106.6

Reserved

SM66.7

SM76.7

SM96.7

SM106.7

PTO idle: 0=No, 1=Yes

4.3.2.3 PTO Operations

 Execute the PTO (Single-Segment Operation)

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

 Enable the PTO/PWM function

 Select PTO operation

 Select 1μs 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 attach the PTO0-complete event (event 28) to an interrupt

5) Execute the PLS instruction to configure PTO0 and start it.

 Changing the PTO Cycle Time (Single-Segment Operation)

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

The fallowing takes PTO0 as an example to introduce how to configure and operate the

PTO/PWM generator in the user program.

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.

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

routine to respond in real time to a PTO0-complete event.

Follow these steps to change the PTO cycle time.

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

 Enable the PTO/PWM function

 Select PTO operation

 Select 1μs as the time base

 Allow updating the cycle time value.

2) Set SMW68 according to desired cycle time.

3) Execute the PLS instruction to configure PTO0 and start it, then a new PTO with the

 Changing the PTO Pulse Number(Single-Segment Operation)

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

 Enable the PTO/PWM function

 Select PTO operation

 Select 1μs as the time base

 Allow updating the pulse number

2) Set SMD72 according to desired pulse number.

3) Execute the PLS instruction to configure PTO0 and start it, then a new PTO with the

 Execute the PTO (Multiple-Segment Operation)

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

 Enable the PTO/PWM function

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

updated cycle time shall be generated.

Follow these steps to change the PTO pulse count:

Kinco-KS series

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

updated pulse number shall be generated.

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

Kinco-KS series

 Select PTO operation

 Select multi-segment operation

 Select 1μs 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 attach the PTO0-complete event (event 28) to an interrupt

5) Execute the PLS instruction to configure PTO0 and start it.

4.3.2.4PWM Operations

 Execute PWM

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

 Enable the PTO/PWM function

 Select PWM operation

 Select 1μs as the time base

 Allow updating the pulse width value and cycle time value

2) Set SMW68 according to desired cycle time.

3) Set SMW70 according to desired pulse width.

routine to respond in real time to a PTO0-complete event.

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.

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

4) Execute the PLS instruction to configure PWM0 and start it.

 Changing the Pulse Width for the PWM Output

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

 Enable the PTO/PWM function

 Select PWM operation

 Select 1μs as the time base

 Allow updating the pulse width value and cycle time value

2) Set SMW70 according to desired pulse width.

3) Execute the PLS instruction to configure PWM0 and start it.

 Control Registers and Status Registers

Q0.0

Q0.1

Q0.4

Q0.5

Description

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

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

Kinco-KS series

4.3.3 How to Use Position Control Instructions

4.3.3.1 How to Modify the Current Value of Position Control

Instructions

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

channel to store 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.

Kinco-KS series

SMD212

SMD242

SMD262

SMD226

Read only. Current value (Increase when run

forward, decrease when run reverse).It indicates the

pulse number which has already outputted.

SMD208

SMD238

SDM258

SDM222

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

current value together with specific control bit.

Q0.0

Q0.1

Q0.4

Description

SM201.7

SM231.7

SM251.7

SM221.7

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.。

SM201.6

SM231.6

SM251.6

SM221.6

Read/Write. Reset the current value or not

1 --- Clear the current value. 0 --- Maintain the current value.。

SM201.5

SM231.5

SM251.5

SM221.5

Reserved

SM201.4

SM231.4

SM251.4

SM221.4

Read/Write. Use to modify current value.

1 - Modify current value.

0 - Maintain the current value.

SM201.3

SM231.3

SM251.3

SM221.3

Read/Write. Direction control bit.

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

used as normal output.

0 --- Enable the direction output channel.

SM201.0

SM201.2

SM231.0

SM231.2

SM251.0

SM251.2

SM221.0

SM221.2

Reserved

 How to modify current value

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

methods.

Kinco-KS series

 Method 1

 Method 2

Q0.0

Q0.1

Q0.4

Q0.5

Description

SMD208

SMD238

SDM258

SDM222

Read/Write. New current value. Use to

modify the current value together with

specific control bit.

SM201.4

SM231.4

SM251.4

SM221.4

Read/Write. Use to modify current value.

1 - Modify current value.

0 - Maintain the current value.

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, otherwise 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

Modify current value by using following registers.

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

Kinco-KS series

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, PABS, JOG and

PFLO_F) is executing, otherwise the counting value may be 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

4.3.3.2 Can it change maximum output frequency when position

control instruction is executing?

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.

Kinco-KS series

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.

4.4 How to use CANopen

KS105C1-16DT CPU provide 1 CAN port, CAN. CAN port can support CANopen

master/slave protocol and free protocol. But only one from 3 options.

KS105C2-16DT provide 2 CAN port, CAN1 and CAN2. CAN2 port can support CANopen

master protocol and free protocol. CAN1 port support CANopen slave protocol and free

protocol. If CAN1 port connect expansion modules, CAN communication is not valid. So

only one for CAN1 expansion protocol and CAN communication.

4.4.1 Wiring

KS105C1-16DT CPU provide one CAN port. It connect directly by 2 RJ45 port. Users

can use any one of them. Pls reference figure.

KS105C2-16DT provide 2 CAN port in 2 RJ45 ports.

The switch on PLC can be used for resistor. Pls reference the printed information on

products.

Note,RJ45 port is for expansion modules connections. Pls use direct net wire for

connection of multiple expansion modules.

4.4.2 Programming

1, Usage of CANopn master is same as K5 series. Pls reference K5/K2 manual.

Kinco-KS series

2,When using free protocol instruction （ CAN_INIT 、 CAN_WRITE 、 CAN_READ 、

CAN_RX）,CH parameters in KS105C1 is 1. 0 is CAN1 and 1 is CAN2 in KS105C2.

3,CAN slave

Pls enable CANopen slave for programming configuration. Setup baud rate and ID.(Real

ID+ switch)

B:CANopen slave protection only support heartbeat files. Pls download EDS from Kinco

website.

The storage area as below,

Data

Length

Start address

End address

Attribute

BYTE

IB0

IB31

read

INT32AIW0

AIW62

read

BYTE

QB0

QB31

read,write

INT32AQW0

AQW62

read,write

BYTE

MB0

MB31

read,write

INT

254

VW0

VW506

read,write

DINT

VD1016

VD1268

read,write

FLOAT

VR2032

VR2284

read,write

BYTE

254

VB508

VB761

read,write

C: Slave accordance to DS301 V4.2 and DS405 V2.0。

Kinco-KS series

D:Slave port provide 32 TPDO and 32 RPDO. PD0 number should be continuance. For

example, TPD01、TPD02、TPD03 are valid. TPDO1、TPDO3、TPDO4 is not valid.

PD0 support all communication parameters, including COB-ID、forbidden time、timer

and all transfer types.

Kinco KS series, KS105-16DT, KS105C1-16DT, KS123-14DR, KS122-12XR User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Chapter 1 General Introduction

1.1 Summary

1.2 Product List

1.3 Environmental Condition

Chapter 2 CPU Module Introduction

2.1 Overview

2.1.1 Structure

2.1.2 CPU Types

2.2 Functions

2.2.1 CPU Status and LEDs

2.2.2 Programming port and serial port

2.2.3 CAN port

2.2.4 Expansion modules

2.2.5 High Speed Counter and High Speed Pulse Output

2.2.6 Edge Interrupts

2.2.7 Data Retentive and Data Backup

2.2.8 Real-time Clock (RTC)

2.2.9 Backup Battery

2.3 Wiring diagram

2.4 Dimension

2.5 Technical Specification

Chapter 3 Expansion modules

3.1 Introduction

3.2 DO，DO 12×Relay

3.2.1 Wiring

3.3.2 Technic specification

3.4 AI/O，AI 4×IV AO 2×IV，current/voltage input/output

3.4.1 Wiring

3.4.2 measure range and measure value for AI

3.4.3 AO output range and value format

3.4.4 Technical specification

Chapter 4 Software Introduction

4.1 Overview

4.2 High speed counter

4.2.1 Operation Modes and Inputs of the High-speed Counters

4.2.2 Control Byte and Status Byte

4.2.3 Preset value (PV value) setting

4.2.4 “CV=PV” Envent No.

4.2.5 How to use high speed counter

4.3 How to use high speed pulse output

4.3.1 High speed pulse output instruction

4.3.2 How to use PLS instruction

4.3.2.1High-speed Pulse Output Function

4.3.2.2PTO/PWM Register

4.3.2.3 PTO Operations

4.3.2.4PWM Operations

4.3.3 How to Use Position Control Instructions

4.4 How to use CANopen

4.4.1 Wiring

4.4.2 Programming